Siemens Sinamics S110 Function Manual
  1. Manuals
  2. Brands
  3. Siemens Manuals
  4. DC Drives
  5. SINAMICS S110
  6. Function manual

Siemens Sinamics S110 Function Manual

Hide thumbs Also See for Sinamics S110:
1
2
3
4
5
6
7
8
9
10
11
12
Table Of Contents
13
14
15
16
17
18
19
20
21
22
23
24
25
26
27
28
29
30
31
32
33
34
35
36
37
38
39
40
41
42
43
44
45
46
47
48
49
50
51
52
53
54
55
56
57
58
59
60
61
62
63
64
65
66
67
68
69
70
71
72
73
74
75
76
77
78
79
80
81
82
83
84
85
86
87
88
89
90
91
92
93
94
95
96
97
98
99
100
101
102
103
104
105
106
107
108
109
110
111
112
113
114
115
116
117
118
119
120
121
122
123
124
125
126
127
128
129
130
131
132
133
134
135
136
137
138
139
140
141
142
143
144
145
146
147
148
149
150
151
152
153
154
155
156
157
158
159
160
161
162
163
164
165
166
167
168
169
170
171
172
173
174
175
176
177
178
179
180
181
182
183
184
185
186
187
188
189
190
191
192
193
194
195
196
197
198
199
200
201
202
203
204
205
206
207
208
209
210
211
212
213
214
215
216
217
218
219
220
221
222
223
224
225
226
227
228
229
230
231
232
233
234
235
236
237
238
239
240
241
242
243
244
245
246
247
248
249
250
251
252
253
254
255
256
257
258
259
260
261
262
263
264
265
266
267
268
269
270
271
272
273
274
275
276
277
278
279
280
281
282
283
284
285
286
287
288
289
290
291
292
293
294
295
296
297
298
299
300
301
302
303
304
305
306
307
308
309
310
311
312
313
314
315
316
317
318
319
320
321
322
323
324
325
326
327
328
329
330
331
332
333
334
335
336
337
338
339
340
341
342
343
344
345
346
347
348
349
350
351
352
353
354
355
356
357
358
359
360
361
362
363
364
365
366
367
368
369
370
371
372
373
374
375
376
377
378
379
380
381
382
383
384
385
386
387
388
389
390
391
392
393
394
395
396
397
398
399
400
401
402
403
404
405
406
407
408
409
410
411
412
413
414
415
416
417
418
419
420
421
422
423
424
425
426
427
428
429
430
431
432
433
434
435
436
437
438
439
440
441
442
443
444
445
446
447
448
449
450
451
452
453
454
455
456
457
458
459
460
461
462
463
464
465
466
467
468
469
470
471
472
473
474
475
476
477
478
479
480
481
482
483
484
485
486
487
488
489
490
491
492
493
494
495
496
497
498
499
500
501
502
503
504
505
506
507
508
509
510
511
512
Table of Contents

Advertisement

Quick Links

See also: Function Manual , Manual
SINAMICS S110
SINAMICS S110 Drive functions
Function Manual · 10/2008
SINAMICS
s

Advertisement

Table of Contents
loading

Related Manuals for Siemens Sinamics S110

Summary of Contents for Siemens Sinamics S110

  • Page 1 SINAMICS S110 SINAMICS S110 Drive functions Function Manual · 10/2008 SINAMICS...

  • Page 3: Profibus Commissioning With

    ______________ commissioning Commissioning preparations ______________ for PROFIBUS SINAMICS Commissioning with ______________ PROFIBUS S110 Commissioning with ______________ SINAMICS S110 Drive functions CANopen ______________ Diagnostics Function Manual Parameterizing using the ______________ BOP20 (Basic Operator Panel 20) ______________ Drive functions ______________ Safety Integrated Functions...
  • Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.

  • Page 5: Preface

    Links to more information for downloading files from Service & Support ● Researching documentation online Information on DOConCD and direct access to the publications in DOConWeb. ● Individually compiling documentation on the basis of Siemens contents with the My Documentation Manager (MDM), refer to http://www.siemens.com/mdm...
  • Page 6 Installation / assembly • STARTER parameterization and commissioning tool Commissioning • SINAMICS S110 Getting Started • SINAMICS S110 Function Manual Drive Functions • SINAMICS S110 List Manual • Usage / operation SINAMICS S110 Function Manual Drive Functions • SINAMICS S110 List Manual •...

  • Page 7: Drive Functions

    If you have any questions, please contact our hotline: Europe/Africa Telephone +49 180 5050 - 222 +49 180 5050 - 223 0.14 €/min. from German landlines, mobile phone prices may differ) Internet http://www.siemens.de/automation/support-request America Telephone +1 423 262 2522 +1 423 262 2200 E-mail mailto:techsupport.sea@siemens.com...
  • Page 8 ● in the Internet: http://support.automation.siemens.com under the Product/Order No. 15257461 ● at the responsible regional office of the I DT MC Business Unit of Siemens AG The EC Declaration of Conformity for the Low-Voltage Directive can be found/obtained ● in the Internet: http://support.automation.siemens.com...

  • Page 9: Panel

    Preface ESD information CAUTION Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices that can be damaged by electrostatic fields or electrostatic discharges. Regulations for handling ESD components: When handling components, make sure that personnel, workplaces, and packaging are well earthed.
  • Page 10 Preface Safety information DANGER Commissioning must not start until you have ensured that the machine, in which the components described here are installed, complies with the Machinery Directive 98/37/EC. Only appropriately qualified personnel may mount/install, commission and service the SINAMICS S units. The personnel must take into account the information provided in the technical customer documentation for the product, and be familiar with and observe the specified danger and warning notices.
  • Page 11 Preface DANGER Electrical, magnetic and electromagnetic fields (EMF) that occur during operation can pose a danger to persons who are present in the direct vicinity of the product - especially persons with pacemakers, implants, or similar devices. The relevant directives and standards must be observed by the machine/plant operators and persons present in the vicinity of the product.
  • Page 12 Preface Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 13: Table Of Contents

    Table of contents Preface ..............................5 General information for commissioning....................21 The STARTER user interface ......................21 BICO interconnection procedure in STARTER................22 Notes on the commissioning of a 2-pole resolver as absolute encoder ........32 Temperature sensors for SINAMICS components ..............33 Commissioning preparations for PROFIBUS ................... 37 Requirements for commissioning....................37 PROFIBUS components ......................40 Connection via serial interface.....................41...
  • Page 14 Table of contents Commissioning with CANopen ........................ 65 Requirements for commissioning....................65 4.1.1 Pre-requisites for commissioning the CANopen interface ............65 4.1.2 Previous knowledge ........................65 4.1.3 Prerequisites for commissioning CU305 with CANopen............. 66 4.1.4 CAN bus on the CU305....................... 67 4.1.5 CAN bus interface X126......................
  • Page 15 Table of contents Drive functions............................119 Servo control ..........................119 7.1.1 Speed controller .........................119 7.1.2 Speed setpoint filter ........................120 7.1.3 Speed controller adaptation .......................121 7.1.4 Torque-controlled operation.......................123 7.1.5 Torque setpoint limitation......................126 7.1.6 Current controller ........................130 7.1.7 Current setpoint filter........................132 7.1.7.1 Description ..........................132 7.1.7.2 Integration ..........................138 7.1.8...
  • Page 16 Table of contents 7.3.4.3 Description ..........................204 7.3.4.4 Examples........................... 204 7.3.4.5 Commissioning.......................... 206 7.3.5 Closed-loop position control...................... 207 7.3.5.1 General features ........................207 7.3.5.2 Position actual value conditioning..................... 207 7.3.5.3 Position controller........................216 7.3.5.4 Monitoring functions ........................217 7.3.5.5 Measuring probe evaluation and reference mark search ............220 7.3.5.6 Integration ..........................
  • Page 17 Table of contents General information about SINAMICS Safety Integrated ............287 8.2.1 Supported functions ........................287 8.2.2 Parameter, Checksum, Version, Password ................288 System features .........................291 8.3.1 Certification ..........................291 8.3.2 Safety instructions........................291 8.3.3 Probability of failure of the safety functions (PFH value)............294 8.3.4 Response times .........................295 8.3.5 Residual risk..........................296...
  • Page 18 Table of contents Acceptance test and acceptance report..................359 8.9.1 General information........................359 8.9.2 Safety logbook .......................... 364 8.9.3 Acceptance report ........................365 8.9.3.1 Plant description - Documentation part 1.................. 365 8.9.3.2 Description of safety functions - Documentation Part 2............366 8.9.4 Acceptance tests........................
  • Page 19 Table of contents Basic information about the drive system ....................463 10.1 Parameter ..........................463 10.2 Data sets ............................466 10.2.1 CDS: Command Data Set......................466 10.2.2 DDS: Drive Data Set ........................467 10.2.3 EDS: Encoder Data Set ......................468 10.2.4 MDS: Motor Data Set.........................468 10.2.5 Integration ..........................469 10.2.6...
  • Page 20 Table of contents Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 21: General Information For Commissioning

    General information for commissioning The STARTER user interface You can use STARTER to create the sample project. The different areas of the user interface are used for different configuration tasks (refer to diagram below): ● Project navigator (area ①): this area displays the elements and objects that can be added to your project.

  • Page 22: Bico Interconnection Procedure In Starter

    General information for commissioning 1.2 BICO interconnection procedure in STARTER Figure 1-1 The different areas of the STARTER user interface BICO interconnection procedure in STARTER Introduction Parameterization can be carried out via the following means: ● Expert list ● Graphical screen interface The steps described below explain the BICO interconnection procedure in STARTER.
  • Page 23 General information for commissioning 1.2 BICO interconnection procedure in STARTER 1. In the project navigator, call up the expert list as follows: Drive_1 > right-click > Expert > Expert list. 2. Search for parameter p0840. Figure 1-2 Interconnect 1 3. Click the pushbutton to interconnect with an r parameter. 4.
  • Page 24 General information for commissioning 1.2 BICO interconnection procedure in STARTER 5. Search for parameter p2090. Figure 1-3 Interconnect 2 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 25 General information for commissioning 1.2 BICO interconnection procedure in STARTER 6. Click the "+" sign to open the 16 bits of r parameter r2090. Figure 1-4 Interconnect 3 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 26 General information for commissioning 1.2 BICO interconnection procedure in STARTER 7. Double-click r2090: Bit0. Figure 1-5 Interconnect 4 8. In the expert list, you can now see that p0840 has been interconnected with r parameter r2090[0]. Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 27 General information for commissioning 1.2 BICO interconnection procedure in STARTER Figure 1-6 Interconnect 5 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 28 General information for commissioning 1.2 BICO interconnection procedure in STARTER Graphical screen interface When carrying out BICO interconnection via the graphical screen interface, proceed as follows: For the set velocity, which is a 32-bit data type, you want to interconnect p parameter p1155[0] for "Speed setpoint 1"...
  • Page 29 General information for commissioning 1.2 BICO interconnection procedure in STARTER 2. Click the blue field to the left of the field for Speed setpoint 1 and then double-click the selection Further interconnections, which is now displayed. Figure 1-8 Interconnection via graphical screen interface 3 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 30 General information for commissioning 1.2 BICO interconnection procedure in STARTER 3. A list from which you can select the available r parameters is now displayed. Figure 1-9 Interconnection via graphical screen interface 4 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 31 General information for commissioning 1.2 BICO interconnection procedure in STARTER 4. Double-click r2060: Bit1. Figure 1-10 Interconnection via graphical screen interface 5 5. In the graphical screen interface, you can now see that p1155 has been interconnected with r parameter r2060[1]. Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 32: Notes On The Commissioning Of A 2-Pole Resolver As Absolute Encoder

    General information for commissioning 1.3 Notes on the commissioning of a 2-pole resolver as absolute encoder Notes on the commissioning of a 2-pole resolver as absolute encoder Description 2-pole (1 pole pair) resolvers can be used as singleturn absolute encoders. The absolute encoder actual position value is provided in Gn_XIST2 (r483[x]).

  • Page 33: Temperature Sensors For Sinamics Components

    1.4 Temperature sensors for SINAMICS components Temperature sensors for SINAMICS components The following table provides an overview of the components which are available in SINAMICS S110 with temperature sensor connections. Table 1- 1 Temperature sensor connections for SINAMICS components Module...
  • Page 34 General information for commissioning 1.4 Temperature sensors for SINAMICS components The parameterization of the motor temperature evaluation via the sub D socket X520 must be performed in the expert list as follows: ● p0600[0..n]: Selection of the encoder (1 or 2) to which the SMC30, that is used for the temperature evaluation, is assigned (n = motor data set).
  • Page 35 Function diagrams (see SINAMICS S110 List Manual) ● 8016 Signals and monitoring - Thermal monitoring of motor Overview of important parameters (see SINAMICS S110 List Manual) ● r0035 Motor temperature ● p0600[0..n] Motor temperature sensor for monitoring ●...
  • Page 36 General information for commissioning 1.4 Temperature sensors for SINAMICS components Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 37: Commissioning Preparations For Profibus

    ● Requirements for commissioning ● PROFIBUS components Requirements for commissioning The basic requirements for commissioning a SINAMICS S110 drive system are as follows: ● STARTER commissioning tool ● PROFIBUS interface ● Wired drive line-up (see Equipment Manual) The following diagram shows an overview of an example configuration with blocksize components.
  • Page 38 Commissioning preparations for PROFIBUS 2.1 Requirements for commissioning Figure 2-1 Component configuration (example) Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 39 Commissioning preparations for PROFIBUS 2.1 Requirements for commissioning Check list for commissioning blocksize power units The following checklist must be carefully observed. The safety information in the Manuals must be read and understood before starting work. Table 2- 1 Check list for commissioning blocksize Check O.

  • Page 40: Profibus Components

    Commissioning preparations for PROFIBUS 2.2 PROFIBUS components PROFIBUS components We recommend the following components for communication via PROFIBUS: 1. Communication modules if PG/PC interface via the PROFIBUS interface – CP5511 (PROFIBUS connection via PCMCIA card in notebook as programming device) The PROFIBUS card CP5511 allows a maximum of 10 slave connections.

  • Page 41: Connection Via Serial Interface

    Commissioning preparations for PROFIBUS 2.3 Connection via serial interface Connection via serial interface Prerequisite There must be a serial interface (COM) on the PC from which the connection is to be made. Settings 1. In the STARTER, go to Project > Set PG/PC interface and select the Serial cable (PPI) interface.

  • Page 42: Drive-Cliq Interface For Cu305

    Commissioning preparations for PROFIBUS 2.4 DRIVE-CLiQ interface for CU305 3. The Control Unit's PPI address is pre-set to "3" in the factory. 4. Also set the bus address to "3" during set-up, or under "properties" in the drive unit context menu. Figure 2-3 Setting the bus address 5.

  • Page 43: Powering-Up/Powering-Down The Drive System

    Commissioning preparations for PROFIBUS 2.5 Powering-up/powering-down the drive system Powering-up/powering-down the drive system Powering-up the drive Figure 2-4 Powering-up the drive Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 44 (p1226) has expired. – Switching on inhibited is activated. Control and status messages Table 2- 3 Power-on/power-off control Signal name Internal control word Binector input PROFdrive/Siemens telegram 1 ... 111 0 = OFF1 STWA.00 p0840 ON/OFF1 STW1.0 STWAE.00 0 = OFF2 STWA.01...
  • Page 45 ZSW1.6 ZSWAE.06 Pulses enabled ZSWA.11 r0899.11 ZSW1.11 Only Siemens telegrams 102 and 103 Function diagrams (see SINAMICS S110 List Manual) ● 2610 Sequence control - sequencer ● 2634 Missing enable signals, line contactor control Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 46 Commissioning preparations for PROFIBUS 2.5 Powering-up/powering-down the drive system Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 47: Commissioning With Profibus

    Commissioning with PROFIBUS Sequence of operations during commissioning Once the basic requirements have been met, you may proceed as follows to commission the drive: Table 3- 1 Commissioning Step Activity Create project with STARTER. Configure the drive unit in STARTER. Save the project in STARTER.

  • Page 48: Starter Commissioning Tool

    Commissioning with PROFIBUS 3.2 STARTER commissioning tool STARTER commissioning tool Brief description STARTER is used for commissioning drive units in the MICROMASTER and SINAMICS product ranges. STARTER can be used for the following: ● Commissioning ● Testing (via the control panel) ●...
  • Page 49 Commissioning with PROFIBUS 3.2 STARTER commissioning tool Copy RAM to ROM You can use this function to save volatile Control Unit data to the non-volatile memory. This ensures that the data is still available after the 24 V Control Unit supply has been switched off.
  • Page 50 Commissioning with PROFIBUS 3.2 STARTER commissioning tool Restoring the factory settings You can use this function (p0970 = 1) to set all the parameters in the work memory of the Control Unit to the factory settings. The CU305 will then perform an automatic start. All relevant parameters found are written to the work memory (RAM).

  • Page 51: Activating Online Operation: Starter Via Profibus

    Commissioning with PROFIBUS 3.2 STARTER commissioning tool 3.2.2 Activating online operation: STARTER via PROFIBUS Description The following options are available for online operation via PROFIBUS: ● Online operation via PROFIBUS STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP) Figure 3-1 STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP) Drive functions...

  • Page 52: Basic Operator Panel 20 (Bop20)

    Commissioning with PROFIBUS 3.3 Basic Operator Panel 20 (BOP20) Settings in STARTER for direct online connection via PROFIBUS The following settings are required in STARTER for communication via PROFIBUS: ● Extras -> Set PG/PC interface Add/remove interfaces ● Extras -> Set PG/PC interface... -> Properties Activate/deactivate "PG/PC is the only master on the bus".

  • Page 53: Important Functions Via Bop20

    Commissioning with PROFIBUS 3.3 Basic Operator Panel 20 (BOP20) 3.3.1 Important functions via BOP20 Description Using the BOP20, the following functions can be executed via parameters that support you when handling projects: ● Restoring the factory settings ● Copy RAM to ROM ●...

  • Page 54: Creating A Project In Starter

    3.4.1 Creating a project offline To create a project offline, you need the PROFIBUS address, the device type (e.g. SINAMICS S110), and the device version (e.g. FW 4.1). Table 3- 2 Sequence for creating a project in STARTER (example) What to do?
  • Page 55 Information about the bus address: --> Double-click "Add individual drive unit". When commissioning the system Device type: SINAMICS S110 CU305 DP (can be for the first time the PROFIBUS selected) address of the Control Unit must Device version: 4.1x (can be selected) be set here.

  • Page 56: Searching For A Drive Unit Online

    Commissioning with PROFIBUS 3.4 Creating a project in STARTER 3.4.2 Searching for a drive unit online To search for a drive unit online, the drive unit and the PG/PC must be connected via PROFIBUS. Table 3- 3 Sequence for searching for a drive unit in STARTER (example) What to do? How to do it? Create a new...
  • Page 57 Commissioning with PROFIBUS 3.4 Creating a project in STARTER What to do? How to do it? Set up the PG/PC Here, you can set up the PG/PC interface by clicking "Change and test". interface Insert drives Here, you can search for nodes that have been accessed. Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 58: Searching For Nodes That Can Be Accessed

    Commissioning with PROFIBUS 3.5 Example of first commissioning with STARTER What to do? How to do it? Summary You have now created the project. -> Click "Complete". Configure the drive Once you have created the project, you have to configure the drive unit. An example appears unit.

  • Page 59: Task

    ● Telegram for drive 1 ● Standard telegram 4: Speed control, 1 position encoder Note For more information about telegram types, see the section titled "Communication via PROFIBUS" or see the SINAMICS S110 List Manual. Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 60: Commissioning With Starter (Example)

    Connect with target system (go online) Save the parameters • Point the mouse at the drive on the device unit (SINAMICS S110) and Target system -> Download to target device • right-click. Target system -> Copy RAM to ROM •...

  • Page 61: Initial Commissioning: Servo Ac Drive With Bop20 As An Example

    Commissioning with PROFIBUS 3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example STARTER diagnosis options Under "Component" -> Diagnosis -> Control/status words ● Control/status words ● Status parameters ● Alarm history Initial commissioning: Servo AC DRIVE with BOP20 as an example The example provided in this section explains all the configuration and parameter settings that are required for first commissioning.

  • Page 62: Component Wiring (Example)

    Commissioning with PROFIBUS 3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example 3.6.2 Component wiring (example) The following diagram shows a possible component configuration and wiring option. Figure 3-2 Component wiring with integrated Sensor Module (example) For more information on wiring and connecting the encoder system, see the Equipment Manual.

  • Page 63: Quick Commissioning Using The Bop (Example)

    Commissioning with PROFIBUS 3.6 Initial commissioning: Servo AC DRIVE with BOP20 as an example 3.6.3 Quick commissioning using the BOP (example) Table 3- 7 Quick commissioning for a motor with a DRIVE-CLiQ interface Procedure Description Factory setting Note: The drive must be set to the factory settings before first commissioning is carried out. p0009 = 1 Device commissioning parameter filter * 0 Ready...
  • Page 64 Binector output r0019.0 is set using this pushbutton. * These parameters offer more setting options than the ones described here. For more possible settings, see the SINAMICS S110 List Manual. [CDS] Parameter depends on command data sets (CDS). Data set 0 is preset.

  • Page 65: Commissioning With Canopen

    Commissioning with CANopen Requirements for commissioning 4.1.1 Pre-requisites for commissioning the CANopen interface Section content This section describes the commissioning prerequisites: ● CU305 CAN with connection to PC/PG ● The STARTER commissioning tool on the PC/PG You can find a detailed description of the CANopen interface on the CU305 CAN in the /GH8/ Manual and in the /IH2/ CANopen Commissioning Manual.

  • Page 66: Prerequisites For Commissioning Cu305 With Canopen

    ● The STARTER commissioning tool is installed on your PC/PG. Note Please see the SINAMICS S110 Equipment Manual for descriptions of the components of a SINAMICS drive line-up as well as for information about wiring, the interface to a PC/programming device, and the installation of the STARTER commissioning tool.

  • Page 67: Can Bus On The Cu305

    4.1 Requirements for commissioning 4.1.4 CAN bus on the CU305 The integrated CAN interface is used to connect drives in the SINAMICS S110 drive system to higher-level automation systems with a CAN bus. Figure 4-1 View of the CU305 CAN The CU305 CAN uses 9-pin Sub D X126 connectors for the connection to the CAN bus system.

  • Page 68: Can Bus Interface X126

    Commissioning with CANopen 4.1 Requirements for commissioning WARNING Do NOT connect a PROFIBUS cable Connecting a PROFIBUS cable to CAN connector X126 is highly likely to damage the CANopen interface of the CU305 beyond repair. The connector can be used as an input or an output. Unused pins are plated through. The following baud rates (among others) are supported: 10, 20, 50, 125, 250, 500, 800 kBaud, and 1 MBaud.

  • Page 69: Canopen Functionality Cu305 Can

    Commissioning with CANopen 4.1 Requirements for commissioning 4.1.6 CANopen functionality CU305 CAN Introduction The CU305 CAN supports the CANopen transfer types with SDOs (service data objects) and PDOs (process data objects). The CU305 CAN also supports free PDO mapping. The CU305 CAN supports CANopen communication profile DS 301 version 4.0, device profile DSP 402 (drives and motion control) version 2.0, and indicator profile DR303-3 version 1.0.

  • Page 70: Diagnostics Led "Com

    Commissioning with CANopen 4.2 Commissioning 4.1.7 Diagnostics LED "COM" COM diagnostics LED -> red Table 4- 2 COM diagnostics LED -> red (CANopen error LED) ERROR LED Status Meaning flashing frequency No error Ready Single flash Warning limit At least one of the CAN controller error counters has reached reached the "Error Passive"...

  • Page 71: Canopen Object Directory

    Commissioning with CANopen 4.2 Commissioning 4.2.2 CANopen object directory CANopen object directory When the drive objects are initialized, the CANopen objects are initialized in the object directory of the SINAMICS drive line-up (CANopen slave software). Objects The following SINAMICS objects are involved in communication: 1.

  • Page 72: Commissioning Options

    All CANopen parameters, errors and warnings are described in the List Manual. SINAMICS S110 on a CANopen interface There are two ways of putting SINAMICS S110 into operation with the STARTER tool on a CANopen interface. ● Via predefined message frames ("predefined connection set").

  • Page 73: Configuring The Drive Unit With Starter (Overview)

    Commissioning with CANopen 4.2 Commissioning 4.2.4 Configuring the drive unit with STARTER (overview) Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 4- 4 CANopen initial commissioning Step Procedure Hardware settings on the CU305 Configure the drive unit using the STARTER commissioning tool in ONLINE mode.

  • Page 74: Searching For The Drive Unit Online

    Commissioning with CANopen 4.2 Commissioning 4.2.5 Searching for the drive unit ONLINE Introduction The SINAMICS firmware is able to detect the connected drives automatically, as well as set and save the corresponding parameters. Steps To ensure that the drive unit configuration is identified automatically, open a new project in STARTER: Proceed as follows: 1.

  • Page 75: Configuring A Drive Unit

    Commissioning with CANopen 4.2 Commissioning 4. The Project Wizard searches for the drive unit ONLINE and inserts it in the project. Click Continue >. The Wizard displays a summary of the project. 5. Choose Complete. The new project and drive unit are displayed in STARTER. Note The system searches for drive units or, more precisely, Control Units;...
  • Page 76 Commissioning with CANopen 4.2 Commissioning 1. Choose Disconnect from target system..The modified data is loaded from RAM to ROM and to the PG. The motors are configured in OFFLINE mode and are then loaded to the target system in ONLINE mode.
  • Page 77 Commissioning with CANopen 4.2 Commissioning 3. Enter the transmission rate and the CAN bus address/node ID in the Configuration - <Project name> - CAN interface dialog box. Figure 4-4 CAN interface 4. You can select a transmission rate of 1 MBit/s for commissioning, for example. The factory setting is 20 kBit/s.
  • Page 78 Commissioning with CANopen 4.2 Commissioning 5. There are two possible ways of setting the bus address/node ID: – In this dialog box, you can set a value between 1 and 126 if the address switch on the Control Unit (labeled "DP address") is set to 0 or 127. Note If the address switch is set to between 1 and 126, values that were entered here in OFFLINE mode will not be downloaded.
  • Page 79 Commissioning with CANopen 4.2 Commissioning 7. On the dialog screen which appears when you select this command path ("SINAMICS_S110_CU305_CAN configuration - Control structure"), you can define whether the drive object (function module) is to operate with/without an extended setpoint channel. The commissioning procedure described here is carried out without an extended setpoint channel (ramp-function generator).
  • Page 80 Commissioning with CANopen 4.2 Commissioning 8. You only configure the motor and the encoder! Work through the Wizard by choosing Continue > until you reach the point at which you configure the motor (see the following diagram). Figure 4-6 Configure the motor 9.

  • Page 81: Can Settings

    Commissioning with CANopen 4.2 Commissioning 4.2.7 CAN settings 4.2.7.1 Monitoring Introduction SINAMICS supports the following two optional monitoring services to ensure the functionality of CANopen network nodes: ● Heartbeat: SINAMICS (producer) cyclically transmits (heartbeat time) its communication status on the CAN bus to the master application. ●...

  • Page 82: Loading The Project To The Drive Unit

    Commissioning with CANopen 4.2 Commissioning Parameter p8609 Sets the behavior of the CAN node referred to the communications error or equipment fault. ● Values: – 0: Pre-operational – 1: No change – 2: Stopped ● Index (corresponds to the CANopen object 1029 hex): –...

  • Page 83: Configuring Cob-Ids And Process Data Objects

    Commissioning with CANopen 4.3 Configuring COB-IDs and process data objects 2. You changed the data OFFLINE and now have to load it to the target system. Carry out the following: – <-- Download in the "ONLINE/OFFLINE comparison" dialog box – When the system asks "Are you sure?", click Yes. The system now starts loading the data.

  • Page 84: Loading And Managing Projects Online

    Commissioning with CANopen 4.5 Loading and managing projects ONLINE Loading and managing projects ONLINE 4.5.1 Load the projects from the drive unit to the PC/PG in ONLINE mode and save them Prerequisite You are in ONLINE mode in STARTER and have completed the initial commissioning procedure.

  • Page 85: Diagnostics

    Diagnostics This chapter describes the following diagnostic features of the SINAMICS S drive system: ● Diagnostics via LEDs ● Diagnostics via STARTER ● Diagnostic buffer ● Fault and alarm messages Diagnostics via LEDs 5.1.1 LEDs when the Control Unit is booted The individual statuses during the booting procedure are indicated by means of the LEDs on the Control Unit.

  • Page 86: Leds After The Control Unit Cu305 Has Booted

    Diagnostics 5.1 Diagnostics via LEDs 5.1.2 LEDs after the Control Unit CU305 has booted Table 5- 2 Control Unit CU305 – description of the LEDs after booting Color Status Description, cause Remedy Electronics power supply is missing or outside (READY) permissible tolerance range.
  • Page 87 Diagnostics 5.1 Diagnostics via LEDs Color Status Description, cause Remedy Orange Flashing Firmware CRC error. Make sure that the 2 Hz memory card has been inserted properly. Replace the memory card. Replace Control Unit. Carry-out a POWER COM/ Cyclic communication has not (yet) taken place. CU305 CAN Note: The CAN is ready to communicate when the Control...

  • Page 88: Sensor Module Cabinet Smc10 / Smc20

    Diagnostics 5.1 Diagnostics via LEDs 5.1.3 Sensor Module Cabinet SMC10 / SMC20 Table 5- 3 Sensor Module Cabinet 10 / 20 (SMC10 / SMC20) – description of the LEDs Color Status Description, cause Remedy Electronics power supply is missing or outside permissible –...

  • Page 89: Smc30 Sensor Module Cabinet

    Diagnostics 5.1 Diagnostics via LEDs 5.1.4 SMC30 Sensor Module Cabinet Table 5- 4 Sensor Module Cabinet SMC30 – description of the LEDs Color State Description, cause Remedy Electronics power supply is missing or outside permissible – READY tolerance range. Green Continuous The component is ready for operation and cyclic DRIVE- –...

  • Page 90: Diagnostics Via Starter

    Diagnostics 5.2 Diagnostics via STARTER Diagnostics via STARTER Description The diagnostic functions support commissioning and service personnel during commissioning, troubleshooting, diagnostics and service activities. General information Prerequisites: Online operation of STARTER. The following diagnostic functions are available in STARTER: ● Specifying signals with the ramp-function generator ●...
  • Page 91 Diagnostics 5.2 Diagnostics via STARTER Parameterizing and operating the ramp-function generator The ramp-function generator is parameterized and operated via the parameterization and commissioning tool STARTER. Figure 5-1 "Ramp-function generator" initial screen Note Please see the online help for more information about parameterizing and operation. Properties ●...
  • Page 92 Diagnostics 5.2 Diagnostics via STARTER ● Restriction of the output signal to the minimum and maximum value settable. ● Operating modes of the function generator – Connector output – Current setpoint downstream of filter (current setpoint filter) – Disturbing torque (downstream of current setpoint filter) –...
  • Page 93 Diagnostics 5.2 Diagnostics via STARTER To start the ramp-function generator: 1. Meet the conditions for starting the ramp-function generator – Activate the control panel Drive_1 –> Commissioning –> Control panel – Switch on the drive Control panel –> Activate enable signals –> Switch on 2.

  • Page 94: Trace Function

    Diagnostics 5.2 Diagnostics via STARTER 5.2.2 Trace function Description The trace function can be used to record measured values over a defined period depending on trigger conditions. Call to the trace function The "Trace" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 5-5 STARTER icon for "trace/function generator"...
  • Page 95 Diagnostics 5.2 Diagnostics via STARTER The unit cycle time display flashes 3 times at around 1 Hz when the time slice is changed from < 4 ms to ≥4 ms (see description under "Properties"). Note Please see the online help for more information about parameterizing and operation. Properties ●...

  • Page 96: Measuring Function

    Diagnostics 5.2 Diagnostics via STARTER 5.2.3 Measuring function Description The measuring function is used for optimizing the drive controller. By parameterizing the measuring function, the impact of superimposed control loops can be suppressed selectively and the dynamic response of the individual drives analyzed. The ramp-function generator and trace function are linked for this purpose.
  • Page 97 Diagnostics 5.2 Diagnostics via STARTER Properties ● Measuring functions – Current controller setpoint change (downstream of the current setpoint filter) – Current controller reference frequency response (downstream of the current setpoint filter) – Speed controller setpoint change (downstream of the speed setpoint filter) –...

  • Page 98: Measuring Sockets

    Diagnostics 5.2 Diagnostics via STARTER Parameterization The "measuring function" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 5-8 STARTER icon for "Measuring function" 5.2.4 Measuring sockets Description The measuring sockets are used to output analog signals. Any interconnectable signal can be output to any measuring socket on the Control Unit.
  • Page 99 Diagnostics 5.2 Diagnostics via STARTER Parameterizing and using the measuring sockets The measuring sockets are parameterized and operated via the STARTER parameterization and commissioning tool. Figure 5-10 "Measuring sockets" initial screen In the STARTER commissioning tool, select the parameter screen "Measuring sockets" in the project tree under the CU in the entry inputs/outputs in the tab Measuring sockets.
  • Page 100 Diagnostics 5.2 Diagnostics via STARTER Signal chart for measuring sockets Figure 5-11 Signal chart for measuring sockets Which signal can be output via measuring sockets? The signal to be output via a measuring socket is specified by parameterizing the connector input p0771[0...1].
  • Page 101 3. Parameterize the signal characteristic (scaling, offset, limitation). Function diagrams (see SINAMICS S110 List Manual) ● 8134 measuring sockets Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p0771[0...1] CI: Measuring sockets signal source ● p0777[0...1] Measuring sockets characteristic value x1 ●...

  • Page 102: Fault And Alarm Messages

    The messages are categorized into faults and alarms. Note The individual faults and alarms are described in the SINAMICS S110 List Manual in the section titled "Faults and Alarms". Function diagrams for the fault buffer, alarm buffer, fault trigger and fault configuration are also contained in the Section "Function diagrams" ->...

  • Page 103: Buffer For Faults And Alarms

    Diagnostics 5.3 Fault and alarm messages Acknowledgment of faults The list of faults and alarms specifies how each fault is acknowledged after the cause has been remedied. 1. Acknowledgment of faults by "POWER ON" – Switch the drive on/off (POWER ON) 2.
  • Page 104 Diagnostics 5.3 Fault and alarm messages Fault buffer Faults which occur are entered in the fault buffer as follows: r0949[0] [I32] r0948[0] [ms] r2109[0] [ ms] r0945[0] r3115[0] r2133[0] [Float] r2130[0] [ d] r2136[0] [d] r0949[1] [I32] r0948[1] [ms] r2109[1] [ ms] r0945[1] r3115[7] r2133[1] [Float]...
  • Page 105 Diagnostics 5.3 Fault and alarm messages Clearing the fault buffer ● The fault buffer is reset as follows: p0952 = 0 Alarm buffer, alarm history The alarm buffer comprises the alarm code, the alarm value and the alarm time (received, resolved).

  • Page 106: Configuring Messages

    Diagnostics 5.3 Fault and alarm messages Properties of the alarm buffer/alarm history: ● The arrangement in the alarm buffer is made after the time that they occurred from 7 to 0. In the alarm history, this is from 8 to 63. ●...
  • Page 107 Diagnostics 5.3 Fault and alarm messages Note Only those messages which are listed in the indexed parameters can be changed as desired. All other message settings retain their factory settings or are reset to the factory settings. Examples: • In the case of messages listed via p2128[0...19], the message type can be changed. The factory setting is set for all other messages.

  • Page 108: Parameters And Function Diagrams For Faults And Alarms

    ● 8065 Faults and alarms – alarm buffer ● 8070 Faults and alarms – fault/alarm trigger word r2129 ● 8075 Faults and alarms – fault/alarm configuration Overview of important parameters (see SINAMICS S110 List Manual) ● r0944 Counter for fault buffer changes ● p0952 Fault counter ●...

  • Page 109: Forwarding Of Faults And Alarms

    Diagnostics 5.3 Fault and alarm messages 5.3.5 Forwarding of faults and alarms Forwarding of faults and alarms of the CU When faults or alarms are triggered on the drive object of the CU, it is always assumed that central functions of the drive unit are affected. For this reason, these faults and alarms are not only signaled on the drive object of the CU, but are also forwarded to all other drive objects.
  • Page 110 Diagnostics 5.3 Fault and alarm messages ZSW2: Valid for SIMODRIVE 611 Interface Mode p2038=1 (function diagram 2453) Bit 11 - 12 Alarm classes alarms = 0: Alarm (former alarm level) = 1: Alarm class W_NCA alarms = 2: Alarm class W_NCB alarms = 3: Alarm class W_NCC alarms These attributes for differentiating the alarms are assigned implicitly to the appropriate alarm numbers.

  • Page 111: Parameterizing Using The Bop20

    Parameterizing using the BOP20 General information about the BOP20 With the BOP20, drives can be powered up and powered down during the commissioning phase and parameters can be displayed and modified. Faults can be diagnosed as well as acknowledged. The BOP20 is snapped onto the Control Unit; to do this the dummy cover must be removed (for additional information on mounting, please refer to the Equipment Manual).
  • Page 112 Parameterizing using the BOP20 6.1 General information about the BOP20 Information on the displays Table 6- 1 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. Is lit (bright) if the drive is in the RUN state (operation).

  • Page 113: Displays And Using The Bop20

    Parameterizing using the BOP20 6.2 Displays and using the BOP20 BOP20 functions Table 6- 3 Functions Name Description Units The units are not displayed on the BOP. Access level The access level for the BOP is defined using p0003. The higher the access level, the more parameters can be selected using the BOP. Unplug while voltage is The BOP can be withdrawn and inserted under voltage.
  • Page 114 Parameterizing using the BOP20 6.2 Displays and using the BOP20 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 115 Parameterizing using the BOP20 6.2 Displays and using the BOP20 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 116 Parameterizing using the BOP20 6.2 Displays and using the BOP20 Example: Changing binector and connector input parameters For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected. Figure 6-4 Example: Changing indexed binector parameters Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 117: Fault And Alarm Displays

    Parameterizing using the BOP20 6.3 Fault and alarm displays Fault and alarm displays Displaying faults Figure 6-5 Faults Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 118: Controlling The Drive Using The Bop20

    Parameterizing using the BOP20 6.4 Controlling the drive using the BOP20 Displaying alarms Figure 6-6 Alarms 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) for this purpose, which can be interconnected with the appropriate binector inputs of e.g.

  • Page 119: Drive Functions

    Drive functions Servo control This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. 7.1.1 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 120: Speed Setpoint Filter

    Filter overview for speed setpoint filters Function diagrams (see SINAMICS S110 List Manual) ● 5020 Speed setpoint filter and speed pre-control Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1414[D] Speed setpoint filter activation ● p1415[D] Speed setpoint filter 1 type ●...

  • Page 121: Speed Controller Adaptation

    Drive functions 7.1 Servo control 7.1.3 Speed controller adaptation Description Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent Kp_n/Tn_n adaptation. Free Kp_n adaptation is also active in "operation without encoder" mode and is used in "operation with encoder" mode as an additional factor for speed-dependent Kp_n adaptation. Speed-dependent Kp_n/Tn_n adaptation is only active in "operation with encoder"...
  • Page 122 STARTER icon for "speed controller" Function diagrams (see SINAMICS S110 List Manual) ● 5050 Kp_n and Tn_n adaptation Overview of important parameters (see SINAMICS S110 List Manual) Free Kp_n adaptation ● p1455[0...n] CI: Speed controller P gain adaptation signal ● p1456[0...n] Speed controller P gain adaptation lower starting point ●...

  • Page 123: Torque-Controlled Operation

    Drive functions 7.1 Servo control 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 ● p1463[0...n] Speed controller Tn adaptation speed upper scaling ●...
  • Page 124 Drive functions 7.1 Servo control Commissioning of torque control mode 1. Set torque control mode (p1300 = 23; p1501 = "1" signal) 2. Specify torque setpoint – Select source (p1511) – Scale setpoint (p1512) – Select supplementary setpoint (1513) Figure 7-6 Torque setpoint 3.
  • Page 125 The "torque setpoint" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 7-7 STARTER icon for "torque setpoint" Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1300 Open-loop/closed-loop control operating mode ● p1501[C] BI: Change over between closed-loop speed/torque control ●...

  • Page 126: Torque Setpoint Limitation

    Drive functions 7.1 Servo control 7.1.5 Torque setpoint limitation Description The steps required for limiting the torque setpoint are as follows: 1. Define the torque setpoint and an additional torque setpoint 2. Generate torque limits The torque setpoint can be limited to a maximum permissible value in all four quadrants. Different limits can be parameterized for motor and regenerative modes.
  • Page 127 Drive functions 7.1 Servo control ● The following factors are monitored by the current controller and thus always apply in addition to torque limitation: – Stall power – Maximum torque-generating current ● Offset of the setting values also possible (see "Example: Torque limits with or without offset").
  • Page 128 Negative values at r1534 or positive values at r1535 represent a minimum torque for the other torque directions and can cause the drive to rotate if no load torque is generated to counteract this (see function diagram 5630 in the SINAMICS S110 List Manual). Example: Torque limits with or without offset The signals selected via p1522 and p1523 include the torque limits parameterized via p1520 and p1521.
  • Page 129 The "torque limit" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 7-10 STARTER icon for "torque limit" Overview of important parameters (see SINAMICS S110 List Manual) ● p0640[0...n] Current limit ● p1400[0...n] Speed control configuration ● r1508 CO: Torque setpoint before supplementary torque ●...

  • Page 130: Current Controller

    Drive functions 7.1 Servo control 7.1.6 Current controller Properties ● PI controller for current control ● Two identical current setpoint filters ● Current and torque limitation ● Current controller adaptation ● Flux control Closed-loop current control No settings are required for operating the current controller. Optimization measures can be taken in certain circumstances.
  • Page 131 ● 5710 Current setpoint filters ● 5714 Iq and Id controller ● 5722 Specified field current, flux reduction, flux controller Overview of important parameters (see SINAMICS S110 List Manual) Closed-loop current control ● p1701[0...n] Current controller reference model dead time ●...

  • Page 132: Current Setpoint Filter

    Drive functions 7.1 Servo control 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 7.1.7 Current setpoint filter 7.1.7.1...
  • Page 133 Drive functions 7.1 Servo control Figure 7-12 Current setpoint filter Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 134 Drive functions 7.1 Servo control Transfer function: Denominator natural frequency f Denominator damping D Table 7- 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 7- 3 Example of band-stop with infinite notch depth...
  • Page 135 Drive functions 7.1 Servo control Band-stop with defined notch depth Table 7- 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 136 Drive functions 7.1 Servo control Band-stop with defined reduction Table 7- 5 Example of band-stop STARTER filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency f = 500 Hz Bandwidth f = 500 Hz Notch depth K = -∞ dB Reduction ABS = -10 dB General conversion to parameters for general order filters: ω...
  • Page 137 Drive functions 7.1 Servo control General low-pass with reduction Table 7- 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 138: Integration

    STARTER icon for "current setpoint filter" Function diagrams (see SINAMICS S110 List Manual) ● 5710 Current setpoint filters Overview of important parameters (see SINAMICS S110 List Manual) ● p1656 Activates current setpoint filter ● p1657 Current setpoint filter 1 type ●...

  • Page 139: V/F Control For Diagnostics

    Drive functions 7.1 Servo control 7.1.9 V/f control for diagnostics Description With V/f control, the motor is operated with an open control loop and does require speed control or actual current sensing, for example. Operation is possible with a small amount of motor data.
  • Page 140 Drive functions 7.1 Servo control Structure of V/f control Figure 7-14 Structure of V/f control Prerequisites for V/f control 1. First commissioning has been carried out: The parameters for V/f control have been initialized with appropriate values. 2. First commissioning has not been carried out: The following relevant motor data must be checked and corrected: –...
  • Page 141 Figure 7-15 V/f characteristic Function diagrams (see SINAMICS S110 List Manual) ● 5300 V/f control for diagnostics Overview of important parameters (see SINAMICS S110 List Manual) ● p0304 Motor rated voltage ● p0310 Motor rated frequency ● p0311 Motor rated speed ●...

  • Page 142: Optimizing The Current And Speed Controller

    Drive functions 7.1 Servo control 7.1.10 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: ● "Function generator" in STARTER ●...

  • Page 143: Sensorless Operation (Without An Encoder)

    Drive functions 7.1 Servo control 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. This normally enables the proportional gain to be increased (e.g.
  • Page 144 Drive functions 7.1 Servo control 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 145 Drive functions 7.1 Servo control 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 146 ● 5060 Torque setpoint, control type switchover ● 5210 Speed controller Overview of important parameters (see SINAMICS S110 List Manual) ● p0341 Motor moment of inertia ● p0342 Ratio between the total moment of inertia and that of the motor ●...

  • Page 147: Motor Data Identification

    Drive functions 7.1 Servo control 7.1.12 Motor data identification 7.1.12.1 Motor data identification Description Motor data identification (MotID) provides a means of determining motor data (of third-party motors, for example). The drive system must have been commissioned for the first time as basis for using MotID.
  • Page 148 Drive functions 7.1 Servo control If there is an extended setpoint channel (r0108.08 = 1), parameters p1959.14 = 0 and p1959.15 = 0 and a direction of rotation limit (p1110 or p1111) is active there, then this is observed at the instant of the start via p1960. For p1958 = -1, the ramp-up and ramp-down time of the setpoint channel (p1120 and p1121) are also used for the MotID.
  • Page 149 Drive functions 7.1 Servo control Motor data Motor data input requires the following parameters: Table 7- 8 Motor data Induction motor Permanent-magnet synchronous motor p0304 Motor rated voltage p0305 Motor rated current • • p0305 Motor rated current p0311 Motor rated speed •...

  • Page 150: Motor Data Identification - Induction Motor

    Drive functions 7.1 Servo control Parameters to control the MotID The following parameters influence the MotID: Table 7- 10 Parameters for control Static measurement (motor data identification) Rotating measurement p0640 Current limit p0640 Current limit • • p1215 Motor holding brake configuration p1082 Maximum speed •...
  • Page 151 Drive functions 7.1 Servo control Determined data (gamma) Data that are accepted (p1910 = 1) r1936 magnetizing inductance identified r0382 motor main inductance, transformed (gamma) p0360 motor main inductance p1590 flux controller P gain p1592 flux controller integral action time r1973 encoder pulse number identified Note: The encoder pulse number is only determined very imprecisely and is only suitable for making rough checks (p0408).

  • Page 152: Motor Data Identification - Synchronous Motor

    Drive functions 7.1 Servo control 7.1.12.3 Motor data identification - synchronous motor Synchronous motor Table 7- 13 Data determined using p1910 for synchronous motors (stationary measurement) Determined data Data that are accepted (p1910 = 1) r1912 stator resistance identified p0350 motor stator resistance, cold + p0352 cable resistance r1925 threshold voltage identified r1932 d inductance...
  • Page 153 Drive functions 7.1 Servo control Table 7- 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 154 Drive functions 7.1 Servo control Figure 7-19 Equivalent circuit diagram for synchronous motor and cable Overview of important parameters (see SINAMICS S110 List Manual) ● r0047 Status identification Standstill measurement ● p1909 Motor data identification control word ● p1910 Motor data identification, stationary Rotating measurement ●...

  • Page 155: Pole Position Identification

    Drive functions 7.1 Servo control 7.1.13 Pole position identification Description For synchronous motors, the pole position identification determines its electrical pole position, that is required for the field-oriented control. Generally, the electrical pole position is provided from a mechanically adjusted encoder with absolute information. In this case, pole position identification is not required.
  • Page 156 Drive functions 7.1 Servo control ● For motors without iron, the pole position cannot be identified using the saturation-based technique. ● With 1FK7 motors, two-stage procedures must not be used (p1980 = 4). The value in p0329, which is set automatically, must not be reduced. For the motion-based technique, the following supplementary conditions apply: ●...
  • Page 157 Drive functions 7.1 Servo control Determining a suitable technique for the pole position identification routine Figure 7-20 Selecting the appropriate technique 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.
  • Page 158 When fault F07414 occurs, p1990 is automatically started; if p1980 is not equal to 99 and p0301 does not refer to a catalog motor with an encoder that is adjusted in the factory. Overview of important parameters (see SINAMICS S110 List Manual) ● p0325[0...n] Motor pole position identification current 1st phase ●...

  • Page 159: Vdc Control

    Drive functions 7.1 Servo control 7.1.14 Vdc control Description Vdc control can be activated if overvoltage or undervoltage is present in the supply voltage. This prevents a fault from occurring due to the supply voltage and ensures that the drive is always ready to use.
  • Page 160 Drive functions 7.1 Servo control setpoint. If the supply voltage cannot be restored, the power supply will fail once the kinetic energy of the drive has been exhausted with an active Vdc_min controller. Note You must make sure that the converter is not disconnected from the power supply. It could become disconnected, for example, if the line contactor drops out.
  • Page 161 Vdc_max monitoring function (p1240 = 4, 6). Function diagrams (see SINAMICS S110 List Manual) ● 5650 Vdc_max controller and Vdc_min controller Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1240 Vdc controller or Vdc monitoring configuration ●...

  • Page 162: Dynamic Servo Control (Dsc)

    Drive functions 7.1 Servo control 7.1.15 Dynamic Servo Control (DSC) Description The function Dynamic Servo Control" (DSC) is a closed-loop control structure which is computed in a fast speed controller clock cycle and is supplied with setpoints by the control in the position controller clock cycle.
  • Page 163 Drive functions 7.1 Servo control Figure 7-23 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" through a selected suitable PROFIdrive telegram. If KPC = 0 is issued, only speed control with the speed pre-control value (p1430, typically N_SOLL_B) can be used.
  • Page 164 ● On the control side, DSC is not active, which causes the value of KPC =0 to be transmitted to p1191. Function diagrams (see SINAMICS S110 List Manual) ● 2420 PROFIdrive standard telegrans and process data ● 2422 Vendor-specific telegrams and process data ●...

  • Page 165: Travel To Fixed Stop

    Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) ● p1190 CI: DSC position deviation XERR ● p1191 CI: DSC position controller gain KPC ● p1192[D] DSC encoder selection ● p1193[D] DSC encoder adaptation factor ●...
  • Page 166 Drive functions 7.1 Servo control Also with PROFIdrive telegrams 102 and 103: ● Message word, bit 1 ● Process data M_red to the scaling of the torque limit Figure 7-24 Signals for "Travel to fixed stop" When PROFIdrive telegrams 2 to 4 are used, no torque reduction is transmitted. When the "Travel to fixed stop"...
  • Page 167 Drive functions 7.1 Servo control Signal chart Figure 7-25 Signal chart for "Travel to fixed stop" Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 168 Torque utilization < torque ZSW monitoring functions r2199.11 MESSAGEW.1 threshold value 2 3.11 Function diagrams (see SINAMICS S110 List Manual) ● 5610 Torque limiting/reduction/interpolator ● 5620 Motor/generator torque limit ● 5630 Upper/lower torque limit ● 8012 Torque messages, motor blocked/stalled Drive functions...
  • Page 169 Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) ● p1400[0...n] Speed control configuration ● r1407.7 BO: Torque limit reached ● p1520[0...n] CO: Torque limit, upper/motoring ● p1521[0...n] CO: Torque limit, lower/regenerative ● p1522[0...n] CI: Torque limit, upper/motoring ●...

  • Page 170: Vertical Axes

    ● 5060 Torque setpoint, control type switchover ● 5620 Motor/generator torque limit ● 5630 Upper/lower torque limit Overview of important parameters (see SINAMICS S110 List Manual) ● r0031 Actual torque smoothed ● p1513 CI: Supplementary torque 2 ● p1520 CO: Torque limit, upper/motoring ●...

  • Page 171: Variable Signaling Function

    Drive functions 7.1 Servo control 7.1.18 Variable signaling function Description The variable signaling function can be used to monitor BICO sources and parameters (with the attribute traceable) for violation of an upper or lower threshold (p3295). A hysteresis (p3296) can be specified for the threshold value and a pull-in or drop-out delay (p3297/8) can be specified for the output signal (p3294).
  • Page 172 7.1 Servo control Function diagram (see SINAMICS S110 List Manual) ● 5301 Servo control - variable signaling function Overview of important parameters (see SINAMICS S110 List Manual) ● p3290 Start variable signaling function Bit 0 = 0: Stop variable signaling function (default)

  • Page 173: Basic Functions

    This assignment and the unit groups for each parameter are listed in the parameter list in the SINAMICS S110 List Manual. The units groups can be individually switched via the following parameters: p0100, p0505...
  • Page 174 To call up the function for converting units in STARTER, choose Drive object -> Configuration -> Units. The reference parameters can be found under Drive object -> Configuration -> Reference parameters Overview of important parameters (see SINAMICS S110 List Manual) ● p0010 Commissioning parameter filter ● p0100 Motor Standard IEC/NEMA ●...

  • Page 175: Reference Parameters/Normalizations

    Drive functions 7.2 Basic functions 7.2.2 Reference parameters/normalizations Description Reference values, corresponding to 100%, are required for the statement of units as percentages. These reference values are entered in parameters p2000 to p2007. They are computed during the calculation through p0340 = 1 or in STARTER during drive configuration.
  • Page 176 100% = 100°C Reference electrical angle 100 % = 90° Overview of important parameters (see SINAMICS S110 List Manual) ● p0340 Automatic calculation of motor/control parameters ● p0573 Disable automatic calculation of reference values ● p2000 Reference speed reference frequency ●...

  • Page 177: Automatic Restart

    Drive functions 7.2 Basic functions 7.2.3 Automatic restart Description The "automatic restart" function is used to restart the drive automatically once the power has been restored following a power failure. In this case, all of the faults present are automatically acknowledged and the drive is powered-up again. This function is not only restricted to line supply faults;...
  • Page 178 Drive functions 7.2 Basic functions p1210 Mode Meaning Automatic restart after line If p1210 = 4, an automatic restart will only be supply failure, no additional start performed if in addition fault F30003 occurs on the attempts Motor Module or there is a HIGH signal at binector input p1208[1].

  • Page 179: Armature Short-Circuit Brake, Dc Brake

    2. Set starting attempts (p1211). 3. Set delay times (p1212, p1213). 4. Check function. Overview of important parameters (see SINAMICS S110 List Manual) ● r0863 CO/BO: Drive coupling status word/control word ● p1210 Automatic restart, mode ● p1211 Automatic restart, attempts to start ●...
  • Page 180 Drive functions 7.2 Basic functions External armature short-circuit braking The external armature short-circuit is activated by setting p1231 = 1 (with contactor feedback signal) or p1231 = 2 (without contactor feedback signal). It can be triggered via an input signal p1230 (signal = 1) or a fault response. Triggering takes place once the pulses have been suppressed or the circuit breaker has been inhibited.
  • Page 181 • The internal armature short-circuit (p1231 = 4 for synchronous motor) and internal voltage protection (p1231 = 3) functions are not supported for the SINAMICS S110 system. • The "IASC/DC brake" fault response has the second-highest priority (second only to OFF2).
  • Page 182 ● 7014 External armature short circuit (p0300 = 2xx or 4xx, synchronous motors) ● 7017 DC brake (p0300 = 1xx, induction motors) Overview of important parameters (see SINAMICS S110 List Manual) ● p1226 Standstill detection, velocity threshold ● p1230[0...n] BI: Armature short-circuit/DC brake activation ●...

  • Page 183: Off3 Torque Limits

    Torque limits OFF3 Function diagrams (see SINAMICS S110 List Manual) ● 5620 Motor/generator torque limits ● 5630 Upper/lower torque limit Overview of important parameters (see SINAMICS S110 List Manual) ● p1520 Torque limit, upper/motoring ● p1521 Torque limit, lower/regenerative Drive functions...

  • Page 184: Simple Brake Control

    The Motor Module then performs the action and activates the output for the holding brake. The exact sequence control is illustrated in the SINAMICS S110 List Manual (FP 2701). The operating principle of the holding brake can be configured via parameter p1215.
  • Page 185 Relay (p1278 = 0). Function diagrams (see SINAMICS S110 List Manual) ● 2701 Simple brake control (r0108.14 = 0) Overview of important parameters (see SINAMICS S110 List Manual) ● r0056.4 Magnetizing complete ● r0060 CO: Speed setpoint before the setpoint filter ●...

  • Page 186: Runtime (Operating Hours Counter)

    Drive functions 7.2 Basic functions ● p1217 Holding brake application time ● p1226 Threshold for zero speed detection ● p1227 Zero speed detection monitoring time ● p1228 Zero speed detection, delay time ● p1278 Deactivate monitoring of brake control 7.2.7 Runtime (operating hours counter) Total system runtime The total system runtime is displayed in p2114 (Control Unit).

  • Page 187: Parking Axis And Parking Encoder

    Drive functions 7.2 Basic functions 7.2.8 Parking axis and parking encoder 7.2.8.1 Description The parking function is used in two ways: ● "Parking axis" – Monitoring of all encoders assigned to the "motor control" application of a drive is suppressed. –...
  • Page 188 Drive functions 7.2 Basic functions Example: parking axis In the following example, an axis is parked. To ensure that the axis parking is effective, the drive must be brought to a standstill (e.g. via STW1.0 (OFF1). All components assigned to the motor control (e.g.

  • Page 189: Example: Parking Axis And Parking Sensor

    Drive functions 7.2 Basic functions Overview of important parameters (see SINAMICS S110 List Manual) ● p0145 Activate/deactivate encoder interface ● r0146 Encoder interface active/inactive ● p0895 BI: Activate/deactivate power unit component ● r0896.0 BO: Parking axis status word ● p0897 BI: Parking axis selection 7.2.8.2...

  • Page 190: Updating The Firmware

    Drive functions 7.2 Basic functions Example: parking encoder In the following example, a motor encoder is parked. To activate motor encoder parking, the drive must be stopped (e.g. via STW1.0 (OFF1). Figure 7-34 Function chart: parking encoder 7.2.9 Updating the firmware The firmware must be updated if the functional scope is extended in a more recent version and the corresponding functions need to be used.
  • Page 191 3. Install the latest firmware version for the project. – in the project navigator, right-click the drive unit -> Target -> Device version – e.g. select version "SINAMICS S110 V4.1x" -> Change version Update the firmware and load the new project to the target device.

  • Page 192: Changing The Direction Of Rotation Without Changing The Setpoint

    The rotational direction change can be identified as a result of the phase voltage. Similarly, when the rotational direction changes, the absolute position reference is also lost. Overview of important parameters (see SINAMICS S110 List Manual) ● r0069 Phase current, actual value ●...

  • Page 193: Function Modules

    Unit (CU). The READY LED on the main component of the drive object can be made to flash by means of parameter p0124 (CU). Overview of important parameters (refer to the SINAMICS S110 List Manual) ● p0108 Drive objects, function module ●...

  • Page 194: Technology Controller

    Drive functions 7.3 Function modules 7.3.2 Technology controller 7.3.2.1 Features Simple control functions can be implemented with the technology controller, e.g.: ● Level control ● Dancer position/tension control ● Pressure control ● Flow control ● Simple closed-loop control without higher-level controller The technology controller features: ●...
  • Page 195 Drive functions 7.3 Function modules Technology controller Two scalable setpoints (p2255/ p2256) can be specified via two connector inputs (p2253/ p2254). A ramp-function generator in the setpoint channel can be used to define a ramp by means of the ramp-up and ramp-down times (p2257/p2258). Both the setpoint and actual value channels have access to a filter element with configurable time constants (p2261 and p2265).
  • Page 196 Drive functions 7.3 Function modules Please note that the controller structure of the technology controller differs from the standard technology controller structure described below, which is standard in some sources. To enable comparison, the corresponding conversions have been specified: Figure 7-37 Technology controller structure with parallel components where Other controller variants are also possible:...

  • Page 197: Integration

    ● 7950 Fixed values (r0108.16 = 1) ● 7954 Motorized potentiometer (r0108.16 = 1) ● 7958 Closed-loop control (r0108.16 = 1) Overview of important parameters (see SINAMICS S110 List Manual) Fixed setpoints ● p2201[0...n] CO: Technology controller, fixed value 1 ●...

  • Page 198: Commissioning With Starter

    Drive functions 7.3 Function modules Closed-loop control ● p2200 BI: Technology controller enable ● p2253[0...n] CI: Technology controller setpoint 1 ● p2254 [0...n] CI: Technology controller setpoint 2 ● p2255 Technology controller setpoint 1 scaling ● p2256 Technology controller setpoint 2 scaling ●...

  • Page 199: Extended Monitoring Functions

    Drive functions 7.3 Function modules 7.3.3 Extended monitoring functions 7.3.3.1 Description 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 200: Integration

    Parameter r0108.17 indicates whether it has been activated. Function diagrams (see SINAMICS S110 List Manual) ● 8010 Speed signals ● 8013 Load monitoring Overview of important parameters (see SINAMICS S110 List Manual) Load monitoring ● p2181[D] Load monitoring response ● p2182[D] Load monitoring speed threshold 1 ●...

  • Page 201: Commissioning

    Drive functions 7.3 Function modules Overview of important parameters (see SINAMICS S110 List Manual) Load monitoring ● p2181[D] Load monitoring response ● p2182[D] Load monitoring speed threshold 1 ● p2183[D] Load monitoring speed threshold 2 ● p2184[D] Load monitoring speed threshold 3 ●...

  • Page 202: Extended Brake Control

    ● 2704 Zero speed detection (r0108.14 = 1) ● 2707 Release and apply brake (r0108.14 = 1) ● 2711 Signal outputs (r0108.14 = 1) Overview of important parameters (see SINAMICS S110 List Manual) ● r0108.14 Extended brake control ● r0899 CO/BO: Status word sequence control Standstill (zero-speed) monitoring ●...
  • Page 203 Drive functions 7.3 Function modules Release and apply the brake ● p0855 BI: Unconditionally release holding brake ● p0858 BI: Unconditionally close holding brake ● p1216 Holding brake release time ● p1217 Holding brake application time ● p1218[0...1] BI: Open motor holding brake ●...

  • Page 204: Description

    Drive functions 7.3 Function modules Table 7- 21 Status message: Extended brake control Signal name Parameter Brake status word Command, open brake (continuous r1229.1 B_ZSW.1 signal) Pulse enable, extended brake control r1229.3 B_ZSW.3 Brake does not open r1229.4 B_ZSW.4 Brake does not close r1229.5 B_ZSW.5 Brake threshold exceeded...
  • Page 205 Drive functions 7.3 Function modules Emergency brake If emergency braking is required, electrical and mechanical braking is to take place simultaneously. This can be achieved if OFF3 is used as a tripping signal for emergency braking: p1219[0] = r0898.2 (OFF3 to "apply brake immediately"). The OFF3 ramp (p1135) should be set to 0 seconds so that the converter does not work against the brakes.

  • Page 206: Commissioning

    Drive functions 7.3 Function modules p1275.02 (1) p1224[0] <1> [2501 ] p1279[0] r1229.3 p0856 r1229.10 p1279[1] <1> p1142[C] & r0898.6 <1> p1152 (r0899.15) Figure 7-39 Example, operating brake for a crane drive 7.3.4.5 Commissioning The extended brake control function can be activated while the commissioning Wizard is running.

  • Page 207: Closed-Loop Position Control

    Drive functions 7.3 Function modules 7.3.5 Closed-loop position control 7.3.5.1 General features The position controller essentially comprises the following parts: ● Position actual value conditioning (including the lower-level measuring probe evaluation and reference mark search) ● Position controller (including limits, adaptation and the pre-control calculation) ●...
  • Page 208 Drive functions 7.3 Function modules Figure 7-40 Position actual value sensing with rotary encoders The link between the physical variables and the neutral length unit LU is established via parameter p2506 (LU per load revolution) for rotary encoders. Parameter p2506 mirrors, together with p2504, p2505, the interrelationship between encoder increments and the neutral position unit LU.
  • Page 209 Drive functions 7.3 Function modules Figure 7-41 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). Example: Linear encoder, 10 mm should have a resolution of 1 µm (i.e. 1 LU = 1 µm). ->...
  • Page 210 Drive functions 7.3 Function modules WARNING When the actual position value is set (p2514 = "1" signal), the actual position value of the position controller is kept at the value of connector p2515 as standard. Incoming encoder increments are not evaluated. A difference in position cannot be compensated for in this situation.
  • Page 211 Drive functions 7.3 Function modules Example of position area extension With absolute encoders without position tracking, it must be ensured that the traversing range is 0 smaller than half the encoder range, because beyond this range, no unique reference remains after switching on and off (see description on parameter p2507). This traversing range can be extended using the virtual multiturn (p2721).
  • Page 212 Drive functions 7.3 Function modules Configuration of the load gear (p2720). The following points can be set by configuring this parameter: ● p2720.0: Activation of position tracking ● p2720.1: Setting the axis type (linear or rotary axis) Here, a rotary axis refers to a modulo axis (modulo offset can be activated through higher-level control or EPOS).
  • Page 213 Drive functions 7.3 Function modules Example: Multiturn encoder For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096. That means, +/- 131072 encoder revolutions or load revolutions can be reproduced in this way.
  • Page 214 2. In the project navigator under Drive -> "Technology" -> "Position control" in the "Mechanical system" screen. Integration Function diagrams (see SINAMICS S110 List Manual) ● 4010 Position actual value conditioning ● 4704 Position and temperature sensing, encoders 1...2 ● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1)
  • Page 215 Drive functions 7.3 Function modules Overview of important parameters (see SINAMICS S110 List Manual) ● p2502[0...n] LR encoder assignment ● p2503[0...n] LR length unit LU per 10 mm ● p2504[0...n] LR motor/load motor revolutions ● p2505[0...n] LR motor/load load revolutions ●...

  • Page 216: Position Controller

    (factor, speed pre-control) can be disabled via the value 0. Function diagrams (see SINAMICS S110 List Manual) ● 4015 Position controller Overview of important parameters (see SINAMICS S110 List Manual) ● p2533 LR position setpoint filter, time constant ● p2534 LR speed pre-control factor ●...

  • Page 217: Monitoring Functions

    Drive functions 7.3 Function modules 7.3.5.4 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 7-44 Zero-speed monitoring, positioning window The position controller monitors the standstill, positioning and following error.
  • Page 218 The position controller has two cam controllers. If cam position p2547 or p2548 is passed in the positive direction (p2521 > p2547 or 2548), then cam signals r2683.8 and r2683.9 are reset. Function diagrams (see SINAMICS S110 List Manual) ● 4020 Zero-speed / positioning monitoring ● 4025 Dynamic following error monitoring, cam controllers...
  • Page 219 Drive functions 7.3 Function modules Overview of important parameters (see SINAMICS S110 List Manual) ● p2530 CI: LR setpoint position ● p2532 CI: LR actual position value ● p2542 LR standstill window ● p2543 LR standstill monitoring time ● p2544 LR positioning window ●...

  • Page 220: Measuring Probe Evaluation And Reference Mark Search

    Drive functions 7.3 Function modules 7.3.5.5 Measuring probe evaluation and reference mark search Description The "Reference mark search" and "Measuring probe evaluation" functions can be initiated and carried-out via binector input p2508 (activate reference mark search) and p2509 (activate measuring probe evaluation). Binector inputs p2510 (measurement probe selection) and p2511 (measurement probe edge evaluation) define the mode for measurement probe evaluation.

  • Page 221: Integration

    ● 4720 Encoder interface, receive signals, encoder 1 ... 2 ● 4730 Encoder interface, send signals, encoder 1 ... 2 Overview of important parameters (see SINAMICS S110 List Manual) ● p2508 BI: LR activate reference mark search ● p2509 BI: LR activate measuring probe evaluation ●...

  • Page 222: Basic Positioner

    Drive functions 7.3 Function modules 7.3.6 Basic Positioner General description The basic positioner is used to position linear and rotary axes (modulo) in absolute/relative terms with motor encoder (indirect measuring system) or machine encoder (direct measuring system). User-friendly configuration, commissioning, and diagnostic functions are also available in STARTER for the basic positioner functionality (graphic navigation).
  • Page 223 Drive functions 7.3 Function modules ● 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" or only "encoder zero mark"...

  • Page 224: Mechanical System

    Drive functions 7.3 Function modules 7.3.6.1 Mechanical system Features ● Backlash compensation (p2583) ● Modulo offset (p2577) Description Figure 7-47 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 225 Drive functions 7.3 Function modules Table 7- 22 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 7-48 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 226: Limits

    Function diagrams (see SINAMICS S110 List Manual) ● 3635 Interpolator ● 4010 Position actual value conditioning Overview of important parameters (see SINAMICS S110 List Manual) ● p2576 EPOS modulo offset, modulo range ● p2577 BI: EPOS modulo offset activation ● p2583 EPOS backlash compensation ●...
  • Page 227 Drive functions 7.3 Function modules Maximum velocity The maximum velocity of an axis is defined using parameter p2571. The velocity should not be set to be greater than the maximum speeds in r1084 and r1087. 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.
  • Page 228 Drive functions 7.3 Function modules Software limit switches The connector inputs p2578 (software limit switch minus) and p2579 (software limit switch plus) limit the position setpoint if the following prerequisites are fulfilled: ● The software limit switches are activated (p2582 = "1") ●...
  • Page 229 Drive functions 7.3 Function modules Jerk limitation Acceleration and deceleration can change suddenly if jerk limiting has not been activated. The diagram below shows the traversing profile when jerk limitation has not been activated. The diagram shows that maximum acceleration (a ) and deceleration (d ) are effective immediately.
  • Page 230 Jerk limitation is not active when messages are generated with stop responses OFF1 / OFF2 / OFF3. Function diagrams (see SINAMICS S110 List Manual) ● 3630 Traversing range limits Overview of important parameters (see SINAMICS S110 List Manual) ● p2571 EPOS maximum velocity ● p2572 EPOS maximum acceleration ● p2573 EPOS maximum deceleration ●...

  • Page 231: Referencing

    Drive functions 7.3 Function modules 7.3.6.3 Referencing Features ● Reference point offset (p2600) ● Reversing cams (p2613, p2614) ● Reference cam (p2612) ● Binector input start (p2595) ● Binector input setting (p2596) ● Velocity override (p2646) ● Reference point coordinate (p2598, p2599) ●...
  • Page 232 Drive functions 7.3 Function modules Set reference point The reference point can be set using a 0/1 edge at binector input p2596 (set reference point) if no traversing commands are active and the actual position value is valid (p2658 = 1 signal).
  • Page 233 Drive functions 7.3 Function modules Reference point approach for incremental measurement systems When the reference point approach (in the case of an incremental measuring system), the drive is moved to its reference point. In so doing, the drive itself controls and monitors the complete referencing cycle.
  • Page 234 Drive functions 7.3 Function modules Search for reference, step 1: travel to reference cam If there is no reference cam present (p2607 = 0), go to step 2. When the referencing process is started, the drive accelerates at maximum acceleration (p2572) to the reference cam approach velocity (p2605).
  • Page 235 Drive functions 7.3 Function modules Search for reference, step 2: Synchronizing to the reference zero mark (encoder zero mark or external zero mark) Reference cam available (p2607 = 1): In step 2, the drive accelerates to the velocity, specified in p2608 (zero mark approach velocity) in the direction opposite to that specified using binector input p2604 (reference point approach start direction).
  • Page 236 Drive functions 7.3 Function modules Search for reference, step 3: Travel to reference point Travel to the reference point is started when the drive has successfully synchronized to the reference zero mark (see step 2). Once the reference zero mark has been detected, the drive accelerates on-the-fly to the reference point approach velocity set in parameter p2611.
  • Page 237 (p2503 ... p2506). In operating mode, a fault message (F07494) is also generated. Function diagrams (see SINAMICS S110 List Manual) ● 3612 Referencing ● 3614 Flying referencing...

  • Page 238: Traversing Blocks

    Drive functions 7.3 Function modules Overview of important parameters (see SINAMICS S110 List Manual) ● p2596 BI: EPOS set reference point ● p2597 BI: EPOS referencing type selection ● p2598 CI: EPOS reference point coordinate, signal source ● p2599 CO: EPOS reference point coordinate value ●...
  • Page 239 Drive functions 7.3 Function modules This is automatically written by programming the traversing blocks in STARTER. Value = 0000 cccc bbbb aaaa – aaaa: Display/hide 0000: Block is not hidden 0001: Block is hidden A hidden block cannot be selected binary-coded via binector inputs p2625 to p2630. An alarm is output if you attempt to do so.
  • Page 240 Drive functions 7.3 Function modules Intermediate stop and reject traversing task The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes with the parameterized deceleration value (p2620 or p2645). The current traversing task can be rejected by a 0 signal at p2641. After activation, the system brakes with the maximum deceleration (p2573).
  • Page 241 Drive functions 7.3 Function modules ENDLESS POS, ENDLESS NEG Using these tasks, the axis is accelerated to the specified velocity and is moved, until: ● A software limit switch is reached. ● A STOP cam signal has been issued. ● The traversing range limit is reached. ●...
  • Page 242 Drive functions 7.3 Function modules WAITING The WAIT order can be used to set a waiting period, which should expire before the following order is processed. The following parameters are relevant: ● p2616[x] Block number ● p2622[x]Task parameter = delay time in milliseconds ≥ 0 ms ●...
  • Page 243 POSITION and WAIT order can be started. Function diagrams (see SINAMICS S110 List Manual) ● 3616 Traversing blocks operating mode Overview of important parameters (see SINAMICS S110 List Manual) ● p2616 EPOS traversing block, block number ● p2617 EPOS traversing block, position ●...

  • Page 244: Travel To Fixed Stop

    Drive functions 7.3 Function modules 7.3.6.5 Travel to fixed stop Description The "Travel to fixed stop" function can be used, for example, to traverse sleeves to a fixed stop against the workpiece with a predefined torque. In this way, the workpiece can be securely clamped.
  • Page 245 Drive functions 7.3 Function modules Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed stop" is ended. The program advances to the next block depending on the task parameterization. The drive remains in fixed stop until the next positioning task is processed or the system is switched to jog mode.
  • Page 246 ● 3617 Travel to fixed stop (r0108.4 = 1) ● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1) Overview of important parameters (see SINAMICS S110 List Manual) ● p1528 CI: Torque limit, upper/motoring, scaling ● p1529 CI: Torque limit, lower/regenerative scaling ●...

  • Page 247: Direct Setpoint Input (Mdi)

    Drive functions 7.3 Function modules ● r2683 CO/BO: EPOS status word 1 ● r2686 CO: EPOS Torque limit effective 7.3.6.6 Direct setpoint input (MDI) Features ● Select direct setpoint input (p2647) ● Select positioning type (p2648) ● Direction selection (p2651, p2652) ●...
  • Page 248 Drive functions 7.3 Function modules It is possible to make a flying changeover between the two modes. If continuous acceptance (p2649 = 1) is activated, changes to the MDI parameters are accepted immediately. Otherwise the values are only accepted when there is a positive edge at binector input p2650 (setpoint acceptance edge).
  • Page 249 ● 3618 EPOS - direct setpoint input mode/MDI, dynamic values ● 3620 EPOS - direct setpoint input mode/MDI Overview of important parameters (see SINAMICS S110 List Manual) ● p2577 BI: EPOS modulo offset activation ● p2642 CI: EPOS direct setpoint input/MDI, position setpoint ●...

  • Page 250: Jog

    Drive functions 7.3 Function modules 7.3.6.7 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 251: Status Signals

    7.3 Function modules Function diagrams (see SINAMICS S110 List Manual) ● 3610 EPOS - jog mode Overview of important parameters (see SINAMICS S110 List Manual) ● p2585 EPOS jog 1 setpoint velocity ● p2586 EPOS jog 2 setpoint velocity ● p2587 EPOS jog 1 traversing distance ●...
  • Page 252 Drive functions 7.3 Function modules 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 has been reached or passed. The signals are reset if the cams are left in a directly opposing the approach direction.

  • Page 253: Extended Setpoint Channel

    Drive functions 7.3 Function modules 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 254: Description

    Drive functions 7.3 Function modules 7.3.7.2 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 7-54 Extended setpoint channel Properties of the extended setpoint channel ●...

  • Page 255: Jog

    Drive functions 7.3 Function modules ● Jog ● Field bus – Setpoint via PROFIBUS, for example ● About the analog input AI of the CU 305 7.3.7.3 Description This function can be selected via digital inputs or via a field bus (e.g. PROFIBUS). The setpoint is, therefore, predefined via p1058[D] and p1059[D].
  • Page 256 Drive functions 7.3 Function modules Figure 7-56 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 257 Drive functions 7.3 Function modules Jog sequence Figure 7-57 Jog sequence Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 258 Function diagrams (see SINAMICS S110 List Manual) ● 2610 Sequence control - sequencer ● 3030 Setpoint addition, setpoint scaling, jog Overview of important parameters (see SINAMICS S110 List Manual) ● p1055[C] BI: Jog bit 0 ● p1056[C] BI: Jog bit 1 ●...

  • Page 259: Fixed Speed Setpoints

    – Unused binector inputs have the same effect as a "0" signal Function diagrams (see SINAMICS S110 List Manual) ● 1550 Overviews - setpoint channel ● 3010 Fixed speed setpoints Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1001[D] CO: Fixed speed setpoint 1 ● ...

  • Page 260: Motorized Potentiometer

    Drive functions 7.3 Function modules 7.3.7.5 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. The specified setpoint is routed to an internal ramp-function generator. Setting values, start values and braking with OFF1 do not require the ramp-function generator of the motorized potentiometer.
  • Page 261 ● 1550 Setpoint channel ● 2501 Control word sequence control ● 3020 Motorized potentiometer Overview of important parameters (see SINAMICS S110 List Manual) ● p1030[D] Motorized potentiometer, configuration ● p1035[C] BI: Motorized potentiometer, setpoint, raise ● p1036[C] BI: Motorized potentiometer, setpoint, lower ●...

  • Page 262: Main/Supplementary Setpoint And Setpoint Modification

    Function diagrams (see SINAMICS S110 List Manual) ● 1550 Setpoint channel ● 3030 Main/supplementary setpoint, setpoint scaling, jog Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1070[C] CI: Main setpoint ● p1071[C] CI: Main setpoint scaling ●...

  • Page 263: Direction Limitation And Setpoint Inversion

    Function diagrams (see SINAMICS S110 List Manual) ● 1550 Setpoint channel ● 3040 Direction limitation and direction reversal Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1110[C] BI: Inhibit negative direction ● p1111[C] BI: Inhibit positive direction ●...

  • Page 264: Suppression Bandwidths And Setpoint Limits

    The limit speeds can be set via p1080[D] and p1082[D]. These limits can also be changed during operation with the connectors p1085[C] and p1088[C]. Figure 7-60 Suppression bandwidths, setpoint limitation Function diagrams (see SINAMICS S110 List Manual) ● 1550 Setpoint channel ● 3050 Suppression bandwidth and speed limiting Drive functions...
  • Page 265 Drive functions 7.3 Function modules Overview of important parameters (see SINAMICS S110 List Manual) Setpoint limitation ● p1080[D] Minimum speed ● p1082[D] Maximum speed ● p1083[D] CO: Speed limit in positive direction of rotation ● r1084 Speed limit positive effective ●...

  • Page 266: Ramp-Function Generator

    Drive functions 7.3 Function modules 7.3.7.9 Ramp-function generator Description The ramp-function generator is used to limit acceleration in the event of abrupt setpoint changes, which helps prevent load surges throughout the drive train. The ramp-up time p1120[D] and ramp-down time p1121[D] can be used to set mutually independent acceleration and deceleration ramps.
  • Page 267 Drive functions 7.3 Function modules ● OFF3 deceleration ramp – OFF3 ramp-down time p1135[D] ● Set ramp-function generator – Ramp-function generator setting value p1144[C] – Set ramp-function generator signal p1143[C] ● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 0) Properties of the extended ramp-function generator Figure 7-63 Extended ramp-function generator...
  • Page 268 Drive functions 7.3 Function modules ● Set ramp-function generator – Ramp-function generator setting value p1144[C] – Set ramp-function generator signal p1143[C] ● Select ramp-function generator rounding type p1134[D] – p1134 = "0": continuous smoothing rounding is always active. Overshoots may occur. If the setpoint changes, final rounding is carried out and then the direction of the new setpoint is adopted.
  • Page 269 ● t1 and t2 almost identical Function diagrams (see SINAMICS S110 List Manual) ● 1550 Setpoint channel ● 3060 Basic ramp-function generator ●...
  • Page 270 Drive functions 7.3 Function modules Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1115 Ramp-function generator selection ● p1120[D] Ramp-function generator ramp-up time ● p1121[D] Ramp-function generator ramp-down time ● p1122[C] BI: Bypass ramp-function generator ● p1130[D] Ramp-function generator initial rounding time ●...

  • Page 271: Safety Integrated Functions

    Safety Integrated Functions Standards and regulations 8.1.1 General information 8.1.1.1 Aims Manufacturers and operating companies of equipment, machines, and products are responsible for ensuring the required level of safety. This means that plants, machines, and other equipment must be designed to be as safe as possible in accordance with the current state of the art.

  • Page 272: Functional Safety

    Safety Integrated Functions 8.1 Standards and regulations 8.1.1.2 Functional safety Safety, from the perspective of the object to be protected, cannot be split-up. The causes of hazards and, in turn, the technical measures to avoid them can vary significantly. This is why a differentiation is made between different types of safety (e.g.

  • Page 273: Machinery Directive (98/37/Ec)

    Safety Integrated Functions 8.1 Standards and regulations 8.1.2.1 Machinery Directive (98/37/EC) When the European common market was launched, a decision was made that the domestic Standards and regulations of all of the EU Member States relating to the technical implementation of machines would be harmonized. This meant that, as an internal market Directive, the content of the Machinery Directive had to be implemented by the individual member states as national legislation.
  • Page 274 Safety Integrated Functions 8.1 Standards and regulations The European standards regarding the safety of machines are structured in a hierarchical manner as follows: ● A standards (basic standards) ● B standards (group standards) ● C standards (product standards) Type A standards/basic standards A standards include basic terminology and definitions relating to all types of machine.

  • Page 275: Standards For Implementing Safety-Related Controllers

    Safety Integrated Functions 8.1 Standards and regulations 8.1.2.3 Standards for implementing safety-related controllers If the functional safety of a machine depends on various control functions, the controller must be implemented in such a way that the probability of the safety functions failing is sufficiently minimized.
  • Page 276 Safety Integrated Functions 8.1 Standards and regulations Systems for executing safety-related control EN ISO 13849-1 EN 62061 functions Non-electrical (e.g. hydraulic, pneumatic) Not covered Electromechanical (e.g. relay and/or basic Restricted to the designated All architectures and max. up to electronics) architectures (see comment 1) SIL 3 and max.

  • Page 277: En Iso 13849-1 (Previously En 954-1)

    Safety Integrated Functions 8.1 Standards and regulations 8.1.2.4 EN ISO 13849-1 (previously EN 954-1) A qualitative analysis (to EN 954-1) is not sufficient for modern controllers due to their technology. Among other things, EN 954-1 does not take into account time behavior (e.g. test interval and/or cyclic test, lifetime).

  • Page 278: En 62061

    Safety Integrated Functions 8.1 Standards and regulations 8.1.2.5 EN 62061 EN 62061 (identical to IEC 62061) is a sector-specific standard subordinate to IEC/EN 61508. It describes the implementation of safety-related electrical machine control systems and looks at the complete lifecycle, from the conceptual phase to decommissioning. The standard is based on the quantitative and qualitative analyses of safety functions, whereby it systematically applies a top-down approach to implementing complex control systems (known as "functional decomposition").
  • Page 279 Safety Integrated Functions 8.1 Standards and regulations The PFH value of the safety-related controller is determined by adding the individual PFH values for subsystems. The user has the following options when setting up a safety-related controller: ● Use devices and sub-systems that already comply with EN 954-1 (or EN ISO13849-1), IEC/EN 61508, or IEC/EN 62061.

  • Page 280: Series Of Standards En 61508 (Vde 0803)

    Safety Integrated Functions 8.1 Standards and regulations 8.1.2.6 Series of standards EN 61508 (VDE 0803) This series of standards describes the current state of the art. EN 61508 is not harmonized in line with any EU directives, which means that an automatic presumption of conformity for fulfilling the protective requirements of a directive is not implied.
  • Page 281 Safety Integrated Functions 8.1 Standards and regulations This can help eliminate hazards (as far as this is possible) and can act as a basis for implementing suitable protective measures. The risk assessment involves the following: ● Risk analysis – Determining the limits of the machine (EN ISO 12100-1, EN ISO 14121-1 Paragraph 5) –...

  • Page 282: Risk Reduction

    Safety Integrated Functions 8.1 Standards and regulations 8.1.2.8 Risk reduction Risk reduction measures for a machine can be implemented by means of safety-related control functions in addition to structural measures. To implement these control functions, special requirements graded according to the magnitude of the risk must be taken into account.

  • Page 283: Minimum Requirements Of The Osha

    Safety Integrated Functions 8.1 Standards and regulations 8.1.3.1 Minimum requirements of the OSHA The Occupational Safety and Health Act (OSHA) from 1970 regulates the requirement that employers must offer a safe place of work. The core requirements of OSHA are specified in Section 5 "Duties".

  • Page 284: Nfpa 79

    Safety Integrated Functions 8.1 Standards and regulations 8.1.3.3 NFPA 79 NFPA 79 (Electrical Standard for Industrial Machinery) applies to the electrical equipment of industrial machines with rated voltages of less than 600 V (a group of machines that operate with one another in a coordinated fashion is also considered to be a machine). NFPA 79 contains basic requirements for programmable electronics and communications buses that specify that these devices must be listed if they are used for executing safety- relevant functions.

  • Page 285: Machine Safety In Japan

    Safety Integrated Functions 8.1 Standards and regulations 8.1.4 Machine safety in Japan The situation in Japan is different from that in Europe and the US. Legislation such as that prescribed in Europe does not exist. Similarly, product liability does not play such an important role as it does in the USA.

  • Page 286: Other Safety-Related Issues

    Safety Integrated Functions 8.1 Standards and regulations 8.1.6 Other safety-related issues 8.1.6.1 Information sheets issued by the Employer's Liability Insurance Association Safety-related measures to be implemented cannot always be derived from directives, standards, or regulations. In this case, supplementary information and explanations are required.

  • Page 287: General Information About Sinamics Safety Integrated

    Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated General information about SINAMICS Safety Integrated 8.2.1 Supported functions The functions mentioned here comply with IEC 61508, performance level d (PL d) to ISO 13849-1 (formerly EN 954-1), and IEC 61800-5-2. The following Safety Integrated (SI) functions are available: ●...

  • Page 288: Parameter, Checksum, Version, Password

    Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated Prerequisites for the Extended Functions ● Special license for Extended Functions Unlike the Basic Functions, a special license is required for Safety Integrated Extended Functions. The associated license key is entered in parameter p9920 in ASCII code. The license key can be activated via parameter p9921=1.
  • Page 289 Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated ● Factory settings for safety parameters A reset of the safety parameters to the factory setting on a drive-specific basis using p0970 or p3900 and p0010 = 30 is only possible when the safety functions are not enabled (p9301 = p9501 = p9601 = p9801 = 0).
  • Page 290 1. Resetting the drive unit to factory settings. 2. Recommission the drive unit and drive. 3. Recommission Safety Integrated. Or contact your regional Siemens office and ask for the password to be deleted (complete drive project must be made available). Drive functions...

  • Page 291: System Features

    Safety Integrated Functions 8.3 System features Overview of important parameters for "Password" (see SINAMICS S110 List Manual) ● p9761 SI password input ● p9762 SI password new ● p9763 SI password acknowledgment System features 8.3.1 Certification The safety functions of the SINAMICS S drive system meet the following requirements: ●...
  • Page 292 Safety Integrated Functions 8.3 System features DANGER Safety Integrated can be used to minimize the level of risk associated with machines and plants. Machines and plants can only be operated safely in conjunction with Safety Integrated, however, when the machine manufacturer •...
  • Page 293 Safety Integrated Functions 8.3 System features WARNING After hardware and/or software components have been modified or replaced, all protective equipment must be closed prior to system startup and drive activation. Personnel shall not be present within the danger zone. It may be necessary to carry out a partial or complete acceptance test (see chapter "Acceptance test") after having made certain changes or replacements.

  • Page 294: Probability Of Failure Of The Safety Functions (Pfh Value)

    PFH values of other components used for this safety function. Corresponding PFH values are provided for the SINAMICS S110 drive unit, depending on the hardware configuration (control type, ...). The various integrated safety functions are not differentiated.

  • Page 295: Response Times

    Safety Integrated Functions 8.3 System features 8.3.4 Response times Control signals by way of terminals on the Control Unit and Power Module. Table 8- 2 Response times with control signals by way of terminals on the Control Unit and Power Module. Function Standard Worst case...

  • Page 296: Residual Risk

    Safety Integrated Functions 8.3 System features 8.3.5 Residual risk The fault analysis enables the machine manufacturer to determine the residual risk at his machine with regard to the drive unit. The following residual risks are known: WARNING Due to the intrinsic potential of hardware faults, electrical systems are subject to additional residual risk, which can be expressed by means of the PFH value.
  • Page 297 Safety Integrated Functions 8.3 System features WARNING Within a single-encoder system: a) a single electrical fault in the encoder (or loose encoder shaft coupling), or a loose encoder housing will cause a static state of the encoder signals (that is, they no longer follow a movement while still returning a correct level), and prevent fault detection while the drive is in stop state (for example, drive in SOS state).

  • Page 298: Basic Functions

    Safety Integrated Functions 8.4 Basic Functions Basic Functions 8.4.1 Safe Torque Off (STO) General description In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO) function is used to safely disconnect the torque-generating motor power supply. When the function is selected, the drive unit is in a "safe status".
  • Page 299 Safety Integrated Functions 8.4 Basic Functions Enabling the "Safe Torque Off" (STO) function The "Safe Torque Off" function is enabled via the following parameters: NOTICE It is not possible to activate the control via safety terminals and PROFIsafe at the same time.
  • Page 300 Safety Integrated Functions 8.4 Basic Functions 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. Cancel the "switching on inhibited" and switch the drive back on. –...

  • Page 301: Safe Stop 1 (Ss1, Time Controlled)

    Safety Integrated Functions 8.4 Basic Functions 8.4.2 Safe Stop 1 (SS1, time controlled) General description A Category 1 stop in accordance with EN 60204-1:2006 can be implemented with function "Safe Stop 1". The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is selected and switches to "Safe Torque Off"...

  • Page 302: Safe Brake Control (Sbc)

    ● r9773 CO/BO: SI status (Control Unit + Power Module) ● r9774 CO/BO: SI status (STO group) ● r9872 CO/BO: SI status (Power Module) Overview of important parameters (see SINAMICS S110 List Manual) ● see "Safe Torque Off" function ● p1135[0...n] OFF3 ramp-down time ●...
  • Page 303 = 4 x r9780 (2 ms) + 4 ms = 12 ms R_typ = 8 x r9780 (2 ms) + 4 ms = 20 ms R_max Parameter overview (see SINAMICS S110 List Manual) ● r9780 SI monitoring clock cycle (Control Unit) ● r9880 SI monitoring clock cycle (Power Module) Drive functions...

  • Page 304: Safety Faults

    Safety Integrated Functions 8.4 Basic Functions 8.4.4 Safety faults The fault messages for Safety Basic Functions are stored in the standard message buffer and can be read from there. In contrast, the fault messages for Safety Integrated Extended Functions are stored in a separate safety message buffer (see section "Message buffer"). When faults associated with Safety Integrated Basic Functions occur, the following stop responses can be initiated: Table 8- 5...
  • Page 305 "1" level; for acknowledgment, it must first be set from the idle state "0" to "1" and then back to "0" again. Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: References: SINAMICS S110 List Manual Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 306: Forced Checking Procedure

    Safety Integrated Functions 8.4 Basic Functions 8.4.5 Forced checking procedure Forced dormant error detection or test for the switch-off signal paths The forced dormant error detection function at the switch-off signal paths is used to detect software/hardware faults at both monitoring channels in time and is automated by means of activation/deactivation of the "Safe Torque Off"...

  • Page 307: Extended Functions

    Safety Integrated Functions 8.5 Extended Functions Extended Functions 8.5.1 Safe Stop 1 (SS1, time and acceleration controlled) General description The "Safe Stop 1" function can be implemented to stop the drive in accordance with IEC 60204-1, stop category 1. The drive brakes with the OFF3 ramp (p1135) once "Safe Stop 1" is selected and switches to "Safe Torque Off"...
  • Page 308 Safety Integrated Functions 8.5 Extended Functions Functional features of "Safe Stop 1" ● If SS1 is selected, the drive is brought to a stop along the OFF3 ramp (p1135) and STO/SBC is automatically triggered on expiration of the delay time (p9356/p9556), or after having reached the shutdown speed (p9360/p9560).
  • Page 309 ● r9722.1 CO/BO: SI motion status signals, SS1 active ● r9722.0 CO/BO: SI motion status signals, STO active (power removed) Overview of important parameters (see SINAMICS S110 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p9301 SI motion enable safety functions (Power Module) ●...

  • Page 310: Safe Stop 2 (Ss2)

    Safety Integrated Functions 8.5 Extended Functions 8.5.2 Safe Stop 2 (SS2) Description The "Safe Stop 2" (SS2) function is used to brake the motor safely on the OFF3 deceleration ramp (p1135) with subsequent transition to the SOS state (see also "Safe Operating Stop") after the delay time expires (p9352/p9552).
  • Page 311 System errors: ● STOP F with subsequent STOP A ● Safety message C01711/C30711 Overview of important parameters (see SINAMICS S110 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p9301 SI motion enable safety functions (Power Module) ● p9501 SI motion enable safety functions (Control Unit) ●...

  • Page 312: Safe Operating Stop (Sos)

    Safety Integrated Functions 8.5 Extended Functions 8.5.3 Safe Operating Stop (SOS) Description This function serves for failsafe monitoring of the standstill position of a drive. Personnel can enter the protected machine areas without having to shut down the machine as long as SOS is active. Drive standstill is monitored by means of an SOS tolerance window (p9330 and p9530).

  • Page 313: Safely Limited Speed (Sls)

    Note that safe position monitoring within a single-encoder system only works at a rough resolution (4 x pulses per revolution) (see "Safe actual value acquisition". Overview of important parameters (see SINAMICS S110 List Manual) ● p9301 SI motion enable safety functions (Power Module) ●...
  • Page 314 Safety Integrated Functions 8.5 Extended Functions Delay time Figure 8-6 Delay time SLS phase changeover A speed setpoint limit can be set as percentage in p9533. This value is used to calculate a speed setpoint limit r9733, depending on the selected speed limit p9531[x]. By contrast to SI limit parameters, this parameter specifies limits on the motor side instead of limits on the load side.
  • Page 315 Overview of important parameters (see SINAMICS S110 List Manual) ● p9301.0 SI motion enable safety functions (Power Module) ●...

  • Page 316: Safe Speed Monitor (Ssm)

    Safety Integrated Functions 8.5 Extended Functions 8.5.5 Safe Speed Monitor (SSM) Description The SSM function is used for reliably detecting when a speed limit value has been undershot (p9346/p9546) (e.g. for standstill detection) in both directions. A failsafe output signal is available for further processing.
  • Page 317 ● Variable PT1 filter via p9345 and p9545 ● Failsafe output signal ● No stop response Overview of important parameters (see SINAMICS S110 List Manual) ● p9345 SI motion filter time nx (Power Module) ● p9545 SI motion filter time nx (Control Unit) ●...

  • Page 318: Safe Acceleration Monitor (Sbr)

    Safety Integrated Functions 8.5 Extended Functions 8.5.6 Safe Acceleration Monitor (SBR) Description The "Safe Acceleration Monitor" (SBR) function is used for safe monitoring of acceleration. This safety function is not autarkic and is part of the SS1 (time and acceleration controlled) and SS2 (or STOP B and STOP C) safety functions.
  • Page 319 ● Element of the SS1 (time and acceleration controlled) and SS2 functions ● Programmable minimum shutdown speed to be monitored Overview of important parameters (see SINAMICS S110 List Manual) ● p9346 SI motion velocity limit n_x (Power Module) ● p9546 SI motion velocity limit n_x (Control Unit) ●...

  • Page 320: Safety Faults

    Safety Integrated Functions 8.5 Extended Functions 8.5.7 Safety faults Stop responses Faults with Safety Integrated Extended Functions and violation of limits can trigger the following stop response: Table 8- 7 Stop response overview Stop Triggered ... Action Effect response STOP A For all acknowledgeable safety Immediate pulse suppression Drive coasts down...
  • Page 321 Safety Integrated Functions 8.5 Extended Functions On delays at the stop response transitions ● t : p9356/p9556 ● t : p9352/p9552 ● t p9353/p9553 ● t : p9658/p9858 ● t : p9355/p9555 ● n : p9360/p9560 shutdown Stop response priorities Table 8- 8 Stop response priorities Priority classes...
  • Page 322 Safety Integrated Functions 8.5 Extended Functions Priorities of stop responses and Extended Functions Table 8- 9 Priorities of stop responses and Extended Functions Highest priority Lowest priority Stop response / extended function STOP A STOP B STOP C STOP D STOP E STOP F Highest...
  • Page 323 "1" and then set back to "0" once more. Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: References: SINAMICS S110 List Manual Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 324: Message Buffer

    Safety Integrated Functions 8.5 Extended Functions 8.5.8 Message buffer In addition to the fault buffer for F... faults and the alarm buffer for A... alarms, a special message buffer for C... safety messages is available for Safety Extended Functions. The fault messages for the Safety Basic Functions are stored in the standard fault buffer (see "Buffer for faults and alarms").
  • Page 325 The message buffer can be deleted as follows: p9752 = 0. Parameter p9752 (SI message cases, counter) is also reset to 0 during POWER ON. Overview of important parameters (see SINAMICS S110 List Manual) ● r2139.0...8 CO/BO: Status word, faults/alarms 1 ●...

  • Page 326: Safe Actual Value Acquisition

    Supported encoder systems Safety functions used to monitor movements (e.g. SS2, SOS, SLS and SSM) require safe actual value aquisition. For safe speed/position sensing for SINAMICS S110, only a single-encoder system may be used. Single-encoder system Encoders within single-encoder systems are used to generate the failsafe actual values of the drive.
  • Page 327 Both parameters r9730/r9731 depend on the relevant encoder type. Overview of important parameters (see SINAMICS S110 List Manual) ● p9301.3 SI motion enable safety functions (Power Module), enable actual value synchronization ●...
  • Page 328 Safety Integrated Functions 8.5 Extended Functions ● p9515 SI Motion encoder coarse position value configuration ● p9516 SI Motion motor encoder config., safety-relevant functions (CU) ● p9317 SI motion linear scale, grid division (Power Module) ● p9517 SI motion linear scale, grid division (Control Unit) ●...

  • Page 329: Forced Dormant Error Detection

    Safety Integrated Functions 8.5 Extended Functions 8.5.10 Forced dormant error detection Forced dormant error detection and function test through test stop To fulfill the requirements of EN 954-1/ ISO13849-1 PL d and IEC61508 with regard to timely fault detection, the functions and shutdown paths must be tested at least once within a defined period to ensure that they function properly.
  • Page 330 Safety Integrated Functions 8.5 Extended Functions F-DI/F-DO forced dormant error detection For forced dormant error detection of the F-DIs, the level of the F-DIs must be inverted, e.g. by activating the appropriate switch or triggering the appropriate function in the connected safety control.

  • Page 331: Controlling The Safety Functions

    Safety Integrated Functions 8.6 Controlling the safety functions Controlling the safety functions 8.6.1 Overview of F-DI/F-DOs and of their structure Description The failsafe input and output terminals (F-DI and F-DO) act as an interface between the internal Safety Integrated functionality and the process. A dual channel signal applied to an F-DI (Failsafe Digital Input, safety-oriented digital input = safe input terminal pair) controls the active monitoring of the activation/deactivation of safety functions.

  • Page 332: Control Of The Basic Functions Via A Safe Input Terminal Pair

    ● Dual-channel structure via two input terminals as a safe input terminal pair ● Input filter for test signals with a dark period < 1 ms Overview of the safety function terminals for SINAMICS S110 The digital input terminals DI16 and DI17 are defined as F-DI0 for the control of the Basic Functions, if these are enabled (see diagram "Internal connection of DI/DO of the CU305...
  • Page 333 Safety Integrated Functions 8.6 Controlling the safety functions Figure 8-11 Internal connections of the DI/DO of the CU305 with the safety function Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 334 Safety Integrated Functions 8.6 Controlling the safety functions Description Failsafe digital inputs (F-DI) consist of two digital inputs. The cathode of the optocoupler is routed to the second digital input in order to allow the connection of an M-switching F-DO output (the anode must be wired to 24 V DC).
  • Page 335 Safety Integrated Functions 8.6 Controlling the safety functions F-DI features ● Failsafe configuration with two digital inputs per F-DI ● Input filter for test signals with a dark period of less than 1 ms ● Configurable connection of NC/NC or NC/NO contacts by means of parameter p10140 ●...
  • Page 336 - part number: 280-801 – 4-conductor base terminal, center marking, for TS 35, front wiring, CAGE CLAMP® terminal, horizontal design Overview of important parameters (see SINAMICS S110 List Manual) ● r0722 CO/BO: CU digital inputs, status ● p10002 SI discrepancy monitoring time ●...

  • Page 337: Overview Of The F-Dos

    Safety Integrated Functions 8.6 Controlling the safety functions 8.6.4 Overview of the F-DOs Description The failsafe digital output (F-DO) consists of two digital outputs. At the first digital output DO16+ the 24 V potential connected to the terminal 24V1 is switched, and at the second terminal the ground potential connected to terminal M1 is switched (see diagram below "Overview F-DO").
  • Page 338 ● 2856 Safety Integrated - Extended Functions, safe state selection ● 2857 Safety Integrated - Extended Functions, assignment F-DO 0 Overview of important parameters (see SINAMICS S110 List Manual) ● p10042[0..5] SI F-DO 0 signal sources ● r10052 CO/BO: SI status of digital outputs...

  • Page 339: Control By Way Of Profisafe

    (see table "Description of the PROFIsafe control word" and "Description of the PROFIsafe status word"). The SINAMICS S110 drive with PROFIsafe configuration represents a PROFIsafe slave (F- slave) featuring failsafe PROFIBUS communication with the failsafe host; or a PROFIsafe- Device (F-device) featuring failsafe PROFINET communication with the failsafe host (PROFINET connection in preparation).
  • Page 340 Safety Integrated Functions 8.6 Controlling the safety functions PROFIsafe STW (S_STW1, PZD1 in telegram 30, output signals) See function diagram [2840]. Table 8- 10 Description of the PROFIsafe STW Meaning Remarks BICO STO deactivation r9720.0 STO activation SS1 deactivation r9720.1 SS1 activation SS2 deactivation r9720.2...
  • Page 341 Safety Integrated Functions 8.6 Controlling the safety functions PROFIsafe ZSW (S_ZSW1, PZD1 in telegram 30, input signals) See function diagram [2840]. Table 8- 11 Description of the PROFIsafe status word (ZSW) Meaning Remarks BICO STO active STO active r9722.0 STO deactivated SS1 active SS1 active r9722.1...

  • Page 342: Commissioning

    Safety Integrated Functions 8.7 Commissioning Commissioning 8.7.1 Safety Integrated firmware versions General information The safety firmware on the CU305 Control Unit may have a different version number to the overall firmware version. The parameters listed below can be used to read the version IDs from the relevant hardware components.

  • Page 343: General Commissioning Information

    The list of permissible safety firmware version combinations which must be used as a reference during the test, can be found under "Product Support" at the following address: http://support.automation.siemens.com/WW/view/de/28554461 The procedure for checking is described in the following. Procedure for checking the safety firmware version combinations...

  • Page 344: Setting The Sampling Times

    ● The monitoring cycle (p9300/p9500) must be an integer multiple of the actual value update clock cycle (p9311/p9511). Overview of important parameters (see SINAMICS S110 List Manual) ● p9300 SI motion monitoring clock cycle (Power Module) ● p9311 SI motion clock cycle actual value sensing (Power Module) ●...

  • Page 345: Commissioning The Safety Terminals By Means Of Starter/Scout

    Safety Integrated Functions 8.7 Commissioning 8.7.3 Commissioning the safety terminals by means of STARTER/SCOUT 8.7.3.1 Basic sequence of commissioning The following conditions must be met before you can configure the safety terminals: ● Concluded initial commissioning of the drive Table 8- 12 Configuration sequence Step Execution...

  • Page 346: Configuration Start Screen

    Safety Integrated Functions 8.7 Commissioning 8.7.3.2 Configuration start screen Description The following functions can be selected in the start screen: ● Configuration Opens the "Configuration" screen ● Inputs Opens the "Inputs" screen ● Outputs Opens the "Outputs" screen ● Control Opens the "Drive"...

  • Page 347: Configuration Of The Safety Terminals

    Safety Integrated Functions 8.7 Commissioning 8.7.3.3 Configuration of the safety terminals Configuration screen of the terminals for Safety Integrated Figure 8-16 Configuring safety terminals Functions of this screen: ● Safety cycle (p9500) The safety clock cycle corresponds to the sampling time of the safety terminals. –...

  • Page 348: F-Di/F-Do Configuration

    Safety Integrated Functions 8.7 Commissioning 8.7.3.4 F-DI/F-DO configuration Inputs screen F-DI Figure 8-17 Inputs screen NC/NC contact (p10040) Terminal property F-DI 0-2 (p10040.0 = F-DI 0, ... p10040.2 = F-DI 2): Configure only the property of the second (lower) digital input. Always connect an NC contact to digital input 1 (upper).
  • Page 349 Safety Integrated Functions 8.7 Commissioning F-DO output screen Figure 8-18 Output screen Signal source for F-DO (p10042) A six-way AND is connected downstream of the output terminal pair of the F-DO; the signal sources for the inputs of the AND can be selected: ●...

  • Page 350: Control Interface

    Safety Integrated Functions 8.7 Commissioning 8.7.3.5 Control interface Control interface screen Figure 8-19 Control interface screen Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 351: Commissioning Profisafe Via Profibus

    Commissioning PROFIsafe via PROFIBUS Example configuration The next sections deal with a sample configuration of PROFIsafe communication between a SINAMICS S110 drive unit and higher-level SIMATIC F-CPU operating as PROFIBUS master. The configuration and operation of failsafe communication (F communication) is based on...
  • Page 352 Create an F-CPU such as CPU 317F-2 and a SINAMICS S110 in HW Config in accordance with the hardware installed. 1. Set up the SINAMICS S110 for operation as a DP slave and the connected F-CPU as associated DP master.
  • Page 353 Safety Integrated Functions 8.7 Commissioning 3. The telegram configuration for F communication is displayed in the DP slave properties (SINAMICS S110), "Configuration" tab. Figure 8-21 Example: PROFIsafe configuration (HW Config) 4. Double-click the icon of the SINAMICS drive unit and select the "Details" tab in the "Configuration"...
  • Page 354 Safety Integrated Functions 8.7 Commissioning The top five failsafe parameters in this list are configured by default and cannot be edited. The following range of values is valid for the two remaining parameters: F_Dest_Add: 1-65534 F_Dest_Add determines the PROFIsafe destination address of the drive object. Any value within the range is allowed, however, it must be entered once again in the safety configuration of the drive in the SINAMICS drive unit.

  • Page 355: Information Pertaining To Component Replacements

    Safety Integrated Functions 8.7 Commissioning 8.7.5 Information pertaining to component replacements Replacing components WARNING Observe the instructions with regard to changes to software components or to changes to these in the chapter "Safety instructions"! 1. The faulty component was replaced in accordance with safety regulations. 2.

  • Page 356: Application Examples

    Safety Integrated Functions 8.8 Application examples component replacement in plus and minus direction (+/-) with activated safety monitoring function (SLS, if parameterized) in order to verify proper functionality. Application examples 8.8.1 Input/output interconnections for a safety switching device with CU305 interconnecting F-DO with safe input on safety device Figure 8-24 F-DO at equivalent/antivalent safe input on safety device XY (e.g.
  • Page 357 Safety Integrated Functions 8.8 Application examples interconnecting F-DI with plus-minus switching output on safety device Figure 8-25 F-DI at plus-minus switching safe output on safety device XY (e.g. safety PLC) Interconnecting F-DI with plus-plus switching output on safety device Figure 8-26 F-DI at plus-plus switching safe output on safety device XY (e.g.

  • Page 358: Interconnection Of F-Do With Redundant Contactors With Positively Driven Auxiliary Contacts

    Safety Integrated Functions 8.8 Application examples 8.8.2 Interconnection of F-DO with redundant contactors with positively driven auxiliary contacts Interconnection of F-DO with redundant contactors with positively driven auxiliary contacts Figure 8-27 Interconnection of F-DO with redundant contactors with positively driven auxiliary contacts Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 359: Acceptance Test And Acceptance Report

    Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test and acceptance report 8.9.1 General information Requirements regarding acceptance tests are derived from the EC Machinery Directive and ISO 13849-1. IEC 22G WG 10 is currently working on a "Functional safety" standard which includes a detailed description of acceptance test requirements.
  • Page 360 Safety Integrated Functions 8.9 Acceptance test and acceptance report Authorized person, acceptance report The test of each SI function must be carried out by an authorized person and logged in the acceptance report. The report must be signed by the person who carried out the acceptance test.
  • Page 361 Safety Integrated Functions 8.9 Acceptance test and acceptance report Information about the acceptance tests Note As far as possible, the acceptance tests are to be carried out at the maximum possible machine speed and acceleration rates to determine the maximum braking distances and stop times that can be expected.
  • Page 362 1. Inspection of SI parameters 2. Check that the existing safety firmware versions are permissible using the table under Siemens "Product Support" on the Internet (see "Safety Integrated firmware versions"). 3. Logging of checksums (for each drive) 4. Assigning and logging the Safety password (do not disclose in the report!) 5.
  • Page 363 Safety Integrated Functions 8.9 Acceptance test and acceptance report Effect of the acceptance test on specific measures Table 8- 13 Scope of the acceptance test depending on specific measures Measure Documentation Function test Part 1 Function test Part 2 Conclusion of the report Replacement of the Test of failsafe actual...

  • Page 364: Safety Logbook

    – Hardware-dependent CRCs of the motion monitoring functions (p9729[2]), axial (ncSI, Basic and Extended Functions). Overview of important parameters (see SINAMICS S110 List Manual) ● r9781[0] SI checksum to check changes (Control Unit), functional ● r9781[1] SI checksum to check changes (Control Unit), hardware dependent ●...

  • Page 365: Acceptance Report

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.3 Acceptance report 8.9.3.1 Plant description - Documentation part 1 Table 8- 14 Machine description and overview diagram Designation Type Serial number Manufacturer End customer Electrical drives Other drives Overview diagram of machine Table 8- 15 Values of relevant parameters Versions of the firmware and of Safety Integrated...

  • Page 366: Description Of Safety Functions - Documentation Part 2

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.3.2 Description of safety functions - Documentation Part 2 Introduction This example contains the description of a plant; the settings for a specific plant must be adapted accordingly. Function table (Example) Table 8- 16 Example table: Active monitoring functions depending on the operating mode, the protective doors or other sensors...
  • Page 367 Safety Integrated Functions 8.9 Acceptance test and acceptance report Drive-specific data Table 8- 18 Drive-specific data (excerpt) SI function Parameter Power Modules / CU Power Module value / CU value Enable safety functions p9301 / p9501 1001 bin Axis type p9302 / p9502 Encoder assignment p9326 / p9526...

  • Page 368: Acceptance Tests

    Safety Integrated Functions 8.9 Acceptance test and acceptance report Safety equipment Protective door The protective door is unlocked by means of single-channel request key Protective door switch The protective door is equipped with a safety door switch. The safety door switch returns the dual- channel signal "Door closed and locked".
  • Page 369 Safety Integrated Functions 8.9 Acceptance test and acceptance report Description Status r9772.0 = r9772.1 = 0 (STO deselected and inactive – CU) r9872.0 = r9872.1 = 0 (STO deselected and inactive – PM) r9773.0 = r9773.1 = 0 (STO deselected and inactive – drive) When terminals are grouped for "Safe Torque Off": r9774.0 = r9774.1 = 0 (STO deselected and inactive - group) Run the drive...

  • Page 370: Acceptance Test For Safe Stop 1, Time Controlled (Ss1)

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.4.2 Acceptance test for Safe Stop 1, time controlled (SS1) "Safe Stop 1" function (SS1, time-controlled) This test comprises the following steps: Table 8- 21 "Safe Stop 1" function (SS1) Description Status Initial state Drive in "Ready"...

  • Page 371: Acceptance Test For "Safe Brake Control" (Sbc)

    Safety Integrated Functions 8.9 Acceptance test and acceptance report Description Status No safety faults and alarms (r0945, r2122, r2132) • r9772.0 = r9772.1 = 0 (STO deselected and inactive - CU) • r9872.0 = r9872.1 = 0 (STO deselected and inactive – MM) •...
  • Page 372 Safety Integrated Functions 8.9 Acceptance test and acceptance report Description Status Select STO/SS1 during the traversing command. Note: The acceptance test must be conducted for each configured control individually, either via terminals or PROFIsafe. Check the following: Drive is braked and stopped by the mechanical brake. •...

  • Page 373: Acceptance Test For Safe Stop 1, Time And Acceleration Controlled

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.4.4 Acceptance test for Safe Stop 1, time and acceleration controlled "Safe Stop 1" function (SS1, time and acceleration controlled) Note As far as possible, the acceptance tests are to be carried out at the maximum possible machine speed and acceleration rates to determine the maximum braking distances and stop times that can be expected.
  • Page 374 Safety Integrated Functions 8.9 Acceptance test and acceptance report Example of the Trace Figure 8-28 Example Trace SS1 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 375: Acceptance Test For Safe Stop 2 (Ss2)

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.4.5 Acceptance test for Safe Stop 2 (SS2) "Safe Stop 2" function (SS2) The test comprises the following steps: Table 8- 24 "Safe Stop 2" function (SS2) Description Status Initial state Drive in "Ready"...
  • Page 376 Safety Integrated Functions 8.9 Acceptance test and acceptance report Example of the Trace Figure 8-29 Example Trace SS2 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 377: Acceptance Test For Safe Operating Stop (Sos)

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.4.6 Acceptance test for Safe Operating Stop (SOS) "Safe Operating Stop" (SOS) function Note As far as possible, the acceptance tests are to be carried out at the maximum possible machine speed and acceleration rates to determine the maximum braking distances and stop times that can be expected.
  • Page 378 Safety Integrated Functions 8.9 Acceptance test and acceptance report Example of the Trace Figure 8-30 Example Trace SOS Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 379: Acceptance Test For Safely Limited Speed (Sls)

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.4.7 Acceptance test for Safely Limited Speed (SLS) "Safely Limited Speed" (SLS) function The functional test must be carried out separately for each SLS speed limit used. The test comprises the following steps: Table 8- 26 "Safely Limited Speed"...

  • Page 380: Acceptance Test For Safe Speed Monitor (Ssm)

    Safety Integrated Functions 8.9 Acceptance test and acceptance report Example of the Trace Figure 8-31 Example Trace SLS 8.9.4.8 Acceptance test for Safe Speed Monitor (SSM) Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 381 Safety Integrated Functions 8.9 Acceptance test and acceptance report "Safe Speed Monitor" (SSM) function The test comprises the following steps: Table 8- 27 "Safe Speed Monitor" (SSM) function Description Status Initial state Drive in "Ready" status (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.2 = 1) •...

  • Page 382: Completion Of Certificate

    Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.5 Completion of certificate SI parameters Specified values checked? (check) Control Unit Power Module Checksums Drive Checksum (8 hex) Name Drive number Control Unit (p9798) Power Module (p9898) Safety logbook Functional Hardware components Checksums r9781[0] =...

  • Page 383: Communication Profibus Dp

    Communication PROFIBUS DP Communication according to PROFIdrive 9.1.1 General information about PROFIdrive for SINAMICS General information PROFIdrive V4.1 is the PROFIBUS profile for drive technology with a wide range of applications in production and process automation systems. Note PROFIdrive for drive technology is standardized and described in the following document: References: /P5/ PROFIdrive Profile Drive Technology Controller, Supervisor, and Drive Unit ●...

  • Page 384: Application Classes

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.2 Application classes Description There are different application classes for PROFIdrive, depending on the scope and type of the application processes. There are a total of 6 application classes in PROFIdrive, of which 4 are discussed here.
  • Page 385 Communication PROFIBUS DP 9.1 Communication 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 386 Communication PROFIBUS DP 9.1 Communication 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 an autonomous basic positioning drive, while the higher-level technological processes are executed on the controller.
  • Page 387 Communication PROFIBUS DP 9.1 Communication 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 388: Cyclic Communication

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Selection of telegrams as a function of the application class The telegrams listed in the table below (see also chapter "Telegrams and process data") can be used in the following application classes: Table 9- 2 Selection of telegrams as a function of the application class Telegram...
  • Page 389 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive What telegrams are available? 1. Standard telegrams The standard telegrams are structured in accordance with the PROFIdrive Profile. The internal process data links are set up automatically in accordance with the telegram number setting.
  • Page 390 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Telegram interconnections When you change p0922 = 999 (factory setting) to p0922 ≠ 999, the telegrams are interconnected and blocked automatically. Note Telegram 111 is the exception: Here, PZD12 in the transmit telegram or PZD12 in the receive telegram can be interconnected as required.
  • Page 391 Structure of the telegrams You can find an overview of the structure of telegrams in function diagrams 2420, 2422, and 2423 in the SINAMICS S110 List Manual. Depending on the drive object, only certain telegrams can be used: Drive object...

  • Page 392: Description Of Control Words And Setpoints

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.3.2 Description of control words and setpoints 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. The process data are generally normalized in accordance with parameters p2000 to r2004.
  • Page 393 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Table 9- 4 Overview of control words and setpoints, manufacturer-specific Abbreviation Name Signal Data type Interconnection number parameters MOMRED Torque reduction p1542 MT-STW Probe control word P0682 POS_STW Positioning control word (bit-serial) OVERRIDE Override in positioning mode p2646...
  • Page 394 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Meaning Remarks BICO Inhibit ramp-function generator Set ramp-function generator output to zero Restart ramp-function generator Restart ramp-function generator BI: p1141 Freeze ramp-function generator Note: The ramp-function generator cannot be frozen via p1141 in jog mode (r0046.31 = 1). Enable speed setpoint Enable setpoint BI: p1142...
  • Page 395 Acknowledge fault Acknowledge fault BI: p2103 No effect Jog 1 Jog 1 ON BI: p2589 See also SINAMICS S110 List Manual, function diagram 3610 No effect Jog 2 Jog 2 ON BI: p2590 See also SINAMICS S110 List Manual, function...
  • Page 396 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Meaning Remarks BICO Master control by PLC BI: p0854 Control by PLC This signal must be set so that the process data transferred via PROFIdrive are accepted and become effective. No control by PLC Process data transferred via PROFIdrive are rejected - i.e.
  • Page 397 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive NSOLL_A (speed setpoint A (16-bit)) ● Speed setpoint with a 16-bit resolution with sign bit. ● Bit 15 determines the sign of the setpoint: – Bit = 0 --> positive setpoint – Bit = 1 --> negative setpoint ●...
  • Page 398 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive MOMRED (torque reduction) This setpoint can be used to reduce the torque limit currently active on the drive. When you use manufacturer-specific PROFIdrive telegrams with the MOMRED control word, the signal flow is automatically interconnected up to the point where the torque limit is scaled.
  • Page 399 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive POS_STW (positioning mode, p0108.4 =1) See function diagram [2462]. Table 9- 9 Description of POS_STW (positioning mode, p0108.4 = 1) Meaning Remarks BICO Tracking mode Activate tracking mode BI: 2655 Tracking mode deactivated Set reference point Set reference point BI: 2596...
  • Page 400 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive POS_STW1 (control word 1, positioning mode, r0108.4 = 1) See function diagram [2463]. Table 9- 10 Description of POS_STW1 (control word 1) Meaning Remarks BICO EPOS traversing block selection bit 0 Traversing block selection BI: p2625 EPOS traversing block selection bit 1 BI: p2626...
  • Page 401 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive POS_STW2 (control word 2, positioning mode, p0108.4 =1) See function diagram [2464]. Table 9- 11 Description of POS_STW2 (control word 2, positioning mode, p0108.4 = 1) Meaning Remarks BICO Tracking mode Activate tracking mode BI: p2655 Tracking mode deactivated Set reference point...
  • Page 402 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive OVERRIDE (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%. MDI_TARPOS (MDI position) This process data defines the position for MDI sets.
  • Page 403 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive MDI_MODE This process data defines the mode for MDI sets. Precondition: p2654 > 0 MDI_MODE = xx0x hex –> Absolute MDI_MODE = xx1x hex –> Relative MDI_MODE = xx2x hex –> Abs_pos (with modulo offset only) MDI_MODE = xx3x hex –>...

  • Page 404: Description Of Status Words And Actual Values

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.3.3 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 405 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Table 9- 14 Overview of status words and actual values, manufacturer-specific Abbreviation Name Signal Data type Interconnection number parameters MELDW Message word r2089[2] MT_ZSW Probe status word r0688 MT1_ZS_F Probe 1 time stamp falling edge r0687[0] MT1_ZS_S Probe 1 time stamp rising edge...
  • Page 406 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive ZSW1 (status word 1) See function diagram [2452] Table 9- 15 Description of ZSW1 (status word 1) Meaning Remarks BICO Ready for switching on Ready for switching on BO: r0899.0 Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited.
  • Page 407 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Meaning Remarks BICO Speed BO: r2197.7 Setpoint-actual value monitoring within tolerance setpoint-actual value deviation band within tolerance band Actual value within a tolerance band; dynamic overshoot or undershoot for t < t permissible, e.g.
  • Page 408 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive ZSW1 (status word 1, positioning mode, p0108.4 = 1) See function diagram [2479] *Valid for p0922 = 111 (telegram 111). For p0922 = 110 (telegram 110): Bits 14 and 15 reserved. Table 9- 16 Description of ZSW1 (status word 1, positioning mode) Meaning Remarks...
  • Page 409 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Meaning Remarks BICO Following error within the tolerance BO: r2684.8 Setpoint-actual value monitoring within tolerance range band Actual value within a tolerance bandwidth; The tolerance bandwidth can be parameterized. Setpoint/actual value monitoring not within tolerance band Control request to PLC Control requested...
  • Page 410 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive ZSW2 (status word 2) See function diagram [2454] Table 9- 17 Description of ZSW2 (status word 2) Meaning Remarks BICO DDS eff., bit 0 – Drive data set effective (2-bit counter) BO: r0051.0 DDS eff., bit 1 –...
  • Page 411 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive E_DIGITAL MT_ZSW MTn_ZS_F/MTn_ZS_S CU_ZSW1 These process data are part of the central process data. MELDW (message word) See function diagram [2456] Table 9- 18 Description of MELDW (message word) Meaning Remarks BICO Ramp-up/ramp-down completed / Ramp-up/ramp-down completed.
  • Page 412 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Meaning Remarks BICO |n_act| < p2161 BO: r2199.0 |n_act| < p2161 The actual speed value is less than the set threshold value (p2161). |n_act| ≥ p2161 The actual speed value is greater than or the same as the set threshold value (p2161).
  • Page 413 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Meaning Remarks BICO Thermal overload in power unit alarm The temperature of the heat sink in the power unit is outside the permissible range. If the overtemperature remains, the drive switches itself off after approx. 20 s. Speed setp - act val deviation in The speed setpoint/actual value is within the BO: r2199.4...
  • Page 414 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive POS_ZSW See function diagram [3645]. Table 9- 20 Description of POS_ZSW (status word, positioning mode) Meaning Remarks BICO Tracking mode active Tracking mode active BO: r2683.0 Tracking mode not active Velocity limiting active Active BO: r2683.1 Not active...
  • Page 415 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive POS_ZSW1 (status word 1, positioning mode, p0108.4 = 1) See function diagram [2466]. Table 9- 21 Description of POS_ZSW1 (status word 1, positioning mode, p0108.4 = 1) Meaning Remarks BICO Active traversing block, bit 0 –...
  • Page 416 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive POS_ZSW2 (status word 2, positioning mode, p0108.4 = 1 See function diagram [2467]. Table 9- 22 Description of POS_ZSW2 (status word 2, positioning mode, p0108.4 = 1 Meaning Remarks BICO Tracking mode active Tracking mode active BO: r2683.0 Tracking mode not active...

  • Page 417: Control And Status Words For Encoder

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.3.4 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 418 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Encoder n control word (Gn_STW, n = 1, 2) The encoder control word controls the encoder functions. Table 9- 23 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...
  • Page 419 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Name Signal status, description No request Parking encoder Request parking encoder (handshake with Gn_ZSW bit 14) No request Acknowledge encoder error Request to reset encoder errors No request Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 420 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Example 1: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference marks (function 1/function 2) ● Position control with encoder 1 Figure 9-8 Sequence chart for "Find reference mark" Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 421: Example 2: Flying Measurement

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.3.5 Example 2: Flying measurement Example 2: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Figure 9-9 Sequence chart for "Flying measurement" Encoder 2 control word (G2_STW) ●...
  • Page 422 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Encoder n status word (Gn_ZSW, n = 1, 2) The encoder status word is used to display states, errors and acknowledgements. Table 9- 24 Description of the individual signals in Gn_ZSW Name Signal status, description "Find Status:...
  • Page 423 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Name Signal status, description Reserved Transmit absolute value Acknowledgement for Gn_STW.13 (request absolute value cyclically) cyclically Note: Cyclic transmission of the absolute value can be interrupted by a function with higher priority. See Gn_XIST2 •...
  • Page 424 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Encoder 1 actual position value 2 (G1_XIST2) Different values are entered in Gx_XIST2 depending on the function. ● Priorities for Gx_XIST2 The following priorities should be considered for values in Gx_XIST2: Figure 9-11 Priorities for functions and Gx_XIST2 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 425 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive ● Resolution: Encoder pulses ∙ 2n n: fine resolution, no. of bits for internal multiplication Figure 9-12 Subdivision and settings for Gx_XIST2 ● Encoder lines of incremental encoder – For encoders with sin/cos 1Vpp: Encoder lines = no.
  • Page 426 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Error code in Gn_XIST2 Table 9- 25 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 427 ● 4735 Find reference mark with equivalent zero mark, encoders n ● 4740 Measuring probe evaluation, measured value memory, encoders n Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameter drive, CU_S parameter is marked ● p0418[0...15] Fine resolution Gx_XIST1 ●...

  • Page 428: Central Control And Status Words

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.3.6 Central control and status words Description The central process data exists for different telegrams. For example, telegram 391 is used for transferring measuring times and digital inputs/outputs. The following central process data are available: Receive signals: ●...
  • Page 429 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive CU_STW1 (control word for Control Unit, CU) See function diagram [2495]. Table 9- 26 Description of CU_STW1 (control word for Control Unit) Meaning Remarks BICO Synchronization flag – This signal is used to synchronize the joint system time between the BI: p0681[0] controller and drive unit.
  • Page 430 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive A_DIGITAL (digital outputs) This process data can be used to control the Control Unit outputs. See function diagram [2497] Table 9- 27 Description of A_DIGITAL (digital outputs) Meaning Remarks BICO Digital input/output 8 –...
  • Page 431 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive CU_ZSW1 (status word of the DO1 telegram (telegrams 39x)) See function diagram [2496]. Table 9- 29 Description of CU_ZSW1 (status word of the CU) Meaning Remarks BICO 0...3 Reserved – – Fault active Drive object: Device (CU) BO: r2139.3 4..5...
  • Page 432 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive E_DIGITAL (digital inputs) See function diagram [2498]. Table 9- 30 Description of E_DIGITAL (digital inputs) Meaning Remarks BICO Digital input/output 8 – DI/DO 8 on the Control Unit must be parameterized as an input BO: p0722.8 (DI/DO = 8) (p0728.8 = 0).
  • Page 433 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive MTn_ZS_F and MTn_ZS_S Display of the measuring time determined The measuring time is specified as a 16-bit value with a resolution of 0.25 μs. Features of the central probe ● The time stamps from probes in more than one drive can be transferred simultaneously in a single telegram.

  • Page 434: Motion Control With Profidrive

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.3.7 Motion Control with PROFIdrive Description The "Motion control with PROFIBUS" or "Motion Control with PROFINET" function can be used to implement an isochronous drive link between a master and one or more slaves via the PROFIBUS field bus or an isochronous drive link via PROFINET.
  • Page 435 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive ● The slaves synchronize their speed and/or current controller cycle with the position controller cycle on the master. ● The speed setpoint is specified by the master. Figure 9-14 Overview of "Motion control with PROFIBUS" (example: master and 3 slaves) Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 436 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Structure of the data cycle The data cycle comprises the following elements: 1. Global Control telegram (PROFIBUS only) 2. Cyclic part – Setpoints and actual values 3. Acyclic part – Parameters and diagnostic data 4.

  • Page 437: Acyclic Communication

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.4 Acyclic communication 9.1.4.1 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 438 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Figure 9-16 Reading and writing data Characteristics of the parameter channel ● One 16-bit address each for parameter number and subindex. ● Concurrent access by several PROFIBUS masters (master class 2). ● Transfer of different parameters in one access (multiple parameter request). ●...

  • Page 439: Structure Of Orders And Responses

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.4.2 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. parameter address Attribute No.
  • Page 440 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Description of fields in DPV1 parameter request and response Field Data type Values Remark Request reference Unsigned8 0x01 ... 0xFF Unique identification of the request/response pair for the master. The master changes the request reference with each new request.
  • Page 441 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Field Data type Values Remark Format Unsigned8 0x02 Data type integer8 0x03 Data type integer16 0x04 Data type integer32 0x05 Data type unsigned8 0x06 Data type unsigned16 0x07 Data type unsigned32 0x08 Data type floating point Other values See PROFIdrive profile V3.1...
  • Page 442 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Error values in DPV1 parameter responses Table 9- 32 Error values in DPV1 parameter responses Error Meaning Remark Additional value info 0x00 Illegal parameter number Access to a parameter which does not exist. –...
  • Page 443 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x6E Parameter %s [%s]: Write access – – only in the commissioning state, motor (p0010 = 3). 0x6F Parameter %s [%s]: Write access – – only in the commissioning state, power unit (p0010 = 2).

  • Page 444: Determining The Drive Object Numbers

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x7E Parameter %s [%s]: Write access – – only in the commissioning state, device ready (device: p0009 = 0). 0x7F Parameter %s [%s]: Write access – –...

  • Page 445: Example 1: Read Parameters

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.4.4 Example 1: read parameters Prerequisites 1. The PROFIdrive controller has been commissioned and is fully operational. 2. PROFIdrive communication between the controller and the device is operational. 3. The controller can read and write data sets in conformance with PROFIdrive DPV1. Task description Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object number 2), the active fault codes must be read from the fault buffer r0945[0] ...
  • Page 446 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive ● Attribute: 10 hex ––> The parameter values are read. ● No. of elements: 08 hex ––> The current fault incident with 8 faults is to be read. ● Parameter number: 945 dec ––> p0945 (fault code) is read. ●...

  • Page 447: Example 2: Write Parameters (Multi-Parameter Request)

    Communication PROFIBUS DP 9.1 Communication according to PROFIdrive 9.1.4.5 Example 2: write parameters (multi-parameter request) Requirements 1. The PROFIdrive controller has been commissioned and is fully operational. 2. PROFIdrive communication between the controller and the device is operational. 3. The controller can read and write data sets in conformance with PROFIdrive DPV1. Special requirements for this example: 4.
  • Page 448 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Basic procedure 1. Create a request to write the parameters. 2. Invoke the request. 3. Evaluate the response. Activity 1. Create the request. Parameter request Offset Request header Request reference = 40 Request ID = 02 hex 0 + 1 Axis = 02 hex...
  • Page 449 Communication PROFIBUS DP 9.1 Communication according to PROFIdrive Information about the parameter request: ● Request reference: The value is selected at random from the valid value range. The request reference establishes the relationship between request and response. ● Request ID: 02 hex ––>...

  • Page 450: Communication Via Profibus Dp

    Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP Information about the parameter response: ● Request reference mirrored: This response belongs to the request with request reference 40. ● Response ID: 02 hex ––> Write request positive ● Axis mirrored: 02 hex ––> The value matches the value from the request. ●...
  • Page 451 Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP Master and slave ● Master and slave properties Table 9- 33 Master and slave properties Properties Master Slave As bus node Active Passive Send messages Permitted without external Only possible on request by request master Receive messages...

  • Page 452: Commissioning Profibus

    Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP 9.2.2 Commissioning PROFIBUS 9.2.2.1 General information about commissioning Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available on the Control Unit. Figure 9-18 Interfaces and diagnostic LED Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 453 9.2 Communication via PROFIBUS DP ● PROFIBUS interface The PROFIBUS interface is described in the following documentation: References: SINAMICS S110 Equipment Manual ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnostics purposes.
  • Page 454 – Other nodes in the line: switch off terminating resistor ● Shielding for the PROFIBUS cables The cable shield in the plug must be connected at both ends with the greatest possible surface area. References: SINAMICS S110 Equipment Manual Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 455: Commissioning Procedure

    ● The telegram type for each drive object is known by the application. PROFIBUS master ● The communication properties of the SINAMICS S110 slave must be available in the master (GSD file or Drive ES slave OM). Commissioning steps (example with SIMATIC S7) 1.
  • Page 456 Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP Pro Tool and WinCC flexible The SIMATIC HMI can be configured flexibly with "Pro Tool" or "WinCC flexible". The following specific settings for drives must be observed when configuration is carried out with Pro Tool or WinCC flexible.

  • Page 457: Monitoring: Telegram Failure

    Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP 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). • The "variable" HMI functions can be used for drive units. Other functions cannot be used (e.g.

  • Page 458: Motion Control With Profibus

    Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP 9.2.3 Motion Control with PROFIBUS Motion Control /Isochronous drive link with PROFIBUS Figure 9-21 Motion Control/Isochronous drive link with PROFIBUS, optimized cycle with T = 2 ∙ MAPC Sequence of data transfer to closed-loop control system 1.
  • Page 459 Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP Designations and descriptions for Motion Control Table 9- 36 Time settings and meanings Name Value Limit value Description BB8 hex Time basis for T BASE_DP ≐ calculation: T = 3000 ∙ T = 250 µs BASE_DP 3000 dec...
  • Page 460 Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP Name Value Limit value Description E10 hex < T Data exchange time ≐ This is the time required within one cycle for transferring 3600 dec process data to all available slaves. = integer multiple of T = 1/12 µs at 12 MBaud calculation: T = 3600 •...
  • Page 461 Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. – T > T and T > T is thus large enough to enable communication with all bus nodes. NOTICE After T has been changed on the PROFIBUS master, the drive system must be...
  • Page 462 Communication PROFIBUS DP 9.2 Communication via PROFIBUS DP User data integrity User data integrity is verified in both transfer directions (master <––> slave) by a sign of life (4-bit counter). The sign-of-life counters are incremented from 1 to 15 and then start again at 1. ●...

  • Page 463: Basic Information About The Drive System

    Basic information about the drive system 10.1 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 464 Basic information about the drive system 10.1 Parameter The CDS and DDS can be switched over during normal operation. Further types of data set also exist, however these can only be activated indirectly by means of a DDS changeover. ● EDS Encoder Data Set ●...
  • Page 465 = 1; automatically reset to 0 Access level The parameters are subdivided into access levels. The SINAMICS S110 List Manual specifies the access level at which the parameter can be displayed and modified. The required access levels 0 to 4 can be set in p0003.

  • Page 466: Data Sets

    – CI: Speed controller speed setpoint 1 (p1155) – Torque limits and scaling factors (p1522, p1523, p1528, p1529) SINAMICS S110 can manage 2 command data sets. The following parameters are available for selecting command data sets and for displaying the currently selected command data set: The binector input p0810 is used to select a command data set.

  • Page 467: Dds: Drive Data Set

    List Manual by "Data Set DDS" and are assigned an index [0...n]. SINAMICS S110 can manage up to 2 drive data sets. The number of drive data sets is configured with p0180. The parameters of the drive data sets are switched with an index.

  • Page 468: Eds: Encoder Data Set

    – Calculated rated data (p0330 ff) – ... The parameters that are grouped in the motor data set are identified in the SINAMICS S110 List Manual by "Data Set MDS" and are assigned an index [0...n]. The motor data set is assigned to a drive data set via parameter p0186.

  • Page 469: Integration

    ● Switching over different windings in a motor (e.g. star-delta changeover) ● Adapting the motor data SINAMICS S110 can manage up to 2 motor data sets. The number of motor data sets in p0130 must not exceed the number of drive data sets in p0180.

  • Page 470: Using Data Sets

    Basic information about the drive system 10.2 Data sets 10.2.6 Using data sets Copying a command data set Set parameter p0809 as follows: 1. p0809[0] = number of the command data set to be copied (source) 2. p0809[1] = number of the command data to which the data is to be copied (target) 3.
  • Page 471 Basic information about the drive system 10.2 Data sets Uncommissioned data sets Drive commissioning can also be completed if uncommissioned data sets (EDS, MDS, DDS) are available. Uncommissioned data sets are marked as "uncommissioned". The attributes are displayed in STARTER or in the expert list or OPs. Activation of these data sets is not permitted and will be rejected with an error.

  • Page 472: Working With The Memory Card

    2. A non-volatile memory, the ROM, also called Flash memory. 3. An optionally available portable memory card. Only memory cards which have been prepared for these systems by Siemens will be accepted. During operation, the S110 system works from the work memory. It is here that all project data and application programs for operation are stored.
  • Page 473 Basic information about the drive system 10.3 Working with the memory card Copying parameter data sets from non-volatile memory to the memory card There are three ways of copying parameter data sets from non-volatile memory to the memory card: 1. The system is powered down: –...
  • Page 474 Basic information about the drive system 10.3 Working with the memory card Copying parameter data sets from the memory card to non-volatile memory There are two ways of copying parameter data sets from the memory card to non-volatile memory: 1. The system is switched off: –...

  • Page 475: Bico Technology: Interconnecting Signals

    Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4 BICO technology: Interconnecting signals 10.4.1 Description Description Every drive contains a large number of interconnectable input and output variables and internal control variables. BICO technology (Binector Connector Technology) allows the drive to be adapted to a wide variety of conditions.

  • Page 476: Binectors, Connectors

    Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.2 Binectors, connectors Binectors, BI: Binector Input, BO: Binector Output A binector is a digital (binary) signal without a unit which can assume the value 0 or 1. Binectors are subdivided into binector inputs (signal sink) and binector outputs (signal source).

  • Page 477: Interconnecting Signals Using Bico Technology

    Example: FloatingPoint32 The possible interconnections between the BICO input (signal sink) and the BICO output (signal source) are listed in the following documents: References: SINAMICS S110 List Manual Section "Explanation of list of parameters", table "Possible combinations for BICO interconnections".

  • Page 478: Internal Encoding Of The Binector/Connector Output Parameters

    Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.4 Internal encoding of the binector/connector output parameters The internal codes are required for writing BICO input parameters via PROFIBUS, for example. Figure 10-5 Internal encoding of the binector/connector output parameters 10.4.5 Sample interconnections Example: Interconnection of digital signals...

  • Page 479: Bico Technology

    Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.6 BICO technology: Copying drives When a drive is copied, the interconnection is copied with it. Binector-connector converters and connector-binector converters Binector-connector converter ● Several digital signals are converted to a 32-bit integer double word or to a 16-bit integer word.

  • Page 480: Scaling

    Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.7 Scaling Signals for the analog outputs Table 10- 4 List of signals for analog outputs Signal Parameter Unit Normalization (100 % = ...) Speed setpoint before the setpoint r0060 p2000 filter...

  • Page 481: Inputs/Outputs

    Note For detailed information about the hardware properties of I/Os, please refer to: Reference: SINAMICS S110 Equipment Manual Control Units For detailed information about the structural relationships between all I/Os of a component and their parameters, please refer to the function diagrams in:...

  • Page 482: Digital Inputs/Outputs

    – Jumper closed, non-floating. The reference potential of the digital inputs is the ground of the Control Unit. Function diagrams (see SINAMICS S110 List Manual) ● 2020 Digital inputs, electrically isolated (DI 0 ... DI 3) ● 2021 Digital inputs, electrically isolated (DI 16 ... DI 19) ●...
  • Page 483 – as a binector output – as a connector output Note Before the digital output can function, its own electronics power supply must be connected. Function diagrams (see SINAMICS S110 List Manual) ● 2032 digital output (DO 16) Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 484 ● Sharing of bidirectional input/output resources by the CU and higher-level control (see section "Use of bidirectional inputs/outputs on the CU") Function diagrams (see SINAMICS S110 List Manual) ● 2030 Bidirectional digital inputs/outputs (DI/DO 8 ... DI/DO 9) ● 2031 Bidirectional digital inputs/outputs (DI/DO 10 ... DI/DO 11)

  • Page 485: Analog Input

    ● Output signal available via connector output ● Scaling ● Smoothing NOTICE Scaling parameters p0757 to p0760 do not limit the voltage/current values. Function diagram (see SINAMICS S110 List Manual) ● 2040 Analog input (AI 0) Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 486: System Sampling Times

    Basic information about the drive system 10.6 System sampling times 10.6 System sampling times The software functions installed in the system are executed cyclically at different sampling times. The sampling times of the functions are pre-assigned automatically when the drive unit is configured.

  • Page 487: Licensing

    Licensing Description SINAMICS S110 requires that a license purchased specifically for this purpose is assigned to the hardware if the extended functions of Safety Integrated are to be used. In doing this you will receive a license key, which links the extended functions of Safety Integrated with the hardware electronically.
  • Page 488 ● Serial number for the memory 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 489 ASCII code Table 10- 7 Excerpt of ASCII code Letter/number decimal Letter/number decimal Blanks Overview of important parameters (see SINAMICS S110 List Manual) ● p9920 Licensing, enter license key ● p9921 Licensing, activate license key Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 490 Basic information about the drive system 10.7 Licensing Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 491: Appendix

    Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 492 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 493 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 494 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 495 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 496 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 497 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 498 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 499 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 500 Appendix 11.1 List of abbreviations Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 501 Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 502 Appendix Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 503 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, 10/2008, 6SL3097-4AB10-0BP0...
  • Page 504 Appendix Drive functions Function Manual, 10/2008, 6SL3097-4AB10-0BP0...

  • Page 505: Index

    Index Absolute encoder Basic Positioner, 222 Adjustment, 232 Basic positioning Acceptance test Referencing, 231 SBC, 371 BICO technology SLS, 379 Converters, 479 SS1 (time controlled), 370 Fixed values, 479 SS1, time and acceleration controlled, 373 Interconnecting signals, 477 SS2, 375 What is it?, 475 SSM, 380 Bidirectional inputs/outputs, 481...
  • Page 506 Index ESD information, 9 Example Data sets Setting the PROFIBUS address, 453 Command data set (CDS), 466 Drive data set (DDS), 467 Encoder data set (EDS), 468 Motor data set (MDS), 468 Detail view, 21 F parameters, 353 Determining the axis number, 444 Fault buffer, 104 Determining the object number, 444 Fault response, 320...
  • Page 507 Index Message buffer, 324 Messages, 102 Generator for signals, 90 External triggering, 107 Triggering on, 107 Monitoring functions extended, 199 Heartbeat, 69, 81 Motion Control with PROFIBUS, 434 Hotline, 7 Motorized potentiometer, 260 Inputs/outputs Node guarding, 69, 81 Overview, 481 Interconnection using BICO technology, 477 Intermediate stop EPOS, 240, 249...
  • Page 508 Index Process data, actual values SI ZSW (PROFIsafe ZSW), 341 G1_XIST1, 404, 423 XistP, 404 G1_XIST2, 404, 424 ZSW1, 404, 406 G2_XIST1, 404, 426 ZSW2, 404, 410 G2_XIST2, 404, 426 PROFIBUS, 450 NACT_A, 404, 410 Components, 40 NACT_B, 404, 410 Device identification, 454 Process data, control words Device master file, 454...
  • Page 509 Index Safe Stop 1 Motorized potentiometer, 260 SS1, 301, 307 Ramp-function generator, extended, 266 Time and acceleration controlled, 307 Servo amplifier, 253 time controlled, 301 Setpoint limitation, 264 Safe Stop 2 Setpoint modification, 262 SS2, 310 Suppression bandwidths, 264 Safely Limited Speed with, 79 SLS, 313 without, 79...
  • Page 510 Index STOP A, 304, 320 Traversing blocks, 238 STOP B, 320 Traversing task STOP C, 320 reject, 240 Stop cam, 228 Reject, 249 STOP D, 320 Two-encoder system, 326 STOP E, 320 STOP F, 304, 320 Stop response Stop A, 304 Unit changeover, 173 Stop F, 304 User interface, 21...
  • Page 512 Siemens AG Subject to change without prior notice Industry Sector © Siemens AG 2008 Drive Technologies Motion Control Systems P. O. Box 3180 91050 ERLANGEN GERMANY www.siemens.com/motioncontrol...

Table of Contents