Siemens SINAMICS V90 Operating Manual Download Page 1

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SINAMICS

SINAMICS V90

SINAMICS V-ASSISTANT Online

Help

Operating Manual

04/2017

A5E36618042-003

Summary of Contents for SINAMICS V90

Page 1: ...____________ ___________________ ___________________ SINAMICS SINAMICS V90 SINAMICS V ASSISTANT Online Help Operating Manual 04 2017 A5E36618042 003 Preface Fundamental safety instructions 1 SINAMICS V ASSISTANT 2 User interface 3 Task navigation 4 ...

Page 2: ... only by personnel qualified for the specific task in accordance with the relevant documentation in particular its warning notices and safety instructions Qualified personnel are those who based on their training and experience are capable of identifying risks and avoiding potential hazards when working with these products systems Proper use of Siemens products Note the following WARNING Siemens p...

Page 3: ...6618042 003 3 Preface Technical support Country Hotline China 86 400 810 4288 Germany 49 911 895 7222 Italy 39 02 24362000 India 91 22 2760 0150 Turkey 90 216 4440747 Further service contact information Support contacts https support industry siemens com cs ww en ...

Page 4: ...Preface SINAMICS V ASSISTANT Online Help 4 Operating Manual 04 2017 A5E36618042 003 ...

Page 5: ...6 3 3 2 1 Project New project 26 3 3 2 2 Project Open project 27 3 3 2 3 Project Save project 28 3 3 2 4 Project Save project as 29 3 3 2 5 Project Print 29 3 3 2 6 Project Language 30 3 3 2 7 Project Exit 30 3 3 3 Edit menu 30 3 3 3 1 Edit Cut 30 3 3 3 2 Edit Copy 31 3 3 3 3 Edit Paste 31 3 3 4 Switch menu 31 3 3 4 1 Switch Go offline 31 3 3 4 2 Switch Go online 31 3 3 5 Tools menu 32 3 3 5 1 Too...

Page 6: ...g inputs outputs 75 4 3 6 1 Assigning digital inputs 75 4 3 6 2 Assigning digital outputs 76 4 3 6 3 Assigning analog outputs V90 PTI only 77 4 3 7 Configuring referencing 78 4 3 7 1 Setting referencing 78 4 3 7 2 Setting software position limit 84 4 3 8 Setting encoder pulse output V90 PTI only 85 4 3 9 Backlash compensation 85 4 3 10 Viewing all parameters 87 4 4 Commissioning 90 4 4 1 Testing i...

Page 7: ...618042 003 7 4 5 2 Tracing signals 123 4 5 2 1 Trace configuration 126 4 5 3 Measuring machine 127 4 6 Communicating with the PLC V90 PTI only 132 4 6 1 USS communication 132 4 6 2 Modbus communication 134 4 6 2 1 Cyclic communication 139 4 6 2 2 Acyclic communication 147 Index 157 ...

Page 8: ...Table of contents SINAMICS V ASSISTANT Online Help 8 Operating Manual 04 2017 A5E36618042 003 ...

Page 9: ...re injuries or death can occur Observe the safety instructions given in the hardware documentation Consider the residual risks for the risk evaluation WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization As a result of incorrect or changed parameterization machines can malfunction which in turn can lead to injuries or death Protect the paramete...

Page 10: ...ustrial 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 increase c...

Page 11: ...h the pulse train USS Modbus interface referred to as SINAMICS V90 PTI The software runs on a personal computer with Windows operating systems and utilizes graphical user interface to interact with users and communicates with SINAMICS V90 via a USB cable It can be used to modify parameters and monitor status of SINAMICS V90 drives Note To ensure the stability of online commissioning Siemens recomm...

Page 12: ...16 0 05 3000 20 22 2AF21 1 1 FB10 1UF0 FSB CK01 1AD0 3 m CK01 1AF0 5 m CK01 1BA0 10 m CK01 1CA0 20 m BK02 1AD0 3 m BK02 1AF0 5 m BK02 1BA0 10 m BK02 1CA0 20 m 20 1AD0 3 m 20 1AF0 5 m 20 1BA0 10 m 20 1CA0 20 m 0 32 0 1 3000 24 2AF21 1 1 0 64 0 2 3000 30 32 2AF21 1 1 FB10 2UF0 1 27 0 4 3000 34 2AF21 1 1 FB10 4UF1 2 39 0 75 3000 40 42 2AF21 1 1 FB10 8UF0 FSC 3 18 1 3000 44 2AF21 1 1 FB11 0UF1 FSD 4 7...

Page 13: ...01 1BA0 10 m CL01 1BF0 15 m CL01 1CA0 20 m BL02 1AD0 3 m BL02 1AF0 5 m BL02 1AH0 7 m BL02 1BA0 10 m BL02 1BF0 15 m BL02 1CA0 20 m 10 1AD0 3 m 10 1AF0 5 m 10 1AH0 7 m 10 1BA0 10 m 10 1BF0 15 m 10 1CA0 20 m 2 39 0 75 3000 44 1AF61 0 1 FE10 8UF0 FSA 3 58 0 75 2000 65 61 1AC61 0 1 FE11 0UF0 4 78 1 0 2000 62 1AC61 0 1 7 16 1 5 2000 64 1AC61 0 1 FE11 5UF0 FSB CL11 1AD0 3 m CL11 1AF0 5 m CL11 1AH0 7 m CL...

Page 14: ...m BL03 1CA0 20 m 1AD0 3 m 1AF0 5 m 1AH0 7 m 1BA0 10 m 1BF0 15 m 1CA0 20 m 2 39 0 75 3000 44 1AF61 2 1 FE10 8UF0 FSA 3 58 0 75 2000 65 61 1AC61 2 1 FE11 0UF0 4 78 1 0 2000 62 1AC61 2 1 7 16 1 5 2000 64 1AC61 2 1 FE11 5UF0 FSB CL12 1AD0 3 m CL12 1AF0 5 m CL12 1AH0 7 m CL12 1BA0 10 m CL12 1BF0 15 m CL12 1CA0 20 m 8 36 1 75 2000 66 1AC61 2 1 9 55 2 0 2000 67 1AC61 2 1 FE12 0UF0 11 9 2 5 2000 90 90 1AC...

Page 15: ...22 2AF21 1 1 FB10 1UA0 FSA CK01 1AD0 3 m CK01 1AF0 5 m CK01 1BA0 10 m CK01 1CA0 20 m BK02 1AD0 3 m BK02 1AF0 5 m BK02 1BA0 10 m BK02 1CA0 20 m 20 1AD0 3 m 20 1AF0 5 m 20 1BA0 10 m 20 1CA0 20 m 0 32 0 1 3000 24 2AF21 1 1 0 64 0 2 3000 30 32 2AF21 1 1 FB10 2UA0 1 27 0 4 3000 34 2AF21 1 1 FB10 4UA1 FSB 2 39 0 75 3000 40 42 2AF21 1 1 FB10 8UA0 FSC 3 18 1 3000 44 2AF21 1 1 FB11 0UA1 FSD 4 78 1 5 3000 5...

Page 16: ...1BA0 10 m CL01 1BF0 15 m CL01 1CA0 20 m BL02 1AD0 3 m BL02 1AF0 5 m BL02 1AH0 7 m BL02 1BA0 10 m BL02 1BF0 15 m BL02 1CA0 20 m 10 1AD0 3 m 10 1AF0 5 m 10 1AH0 7 m 10 1BA0 10 m 10 1BF0 15 m 10 1CA0 20 m 2 39 0 75 3000 44 1AF61 0 1 FE10 8UA0 FSA 3 58 0 75 2000 65 61 1AC61 0 1 FE11 0UA0 4 78 1 0 2000 62 1AC61 0 1 7 16 1 5 2000 64 1AC61 0 1 FE11 5UA0 FSB CL11 1AD0 3 m CL11 1AF0 5 m CL11 1AH0 7 m CL11 ...

Page 17: ...m BL03 1CA0 20 m 1AD0 3 m 1AF0 5 m 1AH0 7 m 1BA0 10 m 1BF0 15 m 1CA0 20 m 2 39 0 75 3000 44 1AF61 2 1 FE10 8UA0 FSA 3 58 0 75 2000 65 61 1AC61 2 1 FE11 0UA0 4 78 1 0 2000 62 1AC61 2 1 7 16 1 5 2000 64 1AC61 2 1 FE11 5UA0 FSB CL12 1AD0 3 m CL12 1AF0 5 m CL12 1AH0 7 m CL12 1BA0 10 m CL12 1BF0 15 m CL12 1CA0 20 m 8 36 1 75 2000 66 1AC61 2 1 9 55 2 0 2000 67 1AC61 2 1 FE12 0UA0 11 9 2 5 2000 90 90 1AC...

Page 18: ...SINAMICS V ASSISTANT 2 1 Device combination SINAMICS V ASSISTANT Online Help 18 Operating Manual 04 2017 A5E36618042 003 ...

Page 19: ...S V ASSISTANT communicates with the target drive which is connected with PC by a USB cable If you select the online mode a list of all connected drives are displayed Select the target drive and click the following button SINAMICS V ASSISTANT automatically creates a new project to save all parameter settings from the target drive and enters the main window Note If SINAMICS V ASSISTANT fails to dete...

Page 20: ... a drive from the following window Select the product type and firmware version from the drop down lists respectively Then select the article number of your desired drive Click to save the factory settings of the selected drive to the new project and enter the main window otherwise click to return to the last step Note To obtain the firmware version you can view r29108 on BOP Basic Operator Panel ...

Page 21: ...and enter the main window Default location xxx Siemens V ASSISTANT Project xxx SINAMICS V ASSISTANT setup root directory Only prj format is available Status indicators In the main window of SINAMICS V ASSISTANT the current working mode is indicated by the status indicators at the upper right of the main window Online Offline You can switch the working mode between the two modes For more informatio...

Page 22: ...s When you switch the working mode from offline to online the following question appears to remind you to save the current project You can click to save the project otherwise you can click to abort saving Then SINAMICS V ASSISTANT automatically compares all parameter settings between the current project and the connected drive ...

Page 23: ... A5E36618042 003 23 If any inconsistency is detected the following window appears Click the first button to upload all parameter values of the connected drive to the current project otherwise click the second button to upload all parameter values of the current project to the connected drive ...

Page 24: ...V ASSISTANT Online Help 24 Operating Manual 04 2017 A5E36618042 003 3 2 User interface overview Menu bar Function pane Toolbar Alarm window Task navigation Note The above screenshot takes the user interface of SINAMICS V ASSISTANT for V90 PN for example ...

Page 25: ...e information see Section Toolbar Page 36 Task navigation The task navigation mask contains tasks for users to fulfill Each task consists of various functions which facilitate users to parameterize all functions of V90 drives and monitor or diagnose the drives For more information see Section Task navigation Page 39 Function pane The function pane provides the user interface of each user task for ...

Page 26: ...2 Help menu Page 35 3 3 2 Project menu This menu item contains commands for creating opening saving printing or exiting from a project as well as switching the user interface language You can choose any menu command here for project management New project Page 26 Open project Page 27 Save project Page 28 Save project as Page 29 Print Page 29 Language Page 30 Exit Page 30 3 3 2 1 Project New projec...

Page 27: ...42 003 27 3 3 2 2 Project Open project When SINAMICS V ASSISTANT is working in offline mode you can use this menu command to open an existing project in the following window Default location xxx Siemens V ASSISTANT Project xxx SINAMICS V ASSISTANT setup root directory Only prj format is available ...

Page 28: ...use this menu command to save the changed configuration to the current project If this menu command is used for the first time it is the same as Project Save project as Page 29 You can specify the file name and directory in the following window Default location xxx Siemens V ASSISTANT Project xxx SINAMICS V ASSISTANT setup root directory Only prj format is available ...

Page 29: ... command to save the current project with a specified file name and directory in the following window Default location xxx Siemens V ASSISTANT Project xxx SINAMICS V ASSISTANT setup root directory Only prj format is available 3 3 2 5 Project Print Online mode offline mode You can use this menu command to print the user interface of the selected function from Task navigation Page 39 ...

Page 30: ... your PC and run it you can switch the interface language to the corresponding one 3 3 2 7 Project Exit Online mode offline mode You can use this menu command to exit from SINAMICS V ASSISTANT directly 3 3 3 Edit menu This menu contains commands for cutting copying and editing the parameter values or technical data of the motor and drive Cut Page 30 Copy Page 31 Paste Page 31 3 3 3 1 Edit Cut This...

Page 31: ...eld The copied content can be inserted at a position determined with a mouse click Alternatively you can use from the toolbar Note You can only use this menu command to modify the values in Viewing all parameters Page 87 3 3 4 Switch menu This menu contains the following two commands for switching SINAMICS V ASSISTANT between the online mode and offline mode Go offline Page 31 Go online Page 31 3 ...

Page 32: ...actory default Page 33 Tools Upload parameters Page 35 3 3 5 1 Tools Save parameters to ROM You can use this menu command to save the parameters from RAM to ROM in the drive The following window appears to display the saving process Alternatively you can use from the toolbar 3 3 5 2 Tools Restart drive You can use this menu command to restart the drive After you select this menu command the follow...

Page 33: ...cessfully 3 3 5 3 Tools Reset absolute encoder In online mode if you have connected SINAMICS V ASSISTANT to a motor with an absolute encoder you can use this menu command to set the current position of the absolute encoder as the reference point 3 3 5 4 Tools Factory default Online Select this menu command and the following reminder appears ...

Page 34: ... this window disappears automatically If you click this operation can be aborted Offline Select this menu command and the following reminder appears If you click after the parameters are reset to their factory defaults the following information appears Click to close the information window To save the project see Section Project Save project Page 28 If you click this operation can be aborted ...

Page 35: ... following window appears to show the process After the process is complete the values of the same parameters in SINAMICS V ASSISTANT are overwritten by those in the drive automatically 3 3 6 Help menu The online help quickly provides you with information about drive selection parameterization commissioning and diagnostics of SINAMICS V ASSISTANT Help View help Page 35 Help About SINAMICS V ASSIST...

Page 36: ...isplay the following information window for SINAMICS V ASSISTANT 3 4 Toolbar The icons of the toolbar provide quick access to the commands in the menu bar or functions from Task navigation Page 39 New project Page 26 Open project Page 27 Save project Page 28 Print Page 29 Cut Page 30 Copy Page 31 Paste Page 31 Go offline Page 31 Go online Page 31 Save parameters to ROM Page 32 ...

Page 37: ...e 123 Test motor Page 107 Help Page 35 3 5 Alarm window Alarm window overview Alarm type 1 Fault Alarm Alarm value Alarm number Acknowledge All Clears the faults in the buffer area of the drive Alarm name and description 1 Faults have priority over alarms in display Note To view the detailed information of an active fault alarm press F1 to call the corresponding online help ...

Page 38: ...04 2017 A5E36618042 003 3 6 Function keys and shortcuts SINAMICS V ASSISTANT provides function keys and shortcuts for frequently called functions Function keys in SINAMICS V ASSISTANT F1 Calls the context sensitive online help Ctrl X Edit Cut Page 30 Ctrl C Edit Copy Page 31 Ctrl V Edit Paste Page 31 ...

Page 39: ...SINAMICS V ASSISTANT Online Help Operating Manual 04 2017 A5E36618042 003 39 Task navigation 4 Note The above screenshot takes the task navigation mask of SINAMICS V ASSISTANT for V90 PN for example ...

Page 40: ...ge 52 Setting electronic gear ratio V90 PTI only Page 53 Setting mechanism Page 56 Setting parameter setpoint Page 56 Configuring ramp function V90 PN only Page 69 Setting limits Page 71 Configuring inputs outputs Page 75 Configuring referencing Page 78 Setting encoder pulse output V90 PTI only Page 85 Backlash compensation Page 85 Viewing all parameters Page 87 Commissioning Page 90 Testing inter...

Page 41: ...igation mask of SINAMICS V ASSISTANT for V90 PN for example Area Function Description See also Drive selection Selects a drive in this field Selecting drive Page 42 Motor selection Selects a motor in this field Selecting motor Page 44 Control mode Selects a control mode in this field Control mode Page 45 Jog Tests the Jog function in this field Jog Page 47 ...

Page 42: ...nected drive type s is displayed for your selection Select the target drive type and click to establish communication between SINAMICS V ASSISTANT and the drive SINAMICS V ASSISTANT reads all parameter settings from the connected drive and the main window displays the drive information on the following panel The following drive information is displayed Article number Line supply ...

Page 43: ...fline mode When you are working in offline mode SINAMICS V ASSISTANT does not communicate with the connected drive s You can click to change the drive type in the following window Select the article number of the target drive Click to save the factory settings of the selected drive to the new project and enter the main window or otherwise click to exit ...

Page 44: ...nline mode If the connected motor is equipped with an absolute encoder is disabled Note In the article number x is a wildcard for more information about A G see the SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions If the connected motor is equipped with an incremental encoder click and the motor list is displayed ...

Page 45: ...ion is displayed If you switch from online mode to offline mode you can select the motor by clicking 4 1 3 Control mode Online mode offline mode Totally eleven control modes are available for V90 drives Control mode V90 PN V90 PTI Basic control mode Speed control mode S 1 Basic positioner control mode EPOS Pulse train input position control mode PTI 2 Internal position control mode IPos Speed cont...

Page 46: ...l mode the following warning message appears Online mode Click and the following message appears Click to save all the parameters to ROM and reset the drive Otherwise click the following button or directly close the dialog box and the drive can continue to work in the current control mode Offline mode Click and the control mode is changed ...

Page 47: ...k then the following warning appears Click and run the drive counter clockwise clockwise by clicking the following two buttons respectively Then the actual speed actual torque actual current and actual utilization are displayed To stop the Jog function click in the following window and SINAMICS V ASSISTANT releases the control priority Note The Jog speed can not be too fast Otherwise the machine a...

Page 48: ...ng telegram In this area you can see the activated control mode and telegram If you desire to change the telegram you can click the drop down list and select the desired telegram After you select a new telegram the displayed process data changes according to the selected telegram You can view all the PZDs of the selected telegram with the drop down list and read their hexadecimal values from the f...

Page 49: ...ess data represents the receive words and the process data to be sent to the send words Telegram Maximum number of PZD Description Receive word Send word Standard telegram 1 2 2 p0922 1 Standard telegram 2 4 4 p0922 2 Standard telegram 3 5 9 p0922 3 Standard telegram 5 9 9 p0922 5 Standard telegram 7 2 2 p0922 7 Standard telegram 9 10 5 p0922 9 Siemens telegram 102 6 10 p0922 102 Siemens telegram ...

Page 50: ...1_ZS W PZD7 G1_XIS T1 XERR G1_XI ST1 PZD8 G1_XIS T2 KPC G1_XIS T2 PZD9 G1_XIS T2 KPC G1_XI ST2 PZD10 Telegrams used for basic positioner control mode Telegram 7 9 110 111 Appl class 3 3 3 3 PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 PZD2 SATZANW AKTSATZ SATZANW AKTSATZ SATZANW AKTSATZ POS_STW 1 POS_ZSW 1 PZD3 STW2 ZSW2 POS_STW POS_ZSW POS_STW 2 POS_ZSW 2 PZD4 MDI_ TARPOS XIST_A STW2 ZSW2 STW2 ZS...

Page 51: ...ne the PN name of station in area Note that only numbers 0 to 9 lowercase letters a to z and characters and in English are permissible In addition you can modify the IP address in area as desired Click button to save and activate the settings Restart the drive and then the PN name and IP address you set become active and appear in areas and Note If you have also configured the IP protocol in TIA p...

Page 52: ...ISTANT for V90 PN for example Totally ten sub functions are available The sub function combinations vary with the drive variant and control modes Sub function Control mode V90 PN V90 PTI EPOS S PTI IPos S T Setting electronic gear ratio V90 PTI only Page 53 Setting mechanism Page 56 Setting parameter setpoint Page 56 Configuring ramp function V90 PN only Page 69 Setting limits Page 71 ...

Page 53: ... Page 75 Configuring referencing Page 78 Setting encoder pulse output V90 PTI only Page 85 Backlash compensation Page 85 Viewing all parameters Page 87 4 3 1 Setting electronic gear ratio V90 PTI only 4 3 1 1 Overview Setting electronic gear ratio is only available in pulse train input position control mode PTI Select one of the following options for setting electronic gear ratio ...

Page 54: ...table Belt pulley Rack and pinion Roll feed For more information see Section Mechanical structure Page 54 Enter the pitch value and gear ratio select a display unit and click Then the electronic gear ratio can be calculated automatically 4 3 1 2 Mechanical structure Variables Configure variables according to the selected mechanical structure Mechanical structure Graphical view Variable setting Var...

Page 55: ...tor revolutions 1 to 2147000000 Unit After configuring the variables for the selected mechanical structure you must select one of the following units and input values within the scope Length unit Range 0 0001 to 2147000000 Axis movement per load revolution Range 1 to 2147000000 Calculation Click to calculate the electronic gear ratio and the calculated result is displayed as the following example ...

Page 56: ... value and acceleration value take LU as their unit in IPos control mode Taking a ball screw system for example if the system has a pitch of 10 mm revolution then the resolution of the length unit should be 1 µm 1 LU 1 µm Therefore one load revolution corresponds to 10000 LU p29247 10000 4 3 3 Setting parameter setpoint Setting parameter setpoint is used to specify parameters related to speed torq...

Page 57: ...nd control modes for how to set the parameter setpoint refer to the settings in basic control modes 4 3 3 1 Position setpoint Position setpoint The position setpoint function varies with the control modes You can set the position setpoint on the corresponding panels in each control mode Setting the position setpoint in PTI control mode In PTI control mode you can select one signal to link with pul...

Page 58: ...xis has a restricted traversing range and it is the factory setting of the SINAMICS V90 servo drive The modular axis has an unrestricted traversing range You can directly enter the digital value in the cells for the following items Position Speed Acceleration Deceleration The current active position setpoint channel is displayed at the bottom of this panel The channels correspond with p2617 and p2...

Page 59: ...os_spd3 p2572 IPos maximum acceleration p2573 IPos maximum deceleration Fixed position setpoint 4 p2617 3 Fixed position setpoint 4 P_pos4 p2618 3 Speed of fixed position setpoint 4 P_pos_spd4 p2572 IPos maximum acceleration p2573 IPos maximum deceleration Fixed position setpoint 5 p2617 4 Fixed position setpoint 5 P_pos5 p2618 4 Speed of fixed position setpoint 5 P_pos_spd5 p2572 IPos maximum acc...

Page 60: ...mum acceleration in 1000 LU s2 default value 100 Working mode overview for EPOS setpoint settings Three working modes are available for your selection Whatever mode you select the actual velocity is affected by the maximum acceleration and deceleration You can enter the desired maximum acceleration and deceleration in areas and respectively Configure your desired working mode on the corresponding ...

Page 61: ...POS traversing block task parameter p2623 1 EPOS traversing block task mode Basic position setpoint 3 p2617 2 EPOS traversing block position p2618 2 EPOS traversing block velocity p2619 2 EPOS traversing block acceleration override p2620 2 EPOS traversing deceleration override p2621 2 EPOS traversing block task p2622 2 EPOS traversing block task parameter p2623 2 EPOS traversing block task mode Ba...

Page 62: ...ion override p2620 7 EPOS traversing deceleration override p2621 7 EPOS traversing block task p2622 7 EPOS traversing block task parameter p2623 7 EPOS traversing block task mode Basic position setpoint 9 p2617 8 EPOS traversing block position p2618 8 EPOS traversing block velocity p2619 8 EPOS traversing block acceleration override p2620 8 EPOS traversing deceleration override p2621 8 EPOS traver...

Page 63: ...g block task mode Basic position setpoint 14 p2617 13 EPOS traversing block position p2618 13 EPOS traversing block velocity p2619 13 EPOS traversing block acceleration override p2620 13 EPOS traversing deceleration override p2621 13 EPOS traversing block task p2622 13 EPOS traversing block task parameter p2623 13 EPOS traversing block task mode Basic position setpoint 15 p2617 14 EPOS traversing ...

Page 64: ...positioning mode continuation condition as well as IDs and then close the window EPOS Jog Enter the desired traversing distance and velocity setpoint for Jog 1 or Jog 2 in the above window MDI Positioning Enter the desired MDI position MDI velocity MDI acceleration override and MDI deceleration override of the fixed setpoint Click to expand the drop down lists of the MDI positioning type and absol...

Page 65: ...cs curve from the pulse train input setpoint can be transformed into an S curve profile with a time constant specified in p2533 Position reached window setting Set parameter p2544 to specify the monitoring window for controller to decide whether the setpoint position is reached on the following panel For more information about signal INP see Section Digital inputs outputs DIs Dos Page 94 ...

Page 66: ...d speed setpoint 1 p1001 0 1 0 Fixed speed setpoint 2 p1002 0 1 1 Fixed speed setpoint 3 p1003 1 0 0 Fixed speed setpoint 4 p1004 1 0 1 Fixed speed setpoint 5 p1005 1 1 0 Fixed speed setpoint 6 p1006 1 1 1 Fixed speed setpoint 7 p1007 Ramp function generator The ramp function generator is used to limit acceleration in the event of abrupt setpoint changes and thus helps prevent load surges during d...

Page 67: ...TANT Online Help Operating Manual 04 2017 A5E36618042 003 67 Two types of ramp function generator are available You can specify the parameters on the corresponding panels Basic ramp function generator Extended ramp function generator ...

Page 68: ...ICS V ASSISTANT Online Help 68 Operating Manual 04 2017 A5E36618042 003 Speed reached window Set parameter p29078 for controller to decide whether the setpoint speed is reached on the following panel 4 3 3 3 Torque setpoint ...

Page 69: ...vent load surges during drive operation The ramp up time p1120 and ramp down time p1121 can be used to set acceleration and deceleration ramps separately This allows a smoothed transition in the event of setpoint changes To activate this function select from the drop down list in the above window or set bit 0 of p29108 on the BOP first Make sure you have properly connected the SINAMICS V90 PN driv...

Page 70: ...TANT Online Help 70 Operating Manual 04 2017 A5E36618042 003 Two types of ramp function generator are available You can specify the parameters on the corresponding panels Basic ramp function generator Extended ramp function generator ...

Page 71: ...he selected control mode as follows Function Control mode V90 PN V90 PTI EPOS S PTI IPos S T Torque limit Page 71 Overall torque limit Speed limit Page 73 Overall speed limit Software Position limit Page 84 4 3 5 1 Torque limit Torque limit is available in PTI IPos S and EPOS control modes You can specify the corresponding parameters on the following panels In S V90 PN and EPOS control modes In S ...

Page 72: ... For more information about the digital input signal TLIM see Section DIs Page 94 SINAMICS V90 PTI Four sources in total are available for torque limit You can select one of them via a combination of digital input signals TLIM1 and TLIM2 Digital signal Torque limit TLIM2 TLIM1 0 0 Internal torque limit 1 0 1 External torque limit analog input 2 1 0 Internal torque limit 2 1 1 Internal torque limit...

Page 73: ...ue limit takes effect when an emergency stop OFF3 happens In this case the servo drive brakes with a maximum torque In T mode you can set the overall torque limit on the following panel 4 3 5 2 Speed limit Speed limit is available in PTI IPos S T and EPOS control modes You can specify the corresponding parameters on the following panels In S V90 PN and EPOS control modes In S V90 PTI PTI IPos and ...

Page 74: ...IM see Section DIs Page 94 SINAMICS V90 PTI Four sources in total are available for speed limit You can select one of them via a combination of digital input signals SLIM1 and SLIM2 Digital signal Speed limit SLIM2 SLIM1 0 0 Internal speed limit 1 0 1 External speed limit analog input 1 1 0 Internal speed limit 2 1 1 Internal speed limit 3 Note Control mode The above four sources are valid in all ...

Page 75: ...able Two options are displayed in the drop down list Assign and Cancel Select Assign to link the digital input with the corresponding signal Then the current row displays grey Otherwise select Cancel to release the link The current row then displays white Assigning digital inputs for V90 PTI A total of 28 signals can be freely linked to digital inputs except for DI9 and DI10 linked with E_Stop and...

Page 76: ... panels Assigning digital outputs for V90 PN A total of seven signals can be freely linked to digital outputs For more information see Section DOs Page 95 Click the cells with white background in the table Select Assign to link the digital input with the corresponding signal Then the current cell displays grey DO signal reverse You can reverse the logics of DO1 and DO2 by activating the checkboxes...

Page 77: ...e 102 Click the cells with white background in the table Select Assign to link the digital input with the corresponding signal Then the current cell displays grey Note DO signal inverse The logics of digital output signals DO1 to DO6 can be inversed You can inverse the logics of DO1 to DO6 by setting the bit 0 to bit 5 of parameter p0748 4 3 6 3 Assigning analog outputs V90 PTI only You can assign...

Page 78: ...n list to link with analog outputs 4 3 7 Configuring referencing Referencing is only available in IPos and EPOS control modes Two sub functions are available Setting referencing Page 78 Setting software position limit Page 84 4 3 7 1 Setting referencing Setting referencing is only available in online mode Setting referencing in IPos control mode Incremental encoder If the motor is equipped with an...

Page 79: ...ine Help Operating Manual 04 2017 A5E36618042 003 79 Parame ter Value Referencing mode Illustration 1 External reference cam signal REF and encoder zero mark 2 Encoder zero mark only 3 External reference cam CCWL sig nal and encoder zero mark ...

Page 80: ...reference cam CWL signal and encoder zero mark Taking the second referencing mode as an example you can configure relevant parameters on the following panel Assign signals REF and SREF for more information see Section Configuring inputs outputs Page 75 Click and the following warning appears Click to start referencing and the following window appears ...

Page 81: ...ASSISTANT If the motor is equipped with an absolute encoder you can adjust the absolute encoder by clicking on the following panel to configure referencing Note Referencing mode for the absolute encoder If an absolute encoder is connected the five referencing modes are also available You can select different referencing modes with the parameter p29240 When p29240 1 to 4 the referencing process can...

Page 82: ...sk Incremental encoder If the motor is equipped with an incremental encoder three referencing modes in total are available Parame ter Val ue Referencing mode Illustration p29240 0 Setting the reference point via digital input signal REF Note When setting the reference point via the digital input REF you need to keep the control word STW1 11 0 1 External reference cam signal REF and encoder zero ma...

Page 83: ... you can configure the relevant parameters on the following panel Before starting referencing check the sources of signals REF and SREF in the above illustration respectively In this example the source of signal REF is DI See Section Assigning digital inputs Page 75 for information on how to assign signal REF Absolute encoder See the relevant description in Section Setting referencing in IPos cont...

Page 84: ...When the actual position reaches one of the above mentioned software position limits motor speed decelerates to 0 You can set the software position limit on the following panel Method 1 Setting through manual input Click the check box to enable the software position limit Enter the desired position values in the bottom input fields directly Method 2 Setting through the Jog function 1 Click the che...

Page 85: ...his function you can click this button and the checkbox 4 3 8 Setting encoder pulse output V90 PTI only When SINAMICS V ASSISTANT is working in position control modes PTI and IPos you can configure pulse output on the following panel SINAMICS V ASSISTANT automatically identifies the encoder type and resolution Two options are available for you to configure PTO relevant parameters set PTO number pe...

Page 86: ...ng mechanical backlash results in a false traversing distance because the axis at direction reversal travels either too far or not far enough corresponding to the absolute value of the backlash You can configure the backlash compensation for V90 PTI on the following panel In order to compensate the backlash the determined backlash must be specified in p2583 with correct polarity At each direction ...

Page 87: ...dbus communication parameters with this icon in the above list indicate they are indexed parameters By default the first index of each indexed parameter is displayed To view all indices of an indexed parameter click on this icon Note Can be changed The parameters can be changed in two states You can see the attribute of each parameter in Section Parameter list in the online help The online help ca...

Page 88: ...n to the view of all parameters you only need to clear the entered text Factory default You can click the following button to reset all parameters to their factory settings For more information see Section Tools Factory default Page 33 Save changes You can click the following button to save the changes compared to the de faults factory settings into an html file and use the file for future documen...

Page 89: ...ual 04 2017 A5E36618042 003 89 Field Description Table All parameters are displayed with the following information Group Parameter number Name Value Unit Range Factory setting Effect type Note In the value relevant column values with white background are editable ...

Page 90: ...ating Manual 04 2017 A5E36618042 003 4 4 Commissioning 4 4 1 Testing interface 4 4 1 1 I O simulation When SINAMICS V ASSISTANT is working in online mode you can view the I O status on the following panel for V90 PTI and V90 PN respectively SINAMICS V90 PTI ...

Page 91: ... signals DI9 Linked with EMGS signal DI10 Linked with C_MODE signal SINAMICS V90 PN DI1 DI4 Every digital input can be linked with either of the seven internal signals Note For more information about the number and definition of signals see Section DIs Page 94 AI1 Linked with speed related signals AI2 Linked with torque related signals Note For more information about analog inputs see Section Anal...

Page 92: ... is enabled Indicates that high voltage or logic 1 is on the digital input output Signal is disabled Indicates that low voltage or logic 0 is on the digital input output Signal is forcedly set to 1 Indicates that the status of the assigned signal is forcedly set to 1 DO is reversed Indicates that the logic of the DO is reversed After the DO is reversed a appears in front of the DO port Note This f...

Page 93: ... Manual 04 2017 A5E36618042 003 93 Status of signals You can view the name description value and status of individual signals on the following panels for V90 PTI and V90 PN respectively SINAMICS V90 PTI SINAMICS V90 PN Status of DI signals Status of DO signals ...

Page 94: ...urces with the digital input signal TLIM 0 internal torque limit 1 1 internal torque limit 2 SLIM Level Speed limit selection You can select two internal speed limit sources with the digital input signal SLIM 0 internal speed limit 1 1 internal speed limit 2 EMGS Level Emergency stop 0 emergency stop 1 servo drive is ready to run REF Edge 0 1 Setting the reference point with a digital input or ref...

Page 95: ...nals see the table below Name Descriptions Control mode S EPOS RDY Servo ready 1 ready to operate 0 drive not ready alarm occurs or enable signal is miss ing FAULT Fault 1 in fault status 0 no fault ZSP Zero speed detection 1 motor speed is equal with or lower than the zero speed can be set with parameter p2161 0 motor speed is higher than zero speed hysteresis 10 rpm TLR Torque limit reached 1 th...

Page 96: ...ad level RDY_ON Ready for servo on 1 ready to servo on 0 drive is not ready for servo on fault occurs main power supply is missing or STW1 1 and STW1 2 are not set to 1 Note After the drive is servo on the signal remains in 1 status unless the above abnormal cases happen INP In position signal 1 number of droop pulses is in the preset in position range parameter p2544 0 droop pulses are beyond the...

Page 97: ...Name Type Description Control mode PTI IPos S T 1 SON Edge 0 1 1 0 Servo on 0 1 powers on power circuit and makes servo drive ready to operate 1 0 motor ramps down OFF1 in PTI IPos and S modes motor coasts down OFF2 in T mode 2 RESET Edge 0 1 Reset alarms 0 1 Reset alarms 3 CWL Edge 1 0 Clockwise over travel limit positive limit 1 condition for operation 1 0 emergency stop OFF3 4 CCWL Edge 1 0 Cou...

Page 98: ... 0 0 electronic gear ratios 1 0 1 electronic gear ratios 2 1 0 electronic gear ratios 3 1 1 electronic gear ratios 4 X X X 9 EGEAR2 Level X X X 10 TLIM1 Level Torque limit selection A combination of TLIM1 and TLIM2 can select four torque limit sources one external torque limit three internal torque limits TLIM2 TLIM1 0 0 internal torque limit 1 0 1 external torque limit analog input 2 1 0 internal...

Page 99: ...wo torque setpoint sources one external torque setpoint one fixed torque set point 0 external torque setpoint analog input 2 1 fixed torque setpoint X X X 19 SLIM1 Level Speed limit selection A combination of SLIM1 to SLIM2 can select four speed limit sources one external speed limit three internal speed limits SLIM2 SLIM1 0 0 internal speed limit 1 0 1 external speed limit analog input 1 1 0 inte...

Page 100: ...e 0 1 Step to the fixed position setpoint 1 0 1 start step action X X X Note When working in the torque control mode the torque setpoint equals to 0 if CWE and CCWE are at the same status For more information see the direction and stop relevant section in the SINAMICS V90 SIMOTICS S 1FL6 Operating Instructions Note Invalid circumstances for DI signals When SINAMICS V ASSISTANT is communicating wit...

Page 101: ...t p29300 1 to force the signal SON to a logical high signal DI1 can then be assigned to other desired signals Note The parameter p29300 has higher priority than the DIs The bit 6 of p29300 is used for emergency stop You are not allowed to modify it when the drive is in S ON state Wiring The digital inputs support both PNP and NPN types of wirings You can find detailed information from the followin...

Page 102: ...than zero speed hysteresis 10 rpm 5 SPDR Speed reached 1 motor actual speed has nearly internal hysteresis 10 rpm reached the speed of the internal speed com mand or analog speed command The speed ap proaching range can be set via parameter p29078 0 speed difference between speed setpoint and actual is larger than internal hysteresis X X X 6 TLR Torque limit reached 1 the generated torque has near...

Page 103: ...n has not been reached See note below 12 REFOK Referenced 1 Referenced 0 Not referenced X X X 13 CM_STA Current control mode 1 The second mode in five compound control modes PTI S IPos S PTI T IPos T S T 0 The first mode in five compound control modes or four basic modes PTI IPos S T 14 RDY_ON Ready for servo on 1 ready to servo on 0 drive is not ready for servo on a fault occurs or the main power...

Page 104: ... above the motor utilization 2 Braking resistor capacity of the braking resistor is 85 of or above the resistor power rating 3 Fan alarm fan has stopped for 1 second or longer 4 Encoder alarm 5 Motor overheat motor has reached 85 of the maximum allowed motor temperature 6 Lifetime detection the life expectancy of the capacity or the fan is shorter than the specified time If warning condition assig...

Page 105: ...erent control modes the analog inputs are linked with different signals Control mode AI1 AI2 Position PTI and IPos Not used Torque limitation S Speed setpoint Torque limitation T Speed limitation Torque setpoint PTI S and IPos S Not used in position control modes Speed setpoint in S mode Torque limitation PTI T and IPos T Not used in position control modes Speed limitation in T mode Torque limitat...

Page 106: ...Remaining number of pulses refer ence 10 k 4 DC bus voltage reference 1000 V 11 Remaining number of pulses refer ence 100 k 5 Pulse input frequency refer ence 1 k 12 Remaining number of pulses refer ence 1000 k 6 Pulse input frequency refer ence 10 k p29351 0 Actual speed reference p29060 7 Pulse input frequency reference 100 k 1 de fault Actual torque reference 3 r0333 8 Pulse input frequency ref...

Page 107: ...orward CW Reverse CCW Forward CW Reverse CCW AB track pulse Pulse Direction 4 4 1 6 Pulse train encoder outputs PTOs Function A pulse train encoder output PTO which provides pulse signals can transmit the signals to the controller to realize a closed loop control system inside the controller or transmit them to another drive as pulse train setpoint for a synchronous axis 4 4 2 Testing motor Two su...

Page 108: ...te Position trial run is only available in PTI and IPos control modes Operating sequence 1 Enter the Jog speed 2 Use this button to enable the Jog function Note After clicking this button a warning message appears Click in the message window to confirm executing ser vo on 3 Click this button to rotate the motor clockwise and set a proper limit position 4 Obtain the current position by clicking thi...

Page 109: ... tuning modes one button auto tuning and real time auto tuning The auto tuning function can optimize control parameters with ratio of machine load moment of inertia p29022 and set suitable current filter parameters to suppress the machine resonance automatically You can change the dynamic performance of the system by setting different dynamic factors One button auto tuning One button auto tuning e...

Page 110: ...er clockwise The motor rotation position p29027 defines that one revolution equals to 360 degree is allowed by the machine For the motor with an absolute encoder position limitation is defined by p29027 For the motor with an incremental encoder the motor must be allowed to rotate freely about two rounds when tuning starts Implement the following steps to use the one button auto tuning function 1 S...

Page 111: ...023 2 1 When you have executed the one button tuning many times and obtained a stable value of p29022 you can stop estimating it by setting p29023 2 0 Parameter p29028 is available when the multi axis interpolation function is activated p29023 7 1 If the axes are used as the interpolation axes you need to set the same pre control time constants p29028 for them The parameters in advanced settings w...

Page 112: ...meter p29021 to 0 before servo on to interrupt the one button auto tuning Before you save the parameters on the drive make sure that p29021 has been changed to 0 Note Do not use the JOG function when the one button tuning function is in use Note After the one button tuning function is activated no operation is allowed except servo off and emergency stop Note After activating one button auto tuning...

Page 113: ...000 1000 Hz Natural frequency of current notch filter 2 denominator p1664 0 001 to 10 0 3 Damp of current notch filter 2 denominator p1665 0 5 to 16000 1000 Hz Natural frequency of current notch filter 2 numerator p1666 0 0 to 10 0 01 Damp of current notch filter 2 numerator p1668 0 5 to 16000 1000 Hz Natural frequency of current notch filter 3 denominator p1669 0 001 to 10 0 3 Damp of current not...

Page 114: ...imum control parameters Prerequisites for real time auto tuning The drive must be controlled by the host controller The machine actual load moment of inertia is different when the machine moves to the different positions Make sure that the motor has multiple accelerations and decelerations Step command is recommended Machine resonance frequency changes when the machine is running Implement the fol...

Page 115: ...tion directly Estimate the ratio of machine load moment of inertia with real time auto tuning p29024 2 1 When you have obtained a stable value of p29022 you can stop estimating it by setting p29024 2 0 Parameter p29028 is available when the multi axis interpolation function is activated p29024 7 1 If the axes are used as the interpolation axes you need to set the same pre control time constants p2...

Page 116: ...ion function is used together with the real time auto tuning function The function is activated by default When you use real time auto tuning function you are recommended to disable the resonance suppression function to get a high dynamic performance if there is no resonance in the machine The function can be activated deactivated with the bit 6 of p29024 When you choose to use the resonance suppr...

Page 117: ...arameters are reset to tuning default values p29021 0 auto tuning function is disabled without changing control parameters Parameter settings You can set the parameters on the following panel Click to reset the following parameters to their tuning defaults The tuning default values of the parameters are different when you use the different drives and motors The function of the button is not drive ...

Page 118: ...ter 2 numerator p1666 0 0 to 10 0 01 Damp of current notch filter 2 numerator p1668 0 5 to 16000 1000 Hz Natural frequency of current notch filter 3 denominator p1669 0 001 to 10 0 3 Damp of current notch filter 3 denominator p1670 0 5 to 16000 1000 Hz Natural frequency of current notch filter 3 numerator p1671 0 0 to 10 0 01 Damp of current notch filter 3 numerator p1673 0 5 to 16000 1000 Hz Natu...

Page 119: ...isabled so that the function of PI P switching can be available When the gain switching function is enabled the PI P switching function is disabled and the settings can not be cleared Gain switching Five gain switching modes in total are available Gain switching disabled Gain switching using digital input signal G CHANGE Gain switching using position deviation Gain switching using position setpoin...

Page 120: ...e and responds with a delay of several milliseconds 4 4 3 4 Low frequency vibration suppression Low frequency vibration suppression is a position setpoint filter function It can suppress the vibration frequency within 0 5 Hz to 62 5 Hz This function is only available in IPos and EPOS control modes Parameter settings To use the vibration suppression function you need to configure the following para...

Page 121: ...ect the filter type by setting p31581 p31581 0 rugged p31581 1 sensitive Define the suppression frequency by setting p31585 value range 0 5 Hz to 62 5 Hz Set the filter damping by p31586 value range 0 to 0 99 3 Select the desired control mode for the drive on the following panel 4 Enable the vibration suppression function by setting p29035 1 on the Viewing all pa rameters Page 87 panel 5 Set the d...

Page 122: ...4 5 1 Monitoring status Note This function can only work in online mode You can monitor the real time value of motion relevant parameters The motion data and product information are displayed on the following panel Note The above screenshot takes the user interface of SINAMICS V ASSISTANT for V90 PN for example ...

Page 123: ...r more information see Section Trace configuration Page 126 Start stop trace Only available in online mode Starts recording the current trace If you desire to stop the trace process click the following button Cursors Changes the cursor shape from cross to arrow When the cursor appears as an arrow you can directly select a curve and use it for variable calculation Note The selected curve is display...

Page 124: ...rent curves with a specified scale Zooms out the current curves with a specified scale Restores curves in the chart File operation Opens an existing trc file for curve display in the chart Saves the current recording of values in the following file formats trc trace curve files png bode diagrams time domain charts or frequency domain charts Reset scaling Displays the selected curves with the same ...

Page 125: ...dy t automatically calculated real time value range Formula dy t y t2 y t1 Note You can select a coordinate by clicking its designation then the selected coordinate is displayed yellow Frequency domain chart Frequency Displays real time frequency value of the horizontal cur sor coordinate in the chart Amplitude Displays real time amplitude value at the cross point of the horizontal cursor coordina...

Page 126: ...race signal and click to confirm your selection or otherwise you can click to abort your selection Click the color bar to define the display color of the curve for the signal Click the following button to select the digital signal Select a trace signal and click to confirm your selection or otherwise you can click to abort your selection Click the color bar to define the display color of the curve...

Page 127: ...and fifth trigger types you can enter the threshold upper lower value in the textbox 4 5 3 Measuring machine The measuring function is used for controller optimization With measuring function you can directly inhibit the influence of higher level control loops by means of simple parameterization and analyze the dynamic response of individual drives For easier handling of the controller optimizatio...

Page 128: ... is performed in the frequency range Note Measuring machine is only available in online mode Overview Area Item Description Measuring functions Speed controller setpoint frequency response before speed setpoint filter Speed control system excitation after current setpoint filter Current controller setpoint frequency response after current setpoint filter Amplitude The value of the signal amplitude...

Page 129: ...ck this button to start trace Note During the trace process you cannot stop it but only wait until it is completed Cursor Changes the cursor shape from cross to arrow When the cursor appears as an arrow you can directly select a curve and use it for variable calculation Note The selected curve is displayed highlighted If you click this button you can move the selected curve freely after the cursor...

Page 130: ... the time chart in curves and records measured values of parameters Frequency domain chart Available for mathematically computed curves and displays the Fourier trans formation Bode diagram Available for mathematically computed curves Time domain chart T Coordinate T time t1 Real time value of coordinate t1 t2 Real time value of coordinate t2 dt Automatically calculated duration Formula dt t2 t1 Y...

Page 131: ...oint of the horizontal cursor coordinate and curve Bode diagram Frequency Displays real time frequency value of the horizontal cursor coordinate in the dia gram Amplitude Displays real time amplitude value at the cross point of the horizontal cursor coordinate and the curve Curve selection Selects a curve to display in the chart Time domain chart A maximum of six curves can be simultaneously displ...

Page 132: ...format The telegram format is shown as follows STX LGE ADR PKE IND PWE PWE BCC STX start of text LGE length ADR slave address PKE parameter ID IND sub index PWE parameter value BCC block check character Relevant parameters You can access the following parameters by USS Parameter Description Parameter Description p1001 Fixed speed setpoint 1 r0020 Speed setpoint smoothed p1002 Fixed speed setpoint ...

Page 133: ...ion protocol by parameter p29007 Set p29007 1 to use the USS protocol Set the transmission baud rate by parameter p29009 3 Set control mode for the drive on the following panel 4 Save the parameters and restart the drive 5 Access the parameters via USS For IPos control mode you can change the following parameters via USS p2617 0 7 p2618 0 7 p2572 p2573 For S control mode you can change the followi...

Page 134: ...ICS V90 supports only three function codes If a request with an unknown function code is received an error message is returned FC3 Read holding registers When a message with FC 0x03 is received then four bytes of data are expected that is FC3 has four bytes of data Two bytes for the starting address Two bytes for the number of registers Byte 1 Byte 2 Byte 3 Byte 4 Byte 5 Byte 6 Byte 7 Byte 8 Addre...

Page 135: ...7482648 to 2147482647 Process data 3 re ceive word PZD3 40103 MDI position setpoint low word IPos R W LU 1 Process data 4 re ceive word PZD4 40104 MDI speed setpoint high word IPos R W 1000 LU min 1 1 to 40000000 Process data 5 re ceive word PZD5 40105 MDI speed setpoint low word IPos R W 1000 LU min 1 Process data 6 re ceive word PZD6 40110 Status word PTI IPos S T R 1 Process data 1 send word PZ...

Page 136: ...1 HIGH LOW p0795 40282 40283 Setpoint DI simulation high part low part R W 1 HIGH LOW p0796 40300 Power stack code num ber R 1 0 to 32767 40301 V90 OA version R 1 e g 104xx for V01 04 xx p29018 0 100 40320 Rated power of the power unit R kW 100 0 00 to 327 67 40321 Current limit R W A 1 0 0 to 400 0 40322 Ramp up time R W s 100 0 0 to 650 0 p1120 40323 Ramp down time R W s 100 0 0 to 650 0 p1121 4...

Page 137: ... R W 40603 DS47 data 1 R W 40722 DS47 data 120 R W 40800 40801 Fixed position setpoint 1 R W LU 1 2147482648 to 2147482647 p2617 0 40802 40803 Fixed position setpoint 2 R W LU 1 2147482648 to 2147482647 p2617 1 40804 40805 Fixed position setpoint 3 R W LU 1 2147482648 to 2147482647 p2617 2 40806 40807 Fixed position setpoint 4 R W LU 1 2147482648 to 2147482647 p2617 3 40808 40809 Fixed position se...

Page 138: ...0 Fixed speed setpoint 1 R W 0x4000 hex 100 motor rated speed 210000 000 to 210000 00 p1001 40901 Fixed speed setpoint 2 R W 0x4000 hex 100 motor rated speed 210000 000 to 210000 00 p1002 40902 Fixed speed setpoint 3 R W 0x4000 hex 100 motor rated speed 210000 000 to 210000 00 p1003 40903 Fixed speed setpoint 4 R W 0x4000 hex 100 motor rated speed 210000 000 to 210000 00 p1004 40904 Fixed speed se...

Page 139: ... defined in the above table 4 6 2 1 Cyclic communication Operating steps 1 Set the drive to servo off status 2 Go to View all parameters panel and set the related parameters Configure the RS485 bus address by parameter p29004 You can configure the slaver address from 1 to 31 Set the communication protocol by parameter p29007 Set p29007 2 to use the Modbus protocol Select the Modbus control source ...

Page 140: ...Note Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive You need to trigger a rise edge for OFF1 to enable SON status for the motor and OFF2 and OFF3 must be set to 1 The step must be executed when you enable SON for the first time 8 Write the setpoint and read the status word via PLC Example This example shows the operating procedures when we use the setpoint and ...

Page 141: ...eep the PLC baud rate the same as the drive setting Set even parity check for the PLC parity 2 8 Set a way for PLC sending message to slaves Here we use the unicast mode and we only want to send the message to slave 1 Note If you want to send the message to all slaves you need to set the slave address to 0 to use the broadcast mode ...

Page 142: ...3 must be set to 1 The step must be executed when you enable SON for the first time For example we write 0x41E to the register 40100 firstly and then write 0x41F to the register The motor now is in SON status You can check the control word definition table below to see the meaning of 0x41E and 0x41F 10 Write the speed setpoint via the register 40101 Note You can calculate the actual speed value wi...

Page 143: ...ses can be enabled 0 OFF1 braking with ramp function generator then pulse cancellation ready to power up 1 OFF2 1 No OFF2 enable is possible 0 OFF2 immediate pulse cancelation and power on inhibit OFF2 1 No OFF2 enable is possible 0 OFF2 immediate pulse cancelation and power on inhibit 2 OFF3 1 No OFF3 enable is possible 0 OFF3 fast braking then pulse cancela tion and power on inhibit OFF3 1 No OF...

Page 144: ...e pulse cancelation and power on inhibit 2 OFF3 1 no OFF3 enable is possible 0 OFF3 fast braking then pulse cancela tion and power on inhibit OFF3 1 no OFF3 enable is possible 0 OFF3 fast braking then pulse cancela tion and power on inhibit 3 OPER 1 Enable operation pulses can be ena bled 0 Inhibit operation cancel pulses OPER 1 Enable operation pulses can be ena bled 0 Inhibit operation cancel pu...

Page 145: ... 5 0 otherwise fault F7488 occurs Note In IPos control mode when you implement the absolute positioning for the modular axis with Modbus you can select the MDI direction with parameter p29230 Note In T control mode the motor cannot be stopped with OFF1 via Modbus Note All the reserved bits in register 40100 must be set to 0 Definition of register 40110 Bit PTI IPos S and T control modes Signals De...

Page 146: ...e if you have set bit 0 1 for register 40281 to enable signal DI1 you need to set the trigger condition rising edge or high level for bit 0 of register 40283 DI simulation example in S control mode In S control mode the default digital input signal assignment is as follows Digital input DI1 DI2 DI3 DI4 DI5 DI6 DI7 DI8 DI9 DI10 Signal SON REST CWL CCWL CWE CCWE SPD1 SPD2 EMGS C MODE Register 40281 ...

Page 147: ... hex FF hex 01 hex Read job 0 02 hex ID of drive objects at V90 always 2 Number of parameters m 2 Address parameter 1 Attribute 10 hex Parameter value Number of the indices 00 hex EA hex For parameters without index 00 hex 4 Parameter number 0001 hex FFFF hex 6 Number of the 1st Index 0000 hex FFFF hex for parameters without index 0000 hex 8 Address parameter 2 Address parameter m The table below ...

Page 148: ...ex values or for a negative response number of error values 4 Value of the 1st Index or for a negative response Error value 1 You can find the error values in the table at the end of this section 6 Values parameter 2 Values parameter m Changing parameter values The table below formats a request to change parameters Data block Byte n Bytes n 1 n Header Reference 00 hex FF hex 02 hex Change request ...

Page 149: ... request 02 hex change request successful 0 02 hex ID of drive objects at V90 always 2 Number of parameters identical to a change request 2 The table below formats the response when the drive was not able to completely execute the change request Data block Byte n Bytes n 1 n Header Reference identical to a change request 82 hex Drive was not able to completely execute the write request 0 02 hex ID...

Page 150: ... reasons i e a parameter with defined individual values 15 hex Response too long the length of the actual response exceeds the maximum transfer length 16 hex Illegal parameter address illegal or unsupported value for attribute number of elements parameter number subindex or a combination of these 17 hex Illegal format change request for an illegal or unsupported format 18 hex Number of values not ...

Page 151: ...ccess as well as the length of the request data Register 40603 contains the request reference which is defined by the user and the access type reading or writing From register 40603 and higher the request aligns acyclic communication via data set 47 Register 40604 contains the number of the drive object for V90 always 2 and the number of parameters that are read out or written to Register 40605 co...

Page 152: ...1120 40610 Second parameter subindex 0 Write the PLC command from registers 40601 to 40610 The table below formats a response for successful read operation Byte Description Header 01 h 03 h 20 h 0 1 2 Slave address Function code read Number of following data bytes 20 h 32 bytes 16 registers User data 0002 h 2F0E h 8001 h 0202 h 0301 h 0001 h 0801 h 4142 h 6666 h 3 4 5 6 7 8 9 10 11 12 13 14 15 16 ...

Page 153: ...ser data 0001 h 2F00 h 0004 h 3 4 5 6 7 8 40601 Check value 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 Example Set p1121 11 28 and p29130 2 The table below formats a request to write the parameter values of p1121 and p29130 from slave number 1 Byte Description Header 01 h 10 h 0258 h 000A h 1E h ...

Page 154: ...ond parameter 40609 Second parameter number p29130 40610 Second parameter subindex 0 40611 Format number of values of the first parameter 40612 First parameter value 11 28 41347AE1 h 40613 First parameter value 40614 Format number of values of the second parameter 40615 Second parameter value 2 Write the PLC command from registers 40601 to 40615 The table below formats a response for successful wr...

Page 155: ... write operation write request still not completed Byte Description Header 01 h 03 h 20 h 0 1 2 Slave address Function code read Number of following data bytes 20 h 32 bytes 16 registers User data 0001 h 2F00 h 0004 h 3 4 5 6 7 8 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 4 7 ...

Page 156: ...Task navigation SINAMICS V ASSISTANT Online Help 156 Operating Manual 04 2017 A5E36618042 003 ...

Page 157: ...TI 102 Digital outputs Assigning warning signals to digital outputs 104 Wiring 97 E Edit Copy 31 Cut 30 Paste 31 F Function keys and shortcuts 38 H Help About SINAMICS V ASSISTANT 36 View help 35 I IO simulation 90 M Mechanical structure 54 O Optimize drive low frequency vibration suppression 120 manual tuning 117 one button auto tuning 110 real time auto tuning 114 P Parameter value 147 Parameter...

Page 158: ...ion 44 Set limits 71 Set parameter setpoint 56 Set PROFINET Configure network 51 Select telegram 48 Speed limit 73 Switch Go offline 31 Go online 31 T Test motor 107 Toolbar 36 Tools Factory default 33 Reset absolute encoder 33 Restart drive 32 Save parameters to ROM 32 Upload parameters 35 Torque control mode Torque setpoint 69 Torque limit 71 Trace configuration 126 U User interface 25 W Working...

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