Page 1 Function Manual 07/2007 SINAMICS S120 Drive Functions SINAMICS S120 sinamics...
Page 3 Foreword Infeed Extended setpoint channel SINAMICS Servo control S120 Drive Functions Vector control Vector V/f control (r0108.2 = 0) Function Manual Basic functions Function modules Monitoring and protective functions Safety Integrated basic functions Communication PROFIBUS DP/PROFINET IO Applications Basic information about the drive system Appendix Applies to:...
Page 4 Trademarks All names identified by ® are registered trademarks of the Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Page 5: Foreword
● Manufacturer/service documentation A current overview of the documentation in the available languages is provided in the Internet: http://www.siemens.com/motioncontrol Select the menu items "Support" --> "Technical Documentation" --> "Overview of Publications." The Internet version of DOConCD (DOConWEB) is available on the Internet: http://www.automation.siemens.com/doconweb...
Page 6 STARTER parameterization and commissioning tool Commissioning • SINAMICS S120 Getting Started • SINAMICS S120 Commissioning Manual • SINAMICS S120 CANopen Commissioning Manual • SINAMICS S120 Function Manual • SINAMICS S List Manual • Usage/operation SINAMICS S120 Commissioning Manual • SINAMICS S List Manual •...
Page 7 European and African time zones A&D Technical Support Tel.: +49 (0) 180 5050 - 222 Fax: +49 (0) 180 5050 - 223 Internet: http://www.siemens.de/automation/support-request Asian and Australian time zones A&D Technical Support Tel: +89 1064 719 990 Fax: +86 1064 747 474 E-mail: adsupport.asia@siemens.com...
Page 8 ● Internet http://www.ad.siemens.de/csinfo Product/Order no: 15257461 ● Branch offices For the responsible regional offices of the A&D MC business division of Siemens AG. Notation The following notation and abbreviations are used in this documentation: Notation for parameters (examples): ● p0918 Adjustable parameter 918 ●...
Page 9 Foreword ESD Notes CAUTION Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices that can be damaged by electrostatic fields or electrostatic discharges. Regulations for the ESD handling: During the handling of electronic components, pay attention to the grounding of the person, workplace and packaging! Electronic components may be touched by persons only when •...
Page 10 Foreword Safety instructions DANGER • Commissioning must not start until you have ensured that the machine in which the components described here are to be installed complies with Directive 98/37/EC. • SINAMICS devices and AC motors must only be commissioned by suitably qualified personnel.
Page 11 Foreword CAUTION • As part of routine tests, SINAMICS devices with AC motors undergo a voltage test in accordance with EN 50178. Before the voltage test is performed on the electrical equipment of industrial machines to EN 60204-1, Section 19.4, all connectors of SINAMICS equipment must be disconnected/unplugged to prevent the equipment from being damaged.
Page 13: Table Of Contents
Contents Foreword ..............................5 Infeed ..............................21 Active Infeed ..........................21 1.1.1 Introduction ..........................21 1.1.2 Active Infeed closed-loop control Booksize .................22 1.1.3 Active Infeed closed-loop control Chassis ...................24 1.1.4 Integration ............................25 1.1.5 Line and DC link identification......................26 1.1.6 Active Infeed open-loop control ....................27 1.1.7 Reactive current control .......................30 1.1.8...
Page 14 Contents Torque-controlled operation ......................69 Torque setpoint limitation ......................71 Current controller ........................75 Current setpoint filter........................78 Note about the electronic motor model ..................84 V/f control for diagnostics......................84 3.10 Optimizing the current and speed controller ................87 3.11 Sensorless operation (without an encoder) ................
Page 15 Contents 4.18.2 Features .............................158 4.18.3 Commissioning...........................158 4.19 Redundance operation power units ...................158 4.20 Bypass ............................159 4.20.1 Bypass with synchronization with overlap (p1260 = 1)..............160 4.20.2 Bypass with synchronization, without overlap (p1260 = 2)............163 4.20.3 Bypass without synchronization (p1260 = 3) ................164 Vector V/f control (r0108.2 = 0)......................
Page 16 Contents Function modules ..........................219 Function modules - Definition and commissioning ..............219 Technology controller........................ 220 7.2.1 Description ..........................220 7.2.2 Features ............................ 220 7.2.3 Commissioning with STARTER ....................221 7.2.4 Examples........................... 221 7.2.5 Integration ..........................222 Extended monitoring functions....................224 7.3.1 Features ............................
Page 17 Contents 7.10 DCC axial winder ........................282 7.11 Parallel connection of chassis power units (vector)..............288 7.11.1 Features .............................288 7.11.2 Integration ..........................288 7.11.3 Description ..........................289 7.11.4 Application examples .........................289 7.11.5 Commissioning...........................290 Monitoring and protective functions ....................... 291 Power unit protection, general ....................291 Thermal monitoring and overload responses ................292 Block protection..........................293 Stall protection (only for vector control) ..................294...
Page 18 Contents 10.1.3.2 Monitoring: telegram failure....................... 353 10.1.3.3 Description of control words and setpoints ................354 10.1.3.4 Description of status words and actual values................364 10.1.3.5 Control and status words for encoder ..................375 10.1.3.6 Central control and status words ....................384 10.1.3.7 Motion Control with PROFIdrive ....................
Page 19 Contents 11.4 Application examples with the DMC20 ..................460 11.4.1 Features .............................460 11.4.2 Description ..........................460 11.4.3 Example, distributed topology....................460 11.4.4 Example, hot plugging .......................461 11.4.5 Instructions for offline commissioning with STARTER...............462 11.4.6 Overview of key parameters (see SINAMICS S List Manual) ...........463 11.5 Control Units without infeed control ...................463 11.5.1...
Page 20 Contents 12.10.3 Sample wiring for vector drives....................514 12.10.4 Sample wiring of Vector drives connected in parallel ............... 515 12.10.5 Sample wiring: Power Modules....................517 12.10.6 Changing the offline topology in STARTER................518 12.10.7 Sample wiring for servo drives ....................519 12.10.8 Sample wiring for vector U/f drives ...................
Page 21: Infeed
Infeed Active Infeed 1.1.1 Introduction General Note Line Modules (Active Line Modules, Basic Line Modules, Smart Line Modules) of different types must not be operated simultaneously on the same DC link. Features ● Controlled DC link voltage whose level can be adjusted (independent of line voltage fluctuations) ●...
Page 22: Active Infeed Closed-Loop Control Booksize
Infeed 1.1 Active Infeed 1.1.2 Active Infeed closed-loop control Booksize Schematic structure Figure 1-1 Schematic structure of Active Infeed Booksize Active Infeed closed-loop control for Active Line Modules Booksize The Active Line Module can be operated in two different modes depending on the parameterized line supply voltage (p0210): ●...
Page 23 Infeed 1.1 Active Infeed Supply voltage p0210 [V] 380-400 401-415 416-440 Voltages specified for the smart mode are derived from the rectified line supply voltage. The DC link voltage setpoint (p3510) has no effect in this control mode. Voltage Sensing Module (VSM10) used with S120 Active Line Module Using a Voltage Sensing Module (VSM10) to sense the line voltage, drives can also be operated in systems with heavy frequency fluctuations beyond the range defined in IEC61000-2-4 if specific conditions are met.
Page 24: Active Infeed Closed-Loop Control Chassis
Infeed 1.1 Active Infeed 1.1.3 Active Infeed closed-loop control Chassis Schematic structure Figure 1-2 Schematic structure of Active Infeed Operating mode of Active Infeed closed-loop control for Chassis Active Line Modules. Active Line Modules Chassis only function in Active Mode. In Active Mode, the DC link voltage is regulated to a variable setpoint (p3510), which results in a sinusoidal line current (cosφ...
Page 25: Integration
Infeed 1.1 Active Infeed 1.1.4 Integration Function diagrams (see SINAMICS S List Manual) ● 1774 Overviews - Active Infeed ● 8920 Control word sequential control infeed ● ... ● 8964 Messages and monitoring, supply frequency and Vdc monitoring Overview of key parameters (see SINAMICS S List Manual) ●...
Page 26: Line And Dc Link Identification
Infeed 1.1 Active Infeed 1.1.5 Line and DC link identification The characteristic line supply and DC link quantities are determined using the automatic parameter identification routine. They provide the basis to optimally set the controllers in the Line Module. An optimal setting of the current and voltage control is achieved with the help of the line supply and DC link identification routine.
Page 27: Active Infeed Open-Loop Control
Infeed 1.1 Active Infeed 1.1.6 Active Infeed open-loop control Description The Active Line Module can be controlled via the BICO interconnection by means of terminals or the field bus. The operating status is indicated on the operating display r0002. The missing enable signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable pulses) must be connected in accordance with the Equipment Manual.
Page 28 Infeed 1.1 Active Infeed Switching on the Active Line Module: Figure 1-3 Active Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered-up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 29 Infeed 1.1 Active Infeed Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This allows the attached drives to be braked in a controlled manner. Before the infeed is switched off, the drives connected to the DC link should be in pulse inhibit mode. Control and status messages Table 1-2 Active Infeed open-loop control...
Page 30: Reactive Current Control
Infeed 1.1 Active Infeed 1.1.7 Reactive current control A reactive current setpoint can be set to compensate the reactive current or to stabilize the line voltage in infeed mode. The total setpoint is the sum of the fixed setpoint p3610 and the dynamic setpoint via the connector input p3611.
Page 31: Smart Infeed
Infeed 1.2 Smart Infeed Overview: key parameters ● p3624 Infeed harmonics controller order ● p3625 Infeed harmonics controller scaling ● r0069[0..6] Phase current, actual value Smart Infeed 1.2.1 Smart Infeed closed-loop control General Note Line Modules (Active Line Modules, Basic Line Modules, Smart Line Modules) of different types must not be operated simultaneously on the same DC link.
Page 32 Infeed 1.2 Smart Infeed Figure 1-4 Terminal diagram for Smart Infeed Booksize Figure 1-5 Connection diagram Smart Infeed Chassis Commissioning The device connection voltage (p0210) must be parameterized during commissioning. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 33: Line Supply And Dc Link Identification Routine For Smart Infeed Booksize
Infeed 1.2 Smart Infeed Note In a supply system without regenerative feedback capability (e.g. generators), regenerative operation must be inhibited via the binector input p3533. Function diagrams (see SINAMICS S List Manual) ● 1775 Overviews - Smart Infeed ● 8820 Control word sequential control infeed ●...
Page 34 Infeed 1.2 Smart Infeed Note If the line supply environment changes, or the components connected to the DClink (e.g. after installing and mounting the equipment at the customer's site or after expanding the drive group), then the line supply/DC link identification routine should be repeated with p3410 = 5.
Page 35: Smart Infeed Open-Loop Control
Infeed 1.2 Smart Infeed 1.2.3 Smart Infeed open-loop control Description The Smart Line Module can be controlled via the BICO interconnection by means of terminals or the field bus. The operating status is indicated on the operating display r0002. The missing enable signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable pulses) must be connected in accordance with the Equipment Manual.
Page 36 Infeed 1.2 Smart Infeed Switching on the Smart Line Module Figure 1-6 Smart Infeed power-up Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 37 Infeed 1.2 Smart Infeed Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered-up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Switching off the Smart Line Module To switch off the Active Line Module, carry out the steps for switching it on in reverse order.
Page 38: Basic Infeed
Infeed 1.3 Basic Infeed Signal name Internal status Parameter PROFIdrive telegram 370 word Pre-charging completed ZSWAE.11 r0899.11 A_ZSW1.11 Line contactor energized feedback ZSWAE.12 r0899.12 A_ZSW1.12 Basic Infeed 1.3.1 Basic Infeed open-loop control General Note Line Modules (Active Line Modules, Basic Line Modules, Smart Line Modules) of different types must not be operated simultaneously on the same DC link.
Page 39 Infeed 1.3 Basic Infeed Figure 1-7 Schematic structure of Basic Infeed Booksize Figure 1-8 Schematic structure of Basic Infeed Chassis Commissioning The rated line voltage (p0210) must be parameterized during commissioning. With 20 KW/40 kW Basic Line Modules, the temperature switch of the external braking resistor must be connected to X21 on the Basic Line Module.
Page 40: Basic Infeed Open-Loop Control
Infeed 1.3 Basic Infeed If a braking resistor has not been connected for 20 kW and 40 kW Basic Line Modules Booksize, the braking chopper must be deactivated via p3680 = 1. Function diagrams (see SINAMICS S List Manual) ● 8720 Control word sequential control infeed ●...
Page 41 Infeed 1.3 Basic Infeed Switching on the Basic Line Module Figure 1-9 Basic Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered-up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 42: Line Contactor Control
Infeed 1.4 Line contactor control Control and status messages Table 1-7 Basic Infeed open-loop control Signal name Internal control word Binector input Display of internal PROFIdrive telegram control word ON/OFF1 STWAE.0 p0840 ON/OFF1 r0898.0 A_STW1.0 OFF2 STWAE.1 p0844 1 OFF2 and r0898.1 A_STW1.1 p0845 2 OFF2...
Page 43 Infeed 1.4 Line contactor control Example of commissioning line contactor control Assumption: ● Line contactor control via a digital output of the Control Unit (DI/DO 8) ● Line contactor feedback via a digital input of the Control Unit (DI/DO 9) ●...
Page 44: Pre-Charging And Bypass Contactor Chassis
Infeed 1.5 Pre-charging and bypass contactor chassis Function diagrams (see SINAMICS S List Manual) ● 8934 Missing enables, line contactor control Overview of key parameters (see SINAMICS S List Manual) ● r0863.1 CO/BO: Drive coupling status word/control word ● p0860 BI: Line contactor, feedback signal Pre-charging and bypass contactor chassis Description Pre-charging is the procedure for charging the DC link capacitors via resistors.
Page 45: Derating Function For Chassis Units
Infeed 1.6 Derating function for chassis units Derating function for chassis units Description An adjusted derating function can greatly reduce the noise level during the operation of the chassis power units (Motor and Power Modules) and enable operation at a multiple of the nominal pulse frequency at nearly nominal current.
Page 46: Parallel Connections Of 6-Pulse And 12-Pulse Chassis Infeeds
Infeed 1.7 Parallel connections of 6-pulse and 12-pulse chassis infeeds Parallel connections of 6-pulse and 12-pulse chassis infeeds Description With Basic Line Modules and chassis units, in addition to 6-pulse parallel infeed (infeed via two-winding transformer), it is also possible to use a 12-pulse parallel infeed (infeed via three-winding transformer).
Page 47: Extended Setpoint Channel
Extended setpoint channel Description In the servo operating mode, the extended setpoint channel is deactivated by default. If an extended setpoint channel is required, it has to be activated. Properties of servo mode without the "extended setpoint channel" function module ●...
Page 48: Description
Extended setpoint channel 2.2 Description Description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control. The setpoint for motor control can also originate from the technology controller (see "Technology controller"). Figure 2-1 Extended setpoint channel Properties of the extended setpoint channel ●...
Page 49: Jog
Extended setpoint channel 2.3 Jog ● Jog ● Field bus – Setpoint via PROFIBUS, for example ● Via the analog inputs of the following exemplary components: – e.g. Terminal Board 30 (TB30) – e.g. Terminal Module 31 (TM31) – e.g. Terminal Module 41 (TM41) Description This function can be selected via digital inputs or via a field bus (e.g.
Page 50 Extended setpoint channel 2.3 Jog Figure 2-3 Function chart: jog 1 and jog 2 Jog properties ● If both jog signals are issued at the same time, the current speed is maintained (constant velocity phase). ● Jog setpoints are approached and exited via the ramp-function generator. ●...
Page 51 Extended setpoint channel 2.3 Jog Jog sequence Figure 2-4 Jog sequence Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 52 Extended setpoint channel 2.3 Jog Control and status messages Table 2-1 Jog control Signal name Internal control word Binector input PROFIdrive/Siemens telegram 1 ... 116 0 = OFF1 STWA.0 p0840 ON/OFF1 STW1.0 0 = OFF2 STWA.1 p0844 1. OFF2 STW1.1 p0845 2.
Page 53: Fixed Speed Setpoints
Extended setpoint channel 2.4 Fixed speed setpoints Fixed speed setpoints Description This function can be used to specify preset speed setpoints. The fixed setpoints are defined in parameters and selected via binector inputs. Both the individual fixed setpoints and the effective fixed setpoint are available for further interconnection via a connector output (e.g.
Page 54: Motorized Potentiometer
Extended setpoint channel 2.5 Motorized potentiometer Parameterization with STARTER 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. Motorized potentiometer Description This function is used to simulate an electromechanical potentiometer for setpoint input. You can switch between manual and automatic mode for setpoint input.
Page 55 Extended setpoint channel 2.5 Motorized potentiometer – Setting value (p1043/p1044) – Initial rounding-off active/not active (p1030.2) ● Non-volatile storage of the setpoints via p1030.3 ● Configurable setpoint for Power On (p1030.0) – Starting value is the value in p1040 (p1030.0 = 0) –...
Page 56: Main/Supplementary Setpoint And Setpoint Modification
Extended setpoint channel 2.6 Main/supplementary setpoint and setpoint modification Main/supplementary setpoint and setpoint modification Description The supplementary setpoint can be used to incorporate correction values from lower-level controllers. This can be easily carried out using the addition point for the main/supplementary setpoint in the setpoint channel.
Page 57: Direction Of Rotation Limiting And Direction Of Rotation Changeover
Extended setpoint channel 2.7 Direction of rotation limiting and direction of rotation changeover Display parameters r1073[C] CO: Main setpoint effective r1077[C] CO: Supplementary setpoint effective r1078[C] CO: Total setpoint effective Parameterization with STARTER The "Speed setpoint" parameter screen is selected with the icon in the toolbar of the STARTER commissioning tool: Direction of rotation limiting and direction of rotation changeover...
Page 58: Suppression Bandwidths And Setpoint Limits
Extended setpoint channel 2.8 Suppression bandwidths and setpoint limits Function diagrams (see SINAMICS S List Manual) ● 1550 Setpoint channel ● 3040 Direction limitation and direction reversal Overview of key parameters (see SINAMICS S List Manual) Adjustable parameters ● p1110[CDS] BI: Inhibit negative direction ●...
Page 59 Extended setpoint channel 2.8 Suppression bandwidths and setpoint limits Figure 2-7 Suppression bandwidths, setpoint limitation Function diagrams (see SINAMICS S List Manual) ● 1550 Setpoint channel ● 3050 Suppression bandwidth and speed limiting Overview of key parameters (see SINAMICS S List Manual) Setpoint limitation ●...
Page 60: Ramp-Function Generator
Extended setpoint channel 2.9 Ramp-function generator ● p1088[C] DI: Speed limit negative direction of rotation ● r1119 Ramp-function generator setpoint at the input Suppression bandwidths ● p1091[D] Suppression speed 1 ● ... ● p1094[D] Suppression speed 4 ● p1101[D] Suppression speed bandwidth Parameterization with STARTER The "speed limitation"...
Page 61 Extended setpoint channel 2.9 Ramp-function generator Properties of the simple ramp function generator Figure 2-9 Ramp-up and ramp-down with the simple ramp function generator ● RFG ramp-up time Tup p1120[DDS] ● RFG ramp-down time Tdn p1121[DDS] ● OFF3 deceleration ramp –...
Page 62 Extended setpoint channel 2.9 Ramp-function generator ● RFG ramp-up time Tup p1120[DDS] ● RFG ramp-down time Tdn p1121[DDS] ● Initial rounding-off time IR p1130[DDS] ● Final rounding-off time FR p1131[DDS] ● Rounding-off typep1134[DDS] ● Effective ramp-up time Tup_eff = Tup + (IR/2 + FR/2) ●...
Page 63 Extended setpoint channel 2.9 Ramp-function generator Figure 2-11 Ramp function generator tracking Without ramp function generator tracking ● p1145 = 0 ● Drive accelerates until t2 although setpoint < actual value With ramp function generator tracking ● At p1145 > 1 (values between 0 and 1 are not applicable), ramp function generator tracking is activated when the torque limit is approached.
Page 64 Extended setpoint channel 2.9 Ramp-function generator Parameterization with STARTER The "ramp function generator" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 2-12 STARTER icon for "ramp function generator" Overview of key parameters (see SINAMICS S List Manual) Adjustable parameters ●...
Page 65: Servo Control
Servo control This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. Speed controller The speed controller controls the motor speed using the actual values from the encoder (operation with encoder) or the calculated actual speed value from the electric motor model (operation without encoder).
Page 66: Speed Setpoint Filter
Servo control 3.2 Speed setpoint filter Speed setpoint filter The two speed setpoint filters are identical in structure and can be used as follows: ● Bandstop ● Low-pass 1st order (PT1) or ● Low-pass 2nd order (PT2) Both filters are activated via parameter p1414.x. Parameters p1415 and p1421 are used to select the filter elements.
Page 67: Speed Controller Adaptation
Servo control 3.3 Speed controller adaptation ● p1425[DDS] Speed setpoint filter 2 numerator natural frequency ● p1426[DDS] Speed setpoint filter 2 numerator damping Parameterization In the STARTER commissioning tool, the "Speed setpoint filter" parameter screen is selected with the icon in the toolbar: Speed controller adaptation Description Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent...
Page 68 Servo control 3.3 Speed controller adaptation Example of speed-dependent adaptation Note This type of adaptation is only active in "operation with encoder" mode. Figure 3-4 Speed controller Kp_n/Tn_n adaptation Parameterization The "speed controller" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-5 STARTER icon for "speed controller"...
Page 69: Torque-Controlled Operation
Servo control 3.4 Torque-controlled operation ● p1458[0...n] Lower adaptation factor ● p1459[0...n] Upper adaptation factor Speed-dependent Kp_n/Tn_n adaptation ● p1460[0...n] Speed controller P gain lower adaptation speed ● p1461[0...n] Speed controller Kp adaptation speed upper scaling ● p1462[0...n] Speed controller integral time lower adaptation speed ●...
Page 70 Servo control 3.4 Torque-controlled operation Figure 3-6 Torque setpoint 3. Activate enable signals OFF responses ● OFF1 and p1300 = 23 – Reaction as for OFF2 ● OFF1, p1501 = "1" signal and p1300 ≠ 23 – No separate braking response; the braking response takes place by a drive that specifies the torque.
Page 71: Torque Setpoint Limitation
Servo control 3.5 Torque setpoint limitation Function diagrams (see SINAMICS S List Manual) ● 5060 Torque setpoint, control type switchover ● 5610 Torque limiting/reduction/interpolator Signal overview (see SINAMICS S List Manual) ● r1406.12 Torque control active Parameterization The "torque setpoint" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-7 STARTER icon for "torque setpoint"...
Page 72 Servo control 3.5 Torque setpoint limitation Figure 3-8 Current/torque setpoint limiting Note This function is effective immediately without any settings. The user can also define further settings for limiting the torque. Properties The connector inputs of the function are initialized with fixed torque limits. If required, the torque limits can also be defined dynamically (during operation).
Page 73 Servo control 3.5 Torque setpoint limitation Fixed and variable torque limit settings Table 3-1 Fixed and variable torque limit settings Selection Torque limitation mode Mode Maximum upper or lower torque limits Maximum motor or regenerative mode torque p1400.4 = 0 limits p1400.4 = 1 Fixed torque limit Upper torque limit (as positive...
Page 74 Servo control 3.5 Torque setpoint limitation Example: Torque limits with or without offset The signals selected via p1522 and p1523 include the torque limits parameterized via p1520 and p1521. Figure 3-9 Example: Torque limits with or without offset Activating the torque limits 1.
Page 75: Current Controller
Servo control 3.6 Current controller Overview of key parameters (see SINAMICS S List Manual) ● p0640[0...n] Current limit ● p1400[0...n] Speed control configuration ● r1508 CO: Torque setpoint before supplementary torque ● r1509 CO: Torque setpoint before torque limiting ● r1515 Supplementary torque total ●...
Page 76 Servo control 3.6 Current controller Closed-loop current control No settings are required for operating the current controller. Optimization measures can be taken in certain circumstances. 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.
Page 77 Servo control 3.6 Current controller Overview of key parameters (see SINAMICS S List Manual) Closed-loop current control ● p1701[0...n] Current controller reference model dead time ● p1715[0...n] Current controller P gain ● p1717[0...n] Current controller integral time Current and torque limitation ●...
Page 78: Current Setpoint Filter
Servo control 3.7 Current setpoint filter Current controller adaptation ● p0391[0...n] Current controller adaptation lower starting point ● p0392[0...n] Current controller adaptation upper starting point ● p0393[0...n] Current controller adaptation upper P gain ● p1590[0...n] Flux controller P gain ● p1592[0...n] Flux controller integral time Current setpoint filter Description The four current setpoint filters connected in series can be parameterized as follows:...
Page 79 Servo control 3.7 Current setpoint filter Figure 3-12 Current setpoint filter Transfer function: Denominator natural frequency f Denominator damping D Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 80 Servo control 3.7 Current setpoint filter Table 3-2 Example of a PT2 filter STARTER filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency f 500 Hz Damping D 0.7 dB Band-stop with infinite notch depth Table 3-3 Example of band-stop with infinite notch depth STARTER filter parameters Amplitude log frequency curve Phase frequency curve...
Page 81 Servo control 3.7 Current setpoint filter Band-stop with defined notch depth Table 3-4 Example of band-stop with defined notch depth STARTER filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency f = 500 Hz Bandwidth f = 500 Hz Notch depth K = -20 dB Reduction Abs = 0 dB Simplified conversion to parameters for general order filters:...
Page 82 Servo control 3.7 Current setpoint filter ● Denominator natural frequency ● Denominator damping General low-pass with reduction Table 3-6 Example of general low-pass with reduction STARTER filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency f = 500 Hz Damping D = 0.7 Reduction Abs = -10 dB Conversion to parameters for general order filters:...
Page 83 Servo control 3.7 Current setpoint filter Table 3-7 Example of general 2nd order filter STARTER filter parameters 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 Parameterization...
Page 84: Note About The Electronic Motor Model
Servo control 3.8 Note about the electronic motor model Note about the electronic motor model A model change takes place within the speed range p1752*(100%-p1756) and p1752. With induction motors with encoder, the torque image is more accurate in higher speed ranges; the effect of the rotor resistance and the saturation of the main field inductance are corrected.
Page 85 Servo control 3.9 V/f control for diagnostics Structure of V/f control Figure 3-14 Structure of V/f control Prerequisites for V/f control 1. Initial commissioning has been carried out: The parameters for V/f control have been initialized with appropriate values. 2. Initial commissioning has not been carried out: The following relevant motor data must be checked and corrected: –...
Page 86 Servo control 3.9 V/f control for diagnostics V/f characteristic The speed setpoint is converted to the frequency specification taking into account the number of pole pairs. The synchronous frequency associated with the speed setpoint is output (no slip compensation). Figure 3-15 V/f characteristic Function diagrams (see SINAMICS S List Manual) ●...
Page 87: Optimizing The Current And Speed Controller
Servo control 3.10 Optimizing the current and speed controller 3.10 Optimizing the current and speed controller General information CAUTION Controller optimization may only be performed by skilled personnel with a knowledge of control engineering. The following tools are available for optimizing the controllers: ●...
Page 88: Sensorless Operation (Without An Encoder)
Servo control 3.11 Sensorless operation (without an encoder) Example of measuring the speed controller frequency response By measuring the speed controller frequency response and the control system, critical resonance frequencies can, if necessary, be determined at the stability limit of the speed control loop and dampened using one or more current setpoint filters.
Page 89 Servo control 3.11 Sensorless operation (without an encoder) Since the dynamic response in operation without an encoder is lower than in operation with an encoder, accelerating torque pre-control is implemented to improve the control dynamic performance. It controls, knowing the drive torque, and taking into account the existing torque and current limits as well as the load moment of inertia (motor moment of inertia: p0341*p0342 + load torque: p1498) the required torque for a demanded speed dynamic performance optimized from a time perspective.
Page 90 Servo control 3.11 Sensorless operation (without an encoder) be enabled. A large discrepancy between the actual and setpoint speed can cause a malfunction. WARNING 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.
Page 91 Servo control 3.11 Sensorless operation (without an encoder) Series reactor When high-speed special motors are used, or other low leakage induction motors, a series reactor may be required to ensure stable operation of the current controller. The series reactor can be integrated via p0353. Commissioning/optimization 1.
Page 92: Motor Data Identification
Servo control 3.12 Motor data identification 3.12 Motor data identification Description The motor data identification (MotID) is used as tool to determine the motor data, e.g. of third-party motors and can help to improve the torque accuracy (k estimator). The drive system must have been commissioned for the first time as basis for using MotID.
Page 93 Servo control 3.12 Motor data identification DANGER The stationary MotID can result in slight movement of up to 210 degrees electrical. For the rotating motor data identification routine, motor motion is initiated, which can reach the maximum speed (p1082) and the motor torque corresponding to the maximum current (p0640).
Page 94: Motor Data Identification - Induction Motor
Servo control 3.12 Motor data identification Table 3-9 Type plate data Induction motor Permanent-magnet synchronous motor p0304 rated voltage p0304 rated voltage • • p0305 rated current p0305 rated current • • p0307 rated power p0307 rated power (alternative p0316) •...
Page 95 Servo control 3.12 Motor data identification Table 3-11 Data determined using p1910 for induction motors (stationary measurement) Determined data (gamma) Data that are accepted (p1910 = 1) r1912 identified stator resistance p0350 motor stator resistance, cold + p0352 cable resistance r1913 rotor time constant identified r0384 motor rotor time constant/damping time constant, d axis...
Page 96: Motor Data Identification - Synchronous Motor
Servo control 3.12 Motor data identification Determined data (gamma) Data that are accepted (p1960 = 1) Note: The magnetic design of the motor can be identified from the saturation characteristic. r1969 moment of inertia identified p0341 motor moment of inertia * p0342 ratio between the total moment of inertia and that of the motor + p1498 load moment of inertia...
Page 97 Servo control 3.12 Motor data identification Table 3-14 Data determined using p1960 for synchronous motors (rotating measurement) Determined data Data that are accepted (p1960 = 1) r1934 q inductance identified r1935 q inductance identification current Note: The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation (p0391, p0392 and p0393).
Page 98: Pole Position Identification
Servo control 3.13 Pole position identification Figure 3-19 Equivalent circuit diagram for synchronous motor and cable Overview of key parameters (see SINAMICS S List Manual) ● r0047 Status identification Standstill measurement ● p1909 Motor data identification control word ● p1910 Motor data identification, stationary Rotating measurement ●...
Page 99 Servo control 3.13 Pole position identification ● Hall sensor ● Resolver with a multiple integer ratio between the motor pole pair number and the encoder pole pair number ● Incremental encoder with a multiple integer ratio between the motor pole pair number and the encoder pulse number The pole position identification is used for: ●...
Page 100 Servo control 3.13 Pole position identification WARNING Before using the pole position identification routine, the control sense of the speed control loop must be corrected (p0410.0). For linear motors, refer to the Commissioning Manual. For rotating motors, in sensorless operation with a small positive speed setpoint (e.g. 10 RPM), the speed actual value (r0061) and the speed setpoint (r1438) must have the same sign.
Page 101 Servo control 3.13 Pole position identification Determining a suitable technique for the pole position identification routine Figure 3-20 Selecting the appropriate technique Overview of key parameters ● p0325[0...n] Motor pole position identification current 1st phase ● p0329[0...n] Motor pole position identification current ●...
Page 102: Vdc Control
Servo control 3.14 Vdc control Angular commutation offset commissioning support (p1990) The function for determining the commutation angle offset is activated via p1990=1. The commutation angle offset is entered in p0431. This function can be used in the following cases: ●...
Page 103 Servo control 3.14 Vdc control significant enough. The motors may no longer be able to maintain their setpoint speed or the acceleration/braking phases are prolonged. The Vdc controller is an automatic P controller that influences the torque limits. It only intervenes when the DC link voltage approaches the "upper threshold"...
Page 104 Servo control 3.14 Vdc control can be used to maintain the DC link voltage. The threshold should be considerably higher than the shutdown threshold of the Motor Modules (recommendation: 50 V below the DC link voltage). When the power supply is reestablished, the Vdc controller is automatically deactivated and the drives approach the speed setpoint again.
Page 105 Servo control 3.14 Vdc control feed energy back, the drives with an active Vdc_max controller can even be accelerated to absorb the braking energy and, in turn, relieve the DC link. Description of Vdc_max control without acceleration (p1240 = 7, 9) As with p1240 = 1, 3, if the drive must not be accelerated by means of feedback from other drives in the DC link, acceleration can be prevented by the setting p1240 = 7, 9.
Page 106: Dynamic Servo Control (Dsc)
The following PROFIdrive telegrams support DSC: ● Standard telegrams 5 and 6, ● SIEMENS telegrams 105, 106 ,116. Further PZD data telegram types can be used with the telegram extension. It must then be ensured that SERVO supports a maximum of 16 PZD setpoints and 19 PZD actual values.
Page 107 Servo control 3.15 Dynamic Servo Control (DSC) Figure 3-23 Control principle using DSC Activating If the prerequisites for DSC are met, the DSC structure is activated through a logical combination of the parameters p1190 "DSC position deviation XERR" and p1191 "DSC position controller gain KPC"...
Page 108 Servo control 3.15 Dynamic Servo Control (DSC) Speed setpoint filter A speed setpoint filter to smoothen the speed setpoint steps is no longer required when DSC is active. When using the "DSC" function, it only makes sense to use speed setpoint filter 1 to support the position controller, e.g.
Page 109: Travel To Fixed Stop
Servo control 3.16 Travel to fixed stop Overview of key parameters (see SINAMICS S List Manual) ● p1190 CI: DSC position deviation XERR ● p1191 CI: DSC position controller gain KPC ● p1192[DDS] DSC encoder selection ● p1193[DDS] DSC encoder adaptation factor ●...
Page 110 Servo control 3.16 Travel to fixed stop Figure 3-24 Signals for "Travel to fixed stop" When PROFIdrive telegrams 2 to 6 are used, no torque reduction is transferred. When the "Travel to fixed stop" function is activated, the motor ramps up to the torque limits specified in p1520 and p1521.
Page 111 Servo control 3.16 Travel to fixed stop Signal chart Figure 3-25 Signal chart for "Travel to fixed stop" Commissioning for PROFIdrive telegrams 2 to 6 1. Activate travel to fixed stop. Set p1545 = "1". 2. Set the required torque limit. Example: p1400.4 = "0"...
Page 112 Servo control 3.16 Travel to fixed stop 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".
Page 113: Vertical Axes
Servo control 3.17 Vertical axes ● p1545[0...n] BI: Activates travel to fixed stop ● p2194[0...n] Torque threshold 2 ● p2199.11 BO: Torque utilization < torque threshold value 2 3.17 Vertical axes Description With a vertical axis without mechanical weight compensation, electronic weight compensation can be set by offsetting the torque limits (p1532).
Page 115: Vector Control
Vector control Compared with vector V/f control, vector control offers the following benefits: ● Stability vis-à-vis load and setpoint changes ● Short rise times with setpoint changes (–> better command behavior) ● Short settling times with load changes (–> better disturbance characteristic) ●...
Page 116 Vector control 4.1 Sensorless vector control (SLVC) ⎛ ⎞ 1756 • − ⎜ ⎜ ⎟ ⎟ ⎝ ⎠ p1758 Figure 4-1 Switchover conditions for SLVC In open-loop operation, the calculated actual speed value is the same as the setpoint value. For vertical loads and acceleration processes, parameters p1610 (constant torque boost) and p1611 (acceleration torque boost) must be modified in order to generate the static or dynamic load torque of the drive.
Page 117 Vector control 4.1 Sensorless vector control (SLVC) Figure 4-2 Start-up and passing through 0 Hz in closed-loop operation Closed-loop operation up to approx. 1 Hz (settable via parameter p1755) and the ability to start or reverse at 0 Hz directly in closed-loop operation (settable via parameter p1750) result in the following benefits: ●...
Page 118: Vector Control With Encoder
Vector control 4.2 Vector control with encoder Figure 4-3 Zero crossover for permanent-magnet synchronous motors Function diagrams (see SINAMICS S List Manual) ● 6730 Interface with Motor Module for induction motor (p0300 = 1) ● 6731 Interface to the Motor Module (PEM, p0300 = 2) Overview of key parameters (see SINAMICS S List Manual) ●...
Page 119: Speed Controller
Vector control 4.3 Speed controller ● Compared with speed control without an encoder, the dynamic response of drives with an encoder is significantly better because the speed is measured directly and integrated in the model created for the current components. ●...
Page 120 Vector control 4.3 Speed controller Figure 4-4 Speed controller The optimum speed controller setting can be determined via the automatic speed controller optimization function (p1900 = 1, rotating measurement). If the inertia load has been specified, the speed controller (Kp, Tn) can be calculated by means of automatic parameterization (p0340 = 4).
Page 121: Speed Controller Adaptation
Vector control 4.4 Speed controller adaptation Note In comparison with speed control with an encoder, the dynamic response of drives without an encoder is significantly reduced. The actual speed is derived by means of a model calculation from the converter output variables for current and voltage that have a corresponding interference level.
Page 122 Vector control 4.4 Speed controller adaptation Figure 4-5 Kp_n-/Tn_n adaptation Dynamic response reduction in the field-weakening range can be activated (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. Example of speed-dependent adaptation Note This type of adaptation is only active in "operation with encoder"...
Page 123 Vector control 4.4 Speed controller adaptation Figure 4-6 Speed controller Kp_n/Tn_n adaptation Parameterization The "speed controller" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 4-7 STARTER icon for "speed controller" Function diagrams (see SINAMICS S List Manual) ●...
Page 124: Speed Controller Pre-Control And Reference Model
Vector control 4.5 Speed controller pre-control and reference model ● p1459 adaptation factor upper ● p1466 CI: Speed controller P gain scaling Speed-dependent Kp_n/Tn_n adaptation (VC only) ● p1460 Speed controller P gain adaptation speed, lower ● p1461 Speed controller P gain adaptation speed, upper ●...
Page 125 Vector control 4.5 Speed controller pre-control and reference model p 1400 . 2 p 0341 p 0342 r 1515 p 1495 r 1518 p 1496 p 1428 p 1429 r 1084 r 1538 r 0079 r 1547 [ 0 ] >...
Page 126 Vector control 4.5 Speed controller pre-control and reference model Note The ramp-up and ramp-down times (p1120; p1121) of the ramp function generator in the setpoint channel should be set accordingly so that the motor speed can track the setpoint during acceleration and braking. This ensures that speed controller pre-control is functioning optimally.
Page 127: Droop
Vector control 4.6 Droop The reference model can also be emulated externally and its output signal injected via p1437. Function diagrams (see SINAMICS S List Manual) ● 6031 Pre-control balancing for reference/acceleration model ● 6040 Speed controller Overview of key parameters (see SINAMICS S List Manual) ●...
Page 128 Vector control 4.6 Droop Figure 4-10 Speed controller with droop The droop function has a torque limiting effect on a drive that is mechanically coupled to a different speed (e.g. guide roller on a goods train). In this way, a very effective load distribution can also be realized in connection with the torque setpoint of a leading speed- controlled drive.
Page 129: Torque Control
Vector control 4.7 Torque control Overview of key parameters (see SINAMICS S List Manual) ● p1488[0...n] Droop input source ● p1489[0...n] Droop feedback scaling ● p1492[0...n] BI: Droop feedback enable ● r1482 CO: Speed controller I torque output ● r1490 CO: Droop feedback speed reduction Torque control With sensorless speed control SLVC (p1300 = 20) or speed control with sensor VC (p1300 = 21), a switchover can be made to torque control (slave drive) via BICO parameter p1501.
Page 130 Vector control 4.7 Torque control r1538 r0079 r1547[0] r1547[1] r1539 p1503[C] p1501 [FP2520.7] r1406.12 r1407.2 r1515 p1511[C] p1512[C] p1513[C] Figure 4-11 Closed-loop speed/torque control The total of the two torque setpoints is limited in the same way as the speed control torque setpoint.
Page 131 Vector control 4.7 Torque control ● OFF2 – Immediate pulse suppression, the drive coasts to standstill. – The motor brake (if parameterized) is closed immediately. – Power-on disable is activated. ● OFF3 – Switch to speed-controlled operation – n_set = 0 is input immediately to brake the drive along the OFF3 deceleration ramp (p1135).
Page 132: Torque Limiting
Vector control 4.8 Torque limiting Torque limiting Description Figure 4-12 Torque limiting The value specifies the maximum permissible torque whereby different limits can be parameterized for motor and regenerative mode. ● p0640[0...n] Current limit ● p1520[0...n] CO: Torque limit, upper/motoring ●...
Page 133: Vdc Control
Vector control 4.9 Vdc control setpoint is limited in the Motor Module, this is indicated via the following diagnostic parameters: ● r1407.8 Upper torque limit active ● r1407.9 Lower torque limit active indicated. Function diagrams (see SINAMICS S List Manual) ●...
Page 134 Vector control 4.9 Vdc control The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. ● Overvoltage in the DC link – Typical cause The drive is operating in regenerative mode and is supplying too much energy to the DC link.
Page 135 Vector control 4.9 Vdc control Description of Vdc_min control Figure 4-14 Switching Vdc_min control on/off (kinetic buffering) In the event of a power failure, Vdc_min control is activated when the Vdc_min switch-in level is undershot. This controls the DC link voltage and maintains it at a constant level. The motor speed is reduced.
Page 136 Vector control 4.9 Vdc control Description of Vdc_max control Figure 4-15 Switching Vdc_max control on/off The switch-in level for Vdc_max control (r1242) is calculated as follows: ● When the function for automatically detecting the switch-on level is switched off (p1254 = 0) r1242 = 1.15 * p0210 (device connection voltage, DC link).
Page 137: Current Setpoint Filter
Vector control 4.10 Current setpoint filter ● p1256[0...n] Vdc_min controller response (kinetic buffering) (control) ● p1257[0...n] Vdc_min controller speed threshold (controller) ● r1258 CO: Vdc controller output (control) 4.10 Current setpoint filter Description The two current setpoint filters connected in series can be parameterized as follows: ●...
Page 138: Motor Data Identification And Rotating Measurement
Vector control 4.12 Motor data identification and rotating measurement Figure 4-16 Current controller adaptation for p0393 < 1, with p0391 < p0392 or (e.g for the ASM) when the iq points are swapped p1715 x p0393 p1715 p0392 p0391 Figure 4-17 Current controller adaptation with swapped iq interpolation points for p0393 >...
Page 139 Vector control 4.12 Motor data identification and rotating measurement Note For both types of motor identification the following applies: If there is a motor brake, then this must be open (p1215 = 2). These can be selected more easily via p1900. p1900 = 2 selects the standstill measurement (motor not rotating).
Page 140 Vector control 4.12 Motor data identification and rotating measurement For control engineering reasons, you are strongly advised to carry out motor identification because the equivalent circuit diagram data, motor cable resistance, IGBT on-state voltage, and compensation for the IGBT lockout time can only be estimated if the data on the type plate is used.
Page 141 Vector control 4.12 Motor data identification and rotating measurement Figure 4-18 Equivalent circuit diagram for induction motor and cable If an output filter (see p0230) or series inductance (p0353) is used, the data for this must also be entered before the standstill measurement is carried out. The inductance value is then subtracted from the total measured value of the leakage.
Page 142 Vector control 4.12 Motor data identification and rotating measurement Figure 4-19 Magnetization characteristic Note To set the new controller setting permanently, the data must be saved in a non-volatile memory. Carrying out motor identification ● Enter p1910 > 0. Alarm A07991 is displayed. ●...
Page 143 Vector control 4.12 Motor data identification and rotating measurement The speed controller is set to the symmetrical optimum in accordance with dynamic factor p1967. p1967 must be set before the optimization run and only affects the calculation of the controller parameters. If, during the measurement, it becomes clear that, with the specified dynamic factor, the drive cannot operate in a stable manner or the torque ripples are too large, the dynamic response is reduced automatically and the result displayed in r1968.
Page 144 Vector control 4.12 Motor data identification and rotating measurement DANGER During speed controller optimization, the drive triggers movements in the motor that can reach the maximum motor speed. The emergency STOP functions must be fully operational during commissioning. To protect the machines and personnel, the relevant safety regulations must be observed.
Page 145: Efficiency Optimization
Vector control 4.13 Efficiency optimization 4.13 Efficiency optimization Description The following can be achieved when optimizing the efficiency using p1580: ● Lower motor losses in the partial load range ● Noise in the motor is minimized Figure 4-20 Efficiency optimization It only makes sense to activate this function if the dynamic response requirements of the speed controller are low (e.g., pump and fan applications).
Page 146: Instructions For Commissioning Induction Motors (Asm)
Vector control 4.14 Instructions for commissioning induction motors (ASM) 4.14 Instructions for commissioning induction motors (ASM) Equivalent circuit diagram for vector induction motor and cable Figure 4-21 Equivalent circuit diagram for induction motor and cable Induction motors, rotating The following parameters can be entered in STARTER during the commissioning phase: Table 4-2 Motor data type plate Parameter...
Page 147 Vector control 4.14 Instructions for commissioning induction motors (ASM) Parameter Description Remark p0341 Motor moment of inertia p0342 Ratio between the total and motor moment of inertia p0344 Motor weight p0352 Cable resistance (component of the stator resistance) p0353 Motor series inductance Table 4-4 Equivalent circuit diagram for motor data Parameter...
Page 148: Instructions For Commissioning Permanent-Magnet Synchronous Motors
Vector control 4.15 Instructions for commissioning permanent-magnet synchronous motors ● Motor identification (standstill (static) measurement (p1910) ● Rotating measurement (p1960) The following parameters can be entered in STARTER during the commissioning phase: The optional motor data can be entered if it is known. Otherwise, they are estimated using the rating plate data or are determined using a motor identification routine or speed controller optimization.
Page 149 Vector control 4.15 Instructions for commissioning permanent-magnet synchronous motors Temperature protection can be implemented using a temperature sensor (KTY/PTC). In order to achieve a high torque accuracy, we recommend that a KTY temperature sensor is used. Table 4-5 Motor data Parameter Description Remark...
Page 150 Vector control 4.15 Instructions for commissioning permanent-magnet synchronous motors Table 4-7 Equivalent circuit diagram for motor data Parameter Description Remark p0350 Motor stator resistance, cold p0356 Motor stator inductance p0357 Motor stator inductance, d axis WARNING As soon as the motor starts to rotate, a voltage is generated. When work is carried out on the converter, the motor must be safely disconnected.
Page 151 Vector control 4.15 Instructions for commissioning permanent-magnet synchronous motors Note If pulse inhibition of the converter occurs (fault or OFF2), synchronous motors can generate high terminal voltages in the field weakening range, which could lead to overvoltage in the DC link. The following possibilities exist to protect the drive system from being destroyed due to overvoltage: 1.
Page 152: Automatic Encoder Adjustment
Vector control 4.15 Instructions for commissioning permanent-magnet synchronous motors 4.15.1 Automatic encoder adjustment Description The pole wheel-oriented closed-loop control of the synchronous motor requires information about the pole wheel position angle. Automatic encoder adjustment must be used if the pole wheel position encoders are not mechanically adjusted and after a motor encoder has been replaced.
Page 153: Pole Position Identification
Vector control 4.15 Instructions for commissioning permanent-magnet synchronous motors 4.15.2 Pole position identification Description The pole position identification routine is used to determine rotor position at start up. This is required when no pole position information is available. If, for example, incremental encoders are used or operation without encoder is employed, then pole position identification is started automatically.
Page 154: Flying Restart
Vector control 4.16 Flying restart Overview of key parameters (see SINAMICS S List Manual) ● p0325 Motor pole position identification current 1st phase ● p0329 Motor pole position identification current ● p1780.6 Selects pole position identification PEM without an encoder (sensorless) ●...
Page 155 Vector control 4.16 Flying restart Figure 4-23 Flying restart, example of induction motor without encoder Figure 4-24 Flying restart, example of induction motor with encoder WARNING When the flying restart (p1200) function is active, the drive may still be accelerated by the detection current despite the fact that it is at standstill and the setpoint is 0! For this reason, entering the area around the drive when it is in this condition can cause death, serious injury, or considerable material damage.
Page 156: Synchronization
Vector control 4.17 Synchronization Note With induction motors, the demagnetization time must elapse before the flying restart function is activated to allow the voltage at the motor terminals to decrease otherwise high equalizing currents can occur when the pulses are enabled due to a phase short-circuit. Overview of key parameters (see SINAMICS S List Manual) ●...
Page 157: Simulation Operation
Vector control 4.18 Simulation operation the motor from the line supply in order to be able to carry out maintenance work on the drive converter without incurring any down times. Synchronizing is activated using parameter p3800 and either internal or external actual voltage sensing is selected.
Page 158: Features
Vector control 4.19 Redundance operation power units (e.g. setpoint channel, sequence control, communication, technology function, etc.) can be tested in advance without requiring a motor. For units with outputs of > 75 W it is recommended to test the activation of the power semiconductors after repairs.
Page 159: Bypass
Vector control 4.20 Bypass Description Redundant operation can be used so that operation can be continued in spite of the failure of one power unit connected in parallel. In order that the failed power unit can be replaced, DRIVE-CLiQ cables must be connected in a star-type configuration - it may be necessary to use a DRIVE-CLiQ HUB Module (DMC20).
Page 160: Bypass With Synchronization With Overlap (P1260 = 1)
Vector control 4.20 Bypass ● Synchronizing the motor to the line supply. For all bypass versions, the following applies: ● The bypass is always switched-out when one of the control word signals "OFF2" or "OFF3" is withdrawn. ● Exception: When required, the bypass switch can be interlocked by a higher-level control so that the drive converter can be completely powered-down (i.e.
Page 161 Vector control 4.20 Bypass A reactor is used to de-couple the drive converter from the line supply - the uk value for the reactor is 10% +/- 2%. Figure 4-25 Circuit example: Bypass with synchronization with overlap Activating The bypass function with synchronization with overlap (p1260 = 1) can only be activated using a control signal.
Page 162 Vector control 4.20 Bypass Figure 4-26 Signal diagram, bypass with synchronization with overlap The motor is transferred to the line supply (the drive converter controls contactors K1 and K2): ● The initial state is as follows: Contactor K1 is closed, contactor K2 is open and the motor is fed from the drive converter.
Page 163: Bypass With Synchronization, Without Overlap (P1260 = 2)
Vector control 4.20 Bypass ● Pulses are enabled. Since "Synchronize" is set before "Pulse enable", the converter interprets this as a command to retrieve a motor from the supply and to take it over. ● After the motor has been synchronized to the line frequency, line voltage and line phase, the synchronizing algorithm reports this status.
Page 164: Bypass Without Synchronization (P1260 = 3)
Vector control 4.20 Bypass Example The following parameters must be set after the bypass function with synchronization without overlap (p1260 = 2) has been activated. Table 4-9 Parameter settings for bypass function with synchronization without overlap Parameter Description p1266 = Control signal setting when p1267.0 = 1 p1267.0 = 1 Bypass function is initiated by the control signal.
Page 165 Vector control 4.20 Bypass Figure 4-28 Circuit example, bypass without synchronization Activating The bypass without synchronization (p1260 = 3) can be triggered by the following signals (p1267): ● Bypass by means of control signal (p1267.0 = 1): The bypass can be activated by means of a digital signal (p1266) (e.g. from a higher-level automation system).
Page 166 Vector control 4.20 Bypass Table 4-10 Parameter setting for bypass function with synchronization with overlap Parameter Description p1262 = Bypass dead time setting p1263 = Debypass dead time setting p1264 = Bypass delay time setting p1265 = Speed threshold setting when p1267.1 = 1 p1266 = Control signal setting when p1267.0 = 1 p1267.0 =...
Page 167 Vector control 4.20 Bypass ● r3805 CO: Sync-line-drive frequency difference ● p3806 Sync-line-drive frequency difference threshold value ● r3808 CO: Sync-line-drive phase difference ● p3809 Sync-line-drive phase setpoint ● p3811 Sync-line-drive frequency limiting ● r3812 CO: Sync line drive correction frequency ●...
Page 169: Vector V/F Control (R0108.2 = 0)
Vector V/f control (r0108.2 = 0) Introduction The simplest solution for a control procedure is the V/f curve, whereby the stator voltage for the induction motor or synchronous motor is controlled proportionately to the stator frequency. This method has proved successful in a wide range of applications with low dynamic requirements, such as: ●...
Page 170 Vector V/f control (r0108.2 = 0) 5.1 Introduction Table 5-1 V/f characteristic (p1300) Parameter Meaning Application / property values Linear characteristic Standard (w/o voltage boost) Linear characteristic Characteristic that compensates for with flux current control voltage losses in the stator resistance (FCC) for static / dynamic loads (flux current control FCC).
Page 171: Voltage Boost
Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Parameter Meaning Application / property values Precise frequency Characteristic that takes into account the technological particularity of an drives application (e.g. textile applications): a) whereby the current limitation (Imax controller) only affects the output voltage and not the output frequency, or b) by disabling slip compensation Precise frequency...
Page 172 Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Note 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. Permanent voltage boost (p1310) Figure 5-3 Permanent voltage boost (example: p1300 = 0 and p1310 >...
Page 173 Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Figure 5-4 Voltage boost at acceleration (example: p1300 = 0 and p1311 > 0) Function diagrams (see SINAMICS S List Manual) ● 6300 V/f characteristic and voltage boost Overview of key parameters (see SINAMICS S List Manual) ●...
Page 174: Slip Compensation
Vector V/f control (r0108.2 = 0) 5.3 Slip compensation Slip compensation Description Slip compensation is an additional V/f control function. It ensures that the setpoint speed n of induction motors is maintained at a constant level irrespective of the load (torque M Figure 5-5 Slip compensation Overview of key parameters (see SINAMICS S List Manual)
Page 175: Vdc Control
Vector V/f control (r0108.2 = 0) 5.4 Vdc control Vdc control Description Figure 5-6 Vdc control V/f The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. ● Overvoltage in the DC link –...
Page 176 Vector V/f control (r0108.2 = 0) 5.4 Vdc control Reduce the regenerative torque to maintain the DC link voltage within permissible limits. ● Undervoltage in the DC link – Typical cause Failure of the supply voltage or supply for the DC link. –...
Page 177 Vector V/f control (r0108.2 = 0) 5.4 Vdc control In the event of a power failure, Vdc_min control is activated when the Vdc_min switch-in level is undershot. This controls the DC link voltage and maintains it at a constant level. The motor speed is reduced.
Page 178 Vector V/f control (r0108.2 = 0) 5.4 Vdc control Function diagrams (see SINAMICS S List Manual) ● 6320 Vdc_max controller and Vdc_min controller Overview of key parameters (see SINAMICS S List Manual) ● p1280[0...n] Vdc controller configuration (V/f) ● r1282 Vdc_max controller switch-in level (V/f) ●...
Page 179: Basic Functions
Basic functions Changing over units Description By changing over the units, parameters and process quantities for input and output can be changed over to an appropriate system of units (US units or as per unit quantities (%)). The following supplementary conditions apply when changing over units: ●...
Page 180: Reference Parameters/Normalizations
Basic functions 6.2 Reference parameters/normalizations This assignment and the unit groups can be read for each parameter in the parameter list in the SINAMICS S List Manual. The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and p0595).
Page 181 Basic functions 6.2 Reference parameters/normalizations Figure 6-1 Illustration of conversion with reference values Note If a referenced form is selected and the reference parameters (e.g. p2000) are changed retrospectively, the referenced values of some of the control parameters are also adjusted to ensure that the control behavior is unaffected.
Page 182 Basic functions 6.2 Reference parameters/normalizations Scaling for servo object Table 6-2 Scaling for servo object Size Scaling parameter Default at initial commissioning Reference speed 100 % = p2000 Induction motor p2000 = Maximum motor speed (p0322) Synchronous motor p2000 = Rated motor speed (p0311) Reference voltage 100 % = p2001 p2001 = 1000 V...
Page 183: Modular Machine Concept
Basic functions 6.3 Modular machine concept Size Scaling parameter Default at initial commissioning Reference temperature 100% = 100°C Reference electrical angle 100 % = 90° Overview of important parameters (refer to the List Manual) ● p0340 Automatic calculation of motor/control parameters ●...
Page 184 Basic functions 6.3 Modular machine concept Figure 6-2 Example of a sub-topology Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 185: Sinusoidal Filter
Basic functions 6.4 Sinusoidal filter CAUTION If a drive in a Safety Integrated line-up is deactivated via p0105, r9774 is not read correctly because the signals from the deactivated drive are no longer updated. Remedy: Remove this drive from the group before you deactivate it. See also: Function Manual (FH1), chapter Safety Integrated Overview of key parameters (see SINAMICS S List Manual) ●...
Page 186: Dv/Dt Filter Plus Vpl
Basic functions 6.5 dv/dt filter plus VPL ● Maximum permissible motor cable lengths: – Unshielded cables: max. 150 m – Shielded cables: max. 100 m ● Other restrictions: see the Equipment Manual. Note If a filter cannot be parameterized (p0230 < 3), this means that a filter has not been provided for the component.
Page 187: Direction Reversal Without Changing The Setpoint
Basic functions 6.6 Direction reversal without changing the setpoint Restrictions The following restrictions must be taken into account when a dv/dt filter is used: ● The output frequency is limited to a maximum of 150 Hz. ● Maximum permissible motor cable lengths: –...
Page 188: Automatic Restart (Vector, Servo, Infeed)
Basic functions 6.7 Automatic restart (vector, servo, infeed) Overview of key parameters (see SINAMICS S List Manual) ● r0069 Phase current, actual value ● r0089 Actual phase voltage ● p1820 Direction of rotation reversal of the output phases (vector) ● p1821 Reversal of direction ●...
Page 189 Basic functions 6.7 Automatic restart (vector, servo, infeed) Automatic restart mode Table 6-6 Automatic restart mode p1210 Mode Meaning Disables automatic restart Automatic restart inactive Acknowledges all faults without When p1210 = 1, faults that are present are restarting acknowledged automatically when their cause is rectified.
Page 190 Basic functions 6.7 Automatic restart (vector, servo, infeed) The starting attempt has been successfully completed if the flying restart and the motor magnetization (induction motor) have been completed (r0056.4 = 1) and one additional second has expired. The starting counter is only reset back to the initial value p1211 after this time.
Page 191: Armature Short-Circuit Brake, Internal Voltage Protection, Dc Brake
Basic functions 6.8 Armature short-circuit brake, internal voltage protection, DC brake Armature short-circuit brake, internal voltage protection, DC brake Features ● For permanent magnet synchronous motors – Controlling an external armature short-circuit configuration – Controlling an internal armature short-circuit configuration (booksize) –...
Page 192 Basic functions 6.8 Armature short-circuit brake, internal voltage protection, DC brake External armature short-circuit braking The external armature short-circuit is activated via p1231 = 1 (with contactor feedback signal) or p1231 = 2 (without contactor feedback signal). It is initiated when the pulses are canceled.
Page 193 Basic functions 6.8 Armature short-circuit brake, internal voltage protection, DC brake This eliminates the necessity for using a VPM (Voltage Protection Module), for 1FE motors e.g. VPM 120 or VPM 200. When the Motor Module supports the internal voltage protection (r0192.10=1), the Motor Module automatically decides on the basis of the DC link voltage whether the internal armature short-circuit is applied.
Page 194 Basic functions 6.8 Armature short-circuit brake, internal voltage protection, DC brake Internal armature short-circuit braking (booksize)/DC brake The "Internal armature short-circuit braking" function short-circuits a half-bridge in the power unit (Motor Module) to control the motor power consumption, thus braking the motor. With the "DC brake"...
Page 195 Basic functions 6.8 Armature short-circuit brake, internal voltage protection, DC brake When the internal armature short-circuit protection is activated, the same mechanism as with the internal voltage protection will short-circuit one of the half-bridges in the Motor Module. After completion of the internal armature short-circuit, it is continued rotor-oriented. 2000 µs p1231 = 4 F07907...
Page 196 Basic functions 6.8 Armature short-circuit brake, internal voltage protection, DC brake the drive then returns to controlled mode. If the "flying restart" function is not active, the drive can only be restarted from standstill without overcurrent fault. ● In V/f mode: With the "flying restart"...
Page 197 Basic functions 6.8 Armature short-circuit brake, internal voltage protection, DC brake Function diagrams (see SINAMICS S List Manual) ● 7014 External armature short circuit (p0300 = 2xx or 4xx, synchronous motors) ● 7016 Internal armature short circuit (p0300 = 2xx or 4xx, synchronous motors) ●...
Page 198: Off3 Torque Limits
Basic functions 6.9 OFF3 torque limits OFF3 torque limits Description If the torque limits are externally specified (e.g. tension controller), then the drive can only be stopped with a reduced torque. If stopping in the selected time p3490 of the infeed has not been completed, the infeed shuts down and the drive coasts down.
Page 199: Technology Function: Friction Characteristic
Basic functions 6.10 Technology function: friction characteristic 6.10 Technology function: friction characteristic Description The friction characteristic curve is used to compensate the friction torque for the motor and the driven machine. A friction characteristic enables the speed controller to be pre-controlled and improves the response.
Page 200: Simple Brake Control
Basic functions 6.11 Simple brake control ● p3845 = 1 Friction characteristic curve recording activated, all directions of rotation The friction characteristic curve is recorded in both directions of rotation. The results of the positive and negative measurement are averaged and entered in p383x. ●...
Page 201: Commissioning
Basic functions 6.11 Simple brake control p1226 p1227 p1226 p1228 p1216 p1217 Figure 6-7 Function chart: simple brake control The start of the closing time for the brake depends on the expiration of the shorter of the two times p1227 (Pulse cancellation, delay time) and p1228 (Zero speed detection monitoring time) WARNING The holding brake must not be used as a service brake.
Page 202: Integration
Basic functions 6.11 Simple brake control 6.11.4 Integration The simple brake control function is integrated in the system as follows. Function diagrams (see SINAMICS S List Manual) ● 2701 Simple brake control (r0108.14 = 0) Overview of key parameters (see SINAMICS S List Manual) ●...
Page 203: Runtime (Operating Hours Counter)
Basic functions 6.12 Runtime (operating hours counter) 6.12 Runtime (operating hours counter) Total system runtime The total system runtime is displayed in p2114 (Control Unit). Index 0 indicates the system runtime in milliseconds after reaching 86.400.000 ms (24 hours), the value is reset. Index 1 indicates the system runtime in days.
Page 204: Parking Axis And Parking Sensor
Basic functions 6.13 Parking axis and parking sensor 6.13 Parking axis and parking sensor 6.13.1 Description The parking function is used in two ways: ● "Parking sensor" – Monitoring of a certain encoder is suppressed. – The encoder is prepared for the "removed" state. ●...
Page 205: Example: Parking Axis And Parking Sensor
Basic functions 6.13 Parking axis and parking sensor Note Once the "Parking axis" / "Parking encoder" status has been canceled, you may have to carry out the following actions: If the motor encoder has been replaced: determine the commutation angle offset (p1990). A new encoder must be referenced again (e.g.
Page 206: Overview: Key Parameters
Basic functions 6.13 Parking axis and parking sensor Figure 6-9 Function chart: parking sensor 6.13.3 Overview: key parameters Note For a description of the parameters, see the SINAMICS S List Manual. ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ●...
Page 207: Position Tracking
Basic functions 6.14 Position tracking 6.14 Position tracking 6.14.1 General Information Terminology ● Encoder range The encoder range is the position area that can itself represent the absolute encoder. ● Singleturn encoder A singleturn encoder is a rotating absolute encoder, which provides an absolute image of the position inside an encoder rotation.
Page 208: Measuring Gear
Basic functions 6.14 Position tracking The encoder position actual value in r0483 (must be requested via GnSTW.13) is limited to places. When position tracking (p0411.0 = 0) is switched off, the encoder position actual value r0483 comprises the following position information: ●...
Page 209 Basic functions 6.14 Position tracking Figure 6-11 Measuring gearbox In order to determine the position at the motor/load, in addition to the position actual value of the absolute encoder, it is also necessary to have the number of overflows of the absolute encoder.
Page 210 Basic functions 6.14 Position tracking Figure 6-13 Odd-numbered gears with position tracking (p0412 = 8) Measuring gearbox configuration (p0411) The following points can be set by configuring this parameter: ● p0411.0: Activation of position tracking ● p0411.1: Setting the axis type (linear axis or rotary axis) Here, a rotary axis refers to a modulo axis (modulo offset can be activated through higher-level control or EPOS).
Page 211: Prerequisites
Basic functions 6.14 Position tracking Tolerance window (p0413) After switching on, the difference between the stored position and the actual position is ascertained and, depending on the result, the following is triggered: Difference within the tolerance window -> the position is reproduced based on the current actual encoder value.
Page 212: Integration
Basic functions 6.15 Terminal Module 41 (TM41) 6.14.2.4 Integration The "position tracking/measuring gearbox" function is integrated in the system as follows. Function diagrams (see SINAMICS S List Manual) ● 4704 Position and temperature sensing, encoders 1 ... 3 Overview of key parameters (see SINAMICS S List Manual) ●...
Page 213 Basic functions 6.15 Terminal Module 41 (TM41) – Settable zero mark position (p4426) – Operating display (r0002) ● Pulse encoder emulation by presetting of an encoder position actual value (p4400 = 1) – Deadtime compensation (p4421) – Settable pulse number (p0408) (range 1000 to 8192 pulses) –...
Page 214 Basic functions 6.15 Terminal Module 41 (TM41) Figure 6-14 Block diagram of the incremental encoder emulation Description (p4400 = 1) incremental encoder emulation using encoder position actual value The encoder position actual value of a drive (r0479) is interconnected to the TM41 via a connector input (p4420) and is therefore available at the TM41 as pulse encoder emulation.
Page 215 Basic functions 6.15 Terminal Module 41 (TM41) Figure 6-15 Example, TM41 Commissioning steps Input of parameter values via STARTER dialog or expert list: ● p4400 = 1 (encoder emulation by means of encoder position actual value) ● p4420 = r0479[n] (SERVO or VECTOR), n = 0 ..2 ●...
Page 216 Basic functions 6.15 Terminal Module 41 (TM41) Function diagrams (see SINAMICS S List Manual) ● 9660 Digital inputs, electrically isolated (DI 0 ... DI 3) ● 9661 Digital inputs/outputs, bi-directional (DI/DO 0 and DI/DO 1) ● 9662 Digital inputs/outputs, bi-directional (DI/DO 2 and DI/DO 3) ●...
Page 217: Updating The Firmware
Basic functions 6.16 Updating the firmware 6.16 Updating the firmware The software must be updated if extended functions are made available in a more recent version and these functions are to be used. The software for the SINAMICS drive system is distributed in the system. Firmware is installed on each individual DRIVE-CLiQ component and the Control Unit.
Page 218: Upgrading Firmware And The Project In Starter
Basic functions 6.16 Updating the firmware 6.16.1 Upgrading firmware and the project in STARTER To ensure that the project functions, you need a CompactFlash card containing the new firmware and a current version of STARTER. Upgrade the project 1. Is the project in STARTER? Yes: continue with 3. 2.
Page 219: Function Modules
Function modules Function modules - Definition and commissioning Description A function module is a functional expansion of a drive object that can be activated during commissioning. Examples of function modules: ● Technology controller ● Setpoint channel for SERVO drive object ●...
Page 220: Technology Controller
Function modules 7.2 Technology controller Technology controller 7.2.1 Description The technology controller is designed as a PID controller, whereby the differentiator can be switched to the control deviation channel or the actual value channel (factory setting). The P, I, and D components can be set separately. A value of 0 deactivates the corresponding component.
Page 221: Commissioning With Starter
Function modules 7.2 Technology controller ● The D component can be switched to the control deviation or actual value channel. ● The motorized potentiometer of the technology controller is only active when the drive pulses are enabled. 7.2.3 Commissioning with STARTER The "technology controller"...
Page 222: Integration
Function modules 7.2 Technology controller Figure 7-2 Fill level control: controller structure Table 7-1 Key parameters for the level control Parameter Designation Example p1155 n_setp1 downstream of RFG p1155 = r2294 Tec_ctrl output_sig [FP 3080] p2200 BI: Technology controller enable p2200 = 1 Technology controller enabled p2253 CI: Technology controller setpoint 1...
Page 223 Function modules 7.2 Technology controller ● ... ● p2215[0..n] CO: Technology controller, fixed value 15 ● p2220[0..n] BI: Technology controller fixed value selection bit 0 ● p2221[0..n] BI: Technology controller fixed value selection bit 1 ● p2222[0..n] BI: Technology controller fixed value selection bit 2 ●...
Page 224: Extended Monitoring Functions
Function modules 7.3 Extended monitoring functions Extended monitoring functions 7.3.1 Features When the extension is activated, the monitoring functions are extended as follows: ● Speed setpoint monitoring: |n_setp| ≤ p2161 ● Speed setpoint monitoring: n_set > 0 ● Load monitoring Description of load monitoring This function monitors power transmission between the motor and the working machine.
Page 225: Commissioning
Function modules 7.3 Extended monitoring functions 7.3.2 Commissioning The extended monitoring functions are activated while the commissioning Wizard is running. Parameter r0108.17 indicates whether it has been activated. 7.3.3 Integration The extended monitoring functions are integrated as follows in the system. Function diagrams (see SINAMICS S List Manual) ●...
Page 226: Extended Brake Control
Function modules 7.4 Extended brake control Extended brake control 7.4.1 Features The extended brake control function has the following features: ● Forced brake release (p0855, p1215) ● Close the brake for a 1 signal "unconditionally close holding brake" (p0858) ● Binector inputs for releasing/applying the brake (p1218, p1219) ●...
Page 227: Examples
Function modules 7.4 Extended brake control When braking with a feedback signal (p1222), the inverted signal must be connected to the BICO input for the second (p1223) feedback signal. The response times of the brakes can be set in p1216 and p1217. Note If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied brake.
Page 228: Integration
Function modules 7.4 Extended brake control speed controller is immediately enabled - the speed setpoint is enabled after the brake opening time (p1216). When the master switch is in the zero position, the speed setpoint is inhibited - the drive is ramp-down using the ramp function generator. The brake closes once the standstill limit (p1226) has been fallen below.
Page 229 Function modules 7.4 Extended brake control Standstill (zero-speed) monitoring ● r0060 CO: Speed setpoint before the setpoint filter ● r0063 CO: Actual speed smoothed (servo) ● r0063[0] CO: Actual speed, unsmoothed (vector) ● p1225 CI: Standstill detection, threshold value ● p1226 Threshold for zero speed detection ●...
Page 230 Function modules 7.4 Extended brake control Control and status messages for extended brake control Table 7-2 Control: extended brake control Signal name Binector input Control word sequence control / interconnection parameters Enable speed setpoint p1142 BI: Enable speed setpoint STWA.6 Enable setpoint 2 p1152 BI: Setpoint 2 enable p1152 = r899.15...
Page 231: Braking Module
Function modules 7.5 Braking Module Braking Module 7.5.1 "Braking Module" function module Features ● Braking the motor without any possibility of regenerating into the line supply (e.g. power failure) ● Fast DC link discharge (booksize design) ● The Braking Module terminals are controlled via the drive object infeed (booksize and chassis designs) ●...
Page 232 Function modules 7.5 Braking Module Acknowledgement of faults When the Braking Module issues a fault message at binector input p3866, an attempt is made to acknowledge the fault using signal p3861 at terminal X21.1 Booksize or X41.3 Chassis every 10 ms. Alarm A06900 is simultaneously is output. Fast DC link discharge (booksize) It is only possible to quickly discharge the DC link via the Braking Module for the booksize design.
Page 233: Cooling System
Function modules 7.6 Cooling system Cooling system 7.6.1 "Cooling system" function module Features ● Control and monitoring functions of a cooling unit ● Automatically activated when using water-cooled power units ● Evaluation of a leakage water sensor (p0266.4) ● Evaluation of a water flow sensor (p0266.5, p0260, p0263) ●...
Page 234 Function modules 7.6 Cooling system Figure 7-6 Sequence control cooling unit Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 235: Extended Torque Control (Kt Estimator, Servo)
Function modules 7.7 Extended torque control (kT estimator, Servo) Function diagrams (see SINAMICS S List Manual) ● 9794 Cooling unit, control and feedback signals ● 9795 Cooling unit sequence control Overview of key parameters (see SINAMICS S List Manual) ● r0046.29 Missing enable signals - cooling unit ready missing ●...
Page 236 Function modules 7.7 Extended torque control (kT estimator, Servo) Parameter r0108.1 indicates whether it has been activated. Description of the k estimator The adaptation of the torque constants for synchronous motors is used to improve the absolute torque accuracy for the control (closed-loop) of synchronous motors. The magnetization of the permanent magnets varies as a result of production tolerances and temperature fluctuations and saturation effects.
Page 237: Closed-Loop Position Control
Function modules 7.8 Closed-loop position control kT estimator: ● p1752 Motor model, changeover speed operation with encoder ● p1795 Motor model PEM k adaptation smoothing time ● r1797 Motor model PEM k adaptation correction value Compensation of the voltage emulation error of the drive converter: ●...
Page 238: Description
Function modules 7.8 Closed-loop position control 7.8.2.2 Description The position actual value conditioning implements the conditioning of the position actual value in a neutral position unit LU (LENGTH UNIT). To do this, the function block uses the encoder evaluation/motor control with the available encoder interfaces Gn_XIST1, Gn_XIST2, Gn_STW and Gn_ZSW.
Page 239 Function modules 7.8 Closed-loop position control Note The effective actual value resolution is obtained from the product of the encoder pulses (p0408) and the fine resolution (p0418) and a measuring gear that is possibly being used (p0402, p0432, p0433). Figure 7-8 Position actual value sensing with linear encoders For linear encoders, the interrelationship between the physical quantity and the neutral length unit LU is configured using parameter p2503 (LU/10 mm).
Page 240: Indexed Actual Value Acquisition
Function modules 7.8 Closed-loop position control interconnected with r2685 (EPOS correction value) and p2512 with r2684.7 (activate correction). This interconnection enables modulo offset by EPOS, for example. p2516 can be used to switch in position offset. Using EPOS, p2516 is automatically interconnected to r2667.
Page 241: Load Gear Position Tracking
Function modules 7.8 Closed-loop position control Description The indexed position actual value acquisition permits e.g. length measurements on parts as well as the detection of axis positions by a higher-level controller (e.g. SIMATIC S7) in addition to the position control e.g. of a belt conveyor. Two more encoders can be operated in parallel with the encoders for actual value preprocessing and position control in order to collect actual values and measured data.
Page 242 Function modules 7.8 Closed-loop position control parameters p2504 and p2505. Position tracking can be activated with rotary axes (modulo) and linear axes. For linear axes, the virtual multiturn resolution (p2721) is preset with p0421 and extended by 6 bits for multiturn information (max. overflows 31 positive/negative) Position tracking for the load gearing can only be activated once for each motor data set MDS.
Page 243 Function modules 7.8 Closed-loop position control Figure 7-10 Position tracking (p2721 = 24) In this example, this means: Without position tracking, the position for +/- 4 encoder revolutions about r2521 = 0 LU can be reproduced. With position tracking, the position for +/- 12 encoder revolutions (+/- 12 load revolutions with load gearbox) can be reproduced (p2721 = 24).
Page 244: Commissioning With Starter
Function modules 7.8 Closed-loop position control Virtual multiturn encoder (p2721) With a rotary absolute encoder (p0404.1 = 1) with activated position tracking (p2720.0 = 1), p2721 can be used to enter a virtual multiturn resolution. This enables you to generate a virtual multiturn encoder value (r2723) from a singleturn encoder.
Page 245: Integration
Function modules 7.8 Closed-loop position control The current configuration can be checked in parameter r0108. The "load gearbox position tracking" function can be configured in the commissioning wizard via the "Mechanical system" dialog, as well as in the project navigator under "Technology" -> "Position control"...
Page 246: Position Controller
Function modules 7.8 Closed-loop position control 7.8.3 Position controller Features ● Symmetrization (p2535, p2536) ● Limiting (p2540, p2541) ● Pre-control (p2534) ● Adaptation (p2537, p2538) Note We only recommend that experts use the position controller functions without using the basic positioner. Description The position controller is a PI controller.
Page 247: Monitoring Functions
Function modules 7.8 Closed-loop position control 7.8.4 Monitoring functions Features ● Standstill monitoring (p2542, p2543) ● Positioning monitoring (p2544, p2545) ● Dynamic following error monitoring (p2546, r2563) ● Cam controllers (p2547, p2548, p2683.8, p2683.9) Description Figure 7-11 Zero-speed monitoring, positioning window The position controller monitors the standstill, positioning and following error.
Page 248 Function modules 7.8 Closed-loop position control Figure 7-12 Following error monitoring Following error monitoring is activated via p2546 (following error tolerance). If the absolute value of the dynamic following error (r2563) is greater than p2546, fault F07452 is output and bit r2648.8 is reset.
Page 249: Measuring Probe Evaluation And Reference Mark Search
Function modules 7.8 Closed-loop position control ● p2546 LR dynamic following error monitoring tolerance ● p2547 LR cam switching position 1 ● p2548 LR cam switching position 2 ● p2551 BI: LR setpoint message present ● p2554 BI: LR travel command message active ●...
Page 250: Integration
Function modules 7.8 Closed-loop position control The alarm is also generated if, during an activated function (reference mark search or measuring probe evaluation), a fault is signaled using the encoder status word. If the "position control" function module is selected, these parameters (p2508 to p2511) are preassigned with "0".
Page 251: Basic Positioner
Function modules 7.9 Basic positioner position controller monitoring functions respond. To prevent this from happening, the position controller must be disabled (p2550 = 0) and switch to tracking mode (p2655 = 1, for control using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions are switched off and the position setpoint is tracked.
Page 252 Function modules 7.9 Basic positioner ● Limits – Traversing profile limits – Traversing range limits – Jerk limitation ● Referencing or adjusting – Set reference point (for an axis at standstill that has reached its target position) – Reference point approach (autonomous mode including reversing cam functionality, automatic direction of rotation reversal, referencing to "cams and encoder zero mark"...
Page 253: Mechanical System
Function modules 7.9 Basic positioner 7.9.1 Mechanical system Features ● Backlash compensation (p2583) ● Modulo offset (p2577) Description Figure 7-14 Backlash compensation When mechanical force is transferred between a machine part and its drive, generally backlash occurs. If the mechanical system was to be adjusted/designed so that there was absolutely no play, this would result in high wear.
Page 254 Function modules 7.9 Basic positioner Table 7-4 The compensation value is switched in as a function of p2604 p2604 Traversing direction Switch in compensation value positive none negative immediately positive immediately negative none Figure 7-15 Modulo offset A modulo axis has an unrestricted traversing range. The value range of the position repeats itself after a specific value that can be parameterized (the modulo range or axis cycle), e.g.
Page 255: Limits
Function modules 7.9 Basic positioner With position tracking it is recommended to change p0412 or p2721. Function diagrams (see SINAMICS S List Manual) ● 3635 Interpolator ● 4010 Position actual value conditioning Overview of key parameters (see SINAMICS S List Manual) ●...
Page 256 Function modules 7.9 Basic positioner The drive is limited to this velocity if a higher velocity is specified or programmed via the override (p2646) for the reference point approach or is programmed in the traversing block. Parameter p2571 (maximum velocity) defines the maximum traversing velocity in units 1000 LU/min.
Page 257 Function modules 7.9 Basic positioner ● The modulo correction is not active (p2577 = "0") The connector inputs are, in the factory setting, linked to the connector output p2580 (software limit switch minus) and p2581 (software limit switch plus). Stop cam A traversing range can, on one hand, be limited per software using the software limit switches and on the other hand, the traversing range can be limited per hardware.
Page 258 Function modules 7.9 Basic positioner Figure 7-17 Activated jerk limitation The maximum inclination (r ) can be set in parameter p2574 ("Jerk limitation") in the unit LU/s for both acceleration and braking. The resolution is 1000 LU/s . To activate limiting permanently, set parameter p2575 ("Active jerk limitation") to 1.
Page 259: Referencing
Function modules 7.9 Basic positioner ● p2581 CO: EPOS software limit switch, plus ● p2582 BI: EPOS software limit switch activation ● r2683 CO/BO: EPOS status word 1 STOP cam ● p2568 BI: EPOS STOP cam activation ● p2569 BI: EPOS STOP cam, minus ●...
Page 260 Function modules 7.9 Basic positioner ● Flying referencing (passive (p2597 = 1)) ● Absolute encoder – Absolute encoder adjustment – Flying referencing (passive (p2597 = 1)) A connector input is provided for all referencing types to input the reference point coordinate; this allows, e.g.
Page 261 Function modules 7.9 Basic positioner CAUTION During adjustment with the rotary absolute encoder, a range is aligned symmetrically around the zero point with half the encoder range within which the position is restored after switch off/on. If position tracking is deactivated (2720.0 = 0), only one encoder overflow is permitted to occur in this range (further details are given in chapter Position controller ->...
Page 262 Function modules 7.9 Basic positioner Figure 7-18 Example: homing with reference cam The signal on binector input p2595 (start homing) is used to trigger travel to the reference cam (p2607 = 1) if search for reference is selected at the same time (0 signal at binector input p2597 (homing type selection).
Page 263 Function modules 7.9 Basic positioner reversed. The reversing cams are low active. If both reversing cams are active (p2613 = "0" and p2614 = "0"), the drive remains stationary. As soon as the reference cam is found, then synchronization to the reference zero mark is immediately started (refer to step 2). If the axis leaves its start position and travels the distance defined in parameter p2606 (max.
Page 264 Function modules 7.9 Basic positioner Note In this case the direction of approach to the reference zero mark is the opposite to the axes with reference cams! External zero mark present (p0495 ≠ 0), no reference cam (p2607 = 0): Synchronization to an external zero mark begins as soon as the signal at binector input p2595 (start homing) is detected.
Page 265 Function modules 7.9 Basic positioner When "flying referencing" during incremental positioning (relative) you can select whether the offset value is to be taken into account for the travel path or not (p2603). The "flying referencing" is activated by a 0/1 edge at binector input p2595 (start referencing). The signal in binector input p2595 (start homing) must be set during the entire referencing process otherwise the process is aborted.
Page 266 Function modules 7.9 Basic positioner Instructions for switching data sets Using drive data set switching (DDS), motor data sets (p0186) and encoder data sets (p0187 to p0189) can be switched. The following table shows when the reference bit (r2684.11) or the status of the adjustment with absolute encoders (p2507) is reset.
Page 267: Traversing Blocks
Function modules 7.9 Basic positioner reference bit is reset. EDS5 EDS6 EDS7 encoder_1 zzz disabled Operation: Error message is generated. Position actual value preprocessing is newly initiated and reference bit reset. EDS0 EDS1 EDS2 encoder_1 xxx disabled MDS switching alone during pulse disable or operation has no effect Is newly initiated means: For absolute encoders, the absolute value is newly read out, and for...
Page 268 Function modules 7.9 Basic positioner ● An external block change p2632 "External block change" is triggered. Traversing blocks are parameterized using parameter sets that have a fixed structure: ● Traversing block number (p2616[0...63]) Every traversing block must be assigned a traversing block number (in STARTER "No."). The traversing blocks are executed in the sequence of the traversing block numbers.
Page 269 Function modules 7.9 Basic positioner the next task at any time during the traveling phase. If "External block change" is not triggered, the axis remains in the parameterized target position until the signal is issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover is carried out at the braking point if "External block change"...
Page 270 Function modules 7.9 Basic positioner next interpolation clock cycle. CONTINUE_EXTERNAL_ALARM causes a message to be output immediately. FIXED STOP The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop. The following parameters are relevant: ● p2616[x] Block number ●...
Page 271 Function modules 7.9 Basic positioner A precise stop is always carried out here regardless of the parameterized continuation condition of the task preceding the JERK task. The following parameters are relevant: ● p2616[x] Block number ● p2622[x] Task parameter = 0 or 1 All continuation conditions are possible.
Page 272: Travel To Fixed Stop
Function modules 7.9 Basic positioner SET_O, RESET_O The tasks SET_O and RESET_O allow up to two binary signals (output 1 or 2) to be simultaneously set or reset. The number of the output (1 or 2) is specified bit-coded in the task parameter.
Page 273: Fixed Stop Reached
Function modules 7.9 Basic positioner In positioning mode, traversing to a fixed stop is started when a traversing block is processed with the FIXED STOP command. In this traversing block, in addition to the specification of the dynamic parameterized position, speed, acceleration override and delay override, the required clamping torque can be specified as task parameter p2622.
Page 274: Fixed Stop Is Not Reached
Function modules 7.9 Basic positioner Note If the drive is in fixed stop, it can be referenced using the control signal "set reference point." If the axis leaves the position that it had at detection of the fixed stop by more than the selected monitoring window for the fixed stop p2635, then the status bit r2683.12 is reset.
Page 275: Vertical Axes
Function modules 7.9 Basic positioner 7.9.5.5 Vertical axes Note In servo mode, with suspended axes, a torque limit offset (p1532) can be entered (see chapter: Servo Control -> Suspended axes). With asymmetrical torque limits p1522 and p1523, when traversing to fixed stop, the fixed weight is taken into account in the parameters r2686 and r2687.
Page 276: Direct Setpoint Input (Mdi)
Function modules 7.9 Basic positioner 7.9.6 Direct setpoint input (MDI) Features ● Select direct setpoint input (p2647) ● Select positioning type (p2648) ● Direction selection (p2651, p2652) ● Setting-up (p2653) ● Fixed setpoints – CO: Position setpoint (p2690) – CO: Velocity setpoint (p2691) –...
Page 277 Function modules 7.9 Basic positioner Note Continuous acceptance p2649 = 1 can only be set with free telegram configuration p0922 = 999. No relative positioning is allowed with continuous acceptance. The direction of positioning can be specified using p2651 (positive direction specification) and p2652 (negative direction specification).
Page 278 Function modules 7.9 Basic positioner ● xx2x = ABS_POS -> p2648, p2651 ● xx3x = ABS_NEG -> p2648, p2652 Intermediate stop and canceling traversing block The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes with the parameterized deceleration value (p2620 or p2645).
Page 279: Jog
Function modules 7.9 Basic positioner 7.9.7 Features ● Jog signals (p2589, p2590) ● Velocity (p2585, p2586) ● Incremental (p2587, p2588, p2591) Description Using parameter p2591 it is possible to change over between jog incremental and jog velocity. The traversing distances p2587 and p2588 and velocities p2585 and p2586 are entered using the jog signals p2589 and p2590.
Page 280: Status Signals
Function modules 7.9 Basic positioner Function diagrams (see SINAMICS S List Manual) ● 3610 EPOS - jog mode Overview of key parameters (see SINAMICS S List Manual) ● p2585 EPOS jog 1 setpoint velocity ● p2586 EPOS jog 2 setpoint velocity ●...
Page 281 Function modules 7.9 Basic positioner Stop cam minus active (r2684.13) Stop cam plus active (r2684.14) These status signals indicate that the stop cam minus p2569 or stop cam plus p2570 were reached or passed. The signals are reset if the cams are left in a directly opposing the approach direction.
Page 282: Dcc Axial Winder
Function modules 7.10 DCC axial winder ● Signal level 1 at binector input p2551 "signal setpoint static". Reference point set (r2684.11) The signal is set as soon as referencing has been successfully completed. It is deleted as soon as no reference is there or at the start of the reference point approach. Acknowledgement, traversing block activated (r2684.12) A positive edge is used to acknowledge that in the mode "traversing blocks"...
Page 283 ● Flexible sensor evaluation (e.g. dancer roll, load cell) Note Documentation for a standard application for the DCC axial winder is available on demand from your responsible SIEMENS distribution partner. Function blocks The "DCC axial winder" function involves the following DCBs (Drive Control Blocks), i.e.
Page 284 Function modules 7.10 DCC axial winder DMIN DMAX GF = n Figure 7-21 Axial winder setup Functional principle To maintain a constant tension of the continuous web, the drive moment is increased in a linear manner while the winding diameter increases, or decreased while the winding diameter decreases.
Page 285 Function modules 7.10 DCC axial winder The function diagram below shows the calculation flow for VECTOR control [FP 6031]: dn/dt p1497 r1493 Figure 7-23 Torque pre-control for VECTOR control Parameters for the function diagrams for torque pre-control p0341[0...n] Motor moment of inertia / MotID M_mom inert Setting of the motor moment of inertia (no load).
Page 286 Function modules 7.10 DCC axial winder p1497[0...n] CI: Moment of inertia, scaling / M_mom inert scal Scaling factor of the static moment of inertia for the calculation of the current total moment of inertia (r1493 + portion of the moment of inertia of the winding product calculated by the INCO block).
Page 287 Function modules 7.10 DCC axial winder A variable torque limit is effective (fixed torque limit + scaling). 0 signal from BI: p1551: The fixed torque limit is effective. p1552[0...n] Torque limit upper scaling without offset / M_max up offs scal Sets the signal source for the scaling of the upper torque limit to limit the speed controller output without considering current and power limits.
Page 288: Parallel Connection Of Chassis Power Units (Vector)
Function modules 7.11 Parallel connection of chassis power units (vector) 7.11 Parallel connection of chassis power units (vector) 7.11.1 Features SINAMICS supports the parallel connection of power units on the motor and infeed side to extend the power spectrum of the SINAMICS. The main characteristics of the parallel connection are: ●...
Page 289: Description
Function modules 7.11 Parallel connection of chassis power units (vector) ● ... ● p7322 Parallel circuit configuration, VSM line filter capacitance, phaseW 7.11.3 Description Switching power units in parallel is a simple method of extending the power spectrum of drives beyond the power of the individual power units. 7.11.4 Application examples Parallel connection of two Motor Modules to one motor with double winding system...
Page 290: Commissioning
Function modules 7.11 Parallel connection of chassis power units (vector) Parallel connection of two Active Line Modules and two Motor Modules on a motor with a single winding system Figure 7-26 Example 2: parallel connection 7.11.5 Commissioning During commissioning, power units connected in parallel are treated like a power unit on the line or motor side.
Page 291: Monitoring And Protective Functions
Monitoring and protective functions Power unit protection, general Description SINAMICS power units offer comprehensive functions for protecting power components. Table 8-1 General protection for power units Protection against: Precautions Responses Overcurrent Monitoring with two thresholds: First threshold exceeded • A30031, A30032, A30033 Current limiting of a phase has responded.
Page 292: Thermal Monitoring And Overload Responses
Monitoring and protective functions 8.2 Thermal monitoring and overload responses Thermal monitoring and overload responses Description The priority of thermal monitoring for power unit is to identify critical situations. If alarm thresholds are exceeded, the user can set parameterizable response options that enable continued operation (e.g.
Page 293: Block Protection
Monitoring and protective functions 8.3 Block protection Reducing the output frequency has the effect of significantly reducing the converter output current which, in turn, reduces losses in the power unit. ● No reduction (p0290 = 1) You should choose this option if it is neither possible to reduce the pulse frequency nor reduce the output current.
Page 294: Stall Protection (Only For Vector Control)
Monitoring and protective functions 8.4 Stall protection (only for vector control) Figure 8-1 Block protection Function diagrams (see SINAMICS S List Manual) ● 8012 Torque messages, motor blocked/stalled Overview of key parameters (see SINAMICS S List Manual) ● p2175 Motor blocked speed threshold ●...
Page 295: Thermal Motor Protection
Monitoring and protective functions 8.5 Thermal motor protection Figure 8-2 Stall protection Function diagrams (see SINAMICS S List Manual) ● 6730 Current control ● 8012 Torque messages, motor blocked/stalled Overview of key parameters (see SINAMICS S List Manual) ● r1408 CO/BO: Control status word 3 ●...
Page 296 Monitoring and protective functions 8.5 Thermal motor protection Temperature measurement via KTY The device is connected to terminals X522:7 (anode) and X522:8 (cathode) at the customer terminal block (TM31) in the diode conducting direction. The measured temperature is limited to between -48 °C and +248°C and is made available for further evaluation. ●...
Page 297 Monitoring and protective functions 8.5 Thermal motor protection Parameters for thermal motor protection ● p0600 Motor temperature sensor for monitoring ● p0601 Motor temperature sensor type ● p0604 Motor overtemperature alarm threshold ● p0605 Motor overtemperature fault threshold ● p0606 Motor over temperature timer ●...
Page 299: Safety Integrated Basic Functions
General information Note This manual describes the Safety Integrated Basic Functions. The Safety Integrated Extended Functions are described in the following documentation: Reference: /FHS/ SINAMICS S120 Function Manual Safety Integrated. 9.1.1 Explanations, standards, and terminology Safety Integrated The "Safety Integrated" functions, which have been prototype tested, provide highly-effective application-oriented protection for personnel and machinery.
Page 300 • Category 3 to EN 954-1. • Safety integrity level 2 (SIL 2) to IEC 61508. A list of certified components is available on request from your local Siemens office. Note When operated in proper condition and in dry operating areas, SINAMICS devices with three-phase motors conform to Low-Voltage Directive 73/23/EEC.
Page 301: Supported Functions
Safety Integrated basic functions 9.1 General information Switch-off signal paths Two independent switch-off signal paths are available. All switch-off signal paths are low active, thereby ensuring that the system is always switched to a safe state if a component fails or in the event of an open circuit. If a fault is discovered in the switch-off signal paths, the "Safe Torque Off"...
Page 302 Safety Integrated basic functions 9.1 General information – Safe torque off (STO) STO is a safety function that prevents the drive from restarting unexpectedly, in accordance with EN 60204-1, Section 5.4. Note When a drive object that has Safety Integrated functions released is switched to "Parking"...
Page 303: Parameter, Checksum, Version, Password
Safety Integrated basic functions 9.1 General information ● SIMOTION D4x5: FW version from V4.1.1 (SINAMICS S120 with FW version from V2.5 SP1 integrated) ● Safe actual value acquisition (see chapter "Safe actual value acquisition") ● An activated speed controller in the drive ●...
Page 304 Safety Integrated basic functions 9.1 General information Checking the checksum For each monitoring channel, the safety parameters include one parameter for the actual checksum for the safety parameters that have undergone a checksum check. During commissioning, the actual checksum must be transferred to the corresponding parameter for the specified checksum.
Page 305 Safety Integrated basic functions 9.1 General information Password The safety password protects the safety parameters against unauthorized write access. In commissioning mode for Safety Integrated (p0010 = 95), you cannot change safety parameters until you have entered the valid safety password in p9761 for the drives or p10061 for the TM54F.
Page 306: Forced Dormant Error Detection
Safety Integrated basic functions 9.1 General information ● p10062 SI password new TM54F ● p10063 SI password acknowledgement TM54F 9.1.4 Forced dormant error detection Forced dormant error detection or test for the switch-off signal paths Forced dormant error detection for the switch-off signal paths is used for detecting errors in the software/hardware of the two monitoring channels as quickly as possible and is carried out automatically when the "Safe Torque Off"...
Page 307: Safety Instructions
Safety Integrated basic functions 9.2 Safety instructions Safety instructions Safety instructions WARNING After hardware and/or software components have been modified or replaced, it is only permissible for the system to run up and the drives to be activated with the protective devices closed.
Page 308: Safe Torque Off (Sto)
Safety Integrated basic functions 9.3 Safe Torque Off (STO) CAUTION The "automatic restart" function may not be used together with the safety functions STO/SBC and SS1. The reason for this is that EN 60204 Part 1 (1998) in chapter 9.2.5.4.2 does not permit this (merely de-selecting a safety shutdown function must not cause the machine to restart).
Page 309 Safety Integrated basic functions 9.3 Safe Torque Off (STO) CAUTION If two power transistors in the power unit (one in the upper and one offset in the lower inverter bridge) fail at the same time, this can cause a momentary movement. The maximum movement can be: Synchronous rotary motors: max.
Page 310 Safety Integrated basic functions 9.3 Safe Torque Off (STO) Restart after the "Safe Torque Off" function has been selected 1. Deselect the function in each monitoring channel via the input terminals. 2. Issue drive enable signals. 3. Revoke the closing lockout and switch the drive back on. –...
Page 311: Safe Stop 1 (Ss1, Time Controlled)
Safety Integrated basic functions 9.4 Safe Stop 1 (SS1, time controlled) Parameter overview (see List Manual) ● p0799 CU inputs/outputs sampling times ● r9780 SI monitoring clock cycle (Control Unit) ● r9880 SI monitoring clock cycle (Motor Module) Safe Stop 1 (SS1, time controlled) General description The "Safe Stop 1"...
Page 312: Safe Brake Control (Sbc)
Safety Integrated basic functions 9.5 Safe Brake Control (SBC) Status for "Safe Stop 1" The status of the "Safe Stop 1" function is displayed using the following parameters: ● r9772 CO/BO: SI status (Control Unit) ● r9773 CO/BO: SI status (Control Unit + Motor Module) ●...
Page 313 Safety Integrated basic functions 9.5 Safe Brake Control (SBC) WARNING "Safe Brake Control" does not detect faults in the brake itself, such as brake winding short- circuit, worn brakes, etc. If a cable breaks, this is only recognized by the "Safe Brake Control" function when the status changes, i.e.
Page 314 Safety Integrated basic functions 9.5 Safe Brake Control (SBC) Figure 9-1 Two-channel brake control, booksize The Motor Module carries out a check to ensure that the "Safe Brake Control" function is working properly and ensures that, if the Control Unit fails or is faulty, the brake current is interrupted and the brake applied.
Page 315: Control Via Terminals On The Control Unit And The Power Unit
Safety Integrated basic functions 9.6 Control via terminals on the Control Unit and the power unit Parameter overview (see SINAMICS S List Manual) ● p0799 CU inputs/outputs sampling times ● r9780 SI monitoring clock cycle (Control Unit) ● r9880 SI monitoring clock cycle (Motor Module) Control via terminals on the Control Unit and the power unit Features ●...
Page 316 Safety Integrated basic functions 9.6 Control via terminals on the Control Unit and the power unit Terminals for STO, SS1 (time-controlled), SBC The functions are separately selected/deselected for each drive using two terminals. ● 1. Switch-off signal path (CU310/CU320) The desired input terminal is selected via BICO interconnection (BI: p9620[0]). ●...
Page 317 Safety Integrated basic functions 9.6 Control via terminals on the Control Unit and the power unit The assignment is checked during the test for the switch-off signal paths, The operator selects "Safe Torque Off" for each group. The check is drive-specific. Example: Terminal groups It must be possible to select/deselect "Safe Torque Off"...
Page 318: Commissioning The "Sto", "Sbc" And "Ss1" Functions
Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions "Simultaneously" means: The changeover must be complete in both monitoring channels within the parameterized tolerance time. ● p9650 SI tolerance time F-DI changeover (Control Unit) ● p9850 SI tolerance time F-DI changeover (Motor Module) If the "Safe Torque Off"...
Page 319 Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Prerequisites for commissioning the safety functions 1. Commissioning of the drives must be complete. 2. Non-safe pulse disable must be present (e.g. via OFF1 = "0" or OFF2 = "0") If the motor holding brake is connected and parameterized, the holding brake is applied.
Page 320: Procedure For Commissioning "Sto", "Sbc" And "Ss1
Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions 9.7.2 Procedure for commissioning "STO", "SBC" and "SS1" To commission the "STO", "SBC" and "SS1" functions, carry out the following steps: Table 9-4 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p0010 = 95...
Page 321 Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Enable "Safe Stop 1" function. p9652 > 0 Enable "SS1" on the Control Unit p9852 > 0 Enable "SS1" on the Motor Module The parameters are not changed until safety commissioning mode has been exited •...
Page 322 Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Set transition period from STOP F to STOP A. p9658 = "Value" Transitional period from STOP F to STOP A on Control Unit p9858 = "Value" Transitional period from STOP F to STOP A on Motor Module The parameters are not changed until safety commissioning mode has been exited •...
Page 323: Safety Faults
Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p0010 = Value not Safety Integrated: exit commissioning mode equal to 95 If at least one safety monitoring function is enabled (p9601 = p9801 ≠ 0), the •...
Page 324 Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Stop response Action Effect Triggered ... STOP A is identical to stop Category 0 to EN 60204-1. With STOP A, the motor is switched directly to zero torque via the "Safe torque off (STO)"...
Page 325: Acceptance Test And Certificate
Safety Integrated basic functions 9.8 Acceptance test and certificate Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: References: /LH1/ SINAMICS S List Manual Acceptance test and certificate 9.8.1 General information about acceptance Acceptance test The machine manufacturer must carry out an acceptance test for the activated Safety...
Page 326: Documentation
Safety Integrated basic functions 9.8 Acceptance test and certificate Scope of a complete acceptance test Documentation Machine documentation (including the SI functions) 1. Machine description and overview diagram 2. SI functions for each drive 3. Description of safety equipment Functional test Check the individual SI functions used 1.
Page 327 Safety Integrated basic functions 9.8 Acceptance test and certificate Other axes Spindles Overview diagram of machine Table 9-7 Values from relevant machine data Parameter FW version Control Unit r0018 = Drive number FW version SI version r9770 = r0128 = r9870 = Parameter r0128 =...
Page 328 Safety Integrated basic functions 9.8 Acceptance test and certificate Table 9-8 SI functions for each drive Drive number SI function Table 9-9 Description of safety equipment Examples: Wiring of STO terminals (protective door, emergency OFF), grouping of STO terminals, holding brake for vertical axis, etc. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 329: Acceptance Test For Safe Torque Off (Sto)
Safety Integrated basic functions 9.8 Acceptance test and certificate 9.8.3 Acceptance test for Safe Torque Off (STO) "Safe Torque Off" (STO) function This test comprises the following steps: Table 9-10 "Safe Torque Off" (STO) function Description Status Initial state Drive in "Ready" status (p0010 = 0) STO function enabled (p9601.0 = 1, p9801.0 = 1) No safety faults and alarms (r0945, r2122, r2132) r9772.0 = r9772.1 = 0 (STO de-selected and inactive –...
Page 330: Acceptance Test For Safe Stop 1, Time Controlled (Ss1)
Safety Integrated basic functions 9.8 Acceptance test and certificate Description Status The following is tested: Correct DRIVE-CLiQ wiring between Control Unit and Motor Modules • Correct assignment of drive No. – Motor Module – motor • The hardware is functioning properly •...
Page 331: Acceptance Test For "Safe Brake Control" (Sbc)
Safety Integrated basic functions 9.8 Acceptance test and certificate Description Status r9773.0 = r9773.1 = 0 (STO de-selected and inactive – drive) • r9773.2 = 1 (SS1 active – drive) • STO is initiated after the SS1 delay time expires (p9652, p9852). No safety faults and alarms (r0945, r2122, r2132) •...
Page 332 Safety Integrated basic functions 9.8 Acceptance test and certificate Description Status Vertical axis: • Mechanical brake is applied No vertical axis: • Mechanical brake is released No safety faults or alarms (r0945, r2122) • r9772.0 = r9772.1 = 0 (STO de-selected and inactive – CU) •...
Page 333: Completion Of Certificate
Safety Integrated basic functions 9.8 Acceptance test and certificate 9.8.6 Completion of certificate SI parameters Specified values checked? Control Unit Motor Module Checksums Drive Checksum (8 hex) Name Drive number Control Unit (p9798) Motor Module (p9898) Data backup Storage medium Storage location Type Designation...
Page 334: Application Examples
Safety Integrated basic functions 9.9 Application examples Machine manufacturer This confirms that the parameters recorded above are correct. Date Name Company/dept. Signature Application examples 9.9.1 Safe Stop 1 (SS1, time-controlled) when protective door is locked, emergency stop switch-off Figure 9-4 Application example Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 335 Safety Integrated basic functions 9.9 Application examples Figure 9-5 Safety Integrated signal flow application example Note This example illustrates implementation options. The solution required for the machine must be suitable for the machine function, which means that parameters and control commands are defined individually.
Page 336 Safety Integrated basic functions 9.9 Application examples ● The "Safe Torque Off" safety function, which is integrated in the drive, complies with category 3 to EN 954-1 and SIL 2 to IEC 61508. The non-safe message "Safe Torque Off active" is sufficient. ●...
Page 337 Safety Integrated basic functions 9.9 Application examples Behavior when the protective door is opened To issue a request to open the protective door, press the S2 button ("OFF"). The drive is brought to a standstill in accordance with stop category 1 of EN 60204-1. ●...
Page 338: Overview Of Parameters And Function Diagrams
Safety Integrated basic functions 9.10 Overview of parameters and function diagrams 9.10 Overview of parameters and function diagrams Parameter overview (see SINAMICS S List Manual) Table 9-13 Parameters for Safety Integrated No. of Control Unit No. of Motor Name Changeable to (CU) Module (MM) p9601...
Page 339 Safety Integrated basic functions 9.10 Overview of parameters and function diagrams Function diagram overview (see SINAMICS S List Manual) ● 2800 Parameter manager ● 2802 Monitoring and faults/alarms ● 2804 Status words ● 2810 Safe torque off (STO) ● 2814 Safe brake control (SBC) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 341: Communication Profibus Dp/Profinet Io
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 10.1.1 General information about PROFIdrive for SINAMICS General information PROFIdrive V4.1 is the PROFIBUS and PROFINET profile for drive technology with a wide range of applications in production and process automation systems. PROFIdrive is independent of the bus system used (PROFIBUS, PROFINET).
Page 342: Application Classes
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Examples: Programming devices, human machine interfaces ● Drive Unit (PROFIBUS: Slave, PROFINET IO: IO Device) The SINAMICS drive unit is with reference to PROFIdrive, a Drive Unit. Interface IF1 and IF2 The Control Unit can communicate via two different interfaces (IF1 and IF2).
Page 343 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Application class 1 (Standard drive) In the most basic case, the drive is controlled via a speed setpoint by means of PROFIBUS/PROFINET. In this case, speed control is fully handled in the drive controller. Typical application examples are basic frequency converters.
Page 344 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Application class 2 (Standard drive with technology function) The total process is subdivided into a number of small subprocesses and distributed among the drives. This means that the automation functions no longer reside exclusively in the central automation device but are also distributed in the drive controllers.
Page 345 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Application class 3 (positioning drive) In addition to the drive control, the drive also includes a positioning control, so that the drive operates as a self-contained single-axis positioning drive while the higher-level technological processes are executed on the controller.
Page 346 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Application class 4 (central motion control) This application class defines a speed setpoint interface with execution of the speed control on the drive and of the positioning control in the controller, such as is required for robotics and machine tool applications with coordinated motions on multiple drives.
Page 347: Cyclic Communication
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Table 10-2 Selection of telegrams as a function of the application class Telegram Description Class 1 Class 2 Class 3 Class 4 (p0922 = x) Speed control, 2 words Speed control, 4 words Speed control, 1 position encoder Speed control, 2 position encoder DSC, 1 position encoders...
Page 348 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive From the perspective of the drive unit, the received process data comprises the receive words and the process data to be sent the send words. The receive and send words comprise the following elements: ●...
Page 349 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 3. Free telegrams (p0922 = 999) The send and receive telegrams can be configured as required by using BICO technology to interconnect the send and receive process data. SERVO, TM41 VECTOR CU_S A_INF, B_INF, S_INF, TB30,...
Page 350 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive The telegram structure The parameter p0978 contains the sequence of DOs that use a cyclic PZD exchange. A zero delimits the DOs that do not exchange any PZDs. If the value 255 is written to p0978, the drive unit emulates an empty drive object that is visible to the PROFIdrive controller.
Page 351 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Figure 10-6 Overview of manufacturer-specific telegrams and process data, part 1/2 Figure 10-7 Overview of manufacturer-specific telegrams and process data, part 2/2 Depending on the drive object, only certain telegrams can be used: Drive object Telegrams (p0922) A_INF...
Page 352 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Drive object Telegrams (p0922) TM31 No predefined telegram. TM41 3, 999 TB30 No predefined telegram. CU_S 390, 391, 392, 999 Depending on the drive object, the following maximum number of process data items can be transmitted for user-defined telegram structures: Drive object Max.
Page 353: Monitoring: Telegram Failure
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Function diagrams (see SINAMICS S List Manual) ● 2410 PROFIBUS address, diagnostic ● ... ● 2483 Send telegram, free interconnection via BICO (p0922 = 999) 10.1.3.2 Monitoring: telegram failure Description After a telegram failure and a monitoring time has elapsed (p2047), bit r2043.0 is set to "1" and alarm A01920 is output.
Page 354: Description Of Control Words And Setpoints
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive drive objects and alarm A01920 and fault F01910 are output for VECTOR. When F01910 is output, an OFF3 is triggered for the drive. After a delay time (p2044) of two seconds has elapsed, fault F01910 is output on the infeed and triggers OFF2.
Page 355 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Abbreviation Name Signal Data type Interconnection number parameters MDIAcc Pos MDI acceleration override p2644 MDIDec Pos MDI deceleration override p2645 MDIMode Pos MDI mode p2654 E_STW1 Control word for INFEED (bit serial) CU_STW Control word for Control Unit (CU) (bit serial)
Page 356 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Note: The ramp-function generator cannot be frozen via p1141 in jog mode (r0046.31 = 1). Enable speed setpoint Enable setpoint BI: p1142 Inhibit setpoint Set ramp-function generator input to zero Acknowledge fault Acknowledge fault BI: p2103...
Page 357 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO OFF2 BI: p0844 No OFF2 Enable possible OFF2 Immediate pulse cancellation and power-on inhibit Note: Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845. OFF3 No OFF3 BI: p0848 Enable possible...
Page 358 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Reserved External block change External set change is initiated BI: 2632 No effect Reserved Reserved CTW2 (control word 2) See function diagram [2444] Table 10-6 Description of CTW2 (control word 2) Meaning Comments BICO...
Page 359 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Table 10-7 Description of E_CTW1 (control word for INFEED) Meaning Comments BICO ON/OFF1 BI: p0840 Pulse enable possible OFF1 Reduce DC link voltage via ramp (p3566), pulse inhibit/line contactor open OFF2 No OFF2 BI: p0844 Enable possible...
Page 360 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Note: This bit should not be set to "1" until the PROFIdrive has returned an appropriate status via STW1.9 = "1".. Reserved Reserved Reserved Reserved Reserved SATZANW (positioning mode, p0108.4 =1) See function diagram [2476] Table 10-8 Description of BLOCKSEL (positioning mode, p0108.4 =1)
Page 361 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO The sensor for the fixed stop is inactive Reserved Jogging, incremental Jogging incremental active BI: 2591 Jogging velocity active 6 ... Reserved Note: See also: SINAMICS S Function Manual, Function module "basic positioner" NSOLL_A (speed setpoint A (16-bit)) ●...
Page 362 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive The format of XERR is identical to the format of G1_XIST1. KPC (position controller gain factor) ) The position controller gain factor for dynamic servo control (DSC) is transmitted via this setpoint.
Page 363 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Over (pos velocity override) This process data defines the percentage for the velocity override. Normalization: 4000 hex (16384 dec) = 100 % Range of values: 0 ... 7FFF hex Values outside this range are interpreted as 0%. TORQUERED (torque reduction) ) This setpoint can be used to reduce the torque limit currently active on the drive.
Page 364: Description Of Status Words And Actual Values
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 10.1.3.4 Description of status words and actual values Description of status words and actual values Note This chapter describes the assignment and meaning of the process data in SINAMICS interface mode (p2038 = 0). The reference parameter is also specified for the relevant process data.
Page 365 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Abbreviation Name Signal Data type Comment number MELDW Message word r2089[2] (bit serial) MSOLL_GLATT Total speed setpoint r00079[1] AIST_GLATT Torque utilization r0081 MT_ZSW Status word for probe r0688 MT1_ZS_F Probe 1 measuring time, falling edge r0687[0] MT1_ZS_S Probe 1 measuring time, rising edge...
Page 366 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Fault active BO: r2193.3 Fault active The drive is faulty and, therefore, out of service. The drive switches to power-on inhibit once the fault has been acknowledged and the cause has been remedied.
Page 367 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Holding brake open BO: r0899.12 Holding brake open Holding brake closed No motor overtemperature alarm Motor overtemperature alarm not active BO: r2135.14 (inverted) Motor overtemperature alarm active n_act >= 0 Actual speed >...
Page 368 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Power-on disable BO: r0899.6 Power-on disable A restart is only possible by means of OFF1 and then ON. No power-up inhibit Power-up is possible. Alarm present Alarm present BO: r2139.7 The drive is operational again.
Page 369 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO DDS eff., bit 4 – BO: r0051.4 5, 6 Reserved – – – Parking axis Axis parking active BO: r0896.0 Axis parking not active Travel to fixed endstop Travel to fixed endstop BO: r1406.8 No travel to fixed stop...
Page 370 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Ramp-up starts. The start of the ramp-up procedure is detected as follows: The speed setpoint changes, • the defined tolerance bandwidth (p2164) is • exited. Ramp-function generator active The ramp-up procedure is still active once the •...
Page 371 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Note: The message is parameterized as follows: p2155 Threshold value p2140 Hysteresis Application: Speed monitoring. Reserved – – Reserved – – No motor overtemperature alarm No motor overtemperature alarm BO: r2135.14 The temperature of the motor is within the (inverted)
Page 372 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive MSOLL_GLATT The torque setpoint smoothed with p0045 is displayed. AIST_GLATT Torque utilization smoothed with p0045 is displayed. E_DIGITAL MT_STW MT_n_ZS_F/MT_n_ZS_S CU_ZSW This process data is part of the central process data. IAIST_GLATT The actual current value smoothed with p0045 is displayed.
Page 373 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Ready to run BO: r0899.1 Ready to run DC link pre-charged, pulses inhibited Not ready Operation enabled Operation enabled BO: r0899.2 Vdc = Vdc_setp Operation inhibited Fault active Fault active BO: r2139.3 No fault...
Page 374 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Comments BICO Setpoint static BO: r2683.2 Setpoint static Setpoint not static Reserved – – – Axis moves forwards Axis moves forwards BO: r2683.4 Axis stationary or moving backwards Axis moving backwards Axis moving backwards BO: r2683.5 Axis stationary or moving forwards...
Page 375: Control And Status Words For Encoder
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive XistP Actual position value is displayed Normalization: 1 corresponds to 1 LU 10.1.3.5 Control and status words for encoder Description The process data for the encoders is available in various telegrams. For example, telegram 3 is provided for speed control with 1 position encoder and transmits the process data of encoder 1.
Page 376 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Table 10-18 Description of the individual signals in Gn_STW Name Signal status, description Find reference Functions If bit 7 = 0, then find reference mark request applies: mark or flying Meaning measurement Function 1 Reference mark 1...
Page 377 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Name Signal status, description No request Example 1: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference markers (function 1/function 2) ● Position control with encoder 1 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 378 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Figure 10-12 Flowchart for "find reference mark" Example 2: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 379 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Figure 10-13 Function chart for "measurement on-the-fly" Encoder 2 control word (G2_CTW) ● See G1_CTW (table 4-19) Encoder 3 control word (G3_CTW) ● See G1_CTW (table 4-19) Encoder n status word (Gn_STW, n = 1, 2, 3) The encoder status word is used to display states, errors and acknowledgements.
Page 380 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Table 10-19 Description of the individual signals in Gn_STW Name Signal status, description Find Status: Valid for find reference marker and measurement on-the-fly. reference Function 1 - 4 Meaning mark or flying active Function 1 Reference marker 1...
Page 381 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Name Signal status, description No active parking encoder Encoder error Error from encoder or actual-value sensing is active. Note: The error code is stored in Gn_XACT2. No error is active. Encoder 1 actual position value 1 (G1_XACT1) ●...
Page 382 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Figure 10-15 Priorities for functions and Gx_XIST2 ● Resolution: Encoder pulses ∙ 2n n : fine resolution, no. of bits for internal multiplication Figure 10-16 Subdivision and settings for Gx_XIST2 ● Encoder lines of incremental encoder –...
Page 383 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Error code in Gn_XIST2 Table 10-20 Error code in Gn_XIST2 n_XIST2 Meaning Possible causes / description Encoder error One or more existing encoder faults. Detailed information in accordance with drive messages. Zero marker monitoring –...
Page 384: Central Control And Status Words
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Encoder 3 actual position value 1 (G3_XACT1) ● See G1_XIST1 Encoder 3 actual position value 2 (G3_XACT2) ● See G1_XIST2 Function diagrams (see SINAMICS S List Manual) ● 4720 Encoder interface, receive signals, encoders n ●...
Page 385 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Receive signals: ● CU_STW Control Unit control word ● A_DIGITAL digital outputs ● MT_STW probe control word Transmit signals: ● CU_ZSW Control Unit status word ● E_DIGITAL digital inputs ● MT_CTW Probe status word ●...
Page 386 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Remarks BICO Digital input/output 9 – DI/DO 9 on the Control Unit must be parameterized as an output BI: p0739 (DI/DO 9) (p0728.9 = 1). Digital input/output 10 – DI/DO 10 on the Control Unit must be parameterized as an output BI: p0740 (DI/DO 10) (p0728.10 = 1).
Page 387 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Table 10-24 Description of CU_ZSW (status word for Control Unit) Meaning Remarks BICO 0...2 Reserved – – – Fault active Fault active BO: r2139.3 No fault present 4...6 Reserved – – –...
Page 388 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Meaning Remarks BICO Note: The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also receive signal A_DIGITAL). MT_ZSW Status word for the "central probe" function. Table 10-26 Description of MT_ZSW (status word for the "central probe"...
Page 389: Motion Control With Profidrive
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Example: central probe Assumptions for the example: ● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1 ● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and falling edge of probe 2 ●...
Page 390 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Properties ● No additional parameters need to be entered in addition to the bus configuration in order to activate this function, the master and slave must only be preset for this function (PROFIBUS).
Page 391 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Figure 10-18 Overview of "Motion control with PROFIBUS" (example: master and 3 slaves) Structure of the data cycle The data cycle comprises the following elements: 1. Global Control telegram (PROFIBUS only) 2.
Page 392: Acyclic Communication
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Figure 10-19 Isochronous drive link/Motion Control with PROFIdrive 10.1.4 Acyclic communication 10.1.4.1 General information about acyclic communication Description With acyclic communication, as opposed to cyclic communication, data transfer takes place only when an explicit request is made (e.g. in order to read and write parameters). The read data set/write data set services are available for acyclic communication.
Page 393 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Note Please refer to the following documentation for a detailed description of acyclic communication: Reference: /P5/ PROFIdrive Profile Drive Technology Addressing: PROFIBUS DP, the addressing can either take the form of the logical address or the diagnostics address.
Page 394: Structure Of Orders And Responses
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 10.1.4.2 Structure of orders and responses Structure of parameter request and parameter response Parameter request Offset Values for Request header Request reference Request ID write access Axis No. of parameters only 1.
Page 395 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Field Data type Values Comment Specifies the type of request. In the case of a write request, the changes are made in a volatile memory (RAM). A save operation is needed in order to transfer the data to the non-volatile memory (p0971, p0977). Response ID Unsigned8 0x01...
Page 396 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Field Data type Values Comment The format and number specify the adjoining space containing values in the telegram. Data types in conformity with PROFIdrive Profile shall be preferred for write access. Bytes, words and double words are also possible as a substitute.
Page 397 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Error Meaning Comment Additional value info 0x15 Response too long The length of the present response exceeds the maximum – transfer length. 0x16 Illegal parameter address Impermissible or unsupported value for attribute, number –...
Page 398 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Error Meaning Comment Additional value info 0x78 Parameter %s [%s]: Write access – – only in the commissioning state, drive configuration (device: p0009 = 3). 0x79 Parameter %s [%s]: Write access –...
Page 399: Determining The Drive Object Numbers
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 10.1.4.3 Determining the drive object numbers Further information about the drive system (e.g. drive object numbers) can be determined as follows using parameters p0101, r0102, and p0107/r0107: 1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read via a read request.
Page 400 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive 2. Invoke the request. 3. Evaluate the response. Activity 1. Create the request. Parameter request Offset Request header Request reference = 25 hex Request ID = 01 hex 0 + 1 Axis = 02 hex No.
Page 401: Example 2: Write Parameters (Multi-Parameter Request)
Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Parameter response Offset Parameter value Format = 06 hex No. of values = 08 hex 4 + 5 1. value = 1355 dec 2. value = 0 dec 8. value = 0 dec Information about the parameter response: ●...
Page 402 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive The request is to be handled using a request and response data block. Figure 10-21 Task description for multi-parameter request (example) Basic procedure 1. Create a request to write the parameters. 2.
Page 403 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive Parameter request Offset Subindex = 0 dec 4. parameter address Attribute = 10 hex No. of elements = 01 hex 22 + 23 Parameter no. = 1059 dec Subindex = 0 dec 4.
Page 404 Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive ● Subindex: 0 dec ––> ID for the first array element. 1. parameter value ... 4th parameter value ● Format: 07 hex ––> Data type Unsigned32 08 hex ––> Data type FloatingPoint ●...
Page 405: Communication Via Profibus Dp
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2 Communication via PROFIBUS DP 10.2.1 General information about PROFIBUS 10.2.1.1 General information about PROFIBUS for SINAMICS General information PROFIBUS is an open international field bus standard for a wide range of production and process automation applications.
Page 406 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP ● Master Masters are categorized into the following classes: – Master class 1 (DPMC1): Central automation stations that exchange data with the slaves in cyclic and acyclic mode. Communication between the masters is also possible. Examples: SIMATIC S7, SIMOTION –...
Page 407: Example: Telegram Structure For Cyclic Data Transmission
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP ● VECTOR ● Terminal Module 15 (TM15DI/DO) ● Terminal Module 31 (TM31) ● Terminal Module 41 (TM41) ● Terminal Board 30 (TB30) ● Control Unit (CU_S) Note The sequence of drive objects in the configuration must be the same as that in the drive system.
Page 408 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Component and telegram structure The predefined component structure results in the telegram structure shown in the following diagram. Figure 10-22 Component and telegram structure You can check and change the sequence of the telegrams via p0978[0...15]. Configuration settings (e.g.
Page 409 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP DP slave properties – overview Figure 10-23 Slave properties – overview When you click "Details", the properties of the configured telegram structure are displayed (e.g. I/O addresses, axis separator). DP slave properties – details Figure 10-24 Slave properties –...
Page 410: Commissioning Profibus
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP The axis separator separates the objects in the telegram as follows: • Slot 4 and 5: Object 1 ––> Active Infeed (A_INF) • Slot 7 and 8: Object 2 ––> SERVO 1 •...
Page 411 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP References: /GH1/ SINAMICS S120 Equipment Manual for Control Units and Additional System Components ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnosis purposes.
Page 412 A device master file provides a full and clear description of the features of a PROFIBUS slave. The GSD files can be found at the following locations: ● On the Internet: http://www4.ad.siemens.de/WW/view/de/113204 ● On the CD for the STARTER commissioning tool Order no. 6SL3072-0AA00-0AGx ●...
Page 413: Commissioning Procedure
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP The bus terminating resistors in the PROFIBUS plugs must be set as follows: – First and last nodes in the line switch on terminating resistor – Other nodes in the line: switch out terminating resistor ●...
Page 414: Simatic Hmi Addressing
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.2.4 SIMATIC HMI addressing You can use a SIMATIC HMI as a PROFIBUS master (master class 2) to access SINAMICS directly. With respect to SIMATIC HMI, SINAMICS behaves like a SIMATIC S7. For accessing drive parameters, the following simple rule applies: ●...
Page 415: Monitoring: Telegram Failure
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Field Value No. of elements Decimal places Note • You can operate a SIMATIC HMI together with a drive unit independently of an existing control. A basic "point-to-point" connection can only be established between two nodes (devices). •...
Page 416: Motion Control With Profibus
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Example: emergency stop with telegram failure Assumption: A drive unit with an Active Line Module and a Single Motor Module. VECTOR mode is activated. After the ramp-down time has elapsed (p1135), the drive is at a standstill. Settings: ●...
Page 417 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Sequence of data transfer to closed-loop control system 1. Position actual value G1_XIST1 is read into the telegram image at time T before the start of each cycle and transferred to the master in the next cycle. 2.
Page 418 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Name Value Limit value Description Time of setpoint transfer O_MIN ≤ T ≤ T This is the time at which the transferred setpoints (speed setpoint) are accepted by the closed-loop control system after the start of the cycle.
Page 419 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Name Value Limit value Description Acyclic service After cyclic transmission, the master checks whether the token hold time has already expired. If not, another acyclic DPV1 service is transmitted. Reserve: "Active pause" until the isochronous cycle has expired Processing time for speed or position controller Master time This is the time from the start of the position controller cycle to...
Page 420 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Data Time required [µs] Per byte of user data One additional class 2 master User data integrity User data integrity is verified in both transfer directions (master <––> slave) by a sign-of-life (4-bit counter).
Page 421: Slave-To-Slave Communications
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4 Slave-to-slave communications 10.2.4.1 General information Description For PROFIBUS-DP, the master addresses all of the slaves one after the other in a DP cycle. In this case, the master transfers its output data (setpoints) to the particular slave and receives as response the input data (actual values).
Page 422 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Subscriber The subscribers evaluate the broadcast telegrams, sent from the publishers, and use the data which has been received as setpoints. The setpoints are used, in addition to the setpoints received from the master, corresponding to the configured telegram structure (p0922).
Page 423: Setpoint Assignment In The Subscriber
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4.2 Setpoint assignment in the subscriber Setpoints The following statements can be made about the setpoint: ● Number of setpoint When bus communications is being established, the master signals the slave the number of setpoints (process data) to be transferred using the configuring telegram (ChkCfg).
Page 424: Activating/Parameterizing Slave-To-Slave Communications
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4.3 Activating/parameterizing slave-to-slave communications The "slave-to-slave communications" function must be activated both in the publishers as well as in the subscribers, whereby only the subscriber is to be configured. The Publisher is automatically activated by the bus system when booting.
Page 425 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-31 Filter block in the parameterizing telegram (SetPrm) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 426: Commissioning Of The Profibus Slave-To-Slave Communication
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4.4 Commissioning of the PROFIBUS slave-to-slave communication The commissioning of slave-to-slave communication between two SINAMICS drives using the additional Drive ES Basic package is described below. Settings in HW Config The project below is used to describe the settings in HW Config. Figure 10-32 Example project of a PROFIBUS network in HW Config Procedure 1.
Page 427 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-33 Telegram selection for drive object 3. Then go to the detail view. Slots 4/5 contain the actual value/setpoint for the drive object. The slots 7/8 are the telegram portions for the actual value/setpoint of the CU. Figure 10-34 Detail view of slave configuration 4.
Page 428 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-35 Insert new slot 5. Assign the setpoint slot the type "slave-to-slave communication". 6. Select the Publisher DP address in the "PROFIBUS address" column. This displays all DP slaves from which actual value data can be requested. It also provides the possibility of sharing data via slave-to-slave communication within the same drive group.
Page 429 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-36 Configuring the slave-to-slave communication nodes 8. The "Data Exchange Broadcast - Overview" tab shows you the configured slave-to-slave communication relationships which correspond to the current status of the configuration in HW Config.
Page 430 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-38 Telegram assignment for slave-to-slave communication 10. The details after the creation of the slave-to-slave communication link for the drive object of the CU320 are as follows: Figure 10-39 Details after the creation of the slave-to-slave communication link 11.
Page 431 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Commissioning in STARTER Slave-to-slave communication is configured in HW Config and is simply an extension of an existing telegram. Telegrams can be extended in STARTER (e.g. p0922 = 999). Figure 10-40 Configuring the slave-to-slave communication links in STARTER In order to terminate the configuration of slave-to-slave communication for the DOs, the telegram data of the DOs in STARTER must be matched to those in the HW Config and must be extended.
Page 432 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-41 Display of the telegram extension By selecting the item "Communication -> PROFIBUS" for the drive object "SERVO2" in the object tree you get the structure of the PROFIBUS telegram in receive and transmit direction. The telegram extension from PZD5 is the portion for slave-to-slave communication.
Page 433 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-42 Configuring the PROFIBUS slave-to-slave communication in STARTER 4. To integrate the drive objects into slave-to-slave communication, you need to assign corresponding signals to the corresponding connectors in the PZDs. A list for the connector shows all signals that are available for interconnection.
Page 434: Gsd (Gerätestammdaten) File
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-43 Combining the PZDs for slave-to-slave communication with external signals 10.2.4.5 GSD (GeräteStammDaten) file GSD File A special GSD file exists for the SINAMICS family to permit integration of the PROFIBUS slave-to-slave communication into SINAMICS.
Page 435: Diagnosing The Profibus Slave-To-Slave Communication In Starter
Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-44 Hardware catalog of the GSD file with slave-to-slave communication functionality The SINAMICS S DXB GSD file contains standard telegrams, free telegrams and slave-to- slave telegrams for configuring slave-to-slave communication. The user must take these telegram parts and an axis delimiter after each DO to compose a telegram for the drive unit.
Page 436 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP For diagnostic purposes, there are the diagnostic parameters r2075 ("PROFIBUS diagnostics, receive telegram offset PZD") and r2076 ("PROFIBUS diagnostics, transmit telegram offset PZD"). The parameter r2074 ("PROFIBUS diagnostics, receive bus address PZD") displays the DP address of the setpoint source of the respective PZD.
Page 437: Communications Via Profinet Io
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO 10.3 Communications via PROFINET IO 10.3.1 General information about PROFINET IO 10.3.1.1 General information about PROFINET IO for SINAMICS General information PROFINET IO is an open Industrial Ethernet standard for a wide range of production and process automation applications.
Page 438: Real-Time (Rt) And Isochronous Real-Time (Irt) Communication
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO 10.3.1.2 Real-time (RT) and isochronous real-time (IRT) communication Real-time communication If supervisors are involved in communication, this can result in excessively long runtimes for the production automation system. When communicating time-critical IO user data, PROFINET therefore uses its own real time channel, rather than TCP/IP.
Page 439: Addresses
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO 10.3.1.3 Addresses Definition: MAC address Each PROFINET device is assigned a worldwide unique device identifier in the factory. This 6-byte long device identifier is the MAC address. The MAC address is divided up as follows: ●...
Page 440: Data Transfer
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO NOTICE The device name must be saved in a non-volatile fashion either using the Primary Setup Tool (PST) or using HW Config from STEP 7. Replacing Control Unit CU320 (IO Device) If the IP address and device name are stored in a non-volatile memory, this data is also forwarded with the memory card (CF card) of the Control Unit.
Page 441: Hardware Setup
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO PROFIdrive telegram for cyclic data transmission and non-cyclic services Telegrams to send and receive process data are available for each drive object of a drive unit with cyclic process data exchange. In addition to cyclic data transfer, acyclic services can also be used for parameterizing and configuring the drive.
Page 442 Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO References For a description of the CBE20 and how you can use it in the drive, please refer to the manual GH1 "Control Units". The connection of a SINAMICS S120 with CBE20 to a PROFINET IO network is described in detail in the System Manual "SIMOTION SCOUT Communication".
Page 443 Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO Step 7 routing with CBE20 The CBE20 does not support STEP 7 routing between PROFIBUS and PROFINET IO. Connecting the supervisor You can go online with the STARTER in a number of ways, which are illustrated below: Figure 10-46 Connecting the supervisor NOTICE SINAMICS does not support routing from PROFIBUS to PROFINET and vice versa.
Page 444: Rt Classes
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO 10.3.3 RT classes 10.3.3.1 RT classes for PROFINET IO Description PROFINET IO is a scalable realtime communications system based on Ethernet technology. The scalable approach is expressed with three realtime classes. The RT communication is based on standard Ethernet.
Page 445: Profinet Io With Rt
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO RT class IRTtop Maximum switching depth (number of 10 at 1 ms switches in one line) Synchronization accuracy Forwarding of the sync message frame in software. Accuracy <1 µs Possible transmission cycle clocks 500 (as of FW2.5 SP1), 1,000, 2,000, 500 (as of FW2.5 SP1), 1,000 –...
Page 446: Profinet Io With Irt - Overview
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO Refresh time The refresh time is in the range of 1 ms, 2 ms and 4 ms. The real refresh time depends on the bus load, the devices used and the quality structure of the I/O data. The refresh time is a multiple of the send clock.
Page 447: Profinet Io With Irttop
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO 10.3.3.4 PROFINET IO with IRTtop The performance capability is significantly increased with PROFINET IRTtop for motion control applications. A hardware support enables a significant increase in performance compared with the present field bus solutions. By planning the message frame traffic in time for IRTtop, a considerable data traffic optimization is achieved compared with IRTflex.
Page 448: Motion Control With Profinet
Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO 10.3.4 Motion Control with PROFINET Motion Control/Isochronous drive link with PROFINET Figure 10-48 Motion Control/Isochronous drive link with PROFINET, optimized cycle with CACF = 2 Sequence of data transfer to closed-loop control system 1.
Page 449 This service is used to implement user data exchange between IO controller and IO device 1 - n. R or Rx Processing time for speed or position controller 1) The values correspond to the device master file gsdml-v2.1-siemens-sinamics-s-cu3x0-20070615.xml Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 450 Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. T is a multiple of SendClock. – T > T and T ≧...
Page 451: Applications
Applications 11.1 Parallel operation of communication interfaces for CU320 General information Only one of the two available hardware communication interfaces could be used for the processing of the cyclic process data (setpoints/actual values) in the CU320. This was either ● onboard interface (PROFIBUS DP) or the ●...
Page 452 Applications 11.1 Parallel operation of communication interfaces for CU320 Properties of the cyclic interfaces IF1 and IF2 The following table shows the different features of the two cyclic interfaces: Table 11-1 Properties of the cyclic interfaces IF1 and IF2 Feature Setpoint (BICO signal source) r2050, r2060 r8850, r8860...
Page 453 Applications 11.1 Parallel operation of communication interfaces for CU320 Additional parameters for IF2 To permit a better use of the IF2 also for a PROFIBUS / PROFINET connection, the following extensions of the parameter list are available: Infeeds: r8850, p8851, r8853 Additional diagnostic parameters (meaning of 88xx identical with 20xx): r8874, r8875, r8876 Additional binector-connector converter (meaning of 88xx identical with 20xx):...
Page 454: Switching On A Drive Object X_Infeed By Means Of A Vector Drive Object
Applications 11.2 Switching on a drive object x_Infeed by means of a vector drive object ● With the setting p8839(x) = 2 and the COMM board missing / defective, the respective interface is not automatically fed by the onboard interface. Instead, an alarm is issued. Alarm A_8550 PZD interface hardware assignment incorrect...
Page 455: Motor Changeover
Applications 11.3 Motor changeover Individual steps when restarting: ● After the line supply returns and the electronics has booted, the faults that have occurred at DO vector as a result of its automatic restart are acknowledged depending on the settings in p1210. ●...
Page 456 Applications 11.3 Motor changeover ● 4 drive data sets (DDS), p0180 = 4 ● 4 digital outputs to control the auxiliary contactors ● 4 digital inputs to monitor the auxiliary contactors ● 2 digital inputs for selecting the data set ●...
Page 457: Example Of A Star/Delta Switchover
Applications 11.3 Motor changeover Parameter Settings Remark p0833.0..2 0, 0, 0 The drive controls the contactors and pulse suppression. Parking bit (Gn_ZSW14) is set. Procedure for switching over the motor data set 1. Start condition: For synchronous motors, the actual speed must be lower than the speed at the start of field weakening.
Page 458 Applications 11.3 Motor changeover Figure 11-3 Example: star/delta switchover Table 11-4 Settings for the example Parameter Settings Comments p0130 Configure 2 MDS. p0180 Configure 2 DDS. p0186[0..1] 0, 1 The MDS are assigned to the DDS. p0820 p2197.2 Switchover to delta connection after speed in p2155 is exceeded.
Page 459: Integration
Applications 11.3 Motor changeover 3. Open the motor contactor: Motor contactor 1 is opened r0830 = 0 and the status bit "Motor data set changeover active" (r0835.0) is set. 4. Change over the drive data set: The requested data set is activated (r0051 = requested data set). 5.
Page 460: Application Examples With The Dmc20
Applications 11.4 Application examples with the DMC20 11.4 Application examples with the DMC20 11.4.1 Features The DRIVE-CLiQ Hub Module Cabinet 20 (DMC20) has the following features: ● Own drive object ● 6 DRIVE-CLiQ ports ● Own faults and alarms Typical applications would include: ●...
Page 461: Example, Hot Plugging
Applications 11.4 Application examples with the DMC20 Figure 11-4 Example, distributed topology using DMC20 11.4.4 Example, hot plugging Description Using the hot-plugging function, components can be withdrawn from the operational drive line-up (the other components continue to operate) on the DRIVE-CLiQ line. This means that the corresponding drive object must first be deactivated/parked beforehand using parameter p0105 or STW2.7.
Page 462: Instructions For Offline Commissioning With Starter
Applications 11.4 Application examples with the DMC20 Note Drives with enabled safety functions must not be deactivated, see chapter "Safety Integrated" for further details. Figure 11-5 Example: topology vector V/f hot plugging Note In order to disconnect and isolate the power unit from the DC link, additional measures must be applied - such as DC link wiring through the DC link infeed adapter and DC link disconnecting devices.
Page 463: Overview Of Key Parameters (See Sinamics S List Manual)
Applications 11.5 Control Units without infeed control 11.4.6 Overview of key parameters (see SINAMICS S List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ● p0897 BI: Parking axis selection ● r0896.0 BO: Parking axis status word ●...
Page 464: Examples: Interconnecting "Infeed Ready
Applications 11.5 Control Units without infeed control 11.5.2 Examples: interconnecting "Infeed ready" Smart Line Modules without DRIVE-CLiQ (5 kW and 10 kW) Figure 11-6 Example: interconnecting a Smart Line Module without DRIVE-CLiQ DC link line-up with more than one Control Unit In the following example, two Control Units control drives that are connected to the same DC link.
Page 465: Application: Emergency Stop With Power Failure And/Or Emergency Stop (Servo)
Applications 11.6 Application: emergency stop with power failure and/or emergency stop (Servo) 11.6 Application: emergency stop with power failure and/or emergency stop (Servo) 11.6.1 Introduction If the power fails, a drive line-up normally responds with OFF2 even when a Control Supply Module is used in conjunction with a Braking Module (i.e.
Page 466 Applications 11.6 Application: emergency stop with power failure and/or emergency stop (Servo) carried out, the drive coasts down once a DC link undervoltage has been identified (OFF2). To implement the OFF3 function (emergency stop), the following parameters need to be set: ●...
Page 467: Basic Information About The Drive System
Basic information about the drive system 12.1 Parameter Parameter types The following adjustable and display parameters are available: ● Adjustable parameters (write/read) These parameters have a direct impact on the behavior of a function. Example: Ramp-up and ramp-down time of a ramp function generator ●...
Page 468 Basic information about the drive system 12.1 Parameter – DDS: Drive Data Set The drive data set contains the parameters for switching between different drive control configurations. The CDS and DDS can be switched over during normal operation. Further types of data set also exist, however these can only be activated indirectly by means of a DDS switchover.
Page 469 Expert knowledge is already required for this parameter (e.g. knowledge about BICO parameterization). 4 Service Please contact your local Siemens office for the password for parameters with access level 4 (Service). It must be entered into p3950. Note Parameter p0003 is CU-specific (belongs to Control Unit).
Page 470: Data Sets
Basic information about the drive system 12.2 Data sets 12.2 Data sets 12.2.1 CDS: Command Data Set CDS: Command Data Set The BICO parameters (binector and connector inputs) are grouped together in a command data set. These parameters are used to interconnect the signal sources of a drive. By parameterizing several command data sets and switching between them, the drive can be operated with different pre-configured signal sources.
Page 471: Dds: Drive Data Set
Basic information about the drive system 12.2 Data sets Example: Switching between command data set 0 and 1 Figure 12-3 Switching the command data set (example) 12.2.2 DDS: Drive Data Set DDS: Drive Data Set A drive data set contains various adjustable parameters that are relevant with respect to open and closed-loop drive control: ●...
Page 472: Eds: Encoder Data Set
Basic information about the drive system 12.2 Data sets Binector inputs p0820 to p0824 are used to select a drive data set. They represent the number of the drive data set (0 to 31) in binary format (where p0824 is the most significant bit).
Page 473: Mds: Motor Data Set
Basic information about the drive system 12.2 Data sets can also be operated without an encoder (sensorless operation). Each encoder must be connected to its own SMx. If encoder 1 (p0187) is changed over via DDS, then an MDS must also be changed over. One drive object can manage up to 16 encoder data sets.
Page 474 Basic information about the drive system 12.2 Data sets p0186[16] = p0186[17] = ... = p0186[23] p0186[24] = p0186[25] = ... = p0186[31] If this rule is not observed, alarm A07514 is output. If you need a precise representation of the data set structure of the 611U, 32 drive data sets and 4 motor data sets must be configured.
Page 475: Integration
Basic information about the drive system 12.2 Data sets Note In STARTER, you can copy the drive data sets (Drive -> Configuration -> "Drive data sets" tab page). You can select the displayed drive data set in the relevant STARTER screens. Copying the motor data set Set parameter p0139 as follows: 1.
Page 476: Drive Objects
Basic information about the drive system 12.3 Drive objects ● p0187 Encoder 1 encoder data set number ● p0188 Encoder 2 encoder data set number ● p0189 Encoder 3 encoder data set number ● p0809 Copy command data set (CDS) ●...
Page 477 Basic information about the drive system 12.3 Drive objects Overview of drive objects ● Drive control The drive control handles closed-loop control of the motor. At least 1 Motor Module and at least 1 motor and up to 3 sensors are assigned to the drive control. Various types of drive control can be configured (e.g.
Page 478: Bico Technology: Interconnecting Signals
Basic information about the drive system 12.4 BICO technology: interconnecting signals Note Each installed drive object is allocated a number between 0 and 63 during initial commissioning for unique identification. Overview of key parameters (see SINAMICS S List Manual) Adjustable parameters ●...
Page 479: Interconnecting Signals Using Bico Technology
Basic information about the drive system 12.4 BICO technology: interconnecting signals Binectors are subdivided into binector inputs (signal sink) and binector outputs (signal source). Table 12-3 Binectors Abbreviation Symbol Name Description Binector input Can be interconnected to a binector output as Binector input source.
Page 480 Basic information about the drive system 12.4 BICO technology: interconnecting signals Figure 12-5 Interconnecting signals using BICO technology Note A connector input (CI) cannot be interconnected with any connector output (CO, signal source). The same applies to the binector input (BI) and binector output (BO). For each CI and BI parameter, the parameter list shows under "data type"...
Page 481: Internal Encoding Of The Binector/Connector Output Parameters
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.4 Internal encoding of the binector/connector output parameters The internal codes are required for writing BICO input parameters via PROFIBUS, for example. Figure 12-6 Internal encoding of the binector/connector output parameters 12.4.5 Sample interconnections Example 1: Interconnection of digital signals...
Page 482: Bico Technology
Basic information about the drive system 12.4 BICO technology: interconnecting signals Figure 12-8 Connection of OFF3 to several drives (example) 12.4.6 BICO technology BICO interconnections to other drives The following parameters are available for BICO interconnections to other drives: ● r9490 Number of BICO interconnections to other drives ●...
Page 483: Scaling
Basic information about the drive system 12.4 BICO technology: interconnecting signals Fixed values for interconnection using BICO technology The following connector outputs are available for interconnecting any fixed value settings: ● p2900[0...n] CO: Fixed value_%_1 ● p2901[0...n] CO: Fixed value_%_2 ●...
Page 484: Inputs/Outputs
Basic information about the drive system 12.5 Inputs/outputs Changing scaling parameters p2000 to p2007 CAUTION If a referenced form is selected and the reference parameters (e.g. p2000) are changed retrospectively, the referenced values of some of the control parameters are also adjusted to ensure that the control behavior is unaffected.
Page 485: Digital Inputs/Outputs
Basic information about the drive system 12.5 Inputs/outputs 12.5.2 Digital inputs/outputs Digital inputs Figure 12-9 Digital inputs: signal processing using DI 0 of CU320 as an example Properties ● The digital inputs are "high active". ● An open input is interpreted as "low". ●...
Page 486 Basic information about the drive system 12.5 Inputs/outputs ● 9100 Digital inputs, electrically isolated (DI 0 ... DI 3) ● 9400 Digital inputs/outputs, bidirectional (DI 0 ... DI 7) ● 9401 Digital inputs/outputs, bidirectional (DI 8 ... DI 15) ● 9402 Digital inputs/outputs, bidirectional (DI 16 ... DI 23) ●...
Page 487 Basic information about the drive system 12.5 Inputs/outputs Bidirectional digital inputs/outputs Figure 12-11 Bidirectional inputs/outputs: signal processing using DI/DO 0 of CU320 as an example Properties ● Can be parameterized as digital input or output. ● When set as digital input: –...
Page 488: Analog Inputs
Basic information about the drive system 12.5 Inputs/outputs ● 9562 Bidirectional digital inputs/outputs (DI/DO 10 and DI/DO 1) ● 9661 Bidirectional digital inputs/outputs (DI/DO 0 and DI/DO 1) ● 662 Bidirectional digital inputs/outputs (DI/DO 2 and DI/DO 3) 12.5.3 Analog inputs Figure 12-12 Analog inputs: Signal processing using AI0 of the TB30 Properties ●...
Page 489: Analog Outputs
Basic information about the drive system 12.5 Inputs/outputs NOTICE Parameters p4057 to p4060 of the scaling do not limit the voltage values/current values (for TM31, the input can be used as current input). Function diagrams (see SINAMICS S List Manual) ●...
Page 490: Parameterizing Using The Bop20 (Basic Operator Panel 20)
Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) NOTICE Parameters p4077 to p4080 of the scaling do not limit the voltage values/current values (for TM31, the input can be used as current input). Function diagrams (see SINAMICS S List Manual) ●...
Page 491 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Information on the displays Table 12-7 Display Meaning top left The active drive object of the BOP is displayed here. 2 positions The displays and key operations always refer to this drive object. Lit if at least one drive in the drive line-up is in the RUN state (in operation).
Page 492 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) BOP20 functions Table 12-9 Functions Name Description Backlighting The backlighting can be set using p0007 in such a way that it switches itself off automatically after the set time if no actions are carried out.
Page 493: Displays And Using The Bop20
Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) ● p0009 Device commissioning, parameter filter ● p0011 BOP password input (p0013) ● p0012 BOP password confirmation (p0013) ● r0019 CO/BO: Control word, BOP ● p0977 Save all parameters Other drive objects (e.g.
Page 494 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Parameter display The parameters are selected in the BOP20 using the number. The parameter display is reached from the operating display by pressing the "P" key. Parameters can be searched for using the arrow keys.
Page 495 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Value display To switch from the parameter display to the value display, press the "P" key. In the value display, the values of the adjustable parameters can be increased and decreased using the arrow.
Page 496 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Figure 12-17 Example: Changing p0013[4] from 0 to 300 Example: Changing binector and connector input parameters For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected.
Page 497: Fault And Alarm Displays
Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.6.3 Fault and alarm displays Displaying faults Figure 12-19 Faults Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 498: Controlling The Drive Using The Bop20
Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Displaying alarms Figure 12-20 Alarms 12.6.4 Controlling the drive using the BOP20 Description When commissioning the drive, it can be controlled via the BOP20. A control word is available on the Control Unit drive object (r0019) that can be interconnected with the appropriate binector inputs e.g.
Page 499: Examples Of Replacing Components
Basic information about the drive system 12.7 Examples of replacing components 12.7 Examples of replacing components Note To ensure that the entire functionality of a firmware version can be used, it is recommended that all the components in a drive line-up have the same firmware version. Description If the type of comparison is set to the highest setting, the following examples apply.
Page 500 Basic information about the drive system 12.7 Examples of replacing components Action Reaction Comments Load the project from the Alarm disappears • • The new order number is stored Control Unit to the in the RAM of the Control Unit STARTER (PG) and has to be copied to the non- Configure the replacement...
Page 501 Basic information about the drive system 12.7 Examples of replacing components Action Reaction Comments Set p9905 to "1" Alarm disappears • • The serial number is stored in the RAM of the Control Unit and The serial number is copied •...
Page 502: Exchanging A Sinamics Sensor Module Integrated
Basic information about the drive system 12.8 Exchanging a SINAMICS Sensor Module Integrated 12.8 Exchanging a SINAMICS Sensor Module Integrated The motor and encoder data required for the operation of a motor with DRIVE-CLiQ are stored in their as-delivered condition on the EEPROM of the SINAMICS Sensor Module Integrated (DRIVE-CLiQ at the Motor).
Page 503: Replacing A Device
Basic information about the drive system 12.8 Exchanging a SINAMICS Sensor Module Integrated 12.8.2 Replacing a device Order number SINAMICS Sensor Module Integrated: – SMI10: 6SL3055-0AA00-5NA0 – SMI20: 6SL3055-0AA00-5MA0 In the case of spare part installation, transfer the data previously saved on the CompactFlash card to the new Sensor Module.
Page 504: Drive-Cliq Topology
Electronic rating plate The electronic type plate contains the following data: ● Component type (e.g. SMC20) ● Order number (e.g. 6SL3055-0AA0-5BA0) ● Manufacturer (e.g. SIEMENS) ● Hardware version (e.g. A) ● Serial number (e.g. "T-PD3005049) ● Technical specifications (e.g. rated current) Actual topology The actual topology is the actual DRIVE-CLiQ wiring harness.
Page 505: Rules For Wiring With Drive-Cliq
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Comparison of topologies at Power On Comparing the topologies prevents a component from being controlled/evaluated incorrectly (e.g. drive 1 and 2). When the drive system is started, the Control Unit compares the detected actual topology and the electronic type plates with the target topology stored on the CompactFlash card.
Page 506: General Rules
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● The set processing and communication cycles Below you will find the binding wiring rules and some other recommendations as well as a few sample topologies for DRIVE-CLiQ wiring. The components used in these examples can be removed, replaced with others or supplemented.
Page 507 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Figure 12-22 Example: DRIVE-CLiQ line on a CU320 X103 ● Only one Line Module (or if connected in parallel, several) can be connected to a Control Unit. ● If using Chassis design components, no more than one Smart Line Module and one Basic Line Module may be jointly operated on one Control Unit (mixed operation on a DRIVE-CLiQ line).
Page 508 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ – Also change the current controller sampling time and the sampling time of the inputs/outputs of the DOs not involved so that they again fit into the time grid. Note You can call up the "Topology"...
Page 509 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Note If an additional encoder is connected to a Motor Module, it is assigned to this drive as encoder 2 in the automatic configuration. Figure 12-24 Example of a topology with VSM for Booksize and Chassis components Table 12-15 VSM connection Component VSM connection...
Page 510: Rules For Different Firmware Releases
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.2 Rules for different firmware releases Rules for FW2.1 ● Only one Active Line Module can be connected to a Control Unit. ● The default sampling times must not be changed. ●...
Page 511 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Servo Vector V/f (=vector Vector without speed control function module) Notes on the maximum number of drives that can be controlled by a CU320: In addition, the "Safe Standstill" function can be activated and a TM31 connected. •...
Page 512 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Rules for FW2.4 ● The Voltage Sensing Module (VSM) must be connected to a dedicated DRIVE-CLiQ port of the Control Unit. ● If possible, the CUA31 should be connected at the end of the line. Table 12-19 Maximum number of drives that can be controlled by a Control Unit 320 Servo Vector V/f (=vector...
Page 513 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Rules for FW2.5 SP1: ● The Voltage Sensing Module (VSM) must be connected to a dedicated DRIVE-CLiQ port of the Control Unit. ● If possible, the CUA31 should be connected at the end of the line. ●...
Page 514: Sample Wiring For Vector Drives
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.3 Sample wiring for vector drives Drive line-up comprising three Motor Modules (chassis) with identical pulse frequencies or vector (booksize) Motor Modules (chassis) with identical pulse frequencies or vector (booksize) can be connected to a DRIVE-CLiQ interface on the Control Unit.
Page 515: Sample Wiring Of Vector Drives Connected In Parallel
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Note This topology does not match the topology created offline by STARTER and must be changed. Figure 12-26 Drive line-up (chassis) with different pulse frequencies 12.10.4 Sample wiring of Vector drives connected in parallel Drive line-up with two parallel-connected Line Modules and Motor Modules (chassis) of the same type Parallel-connected Line Modules (chassis) and Motor Modules (chassis) of the same type can be connected to a DRIVE-CLiQ interface of the Control Unit.
Page 516 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Figure 12-27 Drive line-up with parallel-connected power units (chassis) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 517: Sample Wiring: Power Modules
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.5 Sample wiring: Power Modules Blocksize Figure 12-28 Wiring example for Power Modules Blocksize Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 518: Changing The Offline Topology In Starter
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Chassis Figure 12-29 Wiring example for Power Modules Chassis 12.10.6 Changing the offline topology in STARTER The device topology can be changed in STARTER by moving the components in the topology tree.
Page 519: Sample Wiring For Servo Drives
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Topology tree view Comment Keeping the mouse button depressed, drag the component to the required DRIVE-CLiQ interface and release the mouse button. You have changed the topology in STARTER.
Page 520: Sample Wiring For Vector U/F Drives
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Figure 12-30 Sample servo topology 12.10.8 Sample wiring for vector U/f drives The following diagram shows the maximum number of controllable vector U/f drives and extra components. The sampling times of individual system components are: ●...
Page 521: Notes On The Number Of Controllable Drives
Basic information about the drive system 12.11 Notes on the number of controllable drives Figure 12-31 Sample vector U/f topology 12.11 Notes on the number of controllable drives 12.11.1 Introduction The number and type of controlled drives and the extra activated functions on a Control Unit can be scaled by configuring the firmware.
Page 522 Basic information about the drive system 12.11 Notes on the number of controllable drives Servo control ● Servo without extra function modules (e.g. setpoint channel): PROFIBUS-DP cycle >=1 ms – 6 drives (sampling times: current controller 125 µs / speed controller 125 µs), of which max.
Page 523: System Sampling Times
Basic information about the drive system 12.12 System sampling times Vector control (cycles for EPOS: Position controller cycle = 1 ms / IPO cycle = 4 ms) ● Vector without additional Function Modules – 2 drives (sampling times: current controller 250 µs / speed controller 1000 µs) –...
Page 524: Setting The Sampling Times
Basic information about the drive system 12.12 System sampling times For p0092 = 1, the sampling times are pre-assigned so that isochronous operation together with a control is possible. If isochronous operation is not possible due to incorrect sampling time settings, then an appropriate message is output (A01223, A01224). Before the automatic configuration, parameter p0092 must be set to "1"...
Page 525 Basic information about the drive system 12.12 System sampling times p0112 p0115[0] p0115[1] p0115[2] p0115[3] p0115[4] p0115[5] p0115[6] 2: Low 2000 3: Standard 2000 4: High 1000 5: xHigh Table 12-24 For Basic Infeed Booksize, the sampling time is set using p0112 p0112 p0115[0] p0115[1]...
Page 526: Rules For Setting The Sampling Time
Basic information about the drive system 12.12 System sampling times Setting the pulse frequency via p0113 when STARTER is in online mode The minimum pulse frequency can be entered in p0113. The parameter can only be changed for p0112 = 0 (Expert). The current controller sampling time (p0115[0]) is set to the inverse value of twice the minimum pulse frequency.
Page 527 Basic information about the drive system 12.12 System sampling times 5. For Active Line Modules (ALM) in booksize format, only a current controller sampling time of 125.0 µs or 250.0 µs can be set. 6. For ALMs in chassis format, only a current controller sampling time of 250.0 µs or 400.0 µs / 375.0 µs (375 µs when p0092 = 1) can be set.
Page 528: Default Settings For The Sampling Times
Basic information about the drive system 12.12 System sampling times This rule also applies for parallel connection (3 or 4 Motor Modules connected in parallel) 18. For 4 vector drives (speed control: r0108.2 = 1), a minimum current controller sampling time of 400.0 µs can be set (400.0 µs ≤...
Page 529: Examples When Changing Sampling Times / Pulse Frequencies
Basic information about the drive system 12.12 System sampling times Construction type Number p0112 p0115[0] p1800 1 to 2 only n_ctrl 3 (Standard) 250 µs Booksize 4 kHz 1 to 4 only V/f Chassis 2 kHz 1 to 2 n_ctrl and 400 V / ≤...
Page 530: Overview Of Key Parameters (See Sinamics S List Manual)
Basic information about the drive system 12.12 System sampling times 7. Save the parameter changes in a non-volatile fashion using the function "Copy RAM to ROM" (see also the Commissioning Manual). 8. We recommend that the controller settings are re-calculated (p0340 = 4). Example: Changing the pulse frequency with p0113 Preconditions: ●...
Page 531: Licensing
Basic information about the drive system 12.13 Licensing ● r0111 DRIVE-CLiQ basis sampling time selection ● p0112 Sampling times pre-setting p0115 ● p0113 Selects the minimum pulse frequency ● r0114 Recommended minimum pulse frequency ● p0115[0..6] Sampling times for internal control loops ●...
Page 532 ● Serial number of the CompactFlash card (on CF card) ● License number, delivery note number, and the license (on the Certificate of License) 1. Call up the "WEB License Manager". http://www.siemens.com/automation/license 2. Choose "Direct access". 3. Enter the license number and delivery note number of the license.
Page 533 Basic information about the drive system 12.13 Licensing 2. p9920[8] = 65 9th character 3. p9920[9] = 0 No character 4. p9920[19] = 0 No character Note When changing p9920[x] to the value 0, all of the following indices are also set to 0. After the license key has been entered, it has to be activated as follows: ●...
Page 534 Basic information about the drive system 12.13 Licensing Overview of key parameters (see SINAMICS S List Manual) ● p9920 Licensing, enter license key ● p9921 Licensing, activate license key ● p9976[0...2] Remaining computation time Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 535: Appendix
Appendix Availability of hardware components Table A-1 Hardware components available as of 03.2006 HW component Order number Version Revisions AC Drive (CU310, PM340) refer to the Catalog SMC30 6SL3055–0AA00–5CA1 with SSI support DMC20 6SL3055–0AA00–6AAx TM41 6SL3055–0AA00–3PAx SME120 6SL3055–0AA00–5JAx SME125 6SL3055–0AA00–5KAx BOP20 6SL3055–0AA00–4BAx CUA31...
Page 536: Availability Of Sw Functions
Appendix A.2 Availability of SW functions Availability of SW functions Table A-3 New functions FW 2.2 SW function Servo Vector HW component Technology controller 2 command data sets Extended brake control Automatic restart for Vector and Smart Line Modules 5/10 kW The ability to mix servo and vector V/f modes on one CU Regulated V up to 480 V input voltage can be parameterized for...
Page 537 Appendix A.2 Availability of SW functions SW function Servo Vector HW component SME20/25 external Sensor Modules for incremental and absolute encoder evaluation Table A-5 New functions FW 2.4 SW function Available Servo Vector HW component since FW SINAMICS S120 functionality for AC DRIVE (CU310DP/PN) Basic positioning 2.4 SP1...
Page 538 Appendix A.2 Availability of SW functions SW function Available Servo Vector HW component since FW Separately-excited synchronous motors with encoder Drive converter/drive converter, drive converter/line supply For chassis drive (bypass) synchronizing units Voltage Sensing Module (VSM) for Active Line Module also for booksize drive units Armature short-circuit braking, synchronous motors...
Page 539 Appendix A.2 Availability of SW functions SW function available Servo Vector HW component since FW Safety Integrated extended functions: 2.5 SP1 Safety Integrated Extended functions Safety functionality integrated in the drive, controllable • only for: via PROFIsafe (PROFIBUS) or secure terminal module TM54F DAC Motor •...
Page 540 Appendix A.2 Availability of SW functions SW function available Servo Vector HW component since FW Edge modulation (higher output voltages) in the vector only for DAC Motor control type, also with booksize devices Modules (6SL3xxx-xxxxx- 0AA3) DC braking 2.5 SP1 Armature short-circuit: Internal 2.5 SP1 Armature short-circuit: Intermittent voltage protection...
Page 541: List Of Abbreviations
Appendix A.3 List of abbreviations List of abbreviations Abbreviation German meaning English meaning A... Warnung Alarm Wechselstrom Alternating Current Analog-Digital-Konverter Analog Digital Converter Analogeingang Analog Input Active Interface Module Active Interface Module Active Line Module Active Line Module Analogausgang Analog Output Advanced Operator Panel Advanced Operator Panel Advanced Positioning Control...
Page 542 Appendix A.3 List of abbreviations Abbreviation German meaning English meaning Control Supply Module Control Supply Module Control Unit Control Unit Digital-Analog-Konverter Digital Analog Converter Gleichstrom Direct Current Drive Control Block Drive Control Block Drive Control Chart Drive Control Chart Gleichstrom negativ Direct Current Negative Gleichstrom positiv Direct Current Positive...
Page 543 Appendix A.3 List of abbreviations Abbreviation German meaning English meaning F-DO Fehlersicherer Digitalausgang Failsafe Digital Output Fremderregter Synchronmotor Separately excited synchronous motor FEPROM Schreib- und Lesespeicher nichtflüchtig Flash-EPROM Funktionsgenerator Function Generator Fehlerstrom-Schutzschalter Earth Leakage Circuit-Breaker (ELCB) Funktionsplan Function diagram FPGA Field Programmable Gate Array Field Programmable Gate Array Firmware...
Page 544 Appendix A.3 List of abbreviations Abbreviation German meaning English meaning Induktivität Inductance Leuchtdiode Light Emitting Diode Linearmotor Linear motor Lageregler Position controller Niederstwertiges Bit Least Significant Bit Netzschalter Line Side Switch Längeneinheit Length Unit Lichtwellenleiter Fiber-optic cable Masse Reference potential, zero potential Megabyte Megabyte Motion Control Chart...
Page 545 Appendix A.3 List of abbreviations Abbreviation German meaning English meaning Schutzerde Protective Earth PELV Schutzkleinspannung Protective Extra Low Voltage Permanenterregter Synchronmotor Permanent-magnet synchronous motor Programmiergerät Programming terminal Proportional Integral Proportional Integral Proportional Integral Differential Proportional Integral Differential Speicherprogrammierbare Steuerung (SPS) Programmable Logic Controller (PLC) Phase Locked Loop Phase Locked Loop...
Page 546 Appendix A.3 List of abbreviations Abbreviation German meaning English meaning Sicher reduzierte Geschwindigkeit Safely reduced speed Sicherheitsgerichteter Ausgang Safety-related output Sicherheitsgerichteter Eingang Safety-related input Sicherer Halt Safety standstill- Safety Integrated Safety Integrated Sicherheitsintegritätsgrad Safety Integrity Level Sicheres Schrittmaß Safely Limited Increment Smart Line Module Smart Line Module Sicher begrenzte Position...
Page 547 Appendix A.3 List of abbreviations Abbreviation German meaning English meaning VdcN Teilzwischenkreisspannung negativ Partial DC link voltage negative VdcP Teilzwischenkreisspannung positiv Partial DC link voltage positive Verband Deutscher Elektrotechniker Association of German Electrical Engineers Verein Deutscher Ingenieure Association of German Engineers Volt Spitze zu Spitze Volt peak to peak Voltage Sensing Module...
Page 549 Overview of SINAMICS Documentation (07/2007) General Documentation/Catalogs SINAMICS SINAMICS SINAMICS SINAMICS G110 G130 S120 S150 G120 G150 G120D D11.1 D21.1 D21.3 G110/G120 Drive Converter Drive System Drive Converter Inverter chassis units Chassis Units 0.12 kW to 1200 kW Cabinet Units G120D Drive Converter 75 kW to 1200 kW...
Page 551 If you come across any misprints in this document, please let us know using this form. We would also be grateful for any suggestions and recommendations for improvement. Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4...
Page 553: Index
Index Vector, 152 Automatic restart, 188 " Axial winder, 282 Axis "high-speed inputs", 484 Suspended/hanging, 113 Absolute encoder Basic Infeed open-loop control, 38 Adjusting, 260 Basic Line Module, 46 Absolute encoder adjustment, 241 Basic positioner, 251 Acceleration pre-control, 285 Basic positioning Acceptance certificate, 325 Referencing, 259 Acceptance test, 325...
Page 554 Index about PROFIdrive, 341 DMC20, 460 via PROFIBUS, 405 Droop, 127 CompactFlash card Dynamic Servo Control, 106 SINAMICS Sensor Module Integrated data backup, 502 Component replacement Examples, 499 Efficiency optimization Connector, 479 Vector, 145 Controller setting, automatic Electronic rating plate, 504 Servo, 87 Encoder interface, 375 Cooling unit...
Page 555 Index Extended torque control, 235 kT estimator Technology controller, 220 Servo, 236 Functions Fixed speed setpoints, 53 Jog, 49 Motorized potentiometer, 54 License key, 532 Overview, 301 License manager, 531 Safe brake control (SBC), 312 Licensing, 531 Safe Torque Off, 308 ASCII code, 533 Safety Integrated, 299 Limits...
Page 556 Index Servo, 88 NIST_A_GLATT, 364 Output current PIST_GLATT, 364 Power units, 45 Process data, control words A_DIGITAL, 347, 354, 385 CTW1, 355 CTW2, 358 CU_STW, 355, 385 Parameter E_STW1, 355, 358 Categories, 467 G1_STW, 347, 354 Types, 467 G2_CTW, 379 Parameterization G2_STW, 347, 354 using the BOP, 490...
Page 557 Index MT2_ZS_S, 365 Acknowledging faults, 324 PosZSW, 365 Commissioning, 318 STW1, 364, 365 Component replacement, 319 STW2, 364, 368 General information, 299 WARN_CODE, 365 Password, 305 XistP, 365 Safe brake control (SBC), 312 ZSW1 (positioning mode), 367 Safe Stop 1, 311 PROFIBUS, 405 Safe Torque Off, 308 Device identification, 412...
Page 558 Index Data backup on the CompactFlash card, 502 Layout, 351 Singleturn encoder, 207 Sequence of objects, 406 Slave-to-slave communications Standard, 348 PROFIBUS, 421 Tension controller, 287 Slip compensation, 174 Terminal Module 41, 212 Smart Infeed closed-loop control, 31 Test for switch-off signal paths, 306 Smart Line Module, 46 Three-winding transformer, 46 SMI, (siehe SINAMICS Sensor Module Integrated)
Page 559 Index Vdc control, 175 With encoder, 118 Without encoder, 115 Voltage boost Servo, 86 Vector, 171 voltage protection Internal, 192 Voltage protection Internal, 191 Voltage protection (booksize) Internal, 192 Voltage Sensing Module, 23 Internal voltage protection, 191 VSM10, 23 Winder applications, 282 Wiring rules DRIVE-CLiQ, 505 Drive Functions...
Page 560 Siemens AG 6SL3097-2AB00-0BP4 Automation and Drives Motion Control Systems Postfach 3180 91050 ERLANGEN GERMANY www.siemens.com/motioncontrol...

Siemens SINAMICS S120 Function Manual

1 Infeed

2 Extended Setpoint Channel

3 Servo Control

4 Vector Control

5 Vector V/F Control (R0108.2 = 0)

6 Basic Functions

7 Function Modules

8 Monitoring and Protective Functions

9 Safety Integrated Basic Functions

10 Communication PROFIBUS DP/PROFINET IO

11 Applications

12 Basic Information about the Drive System

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