Page 1 Function Manual 03/2006 Edition sinamics SINAMICS S120...
Page 3 Infeed Extended Setpoint Channel Operating Modes Extended Functions SINAMICS S120 Basic Information About the Drive System Function Manual Availability of SW Functions List of Abbreviations References Index Valid for Drive Firmware release SINAMICS S120 03/2006 Edition...
Page 4 Registered trademarks All designations with the trademark symbol R are registered trademarks of Siemens AG. Other designa- tions in this documentation may be trademarks whose use by third parties for their own purposes can violate the rights of the owner.
Page 5 Foreword Information on the SINAMICS S120 documentation The SINAMICS S120 documentation is divided into the following areas: S General documentation/catalogs S Manufacturer/service documentation A current overview of the documentation in the available languages is provided in the Internet: http://www.siemens.com/motioncontrol Follow menu items – “Support” –> “Technical Documentation” –> “Overview of Publications”.
Page 6: Infeed
SINAMICS S drive system. Objective The Function Manual describes all the procedures and operational instructions re- quired for commissioning and servicing SINAMICS S120. The Function Manual is structured as follows: Chapter 1 Infeed...
Page 7 For reasons of clarity, this documentation does not contain all of the detailed infor- mation on all of the product types. This documentation cannot take into considera- tion every conceivable type of installation, operation and service/maintenance. © Siemens AG 2006 All Rights Reserved SINAMICS S120 Function Manual, 03/2006 Edition...
Page 8 +49 (0) 9131 / 98 - 63315 E-mail: motioncontrol.docu@siemens.com Faxformular: refer to the feedback sheet at the end of the documentation Internet address for SINAMICS http://www.siemens.com/sinamics © Siemens AG 2006 All Rights Reserved viii SINAMICS S120 Function Manual, 03/2006 Edition...
Page 9 Adjustable parameter 795, bit 4 Notation for faults and alarms (examples): S F1234 Fault 1234 S A5678 Alarm 5678 General notation: S The sign “8” means “is equal to” © Siemens AG 2006 All Rights Reserved SINAMICS S120 Function Manual, 03/2006 Edition...
Page 10 – The measuring device is grounded (with a protective conductor, for example). – The measuring head has been temporarily discharged before measurements are taken on a floating measuring device (e.g. touching a bare metal controller housing). © Siemens AG 2006 All Rights Reserved SINAMICS S120 Function Manual, 03/2006 Edition...
Page 11 Only protective extra-low voltages (PELVs) that comply with EN60204-1 must be connected to all connections and terminals between 0 and 48 V. © Siemens AG 2006 All Rights Reserved SINAMICS S120 Function Manual, 03/2006 Edition...
Page 12 Motors must be connected in accordance with the circuit diagram provided, otherwise they could be destroyed. Note When operated in dry operating areas, SINAMICS equipment with three-phase motors conforms to low-voltage Directive 73/23/EEC. © Siemens AG 2006 All Rights Reserved SINAMICS S120 Function Manual, 03/2006 Edition...
Page 18: Active Infeed
Firmware Actual values Line reactor Active Infeed Manipulated variables Control Active Line Module Actual values DRIVE-CLiQ DC link Fig. 1-1 Schematic structure of Active Infeed Booksize © Siemens AG 2006 All Rights Reserved 1-18 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 19 1) Voltages specified for Smart Mode are derived from the rectified line supply voltage. The DC link voltage setpoint (p3510) has no effect in this control mode. © Siemens AG 2006 All Rights Reserved 1-19 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 20 Function diagram for Active Infeed (see List Manual) S 1774 Overviews – Active Infeed S 8920 Control word sequential control infeed S ... S 8964 Messages and monitoring, supply frequency and Vdc monitoring © Siemens AG 2006 All Rights Reserved 1-20 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 21: Line And Dc Link Identification
= 5. Only then can it be guaranteed that the infeed operates with the optimum controller settings. When the identification function is activated, alarm A06400 is output. © Siemens AG 2006 All Rights Reserved 1-21 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 22: Active Infeed Open-Loop Control
The missing enable signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable pulses) must be connected in accor- dance with the Equipment Manual. © Siemens AG 2006 All Rights Reserved 1-22 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 23 PROFIBUS 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). © Siemens AG 2006 All Rights Reserved 1-23 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 24 ZSWAE.6 r0899.6 A_ZSW1.6 Alarm present ZSWAE.7 r2139.7 A_ZSW1.7 Controlled by PLC ZSWAE.9 r0899.9 A_ZSW1.9 Pre-charging completed ZSWAE.11 r0899.11 A_ZSW1.11 Line contactor energized feedback ZSWAE.12 r0899.12 A_ZSW1.12 © Siemens AG 2006 All Rights Reserved 1-24 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 25: Reactive Current Control
1.73 * rated line voltage. 1.1.5 Harmonics controller Description Harmonics in the line voltage cause harmonics in the line currents. By activating the harmonics controller, you can reduce current harmonics. © Siemens AG 2006 All Rights Reserved 1-25 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 26 The phase currents in parameter p0069[0..2] (U, V, W) can be checked using the STARTER trace function. Overview: key parameters S p3624 Infeed harmonics controller order S p3625 Infeed harmonics controller scaling S r0069[0..6] Phase current, actual value © Siemens AG 2006 All Rights Reserved 1-26 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 27: Smart Infeed
Line reactor Smart Manipulated Infeed DRIVE-CLiQ variables Control Smart line module Actual values DRIVE-CLiQ DC link Fig. 1-4 Schematic structure of the Smart Infeed Booksize © Siemens AG 2006 All Rights Reserved 1-27 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 28 Missing enable signals, line contactor control S 8850 Smart Infeed interface (control signals, actual values) S 8860 Supply voltage monitoring S 8864 Power frequency and Vdc monitoring © Siemens AG 2006 All Rights Reserved 1-28 SINAMICS S120 Function Manual, 03/2006 Editi...
Page 29 S r2138 CO/BO: Control word, faults/alarms S r2139 CO/BO: Status word, faults/alarms 1 S r3405 CO/BO: Status word infeed S p3533 BI: Infeed, inhibit regenerative operation © Siemens AG 2006 All Rights Reserved 1-29 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 30: Line And Dc Link Identification
The identification using p3410 = 5 is the preferred method. Closed-loop control may, for example, have to be reset to the factory setting if the identification process is unsuccessful. © Siemens AG 2006 All Rights Reserved 1-30 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 31: Smart Infeed Open-Loop Control
Errors that are still present but the causes of which have been rectified can be ac- knowledged by means of a 0 –> 1 edge at the “Acknowledge error” (p2103.5) signal. © Siemens AG 2006 All Rights Reserved 1-31 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 32 PROFIBUS 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). © Siemens AG 2006 All Rights Reserved 1-32 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 33 ZSWAE.6 r0899.6 A_ZSW1.6 Alarm present ZSWAE.7 r2139.7 A_ZSW1.7 Controlled by PLC ZSWAE.9 r0899.9 A_ZSW1.9 Pre-charging completed ZSWAE.11 r0899.11 A_ZSW1.11 Line contactor energized feedback ZSWAE.12 r0899.12 A_ZSW1.12 © Siemens AG 2006 All Rights Reserved 1-33 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 34: Basic Infeed
Basic Line Module Actual values Control DRIVE-CLiQ DC link Fig. 1-7 Schematic structure of Basic Infeed Chassis Commissioning The rated line voltage (p0210) must be parameterized during commissioning. © Siemens AG 2006 All Rights Reserved 1-34 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 35: Basic Infeed Open-Loop Control
Errors that are still present but the causes of which have been rectified can be ac- knowledged by means of a 0 –> 1 edge at the “Acknowledge error” (p2103.5) signal. © Siemens AG 2006 All Rights Reserved 1-35 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 36 Switching off the controller with the OFF1 signal is delayed by the time entered in p3490, thereby allowing the connected drives to be decelerated in a controlled manner. © Siemens AG 2006 All Rights Reserved 1-36 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 37 ZSWAE.4 r0899.4 A_ZSW1.4 Power-on disable ZSWAE.6 r0899.6 A_ZSW1.6 Controlled by PLC ZSWAE.9 r0899.9 A_ZSW1.9 Pre-charging completed ZSWAE.11 r0899.11 A_ZSW1.11 Line contactor energized feedback ZSWAE.12 r0899.12 A_ZSW1.12 © Siemens AG 2006 All Rights Reserved 1-37 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 38: Line Contactor Control
& <1> The current capacity of the outputs must be observed. & An auxiliary contactor may have to be used. Fig. 1-9 Line contactor control © Siemens AG 2006 All Rights Reserved 1-38 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 39 Missing enable signals, line contactor control Parameter overview (see List Manual) S r0863.1 CO/BO: Drive coupling status word/control word S p0860 BI: Line contactor, feedback signal © Siemens AG 2006 All Rights Reserved 1-39 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 40: Pre-Charging And Bypass Contactor Chassis
The DC link is pre-charged and ready for operation. If pre-charging could not be completed, fault F06000 is output. Power OFF: S The pulses are inhibited and the bypass contactor is then opened. © Siemens AG 2006 All Rights Reserved 1-40 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 42: Extended Setpoint Channel Servo
(e.g. SIMOTION via the isochronous PROFIBUS with PROFIdrive telegrams, standard telegrams 5 and 6, SIEMENS telegram 105, 106, 116 (not telegram type 1 or 999). DSC enables high position controller gain and, as a result, minimizes following errors and provides a high level of noise immunity.
Page 43: Activating The "Extended Setpoint Channel" Function Module In Servo Mode
When the “extended setpoint channel” function module for servo is activated, under certain circumstances, the number of drives in the multi-axis group that can be controlled from a Control Unit is reduced. © Siemens AG 2006 All Rights Reserved 2-43 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 44: Extended Setpoint Channel
Properties of the extended setpoint channel S Main/supplementary setpoint, setpoint scaling S Direction of rotation limiting and direction of rotation changeover S Suppression bandwidths and setpoint limitation © Siemens AG 2006 All Rights Reserved 2-44 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 45: Jog
Caution The jog function is not PROFIdrive compatible! Signal Signal ON/OFF1 Total setpoint active Jog setpoint Fig. 2-2 Function chart: Jog and OFF1 © Siemens AG 2006 All Rights Reserved 2-45 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 46 S In jog mode, ZSWA.02 (operation enabled) is set to “0” because the speed setpoint has not been enabled for control. S The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1). © Siemens AG 2006 All Rights Reserved 2-46 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 47 ZSWA.XX= status word sequence control bit (r0899). <2> r0002= operating display <3> only required when the safety function ”safe standstill” is required Fig. 2-4 Jog sequence © Siemens AG 2006 All Rights Reserved 2-47 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 48 ZSW1.6 Pulses enabled ZSWA.11 r0899.11 ZSW1.11 Function diagram overview (refer to the List Manual) S 2610 Sequence control S 3030 Main/added setpoint, setpoint scaling, jogging © Siemens AG 2006 All Rights Reserved 2-48 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 49 The “Speed setpoint jog” parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Fig. 2-5 STARTER icon for “speed setpoint” © Siemens AG 2006 All Rights Reserved 2-49 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 50: Fixed Speed Setpoints
In the STARTER commissioning tool, the “Fixed setpoints” parameter screen in the project navigator under the relevant drive is activated by double-clicking Setpoint channel –> Fixed setpoints. © Siemens AG 2006 All Rights Reserved 2-50 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 51: Motorized Potentiometer
S Configurable setpoint for Power On (p1030.0) – Starting value is the value in p1040 (p1030.0 = 0) – Starting value is the stored value (p1030.0 = 1) © Siemens AG 2006 All Rights Reserved 2-51 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 52 In the STARTER commissioning tool, the “Motorized potentiometer” parameter screen in the project navigator under the relevant drive is activated by double- clicking Setpoint channel –> Motorized potentiometer. © Siemens AG 2006 All Rights Reserved 2-52 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 53: Main/Supplementary Setpoint And Setpoint Modification
Parameter overview (see List Manual) Adjustable parameters S p1070[C] CI: Main setpoint S p1071[C] CI: Main setpoint scaling S p1075[C] CI: Supplementary setpoint S p1076[C] CI: Supplementary setpoint scaling © Siemens AG 2006 All Rights Reserved 2-53 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 54 The “speed setpoint” parameter screen is selected via the following icon in the tool- bar of the STARTER commissioning tool: Fig. 2-7 STARTER icon for “speed setpoint” © Siemens AG 2006 All Rights Reserved 2-54 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 55: Direction Of Rotation Limiting And Direction Of Rotation Changeover
Direction of rotation limiting and direction of rotation changeover Function diagram overview (refer to the List Manual) S 1550 Setpoint channel S 3040 Direction of rotation limiting and direction of rotation changeover © Siemens AG 2006 All Rights Reserved 2-55 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 56 The “speed setpoint” parameter screen is selected via the following icon in the tool- bar of the STARTER commissioning tool: Fig. 2-9 STARTER icon for “speed setpoint” © Siemens AG 2006 All Rights Reserved 2-56 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 57: Suppression Bandwidths And Setpoint Limits
Motor control Fig. 2-10 Suppression bandwidths, setpoint limitation Function diagram overview (refer to the List Manual) S 1550 Setpoint channel S 3050 Suppression bandwidth and speed limiting © Siemens AG 2006 All Rights Reserved 2-57 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 58 The “speed limitation” parameter screen is selected by activating the following icon in toolbar of the STARTER commissioning tool: Fig. 2-11 STARTER icon for “speed limitation” © Siemens AG 2006 All Rights Reserved 2-58 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 59: Ramp-Function Generator
S Extended ramp-function generator with – Initial and final rounding off Note The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1). © Siemens AG 2006 All Rights Reserved 2-59 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 60 Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì Ì Tup_eff Tdn_eff Fig. 2-13 Expanded ramp-function generator S RFG ramp-up time Tup p1120[D] S RFG ramp-down time Tdn p1121[D] © Siemens AG 2006 All Rights Reserved 2-60 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 61 Without tracking With tracking Speed Setpoint Speed Setpoint Output of Output of ramp-function generator ramp-function generator p1145 Actual speed Actual speed Fig. 2-14 Ramp-function generator tracking © Siemens AG 2006 All Rights Reserved 2-61 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 62 Parameter overview (see List Manual) Adjustable parameters S p1115 Ramp-function generator selection S p1120[D] Ramp-function generator ramp-up time S p1121[D] Ramp-function generator ramp-down time S p1122[C] BI: Bypass ramp-function generator © Siemens AG 2006 All Rights Reserved 2-62 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 63 S p1145[D] Ramp-function generator tracking Visualization parameters S r1119 CO: Ramp-function generator setpoint at the input S r1150 CO: Ramp-function generator speed setpoint at the output © Siemens AG 2006 All Rights Reserved 2-63 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 66: Servo Control
The maximum speed p1082[D] is defined with default values for the selected motor and becomes active during commissioning. The ramp-function generators refer to this value. Fig. 3-1 Speed limits © Siemens AG 2006 All Rights Reserved 3-66 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 67: Speed Setpoint Filter
Speed setpoint filter 2 denominator natural frequency S p1424[D] Speed setpoint filter 2 denominator damping S p1425[D] Speed setpoint filter 2 numerator natural frequency S p1426[D] Speed setpoint filter 2 numerator damping © Siemens AG 2006 All Rights Reserved 3-67 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 68: Speed Controller Adaptation
1458[D] p1456[D] p1457[D] Adaptation signal 2 p1466[C] Speed–dependent Kp_n adaptation To speed controller with encoder Speed–dependent Tn_n adaptation Fig. 3-4 Free Kp_n adaptation © Siemens AG 2006 All Rights Reserved 3-68 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 69 The “speed controller” parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Fig. 3-6 STARTER icon for “speed controller” © Siemens AG 2006 All Rights Reserved 3-69 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 70 Upper adaptation speed speed controller S p1466[0...n] CI: Speed controller P-gain scaling Function diagram overview (refer to the List Manual) S 5050 Kp_n and Tn_n adaptation © Siemens AG 2006 All Rights Reserved 3-70 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 71: Torque-Controlled Operation
1. Set torque control mode (p1300 = 23; p1501 = “1” signal) 2. Specify torque setpoint – Select source (p1511) – Scale setpoint (p1512) – Select supplementary setpoint (1513) Fig. 3-7 Torque setpoint 3. Activate enable signals © Siemens AG 2006 All Rights Reserved 3-71 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 72 Function diagrams for torque-controlled operation (see List Manual) S 5060 Torque setpoint, control mode switchover S 5610 Torque limitation/reduction/interpolator Signal overview (see List Manual) S r1406.12 Torque control active © Siemens AG 2006 All Rights Reserved 3-72 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 73 S p1511[C] CI: Supplementary torque 1 S p1512[C] CI: Supplementary torque 1 scaling S p1513[C] CI: Supplementary torque 2 Visualization parameters S r1515 Supplementary torque total © Siemens AG 2006 All Rights Reserved 3-73 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 74: Torque Setpoint Limitation
[5718.4] Fig. 3-9 Current/torque setpoint limiting Note This function is effective immediately without any settings. The user can also define further settings for limiting the torque. © Siemens AG 2006 All Rights Reserved 3-74 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 75 S The following torque limits are displayed via parameters: – Lowest of all upper torque limits with and without offset – Highest of all lower torque limits with and without offset © Siemens AG 2006 All Rights Reserved 3-75 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 76 Torque offset for torque limit Shifts the upper and p1532 Shifts the motor and p1532 lower torque limits regenerative mode together torque limits together © Siemens AG 2006 All Rights Reserved 3-76 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 77 Ñ Ñ Ñ Ñ Ñ Ñ Ñ Ñ M_offset > 0 M_offset = 0 p1521 p1521 Fig. 3-10 Example: Torque limits with or without offset © Siemens AG 2006 All Rights Reserved 3-77 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 78 CO: Torque limit, lower/regenerative S p1522[C] CI: Torque limit, upper/motoring S p1523[C] CI: Torque limit, lower/regenerative S r1526 Upper torque limit of all torque limits without offset © Siemens AG 2006 All Rights Reserved 3-78 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 79 Maximum motor-mode torque-generating current limit S r1537 Minimum motor-mode torque-generating current limit S r1538 CO: Upper effective torque limit S r1539 CO: Lower effective torque limit © Siemens AG 2006 All Rights Reserved 3-79 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 80: Extended Torque Control" Function Module (Kt Estimator)
(p0350), leakage inductance (p0356) and voltage emulation errors (p1952, p1953). The cable resistance must be calculated before the motor identification and ent- ered into p0352. © Siemens AG 2006 All Rights Reserved 3-80 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 82: Current Controller
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. © Siemens AG 2006 All Rights Reserved 3-82 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 83 Parameters for current controller (see List Manual) Closed-loop current control S p1701[0...n] Current controller reference model deadtime S p1715[0...n] Current controller P gain S p1717[0...n] Current controller integral time © Siemens AG 2006 All Rights Reserved 3-83 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 84 Current controller adaptation upper starting point S p0393[0...n] Current controller adaptation upper P gain S p1590[0...n] Flux controller P gain S p1592[0...n] Flux controller integral time © Siemens AG 2006 All Rights Reserved 3-84 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 85: Current Setpoint Filter
The phase frequency curve is shown alongside the amplitude log frequency curve. A phase shift results in a control system delay and should be kept to a minimum. Fig. 3-13 Current setpoint filter © Siemens AG 2006 All Rights Reserved 3-85 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 86 Infinite notch depth at the blocking frequency S Numerator frequency f S Numerator damping D S Denominator natural frequency f S Denominator damping D 2 @ f © Siemens AG 2006 All Rights Reserved 3-86 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 87 Defined notch at the blocking frequency K[dB] (e.g. –20 dB) S Numerator frequency f S Numerator damping D 2 @ f @ 10 S Denominator natural frequency f S Denominator damping D 2 @ f © Siemens AG 2006 All Rights Reserved 3-87 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 88 S Numerator natural frequency f S Numerator damping D + 10 @ 10 S Denominator natural frequency f @ 10 S Denominator damping D 2 @ f @ 10 © Siemens AG 2006 All Rights Reserved 3-88 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 89 Amplitude log frequency curve Phase frequency curve Numerator frequency f = 500 Hz Numerator damping D = 0.02 dB Denominator frequency f 900 Hz Denominator damping D 0.15 dB © Siemens AG 2006 All Rights Reserved 3-89 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 90 S p1676 Current setpoint filter 4 numerator damping S p1699 Filter data transfer Function diagram overview (refer to the List Manual) S 5710 Current setpoint filter © Siemens AG 2006 All Rights Reserved 3-90 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 91: V/F Control For Diagnostics
“0”. Note The operation of synchronous motors with V/f control is allowed only at up to 25 % of the rated motor speed. © Siemens AG 2006 All Rights Reserved 3-91 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 92 3. Set p1300 = 0 ––> activates the function 4. Activate the enable signals for operation 5. Specify the speed setpoint ––> evaluate the diagnostic function © Siemens AG 2006 All Rights Reserved 3-92 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 93 S p1318[0...n] V/f control ramp-up/ramp-down time S p1319[0...n] V/f control voltage at zero frequency Visualization parameters S r0313[0...n] Number of motor pole pairs current (or calculated) © Siemens AG 2006 All Rights Reserved 3-93 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 94: Sensorless Operation (Without An Encoder)
Module. The default setting is 50 % (synchronous motor) or 80 % (induction motors) of the rated motor current (p0305). When parameterizing the motor current (p1612), you must take into account the thermal motor load. © Siemens AG 2006 All Rights Reserved 3-94 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 95 Once the pulses have been canceled, no information about the motor speed is available. The computed actual speed value is then set to zero, which means that all actual speed value messages and output signals are irrelevant. © Siemens AG 2006 All Rights Reserved 3-95 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 96 When special high-speed motors or other low-leakage induction motors are used, a series reactor may be required to ensure that the current controller remains stable. The series reactor can be integrated via p0353. © Siemens AG 2006 All Rights Reserved 3-96 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 97 Motor model changeover speed hysteresis Function diagram overview (refer to the List Manual) S 5050 Kp_n/Tn_n adaptation S 5060 Torque setpoint, control mode switchover S 5210 Speed controller © Siemens AG 2006 All Rights Reserved 3-97 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 98: Motor Data Identification
For p1958 = –1, the ramp-up and ramp-down time of the setpoint channel (p1120 and p1121) are also used for the MotID. © Siemens AG 2006 All Rights Reserved 3-98 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 99 The EMERGENCY SWITCHING-OFF functions must be completely functional when commissioning the system. All of the relevant safety regulations must be carefully observed in order to exclude any danger for man and machine. © Siemens AG 2006 All Rights Reserved 3-99 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 101 If possible (e.g. no hanging/suspended axis), we recommend that the brake is opened before the MotID (p1215 = 2). This also means that the encoder size can be adjusted and the angular commutation calibrated. © Siemens AG 2006 All Rights Reserved 3-101 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 102 If the encoder inversion is changed using MotID, fault F07993 is output, which refers to a possible change in the direction of rotation and can only be acknowledged by p1910 = –2. © Siemens AG 2006 All Rights Reserved 3-102...
Page 103 The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and is only suitable for making rough checks. The sign is negative if inversion is required (p0410.0). © Siemens AG 2006 All Rights Reserved 3-103...
Page 104 If the encoder inversion is changed using MotID, fault F07993 is output, which refers to a possible change in the direction of rotation and can only be acknowledged by p1910 = –2. © Siemens AG 2006 All Rights Reserved 3-104...
Page 105 (p1959.05 = 1 and p1959.10 = 1), as generally the travel limits do not permit longer traversing distances in one direction. © Siemens AG 2006 All Rights Reserved 3-105 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 106 S p1910 Motor data identification routine, stationary (standstill) Rotating measurement S p1958 Motor data identification ramp-up/ramp-down times S p1959 Rotating measurement configuration S p1960 Rotating measurement selection © Siemens AG 2006 All Rights Reserved 3-106 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 107: Optimizing The Current And Speed Controller
After the Kp_n value has been set, the ideal integral action time Tn_n (e.g. re- duced from 10 ms to 5 ms) can be determined. © Siemens AG 2006 All Rights Reserved 3-107 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 108: Pole Position Identification
S Determining the pole position (p1982 = 1) S Determining the angular commutation offset during commissioning (p1990 = 1) S Plausibility check for encoders with absolute information (p1982 = 2) © Siemens AG 2006 All Rights Reserved 3-108 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 109 S If there is a motor brake, then this must be open (p1215 = 2). S The specified current magnitude (p1993) must move the motor by a sufficient amount. © Siemens AG 2006 All Rights Reserved 3-109 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 110 Is the motor ironless? A mechanically adjusted encoder with absolute information must be used. A saturation-based method can be used. Fig. 3-21 Selecting the appropriate technique © Siemens AG 2006 All Rights Reserved 3-110 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 111 S Single calibration of the pole position for encoders with absolute information (exception: The Hall sensor must always be mechanically adjusted.) S Calibrating the zero mark position for fine synchronization © Siemens AG 2006 All Rights Reserved 3-111 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 112 When fault F07414 occurs, p1990 is automatically started; if p1980 is not equal to 99 and p0301 does not refer to a catalog motor with an encoder that is adjusted in the factory. © Siemens AG 2006 All Rights Reserved 3-112 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 113: Vdc Control
(Vdc_min and Vdc_max controller). To ensure that critical drives can be operated for as long as possible, parameterizable faults exist that switch off in- dividual drives if there is a problem with the DC link. © Siemens AG 2006 All Rights Reserved 3-113 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 114 You must make sure that the converter is not disconnected from the power supply. It could become disconnected, for example, if the line contactor drops out. The line contactor should have an uninterruptible power supply (UPS), for example. © Siemens AG 2006 All Rights Reserved 3-114 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 116: Travel To Fixed Stop
The desired torque derating is brought about by scaling the upper/motor-mode tor- que limit and the lower/regenerative-mode torque limit. Application examples S Screwing parts together with a defined torque. S Moving to a mechanical reference point. © Siemens AG 2006 All Rights Reserved 3-116 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 117 102 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. © Siemens AG 2006 All Rights Reserved 3-117 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 118 The motor runs at the set torque until it reaches the stop 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”. © Siemens AG 2006 All Rights Reserved 3-118 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 119 Function diagram overview (refer to the List Manual) S 5610 Torque limitation/reduction/interpolator S 5620 Motor/generator torque limit S 5630 Upper/lower torque limit S 8012 Torque messages, motor blocked/stalled © Siemens AG 2006 All Rights Reserved 3-119 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 120: Vertical Axes
Actual torque smoothed S p1513 CI: Supplementary torque 2 S p1520 CO: Torque limit, upper/motoring S p1521 CO: Torque limit, lower/regenerative S p1532 CO: Torque limit, offset © Siemens AG 2006 All Rights Reserved 3-120 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 121 Servo control Function diagram overview (refer to the List Manual) S 5060 Torque setpoint, control mode switchover S 5620 Motor/generator torque limit S 5630 Upper/lower torque limit © Siemens AG 2006 All Rights Reserved 3-121 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 122: Vector Control
The system does not wait for the time condition to elapse when the setpoint frequency at the ramp-function generator input and the actual frequency are below p1755 * (1 – p1756) simultaneously. © Siemens AG 2006 All Rights Reserved 3-122 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 123 S Starting in closed-loop controlled operation (directly after the drive has been energized) (only ASM) Note In this case, the speed setpoint upstream of the ramp-function generator must be greater than (p1755). © Siemens AG 2006 All Rights Reserved 3-123 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 124 Function diagram overview (refer to the List Manual) S 6730 Interface with Motor Module for induction motor (p0300 = 1) S 6731 Interface to the Motor Module (PEM, p0300 = 2) © Siemens AG 2006 All Rights Reserved 3-124 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 126: Speed Controller
Speed controller The optimum speed controller setting can be determined via the automatic speed controller optimization function (p1900 = 1, rotating measurement) (see also: Subsection 3.2.11). © Siemens AG 2006 All Rights Reserved 3-126 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 128 Nominal motor starting time S r1482 CO: Speed controller I torque output S r1508 CO: Torque setpoint before supplementary torque Function diagram overview S 6040 Speed controller with/without encoder © Siemens AG 2006 All Rights Reserved 3-128 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 129: Speed Controller Adaptation
(p1400.0) with sensorless operation. This is activated when the speed controller is optimized in order to achieve a greater dynamic response in the basic speed range. © Siemens AG 2006 All Rights Reserved 3-129 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 130 The “speed controller” parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Fig. 3-31 STARTER icon for “speed controller” © Siemens AG 2006 All Rights Reserved 3-130 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 131 Dynamic response reduction field weakening (SLVC only) S p1400.0[0...n] Speed control configuration: Automatic Kp/Tn adaptation active Function diagram for speed controller adaptation (see List Manual) S 6050 Kp_n and Tn_n adaptation © Siemens AG 2006 All Rights Reserved 3-131 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 132: Speed Controller Pre-Control And Reference Model
1462 1) Only effective for p 1400 .2 = 1 2) Only effective for p 1400 .2 = 0 Fig. 3-32 Speed controller with pre-control © Siemens AG 2006 All Rights Reserved 3-132 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 133 If these basic conditions are in line with the application, the starting time can be used as the lowest value for the ramp-up or ramp-down time. © Siemens AG 2006 All Rights Reserved 3-133 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 135 S p1435[0...n] Speed controller reference model deadtime S p1436 CO: Speed controller reference model speed setpoint output S p1437[0...n] CI: Speed controller, reference model I component input © Siemens AG 2006 All Rights Reserved 3-135 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 136: Droop Function
S All connected drives must be operated with vector control and speed control (with or without an encoder). S The ramp-function generator ramp-up and ramp-down times must be the same for all drives. © Siemens AG 2006 All Rights Reserved 3-136 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 137: Torque Control
For safety reasons, assignments to fixed torque setpoints are currently not possible. When regenerative energy occurs that cannot be fed back into the supply, a Braking Module with a connected braking resistor must be used. © Siemens AG 2006 All Rights Reserved 3-137 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 139 (p1227) started when speed setpoint <= speed threshold (p1226) has expired. – Power-on disable is activated. Function diagrams for torque setpoint limitation (see List Manual) S 6060 Torque setpoint © Siemens AG 2006 All Rights Reserved 3-139 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 140 CI: Supplementary torque 1 S r1512 CI: Supplementary torque 1 scaling S r1513 CI: Supplementary torque 2 S r1514 Supplementary torque 2 scaling S r1515 Supplementary torque total © Siemens AG 2006 All Rights Reserved 3-140 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 141: Torque Limiting
The minimum value is calculated cyclically and displayed in parame- ters r1538 and r1539. S r1538 CO: Upper effective torque limit S r1539 CO: Lower effective torque limit © Siemens AG 2006 All Rights Reserved 3-141 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 142: Vdc Control
Vdc_ctrl t_deriv. p1250 p1252 Vdc_ctrl config Vdc_min on_level p1240 r1246 Vdc_act Control ZSW 1 r0070 r0056 r0056.15 Vdc_min Vdc_min dyn_factor p1247 Fig. 3-37 Vdc control vector © Siemens AG 2006 All Rights Reserved 3-142 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 143 – 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. © Siemens AG 2006 All Rights Reserved 3-143 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 144 You must make sure that the converter is not disconnected from the power supply. It could become disconnected, for example, if the line contactor drops out. The line contactor should have an uninterruptible power supply (UPS), for example. © Siemens AG 2006 All Rights Reserved 3-144 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 145 = Vdc_max – 50 V (Vdc_max: overvoltage threshold of the Motor Module) Function diagrams (refer to the List Manual) S 6220 Vdc_max controller and Vdc_min controller © Siemens AG 2006 All Rights Reserved 3-145 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 146 Vdc_max controller automatic detection ON level (control) S p1256[0...n] Vdc_min controller response (kinetic buffering) (control) S p1257[0...n] Vdc_min controller speed threshold (controller) S r1258 CO: Vdc controller output (control) © Siemens AG 2006 All Rights Reserved 3-146 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 147: Current Setpoint Filter
CI: Current setpoint filter natural frequency tuning S p1666 Current setpoint filter 2 numerator damping Function diagram overview (refer to the List Manual) S 6710 Current setpoint filter © Siemens AG 2006 All Rights Reserved 3-147 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 148: Motor Data Identification And Rotating Measurement
During motor identification, the drive may cause the motor to move. The emergency OFF functions must be fully operational during commissioning. To protect the machines and personnel, the relevant safety regulations must be observed. © Siemens AG 2006 All Rights Reserved 3-148 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 149 [M] p0358 [M] p0354 [M] Lσ R Lσ S series cable p0360 [M] cable Fig. 3-40 Equivalent circuit diagram for induction motor and cable © Siemens AG 2006 All Rights Reserved 3-149 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 150 S Enter p1910 > 0. Alarm A07991 is displayed. S Identification starts when the motor is switched on. S p1910 resets itself to “0” (successful identification) or fault F07990 is output. © Siemens AG 2006 All Rights Reserved 3-150 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 151 When permanent-magnet synchronous motors are commissioned, with the load connected, the speed controller should be optimized (p1960 = 2/4) (additional in- formation on setting the speed controller, refer to Subsection 3.2.3). © Siemens AG 2006 All Rights Reserved 3-151 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 152 The emergency OFF functions must be fully operational during commissioning. To protect the machines and personnel, the relevant safety regulations must be observed. © Siemens AG 2006 All Rights Reserved 3-152 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 153 Pole position identification technique S p1990 Encoder adjustment selection Motor data identification at standstill S p1909[0...n] Motor data identification control word S p1910 Motor data identification selection © Siemens AG 2006 All Rights Reserved 3-153 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 154: Efficiency Optimization
Function diagrams (refer to the List Manual) S 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) S 6723 Field weakening control, flux control for induction motors (p0300 = 1) © Siemens AG 2006 All Rights Reserved 3-154 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 155: Automatic Encoder Adjustment
For extremely high moments of inertia, the run time can be scaled higher using p1999. Warning The measurement causes the motor to rotate. The motor turns through a minimum of one complete revolution. © Siemens AG 2006 All Rights Reserved 3-155 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 156: Pole Position Identification
The measurement is carried-out the next time that the pulses are enabled. For extremely high moments of inertia, the run time can be scaled higher using p1999. © Siemens AG 2006 All Rights Reserved 3-156 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 157 Pole position identification angle difference S r1985 Pole position identification saturation curve S r1987 Pole position identification trigger curve S p1999 Angular commutation offset calibration, scaling © Siemens AG 2006 All Rights Reserved 3-157 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 158: Vector V/F Control (R0108.2 = 0)
Operating areas and characteristic curves for the induction motor with converter supply Several variations of the V/f characteristic exist, which are shown in the following table. © Siemens AG 2006 All Rights Reserved 3-158 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 159 / machine torque V max characteristic r0071 (e.g. synchronous motor). p1327 p1325 p1323 p1321 r1315 fmax p1320 p1322 p1324 p1326 p1082 © Siemens AG 2006 All Rights Reserved 3-159 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 160 BICO parameter p1330 via the interfaces (e.g. analog input AI0 of a terminal board 30 –> p1330 = r4055[0]). © Siemens AG 2006 All Rights Reserved 3-160 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 161: Voltage Boost
The voltage boost affects all V/f characteristics (p1300). Notice If the voltage boost value is too high, this can result in a thermal overload of the motor winding. © Siemens AG 2006 All Rights Reserved 3-161 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 162 (rated motor current) x permanent p0395 (current stator resistance) x p1310 (permanent voltage boost) Fig. 3-45 Permanent voltage boost (example: p1300 and p1310 = 0) © Siemens AG 2006 All Rights Reserved 3-162 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 163 S p0305[0...n] Rated motor current S p0395[0...n] Stator resistance current S p1310[0...n] Voltage boost permanent S p1311[0...n] Voltage boost at acceleration S r1315 Voltage boost total © Siemens AG 2006 All Rights Reserved 3-163 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 164: Slip Compensation
– p1335 = 0.0 %: slip compensation is deactivated. – p1335 = 100.0 %: slip is fully compensated. S p1336[0...n] Slip compensation limit value S r1337[0...n] Slip compensation actual value © Siemens AG 2006 All Rights Reserved 3-164 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 165: Vdc Control
DC link. – Remedy Reduce the regenerative torque to maintain the DC link voltage within permissible limits. S Undervoltage in the DC link – Typical cause © Siemens AG 2006 All Rights Reserved 3-165 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 166 “overvoltage in the DC link“. – Vdc_max control is only recommended with a supply without active closed-loop control for the DC link and without feedback. © Siemens AG 2006 All Rights Reserved 3-166 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 167 You must make sure that the converter is not disconnected from the power supply. It could become disconnected, for example, if the line contactor drops out. The line contactor should have an uninterruptible power supply (UPS), for example. © Siemens AG 2006 All Rights Reserved 3-167 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 168 = Vdc_max – 50 V (Vdc_max: overvoltage threshold of the Motor Module) Function diagram for Vdc controller (see List Manual) S 6320 Vdc_max controller and Vdc_min controller © Siemens AG 2006 All Rights Reserved 3-168 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 169 Vdc_min controller time threshold (V/f) S p1296[0...n] Vdc_min controller response (kinetic buffering) (V/f) S p1297[0...n] Vdc_min controller speed threshold (V/f) S r1298[0...n] CO: Vdc controller output (V/f) © Siemens AG 2006 All Rights Reserved 3-169 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 170: Information On Commissioning Vector Motor Types
Motor Cable p1825 p1828 p0352 [M] p0350[M] p0356 [M] p0357 [M] p0316 [M] Cable Cable Fig. 3-52 Equivalent circuit diagram for vector synchronous motor and cable © Siemens AG 2006 All Rights Reserved 3-170 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 171 Current limit This value is limited to a maximum of 4 * p0305. The value is pre-assigned with 1.5 * p0305 during commissioning. p1080 Minimum speed – © Siemens AG 2006 All Rights Reserved 3-171 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 172 S Speed controller optimization (rotating measurement) S Thermal protection via temperature sensor (PTC/KTY) S All encoders that can be connected to an SMC10 or SMC20 are supported. © Siemens AG 2006 All Rights Reserved 3-172 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 173 When commissioning the system for the first time and when replacing an encoder, the encoder must be adjusted (p1990). S Rotating measurement (p1960) Further information: See Subsection 3.2.11 © Siemens AG 2006 All Rights Reserved 3-173 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 174 For a thermal motor model – not relevant for synchronous motors p0350 Motor stator resistance, cold – p0356 Motor stator inductance Lq – p0357 Motor stator inductance Ld – © Siemens AG 2006 All Rights Reserved 3-174 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 175 This optional motor data, if they are known, can be entered. Otherwise, they are estimated using the rating plate data or are determined using a motor identification routine or speed controller optimization. © Siemens AG 2006 All Rights Reserved 3-175 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 178: Technology Controller" Function Module
Function diagram overview (refer to the List Manual) S 7950 Fixed values (r0108.16 = 1) S 7954 Motorized potentiometer (r0108.16 = 1) S 7958 Closed-loop control (r0108.16 = 1) © Siemens AG 2006 All Rights Reserved 4-178 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 179 S p2280 Technology controller proportional gain S p2285 Technology controller integral action time S p2289[0..n] CI: Technology controller pre-control signal S p2295 Technology controller output scaling © Siemens AG 2006 All Rights Reserved 4-179 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 180: Description
D component is to be effective, even if the reference variable changes. The D component can only be activated when p2274 > 0. © Siemens AG 2006 All Rights Reserved 4-180 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 181: Examples
1155 Tec _reg setpoint p2253 Tec _ reg type p2263 Actual – 1 value p2264 Fig. 4-2 Liquid level control: controller structure © Siemens AG 2006 All Rights Reserved 4-181 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 182: Commissioning Using Starter
The function module “technology controller” can be activated via the commissio- ning Wizard or the drive configuration (configure DDS). You can check the actual configuration in parameter r0108.16. © Siemens AG 2006 All Rights Reserved 4-182 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 183: Extended Monitoring Functions" Function Module
When the extension is activate, the monitoring functions are extended as follows: S Speed setpoint monitoring: |n_set| <= p2161 S Speed setpoint monitoring: n_set > 0 S Load monitoring © Siemens AG 2006 All Rights Reserved 4-183 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 184: Integration
2198 A07920 Bit11 p2192 p2192 Fig. 4-3 Load monitoring 4.2.2 Integration The extended monitoring functions are integrated as follows in the system. © Siemens AG 2006 All Rights Reserved 4-184 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 185: Commissioning
S 8013 Load monitoring 4.2.3 Commissioning The extended monitoring functions are activated while the commissioning Wizard is running. Parameter r0108.17 indicates whether it has been activated. © Siemens AG 2006 All Rights Reserved 4-185 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 186: Simple Brake Control
S p1217 Holding brake application time S p1226 Threshold for zero speed detection S p1227 Zero speed detection monitoring time S p1228 Zero speed detection, delay time © Siemens AG 2006 All Rights Reserved 4-186 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 187: Description
Speed Setpoint p1226 threshold Actual speed 1227 p1226 threshold ≥ 1 1228 Output signal Holding brake Opening time Closing time Fig. 4-4 Function chart: simple brake control © Siemens AG 2006 All Rights Reserved 4-187 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 188: Commissioning
Caution If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied brake. The can destroy the brake. © Siemens AG 2006 All Rights Reserved 4-188 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 189: Extended Brake Control" Function Module
Zero speed detection monitoring time S p1228 Zero speed detection, delay time S p1224[0..3] BI: Close motor holding brake at standstill S p1276 Motor holding brake standstill detection bypass © Siemens AG 2006 All Rights Reserved 4-189 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 190 BI: Unconditionally release holding brake STWA.7 holding brake Enable speed controller p0856 BI: Enable speed controller STWA.12 Unconditionally close the p0858 BI: Unconditionally close the holding brake STWA.14 holding brake © Siemens AG 2006 All Rights Reserved 4-190 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 191: Description
The brake is controlled as follows (the sequence reflects the priority): S Via parameter p1215 S Via binectors p1219[0..3] and p0855 S Via zero speed detection S Via a connector interconnection threshold value © Siemens AG 2006 All Rights Reserved 4-191 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 192: Examples
This can be achieved if OFF3 is used as a tripping signal for emer- gency braking: p1219[0] = r0898.2 (OFF3 to “apply brake immediately”). This is often used, for example, in calendar stacks, cutting tools, running gears, and presses. © Siemens AG 2006 All Rights Reserved 4-192 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 193 Setpoint 2 enable level control (e.g. S7) = enable p1152 setpoint (master switch deflected) (r0899 15 ) Fig. 4-5 Example, operating brake for a crane drive © Siemens AG 2006 All Rights Reserved 4-193 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 194: Commissioning
Caution If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied brake. The can destroy the brake. © Siemens AG 2006 All Rights Reserved 4-194 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 195: Runtime (Operating Hours Counter)
The service life of the fan is entered in p0252 (drive). Alarm A30042 is output 500 hours before this figure is reached. Monitoring is deac- tivated when p0252 = 0. © Siemens AG 2006 All Rights Reserved 4-195 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 196: Automatic Restart (Vector, Infeed)
For this reason, entering the area around the drive when it is in this condition can cause death, serious injury, or considerable material damage. © Siemens AG 2006 All Rights Reserved 4-196 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 197 = 1. If the faults occur one after start attempts the other, then the number of start attempts is defined using p1211. Monitoring over time can be set using p1213. © Siemens AG 2006 All Rights Reserved 4-197 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 198 The monitoring time must be extended if the faults that occur can- not be immediately and successfully acknowledged (e.g. when faults are perma- nently present). © Siemens AG 2006 All Rights Reserved 4-198 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 199 S p1210 Automatic restart, mode S p1211 Automatic restart, attempts to start S p1212 Automatic restart, delay time start attempts S p1213 Automatic restart, waiting time increment © Siemens AG 2006 All Rights Reserved 4-199 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 200: Function Module, Parallel Connection Of Chassis Power Units (Vector)
S Simple commissioning, because no special parameterization is necessary. S The power sections connected in parallel must be connected to the same Control Unit. S Individual power units can be diagnosed (troubleshooting) using p7000ff © Siemens AG 2006 All Rights Reserved 4-200 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 201: Integration
Description Switching power units in parallel is a simple method of extending the power spec- trum of drives beyond the power of the individual power units. © Siemens AG 2006 All Rights Reserved 4-201 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 202: Application Examples
Parallel connection of two Motor Modules to one motor with double winding system U, V, W Control unit Line reactor DRIVE CLiQ Line Module Motor Module Motor Module Fig. 4-6 Example 1: parallel connection © Siemens AG 2006 All Rights Reserved 4-202 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 203: Commissioning
Wizard. You can also select parallel connection when choosing the power section. You then have to specify the number of power sections to be connected in parallel. © Siemens AG 2006 All Rights Reserved 4-203 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 204: Redundant Operation Of The Power Units (Vector)
The boot function with partial topologies is integrated in the system as follows. S p0125 Activate/de-activate power unit component S r0126 Power unit component active/inactive S p0895 BI: Activate/deactivate power unit component S p7003 Par_circuit winding system © Siemens AG 2006 All Rights Reserved 4-204 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 205: Technology Function: Friction Characteristic
S p3845 Friction characteristic curve record activation Function diagrams (refer to the List Manual) S 5610 Torque limitation/reduction/interpolator S 6710 Current setpoint filter S 7010 Friction characteristic © Siemens AG 2006 All Rights Reserved 4-205 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 206 To protect the machines and personnel, the relevant safety regulations must be observed. Commissioning via STARTER In STARTER, the friction characteristic curve can be commissioned via the screen under “Functions”. © Siemens AG 2006 All Rights Reserved 4-206 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 207: Motor Changeover
Function diagram overview (refer to the List Manual) S 8565 Drive data set (DDS) S 8570 Encoder data set (EDS) S 8575 Motor data set (MDS) © Siemens AG 2006 All Rights Reserved 4-207 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 208 Motor switchover status bit number S p0828 BI: Motor switchover feedback S p0830 CO/BO: Motor switchover status S p0831 BI: Motor switchover contactor feedback S p0833 Data set changeover configuration © Siemens AG 2006 All Rights Reserved 4-208 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 209: Example: Motor Switchover For Four Motors
S 4 motors, 1 Control Unit, 1 infeed, and 1 Motor Module r0830 r0830.1 p0820 r0830.2 p0821 r0830.3 r0830.4 p0831[0] p0831[1] p0831[2] p0831[3] Fig. 4-8 Example: motor switchover © Siemens AG 2006 All Rights Reserved 4-209 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 210 After confirmation (motor contactor closed) from motor contactor 2, the bit “Motor switchover active” (r0835.0) is reset and the pulses are enabled again. The motor switchover is complete. © Siemens AG 2006 All Rights Reserved 4-210 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 211: Example Of A Star/Delta Switchover
S 2 motor contactors with positively-driven auxiliary contacts (1 NC contacts, 1 NO contact) S 1 motor, 1 Control Unit, 1 infeed, and 1 Motor Module r0830 r0830.1 r0830.2 p0831[0] p0831[1] Fig. 4-9 Example: star/delta switchover © Siemens AG 2006 All Rights Reserved 4-211 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 212 After confirmation (motor contactor closed) from motor contactor 2, the bit “Motor switchover active” (r0835.0) is reset and the pulses are enabled again. The switchover is complete. © Siemens AG 2006 All Rights Reserved 4-212 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 213: Simulation Mode (Vector)
V/f control or sensorless speed control. Note Simulation mode cannot be activated without a power section. A power section must be connected via DRIVE-CLiQ. © Siemens AG 2006 All Rights Reserved 4-213 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 214: Features
S Initial commissioning must be complete (default: standard induction motors). S The DC link voltage must be below 40 V (note tolerance of DC link sensor). © Siemens AG 2006 All Rights Reserved 4-214 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 215: Parking Axis And Parking Sensor
S A measuring system that is not assigned to the “motor control” (e.g. direct measuring system) remains active (r0146[n] = 1). S The drive object remains active (r0106 = 1). © Siemens AG 2006 All Rights Reserved 4-215 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 216: Example: Parking Axis And Parking Sensor
(e.g. power section and motor encoder) are shut down. STW1.0 STW2.7/ p0897 ZSW2.7/ r0896.0 Gn_ZSW.14 r0126 r0126 r0146 Fig. 4-10 Function chart: parking axis © Siemens AG 2006 All Rights Reserved 4-216 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 217: Overview Of Important Parameters (Refer To The List Manual)
Activate/deactivate encoder interface S r0146 Encoder interface active/inactive S r0896.0 Parking axis active S p0895 BI: Activate/deactivate power unit component S p0897 BI: Parking axis selection © Siemens AG 2006 All Rights Reserved 4-217 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 218: Boot With Partial Topologies
S The drive object “infeed 1” has BiCo connections as a signal drive to “drive 1” S The remain drive objects must continue to operate S After POWER OFF: DO3 is removed and the wiring adapted © Siemens AG 2006 All Rights Reserved 4-218 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 219 Module Infeed 1 Drive2 Active Single Line Motor Module Module Changed over Partial topology: Active Interface Module DRIVE-CliQ Encoders Output Fig. 4-12 Booting with partial topologies © Siemens AG 2006 All Rights Reserved 4-219 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 220 Re-establish BICO to the now activated drive objects S r9498[0 ... 29] BICO BI/CI parameter to de-activated drive objects S r9499[0 ... 29] BICO BO/CO parameter to de-activated drive objects © Siemens AG 2006 All Rights Reserved 4-220 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 221: Sinusoidal Filter
Maximum rotational speed Fmax filter/pole pair number p1800 Pulse frequency Nominal pulse frequency of the filter p1802 Modulator modes Space vector modulation without overmodulation © Siemens AG 2006 All Rights Reserved 4-221 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 222: Dv/Dt Filter Plus Vpl
– Unshielded cables: max. 450 m S Other restrictions: see the Equipment Manual. Commissioning The dv/dt filter must be activated when commissioning the system (p0230 = 2). © Siemens AG 2006 All Rights Reserved 4-222 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 223: Flying Restart (Vector)
OFF command Absolute current actual value Setpoint speed search,max search Find Ramp-up Demagnetize Magnetize p1082 * 1.25 search,max Fig. 4-13 Flying restart © Siemens AG 2006 All Rights Reserved 4-223 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 224 S p1202 Flying restart search current S p1203 Flying restart search rate factor S r1204 CO/BO: Flying restart, V/f control status S r1205 CO/BO: Flying restart, vector control status © Siemens AG 2006 All Rights Reserved 4-224 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 225: Direction Reversal Without Changing The Setpoint
Actual phase voltage S p1820 Direction of rotation reversal of the output phases (vector) S p1821 Reversal of direction S p2507 LR absolute encoder adjustment status © Siemens AG 2006 All Rights Reserved 4-225 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 226: Armature Short-Circuit Brake, Internal Voltage Protection
The external armature short-circuit is activated via p1231 = 2 (with contactor feed- back signal) or p1231 = 3 (without contactor feedback signal). It is initiated when the pulses are cancelled. © Siemens AG 2006 All Rights Reserved 4-226 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 227 S The power unit current (r0289) must be 180 % of the motor current (p0331). S One of the following motor types was parameterized: – Rotating permanent-magnet synchronous motor – Linear permanent-magnet synchronous motor © Siemens AG 2006 All Rights Reserved 4-227 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 228 Armature short-circuit, external contactor feedback signal monitoring time S p1237 Armature short-circuit, external delay time when opening S r1238 Armature short-circuit, external status S r1239 CO/BO: Armature short-circuit, status word © Siemens AG 2006 All Rights Reserved 4-228 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 229: Off3 Torque Limits
Torque limits, motoring/regenerating S 6620 Upper/lower torque limit Overview of important parameters (refer to the List Manual) S p1520 Torque limit, upper/motoring S p1521 Torque limit, lower/regenerating © Siemens AG 2006 All Rights Reserved 4-229 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 230: Switching-In A Drive Object X_Infeed Using A Vector Drive Object
BiCo connection p1208.0 => r2139.3 shown above. S The automatic restart of the DOs x_Infeed have absolutely no significance for the described power-on version. © Siemens AG 2006 All Rights Reserved 4-230 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 231: Braking Module" Function Module
BI: Braking Module fault Module inhibited X122 .2 p3866 [0] r0722.1 X21 .4 X122 .4 p3865 [1] r0722.3 Fig. 4-17 Example of controlling two Booksize Braking Modules © Siemens AG 2006 All Rights Reserved 4-231 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 232 BI: Braking Module pre-alarm I*t shutdown S p3866 BI: Braking Module fault Function diagram overview (refer to the List Manual) S 9951 Braking Module interface via CU or parallel circuit © Siemens AG 2006 All Rights Reserved 4-232 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 233: Function Module "Cooling System"
The cooling system function module described here is used as an interface between the closed-loop control and the external control (open-loop) (PLC) of the cooling system. The cooling system is controlled via terminals (e.g. Control Unit, TM31). © Siemens AG 2006 All Rights Reserved 4-233 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 235 Cooling system, run-on time S r0265 BO: Cooling system control word S p0266[0...7] BI: Cooling system signal source feedback signals S r0267 BO: Cooling system status word display © Siemens AG 2006 All Rights Reserved 4-235 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 236: Function Module Position Control
(p2655 = 1, for control using PROFIdrive telegram 110 PosSTW.0 = 1), so that the monitoring functions are disabled and the position set- point is tracked. © Siemens AG 2006 All Rights Reserved 4-236 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 237: Position Actual Value Conditioning
S p0480[0] (G1_STW) = encoder control word r2520[0] S p0480[1] (G2_STW) = encoder control word r2520[1] S p0480[2] (G3_STW) = encoder control word r2520[2] © Siemens AG 2006 All Rights Reserved 4-237 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 238 The effective actual value resolution is obtained from the product of the encoder pulses (p0408) and the fine resolution (p0418) and a measuring gearbox that is possibly being used (p0402, p0432, p0433). © Siemens AG 2006 All Rights Reserved 4-238 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 239 EPOS. A position offset can be switched-in using p2516. Using EPOS, p1216 is automa- tically interconnected to r2667. Backlash compensation is implemented using this interconnection. © Siemens AG 2006 All Rights Reserved 4-239 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 240 S r2525 CO: LR encoder adjustment offset S r2526 CO/BO: LR status word Overview, function diagrams (refer to the List Manual) S 4010 Position actual value conditioning © Siemens AG 2006 All Rights Reserved 4-240 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 241: Position Controller
(deadtime) and PT1 element (p2536 symmetrizing filter speed pre-control (PT1)). The speed pre-control p2534 (factor, speed pre-control) can be disabled via the value 0. © Siemens AG 2006 All Rights Reserved 4-241 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 242 CO: LR position controller output speed limit S p2541 CI: LR position controller output speed limit signal source Function diagram (refer to the List Manual) S 4015 Position controller © Siemens AG 2006 All Rights Reserved 4-242 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 243: Monitoring Functions
(p2542 w p2544). The standstill monitoring window should be less than or equal to the positioning monitoring time (p2543 v p2545). © Siemens AG 2006 All Rights Reserved 4-243 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 244 The position controller has two cam controllers. If cam position p2547 or p2548 is passed in the positive direction (p2521 > p2547 or 2548), then cam signals r2683.8 and r2683.9 are reset. © Siemens AG 2006 All Rights Reserved 4-244 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 245 S r2684 CO/BO: EPOS status word 2 Function diagram (refer to the List Manual) S 4020 Standstill/positioning monitoring S 4025 Dynamic following error monitoring cam controller © Siemens AG 2006 All Rights Reserved 4-245 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 246: Measuring Probe Evaluation And Reference Mark Search
(r2526, r2523) is fed back to this (also refer to: Commissioning Manual, Chapter “Control and status words for encoders”). © Siemens AG 2006 All Rights Reserved 4-246 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 247 S 4010 Position actual value conditioning S 4720 Encoder interface, receive signals, encoder 1 ... 3 S 4730 Encoder interface, send signals, encoder 1 ... 3 © Siemens AG 2006 All Rights Reserved 4-247 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 248: Function Module "Basic Positioner"
(during the “normal” traversing motion, it is possible to reference, superimposed, using the measuring probe evaluation; generally, evaluating e.g. a BERO. Higher-level (superimposed) function for the modes “jog”, direct setpoint input/MDI and “traversing blocks”) © Siemens AG 2006 All Rights Reserved 4-248 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 249 (p2533) should be used. S Control using PROFIdrive telegrams 7 and 110 (additional information, refer to the Commissioning Manual) © Siemens AG 2006 All Rights Reserved 4-249 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 250: Mechanical System
If a stationary axis is referenced by setting the reference point or an adjusted axis is powered-up with an absolute encoder, then the setting of parameter p2604 (reference point approach, starting direction) is relevant for switching-in the com- pensation value. © Siemens AG 2006 All Rights Reserved 4-250 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 251 EPOS modulo correction, modulo range S p2577 BI: EPOS modulo correction, activation S p2583 EPOS backlash compensation S r2684 CO/BO: EPOS status word 2 S r2685 CO: EPOS correction value © Siemens AG 2006 All Rights Reserved 4-251 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 252: Limits
– Maximum acceleration (p2572) / maximum deceleration (p2573) S Traversing range limits – Software limit switch (p2578, p2579, p2580, p2581, p2582) – STOP cams (p2568, p2569, p2570) © Siemens AG 2006 All Rights Reserved 4-252 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 253 In the mode direct setpoint input/MDI for positioning and setting-up, the acce- leration/deceleration override (assignment 4000Hex = 100 %) is entered. Note A maximum acceleration or deceleration dependent on the actual velocity (transitioned acceleration) is not supported. © Siemens AG 2006 All Rights Reserved 4-253 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 254 When the stop cam is exited, this is identified by the 0/1 edge in the permitted traversing direction and this means that the corresponding status bits (r2684.13 or r2684.14) are reset. © Siemens AG 2006 All Rights Reserved 4-254 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 255: Referencing
S Binector input setting (p2596) S Velocity override (p2646) S Reference point coordinate (p2598, p2599) S Selecting the referencing type (p2597) S Absolute encoder adjustment (p2507) © Siemens AG 2006 All Rights Reserved 4-255 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 256 As standard, connector input p2598 is connected to setting parameter p2599. The binector input is not effective for the traversing task being presently executed. © Siemens AG 2006 All Rights Reserved 4-256 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 257 If an overflow occurs, then there is no clear reference any longer between the encoder actual value and the mechanical system. © Siemens AG 2006 All Rights Reserved 4-257 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 258 (start referenc- ing) must be set otherwise referencing is interrupted. As a result of the start, status signal r2684.11 (reference point set) is reset. © Siemens AG 2006 All Rights Reserved 4-258 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 259 If the axis is already located at the cam, when referencing is started, then travers- ing to the reference cam is not executed, but synchronization to the reference zero mark is immediately started (refer to step 2). © Siemens AG 2006 All Rights Reserved 4-259 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 260 The drive synchronizes to the first zero mark. The drive continues to travel with the same velocity and travel is started to the reference point (refer to step 3). © Siemens AG 2006 All Rights Reserved 4-260 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 262 S If the drive has already been referenced and the absolute value of the position difference is greater than the inner window (p2601) and less the outer window (p2602), then the position actual value is corrected. © Siemens AG 2006 All Rights Reserved 4-262 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 263 CO: EPOS reference point coordinate value S p2600 EPOS reference point approach, reference point offset Function diagrams (refer to the List Manual) S 3612 Referencing S 3614 Flying referencing © Siemens AG 2006 All Rights Reserved 4-263 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 264: Traversing Blocks
This is automatically written by programming the traversing blocks in STARTER. Value = 0000 cccc bbbb aaaa – aaaa: Display/suppress 0000: Block is not suppressed 0001: Block is suppressed – bbbb: Advance condition © Siemens AG 2006 All Rights Reserved 4-264 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 265 (p2573). The functions “intermediate stop” and “reject traversing task” are only effective in the modes “traversing blocks” and “direct setpoint input/MDI”. © Siemens AG 2006 All Rights Reserved 4-265 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 266 S Motion is interrupted by the control signal “do not reject traversing task/reject traversing task” (p2641) The following parameters are relevant: S p2616[x] Block number S p2618[x] Velocity S p2619[x] Acceleration override S p2623[x] Task mode © Siemens AG 2006 All Rights Reserved 4-266 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 267 Task parameter = Next task number In one interpolation clock cycle, any two tasks SET_O, RESET_O and GOTO can be processed and a subsequent task POSITIONING and WAIT are started. © Siemens AG 2006 All Rights Reserved 4-267 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 268 EPOS traversing block, task mode S p2625...p2630 BI: EPOS block selection bits 0 ... 5 Function diagrams (refer to the List Manual) S 3616 Operating mode traversing blocks © Siemens AG 2006 All Rights Reserved 4-268 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 269: Direct Setpoint Input (Mdi)
– CI: MDI velocity setpoint (p2643) – CI: MDI acceleration override (p2644) – CI: MDI deceleration override (p2645) – CI: Velocity override (p2646) S Accept (p2649, p2650) © Siemens AG 2006 All Rights Reserved 4-269 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 270 (negative direction). If both inputs have the same state, then for absolute positioning (p2648 = “1”) modulo axes (p2577 = “1”) are moved through the shortest distance. © Siemens AG 2006 All Rights Reserved 4-270 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 271 (p2573). The functions “intermediate stop” and “reject traversing task” are only effective in the modes “traversing blocks” and “direct setpoint input/MDI”. © Siemens AG 2006 All Rights Reserved 4-271 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 272 Function diagram overview (refer to the List Manual) S 3618 EPOS – operating mode direct setpoint input/MDI, dynamic values S 3620 EPOS – operating mode direct setpoint input/MDI © Siemens AG 2006 All Rights Reserved 4-272 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 273 [3650 .1] Store Start of traversing range End of traversing range p2585 Velocity r2672 p2586 Acceleration 100 % r2673 Deceleration 100 % r2674 Fig. 4-29 Jog mode © Siemens AG 2006 All Rights Reserved 4-273 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 274: Status Signals
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. © Siemens AG 2006 All Rights Reserved 4-274 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 275 Kv factor. Parameter p2546 defines a dynamic following error window that defines the permissible deviation from the calculated value. The status signal indi- cates as to whether the following error is within the window (status 1). © Siemens AG 2006 All Rights Reserved 4-275 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 276 If the actual setpoint velocity exceeds the maximum velocity p2571 – taking into account the velocity override – it is limited and the control signal is set. © Siemens AG 2006 All Rights Reserved 4-276 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 277: Bypass (Vector)
The bypass function is only possible for sensorless close-loop speed control (p1300 = 20) or V/f control (p1300 = 0...19) and when an induction motor is used. A VSM10 must be used for synchronizing with overlap. © Siemens AG 2006 All Rights Reserved 4-277 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 278: Bypass With Synchronization With Overlap (P1260 = 1)
10 % +/– 2 %. Network Drive converter with Protective Voltage Sensing device Module (VSM10) Reactor Fig. 4-30 Circuit example: Bypass with synchronization with overlap © Siemens AG 2006 All Rights Reserved 4-278 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 279 Signal source to provide the feedback signal of contactor K2 p3800 = 1 The internal voltages are used for synchronization p3802 = r1261.2 Synchronization is activated by the bypass function © Siemens AG 2006 All Rights Reserved 4-279 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 280 If the appropriate contactors are being used, the drive converter is isolated from the line supply and the DC link is discharged. © Siemens AG 2006 All Rights Reserved 4-280 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 281 – BICO wiring is not required. S After contactor K1 signals back the “closed” state, contactor K2 is opened and the motor is again fed from the drive converter. © Siemens AG 2006 All Rights Reserved 4-281 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 282: Bypass With Synchronization, Without Overlap (P1260 = 2)
(p1260 = 2) using a control signal (p1267.0 = 1, p1267.1 = 0, p1267.2 = 0); it is not possible to activate this function using a speed threshold or a fault. © Siemens AG 2006 All Rights Reserved 4-282...
Page 283 Signal source to provide the feedback signal of contactor K2 p3800 = 1 The internal voltages are used for synchronization p3802 = r1261.2 The bypass function activates the synchronization © Siemens AG 2006 All Rights Reserved 4-283 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 284: Bypass Without Synchronization (P1260 = 3)
Contactors K1 and K2 must be interlocked so that they cannot simulta- neously close. Network Protective Converter device Interlocked against simultaneously closing Fig. 4-33 Circuit example, bypass without synchronization © Siemens AG 2006 All Rights Reserved 4-284 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 285 The following signal diagram shows the timing when the bypass switch is on when activating “bypass for fault”. Example After activating the bypass function without synchronization (p1260 = 3) the follow- ing parameters still have to be set: © Siemens AG 2006 All Rights Reserved 4-285 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 286 Signal source to provide the feedback signal of contactor K2 p3800 = 1 The internal voltages are used for synchronization p3802 = r1261.2 Synchronization is activated by the bypass function © Siemens AG 2006 All Rights Reserved 4-286 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 287 K1 is closed (r1261.0 = 1). The converter is connected to the motor – that is gener- ally still rotating – and normal operation is resumed. © Siemens AG 2006 All Rights Reserved 4-287 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 288 CI: Sync line-drive voltage actual value U23 = U2 – U3 S r3819 CO/BO: Sync line-drive status word Function diagram (refer to the List Manual) S 7020 Synchronization © Siemens AG 2006 All Rights Reserved 4-288 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 289: Synchronization (Vector)
The voltage values must be transferred to the synchronization via connectors p3816 and p3817. Prerequisite S Firmware release 2.4 S Drive object, vector/infeed with connected VSM10 S Induction motor without encoder S Vector control © Siemens AG 2006 All Rights Reserved 4-289 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 290 CO: Sync line-drive target frequency S r3805 CO: Sync line-drive frequency difference S r3819 CO/BO: Status word, synchronizing Function diagram (refer to the List Manual) S 7020 Synchronization © Siemens AG 2006 All Rights Reserved 4-290 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 291: Terminal Module 41 (Tm41)
– Settable pulse number (p0408) – Enable zero marks (p4401.0) – Settable zero mark position for encoder position actual value from an absolute encoder (p4426) – Resolvers are not supported © Siemens AG 2006 All Rights Reserved 4-291 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 293 S p4099[3] = current controller clock cycle from SERVO (p0115[0]) S Copying from RAM to ROM S Power on reset Conditions S Firmware release 2.4 S Terminal Module 41 (TM41) © Siemens AG 2006 All Rights Reserved 4-293 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 294 Digital inputs/outputs, bi-directional (DI/DO 2 and DI/DO 3) S 9674 Incremental encoder emulation (p4400 = 0) S 9676 Incremental encoder emulation (p4400 = 1) S 9682 Sequence control © Siemens AG 2006 All Rights Reserved 4-294 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 295: Changing Over Units
Groups of units: Changeover using p0100, can be changed over for p0010 = 1 Changeover group Units for p0100 = Reference quantity for % 14_2 – 14_6 – © Siemens AG 2006 All Rights Reserved 4-295 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 296 22_1 ft/s ft/s – 23_1 Vs/m Vs/m Vs/ft Vs/ft – 25_1 lbft lbft – 26_1 ft/s ft/s – 27_1 – 28_1 Nm/A Nm/A lbf*ft/A lbf*ft/A – © Siemens AG 2006 All Rights Reserved 4-296 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 297 Selecting the system of units, motor equivalent circuit diagram data S p0505 Selecting the system of units S p0595 Selecting technological units S p0596 Reference quantity, technological units © Siemens AG 2006 All Rights Reserved 4-297 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 298: Application Examples With The Dmc20
The component is especially suitable for applications which require DRIVE-CLiQ nodes to be removed in groups, without interrupting the DRIVE-CLiQ line and therefore the data exchange. © Siemens AG 2006 All Rights Reserved 4-298 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 299: Example, Distributed Topology
X400 Cabinet 2, in the machine DMC20 X505 X504 X503 X500 X500 X500 X502 X501 X500 X500 DRIVE–CLiQ Encoders Fig. 4-37 Example, distributed topology using DMC20 © Siemens AG 2006 All Rights Reserved 4-299 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 300: Example, Hot Plugging
– such as DC link wiring through the DC link infeed adapter and DC link disconnecting devices. The safety information and instructions in the Equipment Manual must be carefully observed. © Siemens AG 2006 All Rights Reserved 4-300 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 301: Overview Of Important Parameters (Refer To The List Manual)
S p0151 DRIVE-CLiQ Hub component number S p0154 DRIVE-CLiQ Hub identification using LED S p0157 DRIVE-CLiQ Hub EPROM data version S r0158 DRIVE-CLiQ Hub firmware version © Siemens AG 2006 All Rights Reserved 4-301 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 302: Position Tracking/Measuring Gearbox
Example: Gearbox ratio 1:3, absolute encoder can count 8 revolutions Position Position, absolute encoder Load position Position motor Offset for encoder overflow Fig. 4-40 Drive with an uneven gearbox and modulo axis © Siemens AG 2006 All Rights Reserved 4-302 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 303: Prerequisites
S CU320 with Order No. 6SL3040- ..- 0AA1 and Version C or higher 4.30.3 Integration The position tracking and measuring gearbox functions are integrated as follows in the system. © Siemens AG 2006 All Rights Reserved 4-303 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 304 S 4710 Speed actual value and pole position sensing, motor encoder (encoder 1) S 6010 Speed actual value and pole position sensing, motor encoder (encoder 1) © Siemens AG 2006 All Rights Reserved 4-304 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 307 DDS: Drive Data Set Motor selection Encoder selection 1 Encoder selection 2 Encoder selection 3 EDS: Encoder Data Set MDS: Motor Data Set Fig. 5-2 Parameter categories © Siemens AG 2006 All Rights Reserved 5-307 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 308 Is automatically reset to 0 S Reset parameters – All parameters drive object “Control Unit” p0009 = 30 Parameter reset p0976 = 1 Is automatically reset to 0 © Siemens AG 2006 All Rights Reserved 5-308 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 309: Data Sets
Selection Display Bit 0 Selected Active p0810 r0836 r0050 If a command data set that does not exist is selected, the current data set remains active. © Siemens AG 2006 All Rights Reserved 5-309 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 310 More than one drive data set can be parameterized. You can switch easily between different drive configurations (control type, motor, encoder) by selecting the corresponding drive data set. © Siemens AG 2006 All Rights Reserved 5-310 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 311 Each encoder may only be assigned to one drive and within a drive must – in each drive data set – either always be encoder 1, always encoder 2 or always encoder 3. © Siemens AG 2006 All Rights Reserved 5-311 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 312 A separate motor data set is required for each motor that is controlled by the Con- trol Unit via a Motor Module. The motor data set is assigned to a drive data set via parameter p0186. © Siemens AG 2006 All Rights Reserved 5-312 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 313 2. p0809[1] = number of the command data to which the data is to be copied (target) 3. p0809[2] = 1 Start copying. Copying is finished when p0809[2] = 0. © Siemens AG 2006 All Rights Reserved 5-313 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 314 Function diagram overview (refer to the List Manual) S 8560 Command data set (CDS) S 8565 Drive data set (DDS) S 8570 Encoder data set (EDS) S 8575 Motor data set (MDS) © Siemens AG 2006 All Rights Reserved 5-314 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 315 BI: Drive data set selection DDS, bit 2 S p0823 BI: Drive data set selection DDS, bit 3 S p0824 BI: Drive data set selection DDS, bit 4 © Siemens AG 2006 All Rights Reserved 5-315 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 316: Drive Objects
S Control Unit, inputs/outputs The I/Os on the Control Unit are evaluated within a drive object. High-speed inputs for probes are processed here in addition to bidirectional digital I/Os. © Siemens AG 2006 All Rights Reserved 5-316 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 317 The parameters of a drive object cannot be accessed until the drive object has been configured and you have switched from configuration mode to parameteriza- tion mode. © Siemens AG 2006 All Rights Reserved 5-317 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 318 Parameter overview (see List Manual) Adjustable parameters S p0101 Drive object numbers S p0107 Drive object type S p0108 Drive object configuration Visualization parameters S r0102 Number of drive objects © Siemens AG 2006 All Rights Reserved 5-318 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 319: Bico Technology: Interconnecting Signals
The number of the binector output must (signal sink) be entered as a parameter value. Binector output Can be used as a source for a binector input. Binector output (signal source) © Siemens AG 2006 All Rights Reserved 5-319 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 320 722.0 CO (without index) pxxxx.y r0036 CO (with index) Index [0] r0037 r0037 pxxxx.y r0037 37[2] r0037 bico_1.vsd Fig. 5-5 Interconnecting signals using BICO technology © Siemens AG 2006 All Rights Reserved 5-320 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 321 0000 0000 hex ––> Fixed ”0” 0000 0000 0000 0000 bin 0000 00 bin 00 0000 0000 bin Fig. 5-6 Internal encoding of the binector/connector output parameters © Siemens AG 2006 All Rights Reserved 5-321 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 322 2. OFF3 722.2 Drive 2 p0848.C 1. OFF3 722.2 OFF3 & p0849.C 2. OFF3 722.2 bico_4.vsd Fig. 5-8 Connection of OFF3 to several drives (example) © Siemens AG 2006 All Rights Reserved 5-322 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 323 S p2930[0...n] CO: Fixed Value_M_1 Example: These parameters can be used to interconnect the scaling factor for the main set- point or to interconnect an additional torque. © Siemens AG 2006 All Rights Reserved 5-323 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 324 Flux setpoint r0083 Reference flux Flux actual value r0084 Reference flux Speed controller r1480 p2003 PI torque output Speed controller r1482 p2003 I torque output © Siemens AG 2006 All Rights Reserved 5-324 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 325 Reference flux 100 % = Rated motor flux – Reference temperature 100 % = 100°C – Reference electrical angle 100 % = 90° – © Siemens AG 2006 All Rights Reserved 5-325 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 326 = p0207 Reference power 100 % = r2004 r2004 = p0206 Reference temperature 100 % = 100°C – Reference electrical angle 100 % = 90° – © Siemens AG 2006 All Rights Reserved 5-326 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 327 Booting with partial topology, parking axis/encoder, de-activating/activating components Friction characteristic with 10 points along the characteristic, automatic characteristic plot Utilization display Evaluation of distance-coded zero marks – for higher-level controls © Siemens AG 2006 All Rights Reserved A-327 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 328 Increased torque accuracy for synchronous motors (kt estimator) Hub functionality (hot plugging, distributed encoder, star structure via DMC20) Basic Operator Panel BOP20 SSI encoder (SMC30) 6SL3055-0AA00-5CA1 © Siemens AG 2006 All Rights Reserved A-328 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 329 CANopen extensions (vector, free process data access, profile DS301) PROFINET IO communication with Option Module CBE20 New hardware components are supported (AC DRIVE, SME120/125, BOP20, DMC20, TM41) © Siemens AG 2006 All Rights Reserved A-329 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 330 Vector HW component since FW Position tracking for torque motors (not for CU320, 6SL3040- ..- EPOS) 0AA1 and Version C or higher 1FW3 torque motors – © Siemens AG 2006 All Rights Reserved A-330 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 331 Capacitance C... Safety-Meldung Safety message Serielles Bussystem Controller Area Network Kommunikationsbaugruppe CAN Communication Board CAN Compact Disc Compact Disc Befehlsdatensatz Command Data Set Konnektoreingang Connector Input © Siemens AG 2006 All Rights Reserved B-331 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 332 Elektromagnetische Verträglichkeit Electromagnetic Compatibility (EMC) Europäische Norm European Standard EnDat Geber-Schnittstelle Encoder-Data-Interface Impulsfreigabe Enable Pulses EPOS Einfachpositionierer Basic positioner Engineering System Engineering System Ersatzschaltbild Equivalent circuit diagramm © Siemens AG 2006 All Rights Reserved B-332 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 333 International Electrotechnical Commission IGBT Bipolartransistor mit isolierter Insulated Gate Bipolar Transistor Steuerelektrode Impulslöschung Pulse suppression Drehstromversorgungsnetz ungeerdet Three-phase supply network ungrounded Interner Spannungsschutz Internal Voltage Protection © Siemens AG 2006 All Rights Reserved B-333 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 334 Normally Closed (contact) Numerische Steuerung Numerical Control NEMA Normengremium in USA (United States National Electrical Manufacturers of America) Association Nullmarke Zero Mark Schließer Normally Open (contact) © Siemens AG 2006 All Rights Reserved B-334 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 335 Fehlerstrom-Schutzschalter Residual Current Device RJ45 Norm. Beschreibt eine 8-polige Standard. Describes an 8-pole plug Steckverbindung mit Twisted-Pair connector with twisted pair Ethernet. Ethernet. Rückkühlanlage Recooling system © Siemens AG 2006 All Rights Reserved B-335 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 336 Safe Stop 1 Safe Stop 1 Safe Stop 2 Safe Stop 2 Synchron Serielle Schnittstelle Synchronous Serial Interface Sichere Geschwindigkeitsanzeige n< nx Safe Speed Monitoring n< nx © Siemens AG 2006 All Rights Reserved B-336 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 337 Voltage Sensing Module Wiedereinschaltautomatik Automatic restart Werkzeugmaschine Machine tool Erweiterbare Auszeichnungssprache Extensible Markup Language (Standardsprache für Web-Publishing und Dokumentenmanagement) Zwischenkreis DC link PROFIBUS Zustandswort PROFIBUS statusword © Siemens AG 2006 All Rights Reserved B-337 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 339 SINAMICS G130 Drive Converter Chassis Units, SINAMICS G150 Drive Converter Cabinet Units Order No.: E86060-K5511-A101-A3 12.2005 Edition /D21.1/ SINAMICS S120 Vector Control Drive System Order number: E86060-K5521-A111-A2 06.2005 Edition /D21.3/ SINAMICS S150 Converter Cabinet Units 75 kW to 1200 kW...
Page 340 Equipment Manual for Control Units and Additional System Components Order No.: 6SL3097-2AH00-0BP3 03.2006 Edition /GH2/ SINAMICS S120 Equipment Manual for Booksize Power Modules Order No.: 6SL3097-2AC00-0BP3 06.2005 Edition © Siemens AG 2006 All Rights Reserved C-340 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 341 Order No.: 6SL3097-2AA00-0BP2 03.2006 Edition /LH1/ SINAMICS S List Manual Order No.: 6SL3097-2AP00-0BP4 03.2006 Edition /PFK7S/ SINAMICS Synchronous Motors 1FK7 Configuration Manual Order No.: 6SN1197-2AD16-0BP0 12.2004 Edition © Siemens AG 2006 All Rights Reserved C-341 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 342 Order number: 4.071 /P3/ Distributed Layouts using PROFIBUS-DP Architecture and Fundamentals, Configuration and Use of PROFIBUS-DP with SIMATIC S7 SIEMENS; Publicis MCD Verlag; Josef Weigmann, Gerhard Kilian Order No.: A19100-L531-B714 ISBN 3-89578-074-X /P4/ Manual for PROFIBUS Networks, SIEMENS Order number:...
Page 343 Directive 98/37/EEC of the European Parliament and Council Machine directive Bundesanzeiger-Verlags GmbH 06/22/1998 Edition /SISH/ Safety Integrated System Manual Order No.: 6ZB5000-0AA01-0BA1 5th edition /SICD/ Safety Integrated CD-ROM Order No.: E20001-D10-M103-X-7400 09.2004 Edition © Siemens AG 2006 All Rights Reserved C-343 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 345 Mechanical system, 4-250 Closed-loop position control, 4-236 Reject traversing task, 4-265, 4-271 Function Module, 4-237 Traversing blocks, 4-264 Position actual value conditioning, 4-237 ESD information, x Connector, 5-320 © Siemens AG 2006 All Rights Reserved D-345 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 346 Operation without an encoder, Servo, 3-94 Safety, xi Interconnecting signals using BICO technology, 5-320 Interconnection using BICO technology, 5-320 Intermediate stop, EPOS, 4-265, 4-271 Internet, viii © Siemens AG 2006 All Rights Reserved D-346 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 347 Technology controller, 4-178 Torque setpoint, 3-74 Technology function, Friction characteristic, Torque-controlled operation, 3-71 4-205 Travel to fixed stop, 3-116 Terminal Module 41, 4-291 V/f control, 3-91 TM41, 4-291 © Siemens AG 2006 All Rights Reserved D-347 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 348 Voltage protection (Booksize), Internal, 4-227 Vector n/m control, 3-142 VPM, Internal voltage protection, 4-226 Vdc control vector, 3-165 Vdc_min control Servo, 3-114 Vector n/m control, 3-144 Vector V/f control, 3-167 © Siemens AG 2006 All Rights Reserved D-348 SINAMICS S120 Function Manual, 03/2006 Edition...
Page 349 Recommendations SIEMENS AG Corrections A&D MC MS for document: Postfach 3180 SINAMICS S120 D–91050 Erlangen Tel.: +49 (0) 180 / 5050 – 222 (hotline) Fax: +49 (0) 9131 / 98 – 63315 (documentation) Manufacturer/service documentation E-mail: mailto:motioncontrol.docu@.siemens.com Function Manual From Order No.:...
Page 351 Overview of SINAMICS Documentation (03/2006) General Documentation/Catalogs SINAMICS SINAMICS SINAMICS SINAMICS G110 G130 S120 S150 G120 G150 D11.1 D21.1 D21.3 Converter Chassis Units Converter Chassis Units Chassis Units Vector Control Cabinet Units 0.12 – 3 kW Converter Cabinet Units 75 – 1200 kW Manufacturer/Service Documentation SINAMICS SINAMICS...
Page 352 Siemens AG Automation and Drives © Siemens AG 2006 Motion Control Systems Subject to changes without prior notice. Postfach 3180, D-91050 Erlangen Oder No.: 6SL3097-2AB00-0BP2 Germany Printed in Germany www.siemens.com/motioncontrol...

Siemens SINAMICS S120 Function Manual

1 Infeed

2 Extended Setpoint Channel

3 Operating Modes

4 Extended Functions

5 Basic Information about the Drive System

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