Page 3 ___________________ Preface Fundamental safety ___________________ instructions ___________________ SINAMICS Infeed ___________________ Extended setpoint channel S120 Drive functions ___________________ Servo control ___________________ Vector control Function Manual ___________________ V/f control (vector control) ___________________ Basic functions ___________________ Function modules Monitoring functions and ___________________ protective functions Safety Integrated Basic ___________________ 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
Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
Page 6 • SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62) • Installation/assembly SINAMICS S120 Manual for Control Units and Additional System Components • SINAMICS S120 Manual for Booksize Power Units • SINAMICS S120 Manual for Booksize Power Units C/D Type •...
Page 7 Technical Support Country-specific telephone numbers for technical support are provided in the Internet at the following address (https://support.industry.siemens.com/sc/ww/en/sc/2090) in the "Contact" area. Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 8 Preface Notation The following notation and abbreviations are used in this documentation: Notation for faults and alarms (examples): Fault 12345 • F12345 Alarm 67890 • A67890 Safety message • C23456 Notation for parameters (examples): Adjustable parameter 918 • p0918 Display parameter 1024 •...
Page 9: Table Of Contents
Contents Preface ..............................5 Fundamental safety instructions ......................25 General safety instructions ..................... 25 Warranty and liability for application examples ..............26 Industrial security ........................27 Infeed ..............................29 Active Infeed ........................... 30 2.1.1 Active Infeed closed-loop control booksize ................31 2.1.2 Active Infeed closed-loop control chassis ................
Page 10 Contents Ramp-function generator ....................... 76 3.6.1 Ramp-function generator tracking..................79 3.6.2 Signal overview, function diagrams and important parameters ..........81 Servo control ............................83 Technological application ....................... 87 Setpoint addition ........................88 Speed setpoint filter ....................... 90 Speed controller ........................92 4.4.1 Speed controller ........................
Page 11 4.14.2 Pole position identification technique ..................161 4.14.3 Commutation angle offset commissioning support (p1990) ..........163 4.14.4 Overview of important parameters (see SINAMICS S120/S150 List Manual) ..... 163 4.15 Vdc control ..........................165 4.16 Dynamic Servo Control (DSC) ....................169 4.17...
Page 12 Contents 5.13 Motor data identification and rotating measurement............249 5.13.1 Overview ..........................249 5.13.2 Motor data identification ....................... 251 5.13.3 Rotating measurement ......................254 5.13.4 Shortened rotating measurement ..................256 5.13.5 Overview of important parameters ..................257 5.14 Pole position identification ....................258 5.14.1 Operation without an encoder ....................
Page 13 Contents Sine-wave filter ........................324 Motor reactors ........................326 dv/dt filter plus Voltage Peak Limiter ..................328 dv/dt filter compact plus Voltage Peak Limiter ..............330 Pulse frequency wobbling ..................... 332 7.10 Direction reversal without changing the setpoint ..............333 7.11 Automatic restart ........................
Page 14 Contents 7.20.12 Troubleshooting ........................381 7.20.13 Tolerance window and correction ..................383 7.20.14 Dependencies ........................384 7.20.15 Overview of important parameters ..................386 7.21 Parking axis and parking encoder..................387 7.22 Position tracking ........................390 7.22.1 General information ......................390 7.22.2 Measuring gearbox ......................
Page 15 Contents 7.30.7 Displaying diagnostic functions ..................... 445 7.30.7.1 Status and operating display of the drive object ..............445 7.30.7.2 Loading trace files ......................... 446 7.30.8 Displaying messages ......................448 7.30.8.1 Displaying the diagnostic buffer .................... 448 7.30.8.2 Displaying faults and alarms ....................450 7.30.9 Displaying and changing drive parameters................
Page 16 Contents 8.8.10 Jog ............................545 8.8.11 Status signals ........................546 Master/slave function for Active Infeed ................549 8.9.1 Operating principle ....................... 549 8.9.2 Basic structure ........................549 8.9.3 Types of communication ...................... 552 8.9.4 Description of functions ......................553 8.9.5 Commissioning........................
Page 17 Contents 8.15.5 Messages and parameters ....................634 Monitoring functions and protective functions ..................635 Power unit protection, general ....................635 Thermal monitoring and overload responses ............... 636 Blocking protection ........................ 638 Stall protection (vector control only) ..................639 Thermal motor protection ...................... 640 9.5.1 Thermal motor models ......................
Page 18 Contents 10.6 Safe Brake Control (SBC) ....................689 10.6.1 SBC for Motor Modules in the chassis format ..............691 10.7 Response times ........................693 10.7.1 Controlling via terminals on the Control Unit and Motor Module ......... 694 10.7.2 Control via PROFIsafe ......................694 10.7.3 Control via TM54F........................
Page 19 Contents 11.1.4.4 Example 1: read parameters ....................760 11.1.4.5 Example 2: Writing parameters (multi-parameter request)........... 762 11.1.5 Diagnostics channels ......................765 11.1.5.1 PROFINET-based diagnostics ....................767 11.1.5.2 PROFIBUS-based diagnostics ..................... 769 11.2 Communication via PROFIBUS DP ..................774 11.2.1 General information about PROFIBUS ................. 774 11.2.1.1 General information about PROFIBUS for SINAMICS ............
Page 20 Contents 11.3.10 PROFIenergy ........................846 11.3.10.1 Tasks of PROFIenergy ......................848 11.3.10.2 PROFIenergy commands ....................849 11.3.10.3 PROFIenergy measured values ................... 851 11.3.10.4 PROFIenergy energy-saving mode ..................851 11.3.10.5 PROFIenergy inhibit and pause time ................... 852 11.3.10.6 Function diagrams and parameters ..................852 11.3.11 Messages via diagnostics channels..................
Page 21 Contents Applications ............................911 12.1 Application examples ......................911 12.2 Infeed switch on by a drive ....................914 12.3 Control Units without infeed control ..................917 12.4 Quick stop in the event of a power failure or emergency stop (servo) ......... 919 12.5 Motor changeover .........................
Page 22 Contents 13.8 Know-how protection ......................976 13.8.1 Overview ..........................976 13.8.2 Know-how protection features ..................... 977 13.8.3 Configuring know-how protection ..................979 13.8.3.1 Maintaining the list of exceptions ..................979 13.8.3.2 Activate know-how protection ....................980 13.8.3.3 Deactivating know-how protection ..................983 13.8.3.4 Changing the password .......................
Page 23 Fault and alarm displays ..................... 1061 A.4.4 Controlling the drive using the BOP20................1062 Availability of hardware components .................. 1063 Availability of SW functions ....................1069 Functions of SINAMICS S120 Combi ................. 1080 Index..............................1083 Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 24 Contents Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 25: Fundamental Safety Instructions
Fundamental safety instructions General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. •...
Page 26: Warranty And Liability For Application Examples
Fundamental safety instructions 1.2 Warranty and liability for application examples Warranty and liability for application examples The application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. The application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks.
Page 27: Industrial Security
Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer’s exposure to cyber threats.
Page 28 Fundamental safety instructions 1.3 Industrial security Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 29: Infeed
Infeed Infeed units (Line Modules) Line Modules contain the central line infeed for the DC link. Various Line Modules can be selected to address the various application profiles: ● Active Line Modules (ALM) ● Basic Line Modules (BLM) ● Smart Line Modules (SLM) The devices are parameterized in Startdrive using the "Infeed"...
Page 30: Active Infeed
Infeed 2.1 Active Infeed Active Infeed Features ● Controlled DC link voltage whose level can be adjusted (independent of line voltage fluctuations) ● Regenerative feedback capability ● Specific reactive current setting ● Low line harmonics, sinusoidal line current (cos φ = 1) ●...
Page 31: Active Infeed Closed-Loop Control Booksize
Infeed 2.1 Active Infeed 2.1.1 Active Infeed closed-loop control booksize Figure 2-1 Schematic structure of Active Infeed booksize Active Infeed closed-loop control for Active Line Modules booksize The Active Line Module can be operated in two different modes depending on the parameterized line supply voltage (p0210): ●...
Page 32 Infeed 2.1 Active Infeed The DC link voltage setpoint (p3510) and the control type are preset as follows during commissioning in line with the connection voltage (p0210): Table 2- 1 Presetting the control type and DC link voltage booksize Supply voltage p0210 [V] 380...400 401...415 416...440...
Page 33: Active Infeed Closed-Loop Control Chassis
Infeed 2.1 Active Infeed While the identification routine is running, it is not permissible that other loads are switched- in/switched-out. Note In a supply system without regenerative feedback capability (e.g. generators), regenerative operation must be inhibited via the binector input p3533. Note When a Wideband Line Filter is connected, it must be parameterized with p0220 = 1...5.
Page 34 Infeed 2.1 Active Infeed Operating mode of Active Infeed closed-loop control for Active Line Modules chassis. Active Line Modules chassis only function in Active Mode. In the Active Mode, the DC link voltage is regulated to a variable setpoint (p3510) which results in a sinusoidal line current (cos φ...
Page 35: Line Supply And Dc Link Identification
Identification methods For additional identification methods, see the SINAMICS S120/S150 List Manual. ● p3410 = 4: Identify and save controller setting with L adaptation An identification run for the total inductance and DC link capacitance is initiated when the pulses are next enabled (2 measuring routines with different current magnitudes).
Page 36: Active Infeed Open-Loop Control
Infeed 2.1 Active Infeed 2.1.4 Active Infeed open-loop control The Active Line Module can be controlled via the BICO interconnection using terminals or the fieldbus. The operating status is indicated on the operating display r0002. The missing enable signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable pulses) must be connected in accordance with the manual of the corresponding power units.
Page 37 Infeed 2.1 Active Infeed Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Switching off the Active Line Module The Active Line Module is switched off by the same procedure used to switch it on, but in the reverse order.
Page 38: Reactive Current Control
Infeed 2.1 Active Infeed Table 2- 3 Active Infeed status message Signal name Internal status word Parameter PROFIdrive telegram 370 Ready to start ZSWAE.0 r0899.0 E_ZSW1.0 Ready ZSWAE.1 r0899.1 E_ZSW1.1 Operation enabled ZSWAE.2 r0899.2 E_ZSW1.2 Fault active ZSWAE.3 r2139.3 E_ZSW1.3 No OFF2 active ZSWAE.4 r0899.4...
Page 39: Harmonics Controller
Infeed 2.1 Active Infeed 2.1.6 Harmonics controller Harmonics in the line voltage cause harmonics in the line currents. With the activation of the harmonics controller, the ALM generates a pulse pattern that contains harmonic components in addition to the fundamental component. Ideally, the Active Infeed now sets an equally large harmonic voltage to the harmonic voltage on the line side, and does not consume any power for this harmonic.
Page 40: Function Diagrams And Parameters
● Actual current value filter; activation with p5200.2 = 1 ● Vdc actual value filter; activation with p1656.4 = 1 2.1.8 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed overview • 8910 Active Infeed - Control word, sequence control, infeed •...
Page 41 Infeed 2.1 Active Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046.0...29 CO: Phase current actual value • r0069[0...8] Device supply voltage • p0210[0...1] Infeed line filter type •...
Page 42 Infeed 2.1 Active Infeed Parameterizable bandstop filters Signal filter activation • p1656 Vdc actual value filter 5 type • p1677 Vdc actual value filter 5 denominator natural frequency • p1678 Vdc actual value filter 5 denominator natural frequency • p1679 Vdc actual value filter 5 numerator natural frequency •...
Page 43: Smart Infeed
Infeed 2.2 Smart Infeed Smart Infeed Features ● For Smart Line Modules with a power ≥ 16 kW ● Unregulated DC link voltage ● Regenerative feedback capability Description The firmware of the Smart Line Module is located on the assigned Control Unit. The Smart Line Module and Control Unit communicate via DRIVE-CLiQ.
Page 44 Infeed 2.2 Smart Infeed Figure 2-5 Schematic structure of Smart Infeed chassis Commissioning The device connection voltage (p0210) must be parameterized during commissioning. The Extended Smart Mode can be activated as an option (see Chapter "Extended Smart Mode (Page 46)") Note In a supply system without regenerative feedback capability (e.g.
Page 45: Line Supply And Dc Link Identification Routine For Smart Infeed Booksize
0 when one of the two identification routines (p3410 = 4 or p3410 = 5) is successfully completed. For additional identification methods, see the SINAMICS S120/S150 List Manual. It may be necessary to reset the closed-loop controller to the factory settings if an identification run was unsuccessful, for example.
Page 46: Extended Smart Mode
Infeed 2.2 Smart Infeed 2.2.2 Extended Smart Mode The operating mode “Extended Smart Mode” represents and extension of the Smart Mode, and facilitates a higher efficiency no-load operation and partial load operation as well as a more rugged operating behavior: ●...
Page 47 Infeed 2.2 Smart Infeed Switching on the Smart Line Module Figure 2-6 Smart Infeed power-up Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 48 Infeed 2.2 Smart Infeed Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Switching off the Smart Line Module The Smart Line Module is switched off by the same procedure used to switch it on, but in the reverse order.
Page 49: Function Diagrams And Parameters
Line contactor closed ZSWAE.12 r0899.12 E_ZSW1.12 2.2.4 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Smart Infeed overview • 8810 Smart Infeed - Control word, sequence control, infeed • 8820 Smart Infeed - Status word, sequence control, infeed •...
Page 50 Infeed 2.2 Smart Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046.0...29 Device supply voltage • p0210 BI: ON/OFF (OFF1) • p0840 BI: No coast down / coast down •...
Page 51: Basic Infeed
Infeed 2.3 Basic Infeed Basic Infeed Features ● For Basic Line Modules chassis and booksize ● Unregulated DC link voltage ● Control of external braking resistors with 20 kW and 40 kW Basic Line Modules (with temperature monitoring) Description The Basic Infeed open-loop control can be used to switch on/off the Basic Line Module. The Basic Line Module is an unregulated infeed unit without regenerative feedback capability.
Page 52 Infeed 2.3 Basic Infeed Figure 2-8 Schematic structure of Basic Infeed chassis Commissioning The rated line voltage (p0210) must be parameterized during commissioning. For the 20 kW and 40 kW Basic Line Modules booksize, the temperature switch of the external braking resistor must be connected to X21 on the Basic Line Module. If a braking resistor has not been connected for 20 kW and 40 kW Basic Line Modules booksize, the Braking Module must be deactivated via p3680 = 1.
Page 53: Basic Infeed Open-Loop Control
Infeed 2.3 Basic Infeed Remedial measures: ● activate the V control: dc_max – Vector control: p1240 = 1 (factory setting) – Servo control: p1240 = 1 – V/f control: p1280 = 1 (factory setting) ● Inhibit V control: dc_max – Vector control: p1240 = 0 –...
Page 54 Infeed 2.3 Basic Infeed Switching on the Basic Line Module Figure 2-9 Basic Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 55 Infeed 2.3 Basic Infeed Switching off the Basic Line Module For switching off, carry out the steps for switching on in the reverse order. However, there is no pre-charging at switch off. Control and status messages Table 2- 7 Basic Infeed open-loop control Signal name Internal Binector input...
Page 56: Function Diagrams And Parameters
Basic Infeed - Interface to the Basic Infeed power unit (control signals, • 8750 actual values) Basic Infeed - Signals and monitoring functions (p3400.0 = 0) • 8760 Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046.0...29 Device supply voltage •...
Page 57: Line Contactor Control
Infeed 2.4 Line contactor control Line contactor control This function can be used to control an external line contactor. Opening and closing the line contactor can be monitored by evaluating the feedback contact in the line contactor. The line contactor can be controlled via r0863.1 with the following drive objects: ●...
Page 58 Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed - Missing enables, line contactor control • 8938 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Line contactor, feedback signal • p0860 CO/BO: Drive coupling status word / control word •...
Page 59: Precharging And Bypass Contactor Chassis
DC-link capacitance, the precharging resistors can also be connected in parallel in each phase. Further information: ● SINAMICS S120 Manual for Chassis Power Units, Air-cooled Procedure during power ON/OFF Power ON: ● The precharging contactor is closed and the DC link is charged via the precharging resistors.
Page 60 Infeed 2.5 Precharging and bypass contactor chassis Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 61: Extended Setpoint Channel
You can check the current configuration in parameter r0108.8. Once you have set the configuration, you have to download it to the Control Unit where it is stored in a non-volatile memory (see the SINAMICS S120 Commissioning Manual with STARTER). Note When the "extended setpoint channel"...
Page 62: Description
Extended setpoint channel 3.1 Fundamentals 3.1.2 Description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control. The setpoint for the motor control can also come from the technology controller (see Chapter "Technology controller (Page 467)"). Figure 3-1 Extended setpoint channel Properties of the extended setpoint channel...
Page 63 Extended setpoint channel 3.1 Fundamentals Setpoint sources The closed-loop control setpoint can be interconnected from various sources using BICO technology, e.g. at p1070 CI: Main setpoint (see function diagram 3030)). There are various options for setpoint input: ● Fixed speed setpoints ●...
Page 64: Motorized Potentiometer
Extended setpoint channel 3.2 Motorized potentiometer Motorized potentiometer 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 65 • 3001 Internal control/status words - Control word, sequence control • 2501 Setpoint channel - Motorized potentiometer • 3020 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motorized potentiometer configuration • p1030[0...n] BI: Motorized potentiometer, setpoint, raise • p1035[0...n] BI: Motorized potentiometer, setpoint, lower •...
Page 66: Fixed Setpoints
Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Fixed speed setpoints • 3010 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Fixed speed setpoint 1 • p1001[0...n] CO: Fixed speed setpoint 15 • p1015[0...n] BI: Fixed speed setpoint selection Bit 0 •...
Page 67: Speed Setpoint
The "Speed setpoint" parameterizing screen form is selected with the icon in the toolbar of the STARTER commissioning tool. Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Main setpoint / supplementary setpoint, setpoint scaling, •...
Page 68: Jogging
Extended setpoint channel 3.4 Speed setpoint Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Main setpoint • p1070[0...n] CI: Main setpoint scaling • p1071[0...n] CO: Main setpoint effective • r1073 CI: Supplementary setpoint • p1075[0...n] CI: Supplementary setpoint scaling •...
Page 69 Extended setpoint channel 3.4 Speed setpoint Figure 3-4 Flow diagram: Jog 1 and jog 2 Properties ● If both jog signals are issued at the same time, the current speed is maintained (constant speed phase). ● Jog setpoints are approached and exited via the ramp-function generator. ●...
Page 70 Extended setpoint channel 3.4 Speed setpoint Sequence Figure 3-5 Jog sequence Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 71 Parameterization with STARTER The "Speed setpoint jog" parameterizing screen form is selected via the icon in the toolbar of the STARTER commissioning tool: Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Sequence control - Sequencer • 2610 Setpoint channel - Main/supplementary setpoint, setpoint scaling, jogging •...
Page 72: Direction Of Rotation Limiting And Direction Reversal
Extended setpoint channel 3.4 Speed setpoint Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Jog bit 0 • p1055[0...n] BI: Jog bit 1 • p1056[0...n] Jog 1 speed setpoint • p1058[0...n] Jog 2 speed setpoint • p1059[0...n] Maximum speed •...
Page 73 Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Direction limitation and direction reversal • 3040 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Block negative direction • p1110[0...n] BI: Block positive direction • p1111[0...n] BI: Setpoint inversion •...
Page 74: Speed Limiting
Extended setpoint channel 3.5 Speed limiting Speed limiting In the range from 0 rpm to the speed setpoint, a drive train (e.g. motor, clutch, shaft, machine) can have one or more points of resonance. These resonances lead to oscillations. The suppression bandwidths can be used to prevent operation in the resonance frequency range.
Page 75 Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Skip frequency bands and speed limiting • 3050 Overview of important parameters (see SINAMICS S120/S150 List Manual) Setpoint limitation Minimum speed • p1080[0...n] Maximum speed •...
Page 76: Ramp-Function Generator
Extended setpoint channel 3.6 Ramp-function generator Ramp-function generator Function of the ramp-function generator The ramp-function generator is used to limit the acceleration in the event of abrupt setpoint changes and so helps to prevent load surges throughout the complete drive train. The ramp- up time p1120[0...n] and ramp-down time p1121[0...n] can be used to set mutually independent acceleration and deceleration ramps.
Page 77 Extended setpoint channel 3.6 Ramp-function generator ● OFF3 ramp-down: – OFF3 ramp-down time p1135[0...n] ● Set ramp-function generator: – Setting value ramp-function generator p1144[0...n] – Signal, set ramp-function generator p1143[0...n] ● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 1) Properties of the extended ramp-function generator Figure 3-9 Extended ramp-function generator...
Page 78 Extended setpoint channel 3.6 Ramp-function generator ● Select ramp-function generator rounding type p1134[0...n] – p1134 = "0": continuous smoothing; rounding is always active. Overshoots can occur. If the setpoint changes, final rounding is carried out and then the direction of the new setpoint is adopted.
Page 79: Ramp-Function Generator Tracking
Extended setpoint channel 3.6 Ramp-function generator 3.6.1 Ramp-function generator tracking A ramp-function generator (RFG) can be operated with or without tracking. Figure 3-10 Ramp-function generator tracking Without ramp-function generator tracking ● p1145 = 0 ● Drive accelerates until t2 although setpoint < actual value With standard ramp-function generator tracking ●...
Page 80 Extended setpoint channel 3.6 Ramp-function generator Standard ramp-function generator tracking If the load torque exceeds the torque limit of the drive and so causes the actual speed to diminish, the ramp-function generator output is not tracked to the actual speed value. If the torque limit is overshot during the ramp-up because the ramp-up time was selected too small, the effective ramp-up time of the ramp-function generator lengthens.
Page 81: Signal Overview, Function Diagrams And Important Parameters
The tracking continues for a polarity change. 3.6.2 Signal overview, function diagrams and important parameters Signal overview (see SINAMICS S120/S150 List Manual) ● Control signal STW1.2 OFF3 ● Control signal STW1.4 Enable ramp-function generator ● Control signal STW1.5 Start/stop ramp-function generator ●...
Page 82 • 3070 Setpoint channel - Ramp-function generator selection, status word, • 3080 tracking Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Speed limit in RFG, positive direction of rotation • p1051[0...n] CI: Speed limit RFG, negative direction of rotation •...
Page 83: Servo Control
Servo control Definition This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. The motor connected to servo control is simulated in a vector model based on data from the equivalent circuit diagram.
Page 84 Servo control Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls. Table 4- 1 Comparison of servo control and vector control Subject Servo control Vector control Typical applications Drives with highly dynamic motion Speed and torque-controlled drives •...
Page 85 Servo control Subject Servo control Vector control Connectable motors Synchronous servomotors Synchronous motors (including torque • • motors) Permanent-magnet synchronous • motors Permanent-magnet synchronous • motors Induction motors • Induction motors • Torque motors • Reluctance motors - textile (only for •...
Page 86 • If a higher output frequency is required, Note: consult the specialist support from SINAMICS S can achieve the specified SIEMENS. values without tuning. Higher frequencies can be set under the following secondary conditions and addi- tional tuning runs: Up to 3000 Hz •...
Page 87: Technological Application
Servo control 4.1 Technological application Technological application Using parameter p0500, you can influence the calculation of open-loop control and closed- loop control parameters. The default setting helps you find suitable values for standard applications. You can make preassignments for the following technological applications: Value p0500 Application Standard drive (SERVO) •...
Page 88: Setpoint Addition
Servo control 4.2 Setpoint addition Setpoint addition Definition Setpoint addition allows up to 2 speed setpoints to be combined. While main and supplementary setpoints used in the setpoint channel are influenced by speed limits and the ramp-function generator, the speed setpoint is directly active here. As a consequence, up ramps and down ramps of a ramp-function generator are eliminated.
Page 89 Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel - ramp-function generator selection, status word, tracking • 3080 Overview of important parameters (see SINAMICS S120/S150 List Manual) Ramp-function generator ramp-down time • p1121[0...n] OFF3 ramp-down time • p1135[0...n] CI: Speed controller, speed setpoint 1 •...
Page 90: Speed Setpoint Filter
Servo control 4.3 Speed setpoint filter Speed setpoint filter Definition The speed setpoint filters are used to remove or weaken certain frequency ranges. Various filter types are available. The speed setpoint filters do not have any effect on the stability of the speed controller, because they lie in the setpoint channel.
Page 91 STARTER commissioning tool. Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Speed setpoint filter and speed precontrol • 5020 Overview of important parameters (see SINAMICS S120/S150 List Manual) Speed setpoint filter activation • p1414[0...n] Speed setpoint filter 1 type •...
Page 92: Speed Controller
Servo control 4.4 Speed controller Speed controller 4.4.1 Speed controller The speed controller controls the motor speed using the actual values from the encoder (operation with encoder) or from the calculated actual speed values (operation without encoder). Properties ● Speed setpoint filter ●...
Page 93: Speed Controller Adaptation
Servo control 4.4 Speed controller 4.4.2 Speed controller adaptation There are two types of adaptation available: The free K adaptation and the speed- dependent K adaptation. Free K adaptation is also active in "operation without encoder" mode and is used in "operation with encoder"...
Page 94 Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Speed controller adaptation (K adaptation) • 5050 Overview of important parameters (see SINAMICS S120/S150 List Manual) Free Kp_n adaptation CI: Speed controller P gain adaptation signal • p1455[0...n] Speed controller P gain adaptation lower starting point •...
Page 95: Torque-Controlled Operation
Servo control 4.4 Speed controller Speed-dependent Kp_n/Tn_n adaptation Speed controller P gain adaptation speed, lower • p1460[0...n] Speed controller Kp adaptation speed, upper scaling • p1461[0...n] Speed controller integral time adaptation speed, lower • p1462[0...n] Speed controller Tn adaptation speed, upper scaling •...
Page 96 Servo control 4.4 Speed controller Commissioning of torque control mode 1. Set the torque-controlled mode 1300 = 23; p1501 = "1" signal) 2. Enter the torque setpoint using the following parameter: – p1511: Signal source for supplementary torque 1 – p1512: Signal source for scaling supplementary torque 1. –...
Page 97 Servo control - Torque setpoint, switchover control mode • 5060 Servo control – torque limiting/reduction, interpolator • 5610 Overview of important parameters (see SINAMICS S120/S150 List Manual) Open-loop/closed-loop control operating mode • p1300[0...n] CO/BO: Control word, speed controller • r1406.8...12 BI: Change over between closed-loop speed/torque control •...
Page 98: Torque Setpoint Limitation
Servo control 4.5 Torque setpoint limitation Torque setpoint limitation The steps required for limiting the torque setpoint are as follows: ● Define the torque setpoint and an additional torque setpoint ● 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 99 Negative values at r1534 or positive values at r1535 represent a minimum torque for the other torque directions and can cause the drives to rotate if no counteractive load torque is generated (see function diagram 5630 in the SINAMICS S120/S150 List Manual). WARNING...
Page 100 Servo control 4.5 Torque setpoint limitation Example: Torque limits with or without offset The signals selected using p1522 and p1523 include the torque limits parameterized using p1520 and p1521. Figure 4-8 Example: Torque limits with or without offset The hatched area in the example shows the permissible torque range. Fixed and variable torque limit settings Table 4- 2 Fixed and variable torque limit settings...
Page 101 The "Torque limit" parameter screen is selected with the icon in the toolbar of the STARTER commissioning tool. Function diagrams (see SINAMICS S120/S150 List Manual) Servo control, generation of the torque limits, overview • 5609 Servo control – torque limiting/reduction, interpolator •...
Page 102 Servo control 4.5 Torque setpoint limitation Overview of important parameters (see SINAMICS S120/S150 List Manual) Current limit • p0640[0...n] Speed control configuration • p1400[0...n] CO: Torque setpoint before supplementary torque • r1508 CO: Torque setpoint before torque limiting • r1509 Supplementary torque total •...
Page 103: Current Setpoint Filter
Servo control 4.6 Current setpoint filter Current setpoint filter Activate and set current setpoint filter The current setpoint filters 1 to 4 are available as standard. You can activate the current setpoint filters 5 to 10 offline in the object properties of the drive. 1.
Page 104 Servo control 4.6 Current setpoint filter 9. The activated current setpoint filters must then be subsequently parameterized. Current setpoint filter Setting in the parameter area 1 ... 4 p1657 to p1676 5 ... 10 p5201 to p5230 For each activated current setpoint filter, parameterize the following values: –...
Page 105 Servo control 4.6 Current setpoint filter In addition to the amplitude response, the phase response is also shown in the following. A phase shift results in a control system delay and should be kept to a minimum. Figure 4-9 Current setpoint filter Parameterization with STARTER The "Current setpoint filter"...
Page 106: Lowpass 2Nd Order (Pt2 Filter)
Servo control 4.6 Current setpoint filter 4.6.1 Lowpass 2nd order (PT2 filter) Transfer function: Denominator natural frequency f Denominator damping D Table 4- 3 Example of a PT2 filter Filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency 500 Hz Damping D 0.7 dB...
Page 107: Bandstop With Defined Notch Depth
Servo control 4.6 Current setpoint filter Simplified conversion to parameters for general order filters: ● Reduction or increase after the blocking frequency (Abs) ● Infinite notch depth at the blocking frequency ● Numerator natural frequency f ● Numerator damping D ●...
Page 108: Bandstop With Defined Reduction
Servo control 4.6 Current setpoint filter 4.6.4 Bandstop with defined reduction Table 4- 6 Example of band-stop 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: ●...
Page 109: General Low-Pass With Reduction
Servo control 4.6 Current setpoint filter 4.6.5 General low-pass with reduction Table 4- 7 Example of general low-pass with reduction Filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency = 500 Hz Damping D = 0.7 Reduction Abs = -10 dB Conversion to parameters for general order filters: ●...
Page 110: Transfer Function General 2Nd Order Filter
= 900 Hz Denominator damping = 0.15 dB 4.6.7 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Current control, overview • 5700 Servo control - Current setpoint filters 1 ... 4 • 5710 Servo control - Current setpoint filters 5 … 10 (r0108.21 = 1) •...
Page 111 Servo control 4.6 Current setpoint filter Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • p0108[0...n] Speed control configuration • p1400[0...n] Current setpoint filter activation • p1656[0...n] Current setpoint filter 1 type • p1657[0...n] Current setpoint filter 1 denominator natural frequency •...
Page 112: Current Controller
Servo control 4.7 Current controller Current controller Generally, the current controller is only required for the first commissioning. No additional settings are required in normal operation. You can further optimize the current controller settings for special application. Characteristics of the current controller ●...
Page 113 Servo control - Iq and Id controller • 5714 Servo control - Field current / flux specification, flux reduction, flux controller • 5722 Overview of important parameters (see SINAMICS S120/S150 List Manual) Current control Current controller reference model dead time • p1701[0...n] Current controller P gain •...
Page 114 Servo control 4.7 Current controller CO: Torque limit, upper total • r1534 CO: Torque limit, lower total • r1535 CO: Upper effective torque limit • r1538 CO: Lower effective torque limit • r1539 Current controller adaptation Current controller adaptation, starting point KP •...
Page 115: Autotuning
Servo control 4.8 Autotuning Autotuning The term "Autotuning" comprises all drive-internal functions that adapt controller parameters during operation based on internal measured variables. The main applications of the autotuning functions are: ● Support of the commissioning ● Adaptation of the controller during major changes in the mechanical system The set parameters are visible in the parameters, but not saved permanently.
Page 116: One Button Tuning
Servo control 4.8 Autotuning 4.8.1 One button tuning The speed controller and position controller of a drive can be automatically tuned with the "One button tuning" function. This is a drive-internal function. Therefore, no external engineering tool is required. With "One button tuning", the mechanical drive train is measured with the aid of short test signals.
Page 117 Servo control 4.8 Autotuning Note Changing parameter p5300 changes parameters p5280 and p1400. Therefore after deactivating the autotuning function check the accuracy of the configuration of parameters p5280 and p1400 and amend these if required. Configuring the "One button tuning" The following settings are possible via p5301: Effect The speed controller gain is determined and set with the aid of a noise signal.
Page 118 Servo control 4.8 Autotuning Additional settings and displays Parameter Adjustment Factory Setting/display range setting p5271[0...n] 0000 1100 Configuring One Button Tuning The following settings are possible: Bit 03: Activates speed precontrol • Only relevant for EPOS. Bit 04: Activates torque precontrol •...
Page 119 Servo control 4.8 Autotuning Parameter Adjustment Factory Setting/display range setting p5308 0...30000 degrees 0 degree Distance limit for “One button tuning”. 0...30000 mm 0 mm After activating the “One button tuning” (p5300), the traversing range in the positive and negative directions is limited to the set distance limit in degrees.
Page 120: Online Tuning
Servo control 4.8 Autotuning 4.8.2 Online tuning 4.8.2.1 "Drive-based" online tuning The "Online tuning" can be used with EPOS for simple positioning tasks. With the "Online tuning" function, it is possible to automatically set robust controller parameters of a drive during operation without user interaction.
Page 121 Servo control 4.8 Autotuning Activating autotuning You can configure the activation and deactivation of the autotuning function via parameter p5300. The following settings are possible: Setting Explanation The "Autotuning" function is set inactive. The setting is automatically corrected to p5300 = 0. The default settings for the speed controller and position controller are also restored.
Page 122 Servo control 4.8 Autotuning Note Resetting the inertia estimator Through deactivation and renewed activation of the online tuning, the estimated load moment of inertia and the load torques are reset. Setting the sequence control: The following sequence control settings can be made via p5302: Effect The speed controller gain is determined and set with the aid of a noise signal.
Page 123: Automatic Pre-Assignment And Adaptation During Operation
Servo control 4.8 Autotuning Additional settings and displays ● Set the dynamic response factor (p5272) for the entire P gain of the speed controller. ● Set the estimated load moment of inertia component for the P gain of the speed controller with the load dynamic response factor (p5273).
Page 124 Servo control 4.8 Autotuning Adapted controller parameters As soon as the "Online tuning" is active, the controller parameters are adapted to the estimated moment of inertia. However, the controller parameters are only recalculated when the moment of inertia has changed more than 5% compared to the last calculation. Otherwise the controller settings are not changed.
Page 125: Application Examples
Servo control 4.8 Autotuning Determining the maximum acceleration limits Prerequisite is that the pulses have been disabled in the drive and the maximum moment of inertia has been determined. The maximum target acceleration for the basic positioner (EPOS) is determined with the aid of the inertia estimator.
Page 126: Problem Handling
Servo control 4.8 Autotuning 4.8.2.4 Problem handling Drive vibrates If the drive vibrates audibly, then the speed controller may have become instable at a mechanical resonance. Remedy: ● The instability in the control loop through resonance can be avoided by parameterizing bandstop filters in the current setpoint.
Page 127: Current Setpoint Filter Adaptation
Servo control 4.8 Autotuning 4.8.3 Current setpoint filter adaptation 4.8.3.1 Activating/deactivating the current setpoint filter adaptation The "Current setpoint filter adaptation" function is used to automatically shift a selected current setpoint filter to a mechanical resonance frequency. The function is particularly recommended for systems that display a variable mechanical resonance frequency during operation.
Page 128 Servo control 4.8 Autotuning Further parameters of the current setpoint filter adaptation and their purpose: ● p5281 = specifies which of the current setpoint filters is to be used for the adaptation ● p5282 = defines the lower limit frequency ●...
Page 129: Principle Of Operation Of The Current Setpoint Filter Adaptation
Servo control 4.8 Autotuning 4.8.3.2 Principle of operation of the current setpoint filter adaptation ● As soon as the pulse enable has been set and a resonance frequency has been excited enough that the internal activation threshold is exceeded, the adaptation moves the bandstop filter to this resonance frequency.
Page 130 Servo control 4.8 Autotuning Limitations: ● Because of the operating principle, the base adaptation algorithm can work reliably with systems that have only one mechanical resonance frequency. Undesirable movements of the adapted filter between the resonances can occur for systems with several mechanical resonance frequencies.
Page 131: Stability Of The Speed Control Loop
Servo control 4.8 Autotuning Start value of the adaptation The frequency with which the adaptation starts at the pulse enable, i.e. the start value of the adaptation, is always the current blocking frequency of the filter. It can be read in r5285 and in the filter frequency parameters.
Page 132: Lower And Upper Limit Frequencies
Servo control 4.8 Autotuning 4.8.3.4 Lower and upper limit frequencies Parameter p5283 for the upper limit frequency has an internal upper limit that depends on the settings for the adapted current setpoint filter. It is only active with an active adaptation. ●...
Page 133: Function Diagrams And Parameters
Servo control 4.8 Autotuning 4.8.4 Function diagrams and parameters Overview of important faults (see SINAMICS S120/S150 List Manual) Drive: Incorrect current setpoint filter adaptation • F07419 Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • p0108[0...n] Speed control configuration •...
Page 134 Servo control 4.8 Autotuning Autotuning selection • p5300[0...n] "One button tuning" configuration • p5301[0...n] "Online tuning" configuration • p5302[0...n] Autotuning status • r5306[0...n] One Button Tuning test signal distance limiting • p5308[0...n] One Button Tuning test signal duration • p5309[0...n] Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 135: Note About The Electronic Motor Model
Servo control 4.9 Note about the electronic motor model Note about the electronic motor model A model change takes place within the speed range p1752 · (100 % - p1756) and p1752. With induction motors with encoder, the torque image is more accurate in higher speed ranges;...
Page 136: V/F Control
Servo control 4.10 V/f control 4.10 V/f control For V/f control, the drive is operated with an open control loop. In this open-loop control system, the drive does not require speed feedback and no actual current sensing. Operation is possible with a small amount of motor data. With V/f control, the following components and data can be checked: ●...
Page 137 Servo control 4.10 V/f control Structure of V/f control Figure 4-13 Structure of V/f control Commissioning V/f control Note With synchronous motors, V/f mode is normally only stable at low speeds. Higher speeds can induce oscillations. Oscillation damping is activated on the basis of suitable default parameter values and does not require further parameterization in most applications.
Page 138 Servo control 4.10 V/f control 1. Check the requirements for V/f control. – First commissioning has been carried out: The parameters for V/f control have been initialized with appropriate values. – First commissioning has not been carried out: The following relevant motor data must be checked and corrected: r0313 Motor pole pair number, actual (or calculated) p0314 Motor pole pair number p1318 V/f control ramp-up/ramp-down time...
Page 139 The synchronous frequency associated with the speed setpoint is output (no slip compensation). Figure 4-14 V/f characteristic Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - V/f control for diagnostics • 5300 Servo control - Vdc_max controller and Vdc_min controller •...
Page 140 Servo control 4.10 V/f control Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor voltage • p0304[0...n] Rated motor frequency • p0310[0...n] Rated motor speed • p0311[0...n] Motor pole pair number, current (or calculated) • r0313[0...n] Motor pole pair number •...
Page 141: Optimizing The Current And Speed Controller
Servo control 4.11 Optimizing the current and speed controller 4.11 Optimizing the current and speed controller Note Controller tuning may only be performed by skilled personnel with a knowledge of control engineering. The following tools are available for tuning the controllers: ●...
Page 142 Servo control 4.11 Optimizing the current and speed controller Example of measuring the speed controller frequency response By measuring the speed controller frequency response and the control system, critical resonance frequencies can, if necessary, be determined at the stability limit of the speed control loop and dampened using one or more current setpoint filters.
Page 143: Encoderless Operation
Servo control 4.12 Encoderless operation 4.12 Encoderless operation Note Unstable operation The operation of synchronous motors without an encoder must be verified in a test application. Stable operation in this mode cannot be guaranteed for every application. Therefore, the user will be solely responsible for the use of this operating mode. Description Both encoderless and mixed operation (with/without encoder) is possible.
Page 144 Servo control 4.12 Encoderless operation To accept a high load torque even in the open-loop controlled range, the motor current (current setpoint) can be set using p1612. To do so, the drive torque (e.g. friction torque) must be known or estimated. An additional reserve of approx. 20% should also be added. In synchronous motors, the torque is converted to the current via the motor torque constant (p0316).
Page 145 Servo control 4.12 Encoderless operation Switchover between closed-loop/open-loop operation and operation with/without encoder Operation without an encoder is activated using parameter setting p1300 = 20. If p1300 = 20 or p1404 = 0, operation without an encoder is active across the entire speed range. If the speed value is less than the changeover speed p1755, the motor is operated in accordance with the current/frequency.
Page 146 Servo control 4.12 Encoderless operation Commissioning/optimization 1. Estimate the motor current p1612 on the basis of the mechanical conditions (I = M/kt). 2. For synchronous motors with high overload setting (p0640 significantly higher than p0305), it may be necessary to reduce the current limiting in encoderless operation (p0642).
Page 147 Servo control 4.12 Encoderless operation 5. Set the speed controller: – When the "Moment of inertia estimator" function module is active, accept the moment of inertia that has been determined. – Deactivate the "Moment of inertia estimator" function module (p1400.18 = 0). –...
Page 148 Servo control - Torque setpoint, switchover control mode • 5060 Servo control - Speed controller without encoder • 5210 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor moment of inertia • p0341[0...n] Ratio between the total and motor moment of inertia •...
Page 149: Motor Data Identification
Servo control 4.13 Motor data identification 4.13 Motor data identification Description The motor data identification (MotID) is used as a tool to determine the motor data, e.g. of third-party motors and can help to improve the torque accuracy (k estimator). The drive system must have been commissioned for the first time as basis for using motor data identification.
Page 150 Servo control 4.13 Motor data identification If there is an extended setpoint channel (r0108.08 = 1), p1959.14 = 0 and p1959.15 = 0 and direction limiting (p1110 or p1111) is active there, then this is observed at the instant of the start via p1960.
Page 151 Servo control 4.13 Motor data identification Motor data Motor data input requires the following parameters: Table 4- 9 Motor data Induction motor Permanent-magnet synchronous motor p0304 rated motor voltage p0305 rated motor current • • p0305 rated motor current p0311 rated motor speed •...
Page 152 Servo control 4.13 Motor data identification Parameters to control the motor data identification The following parameters influence the motor data identification: Table 4- 11 Parameters for control Static measurement (motor data identification) Rotating measurement p0640 current limit p0640 current limit •...
Page 153: Motor Data Identification Induction Motor
Servo control 4.13 Motor data identification 4.13.1 Motor data identification induction motor The data are identified in the inverse gamma equivalent circuit diagram and displayed in r19xx. The motor parameters p0350, p0354, p0356, p0358 and p0360 taken from the motor data identification refer to the T equivalent circuit diagram of the induction machine and cannot be directly compared.
Page 154: Motor Data Identification Synchronous Motor
Servo control 4.13 Motor data identification Table 4- 13 Data determined using p1960 for induction motors (rotating measurement) Determined data (gamma) Data that is accepted (p1960 = 1) r1934 q inductance identified r1935 q inductance identification current Note: The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation (p0391, p0392 and p0393).
Page 155 Servo control 4.13 Motor data identification Determined data Data that is accepted (p1910 = 1) r1951 voltage emulation error, current val- p1953 voltage emulation error, current offset Note regarding r1950 to p1953: Active when the function module "extended torque control" is activated and activated compensation of the voltage emulation error (p1780.8 = 1).
Page 156 Servo control 4.13 Motor data identification For linear motors (p0300 = 4xx), p1959 is pre-set so that only the q inductance, the commutation angle offset and the high inertia mass are measured (p1959.05 = 1 and p1959.10 = 1), as generally the travel limits do not permit longer travel distances in one direction.
Page 157 Servo control 4.13 Motor data identification Overview of important parameters (see SINAMICS S120/S150 List Manual) Identification status • r0047 Standstill measurement Motor data identification, control word • p1909[0...n] Motor data identification, stationary • p1910 Rotating measurement Rotating measurement ramp-up/ramp-down time •...
Page 158: Pole Position Identification
2. Start the one-off pole position identification by setting p1990 = 1. The value in p1982 is not taken into account. For Siemens 1FN1, 1FN3 and 1FN6 linear motors, p1990 is automatically set to 1 after commissioning or after an encoder has been replaced.
Page 159: Notes Regarding Pole Position Identification
Servo control 4.14 Pole position identification 4.14.1 Notes regarding pole position identification The relevant procedure can be selected using parameter P1980. The following procedures are available for pole position identification: ● Saturation-based 1st + 2nd harmonics (p1980 = 0) ● Saturation-based 1st harmonic (p1980 = 1) ●...
Page 160 Servo control 4.14 Pole position identification For the elasticity-based procedure, the following supplementary conditions apply: ● A brake must be available and must also be closed during the pole position identification. Either the drive controls the brake (p1215 = 1 or 3) or the brake is externally closed well in advance of the start of the pole position identification and is re-opened after the operation has been completed.
Page 161: Pole Position Identification Technique
Servo control 4.14 Pole position identification Selecting the reference mark for fine synchronization for determining the pole position using zero marks A precondition for determining the pole position using zero marks is that the zero mark distance of the encoder is a multiple integer of the pole pitch / pole pair width of the motor. For example, for linear motors with measuring systems where this is not available, the drive permits the zero mark which is used for the reference point approach, to be used for fine synchronization.
Page 162 Servo control 4.14 Pole position identification Important parameters depending on the pole position identification procedure Saturation-based Motion-based Elasticity-based p0325 p0329 p1980 Value 0, 1 or 4 Value 10 Value 20 p1981 p1982 p1983 r1984 r1985 r1986 r1987 p1990 r1992 p1993 p1994 p1995 p1996...
Page 163: Commutation Angle Offset Commissioning Support (P1990)
4.14.4 Overview of important parameters (see SINAMICS S120/S150 List Manual) Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor pole position identification current 1st phase •...
Page 164 Servo control 4.14 Pole position identification Sensor Module properties • r0458 Sensor Module extended properties • r0459 Current limit • p0640[0...n] Maximum speed • p1082[0...n] Motor holding brake configuration • p1215 PolID procedure • p1980[0...n] PolID maximum distance • p1981[0...n] PolID selection •...
Page 165: Vdc Control
Servo control 4.15 Vdc control 4.15 Vdc control Principle The Vdc control monitors the DC voltage in the DC link for overvoltage and undervoltage. If an overvoltage or undervoltage is identified in the DC link line-up, a subsequent response can be set with the Vdc control via p1240. The torque limits of the motors for which the Vdc controller is active can be affected if discrepancies in the DC link voltage are significant enough.
Page 166 Servo control 4.15 Vdc control control dc_min Figure 4-19 Switching V control on/off (kinetic buffering) dc_min In the event of a power failure, the Line Module can no longer supply the DC link voltage, particularly if the Motor Modules in the DC link line-up are drawing active power. To maintain the DC link voltage in the event of a power failure (e.g.
Page 167 Servo control 4.15 Vdc control control dc_max Figure 4-20 Switching the V control on/off dc_max With Infeed Modules without feedback or in the event of a power failure, the DC link voltage can increase until it reaches the shutdown threshold when drives in the DC link line-up are decelerated.
Page 168 Servo control - V/f control for diagnostics • 5300 Servo control - Vdc_max controller and Vdc_min controller • 5650 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, closed-loop control: Vdc_max controller active • r0056.14 CO/BO: Status word, closed-loop control: Vdc_min controller active •...
Page 169: Dynamic Servo Control (Dsc)
The following PROFIdrive telegrams support DSC: ● Standard telegrams 5 and 6 ● SIEMENS telegrams 105, 106, 116, 118, 125, 126, 136, 138, 139 Further PZD data telegram types can be used with the telegram extension. It must then be ensured that SERVO supports a maximum of 20 PZD setpoints and 28 PZD actual values.
Page 170 Servo control 4.16 Dynamic Servo Control (DSC) Operating states The following operating states are possible for DSC (for details, see function diagram 3090 in the SINAMICS S120/S150 List Manual): Operating state for DSC Meaning Speed/torque precontrol with linear As a result of the step-like torque precontrol in the position...
Page 171 Servo control 4.16 Dynamic Servo Control (DSC) If KPC = 0 is transferred, only speed control with the speed precontrol values can be used (p1430, PROFIdrive N_SOLL_B and p1160 n_set_2). Position-controlled operation requires a transfer of KPC > 0. Note KPC when DSC is activated After activating dynamic servo control, check the position controller gain KPC in the master.
Page 172 Servo control 4.16 Dynamic Servo Control (DSC) If the encoder for the position actual value generation in the control and the encoder selected for DSC differ regarding their pulse numbers and/or fine resolution, then this must be taken into account in p1193. The factor represents the ratio of the pulse difference between the encoders used for the same distance reference.
Page 173 Servo control - Speed setpoint filter and speed precontrol • 5020 Servo control - Reference model/precontrol balancing/speed limiting • 5030 Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Speed controller, speed setpoint 2 • p1160[0...n] CI: DSC position deviation XERR •...
Page 174: Travel To Fixed Stop
Servo control 4.17 Travel to fixed stop 4.17 Travel to fixed stop This function can be used to move a motor to a fixed stop at a specified torque without a fault being signaled. When the stop is reached, the specified torque is established and is then continuously available.
Page 175 Servo control 4.17 Travel to fixed stop Figure 4-21 Signals for "Travel to fixed stop" When PROFIdrive telegrams 2 to 6 are used, no torque reduction is transferred. When the "Travel to fixed stop" function is activated, the motor ramps up to the torque limits specified in p1520 and p1521.
Page 176 Servo control 4.17 Travel to fixed stop Signal chart Figure 4-22 Signal chart for "Travel to fixed stop" Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 177 Servo control 4.17 Travel to fixed stop Commission PROFIdrive telegrams 2 to 6 1. Activate the "Travel to fixed stop" function via the parameter setting p1545 = "1". 2. Set the required torque limit. Example: p1400.4 = 0 → upper or lower torque limit p1520 = 100 Nm →...
Page 178 Servo control - Upper/lower torque limit • 5630 Signals and monitoring functions – Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) Speed control configuration • p1400[0...n] CO/BO: Status word speed controller; • r1407.7...
Page 179: Vertical Axes
• 5060 Servo control - Motoring/generating torque limit • 5620 Servo control - Upper/lower torque limit • 5630 Overview of important parameters (see SINAMICS S120/S150 List Manual) Actual torque smoothed • r0031 CI: Supplementary torque 1 • p1511[0...n] CI: Supplementary torque 1 scaling •...
Page 180: Variable Signaling Function
Servo control 4.19 Variable signaling function 4.19 Variable signaling function Variable signaling function for monitoring Using the "Variable signaling" function, BICO interconnections and parameters that have the attribute "traceable" can be monitored; otherwise they can also be recorded using the "Device trace"...
Page 181 Variable signaling function Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - variable signaling function • 5301 Overview of important parameters (see SINAMICS S120/S150 List Manual) Variable signaling function, start • p3290 CI: Variable signaling function signal source • p3291 BO: Variable signaling function, output signal •...
Page 182: Central Probe Evaluation
From the sampling values of the position signals of the various axes, the control interpolates the times of the actual position values at the probe instant. Three evaluation procedures are implemented in SINAMICS S120 for this purpose. The evaluation procedures can be set using parameter p0684: ●...
Page 183 Servo control 4.20 Central probe evaluation Common features for central measuring with and without handshake Both measuring procedures have the following points in common: ● Setting the input terminal in p0680. ● Signal source, synchronization signal in p0681. ● Signal source, control word probe p0682. ●...
Page 184 Servo control 4.20 Central probe evaluation Central measuring with handshake With p0684 = 0, you activate the evaluation procedure with handshake for the central probe evaluation. You can evaluate a maximum of one positive and/or negative edge per probe within four DP cycles. = PROFIBUS cycle (also DP cycle) = master application cycle time (time grid, in which the master application generates MAPC...
Page 185 Servo control 4.20 Central probe evaluation Central measurement without handshake, more than two edges With p0684 = 16, you activate the evaluation procedure without handshake for the central probe evaluation. You can evaluate up to 16 signal edges from a maximum of 2 probes simultaneously within a DP cycle.
Page 186 Servo control 4.20 Central probe evaluation The PZDs of the probe time stamp are BICO parameters, which are automatically connected with the indices of the new parameter r0565[16] when the telegram block is selected. After the measuring function has been activated, for several measured values per DP cycle, the acquired time stamps are saved in the indices of r0565[0...15] for transfer, corresponding to their sequence in time starting with the oldest measured value.
Page 187 Servo control 4.20 Central probe evaluation Table 4- 20 Bit assignment of MT_ZSB1 (r0566[0]) Reference time stamp Probe bit, binary values Edge selection bit Reference MT_ZS1 Bits 0...2: Bit 3: 000: MT_ZS1 from MT1 0: MT_ZS1 falling edge 001: MT_ZS1 from MT2 1: MT_ZS1 rising edge 010: MT_ZS1 from MT3 011: MT_ZS1 from MT4...
Page 188: Examples
Servo control 4.20 Central probe evaluation Measurement buffer Each measuring pulse input of a Control Unit 320-2 or 310-2 has one memory for maximum 16 measured value entries (8 rising and 8 falling edges). The measured values for rising and falling signal edges are sequentially written to the memory.
Page 189 Servo control 4.20 Central probe evaluation Example 1 MT_STW = 100H: a search is only made for rising edges for probe 1 Figure 4-24 A search is made for rising edges for probe 1 In the DP cycle, all time stamps for rising edges are transferred corresponding to their sequence in time for probe 1.
Page 190 Servo control 4.20 Central probe evaluation Example 3 MT_STW = 303H: a search is made for rising and falling edges for probes 1 and 2. Figure 4-26 A search is made for rising and falling edges for probes 1 and 2 In the DP cycle, initially all time stamps for rising and falling edges of probe 1 are entered.
Page 191: Function Diagrams And Parameters
PROFIdrive - Manufacturer-specific/free telegrams and process data • 2423 Encoder evaluation - Probe evaluation, measured value memory, • 4740 encoders 1 ... 3 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Probe time stamp • r0565[0...15] CO: Probe time stamp reference • r0566[0...3] CO: Probe diagnostic word •...
Page 192: Voltage Precontrol
Servo control 4.21 Voltage precontrol 4.21 Voltage precontrol 4.21.1 Configuring the voltage precontrol Using voltage precontrol (p1703), the dynamic response of the q current controller can be increased independent of the controller setting - all the way up to the limit that is physically possible.
Page 193 Servo control 4.21 Voltage precontrol Examples: p0391 0.33A p0392 10.23A p0393 39.31 % p0356 10.16 mH Figure 4-27 Adaptation characteristic, example 1 Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 194 Servo control 4.21 Voltage precontrol p0391 2.09A p0392 p0393 90.67 % p0356 18.24 mH Figure 4-28 Adaptation characteristic, example 2 Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 195 Servo control 4.21 Voltage precontrol Step 2: Determine the voltage precontrol in several optimization runs 1. To activate voltage precontrol, enter a value of "100" into p1703. 2. Proceed as follows to determine the dead time of the current controller reference model: –...
Page 196 Servo control 4.21 Voltage precontrol Figure 4-30 Voltage precontrol p1703 OK Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 197 Servo control 4.21 Voltage precontrol Figure 4-31 Voltage precontrol p1703 too high Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 198 Servo control 4.21 Voltage precontrol 4. The result can be improved by compensating the voltage emulation error (only for synchronous motors). – To do this, activate function module "Extended torque control (Page 485)" (r0108.1). – Determine the voltage emulation error with the stationary motor data identification (p1909.14 = 1 and p1910).
Page 199 Servo control 4.21 Voltage precontrol Proceed as follows to optimize (p1734 and p1735): 1. Set the current controller P gain (p1715) lower by a factor of 10. 2. Set the current controller integral time (p1717) higher by a factor of 10. 3.
Page 200 Servo control 4.21 Voltage precontrol 7. Restore the P gain (p1715) and integral time (p1717) of the current controller back to the original values. 8. Again measure a current controller setpoint step. Figure 4-34 Example: after optimization/tuning In most cases, the voltage precontrol is correctly set after the eddy current compensation (see example).
Page 201: Function Diagrams And Parameters
Servo control 4.21 Voltage precontrol 4.21.2 Function diagrams and parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Automatic calculation of motor/control parameters • p0340[0...n] Motor stator leakage inductance • p0356[0...n] Current controller adaptation, starting point Kp • p0391[0...n] Current controller adaptation, starting point Kp adapted •...
Page 202 Servo control 4.21 Voltage precontrol Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 203: Vector Control
Vector control Definition The motor connected to a vector control is simulated in a vector model based on data from the equivalent circuit diagram. The motor module is emulated as precisely as possible to obtain the best results regarding control precision and control quality. There are 2 types of vector control: ●...
Page 204 Vector control Differences with respect to vector V/f control Compared with vector V/f control, vector control offers the following benefits: ● Stability for load and setpoint changes ● Short rise times for setpoint changes (→ better control behavior) ● Short settling times for load changes (→ better response to disturbances) ●...
Page 205 Vector control Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls. Table 5- 1 Comparison of servo control and vector control Subject Servo control Vector control Typical applications Drives with highly dynamic motion Speed and torque-controlled drives •...
Page 206 Vector control Subject Servo control Vector control Connectable motors Synchronous servomotors Synchronous motors (including torque • • motors) Permanent-magnet synchronous • motors Permanent-magnet synchronous • motors Induction motors • Induction motors • Torque motors • Reluctance motors - textile (only for •...
Page 207 • If a higher output frequency is required, Note: consult the specialist support from SINAMICS S can achieve the specified SIEMENS. values without tuning. Higher frequencies can be set under the following secondary conditions and addi- tional tuning runs: Up to 3000 Hz •...
Page 208: Technological Application
Vector control 5.1 Technological application Technological application Using parameter p0500, you can influence the calculation of open-loop control and closed- loop control parameters. The default setting helps you find suitable values for standard applications. You can make preassignments for the following technological applications: Value p0500 Application Standard drive (VECTOR) •...
Page 209: Vector Control Without Encoder (Slvc)
Vector control 5.2 Vector control without encoder (SLVC) Vector control without encoder (SLVC) During operation via the "Sensorless vector control" function (SLVC), the position of the flux and actual speed must be determined using the electric motor model. The motor model is buffered by the incoming currents and voltages.
Page 210: Torque Setpoint Setting
Vector control 5.2 Vector control without encoder (SLVC) 5.2.2 Torque setpoint setting In open-loop operation, the calculated actual speed value is the same as the setpoint value. For static loads (e.g. for cranes) or during acceleration, you adapt the parameters p1610 (torque setpoint static) and p1611 (additional acceleration torque) to the required maximum torque.
Page 211 Vector control 5.2 Vector control without encoder (SLVC) Figure 5-2 Zero crossover and when induction motors start in closed-loop or open-loop controlled operation Closed-loop operation to approx. 0 Hz (can be set using parameter p1755) and the possibility to start or reverse at 0 Hz directly in closed-loop operation (can be set using parameter p1750) result in the following benefits: ●...
Page 212: Passive Loads
Vector control 5.2 Vector control without encoder (SLVC) 5.2.3 Passive loads In the closed-loop controlled mode, for passive loads, induction motors can be operated under steady-state conditions down to 0 Hz (standstill) without changing over into the open- loop controlled mode. Make the following settings for this: 1.
Page 213: Blocking Drives
Vector control 5.2 Vector control without encoder (SLVC) Figure 5-3 Vector control without an encoder 5.2.4 Blocking drives If the load torque is higher than the torque limiting of the sensorless vector control, the drive is braked to zero speed (standstill). In order that the open-loop controlled mode is not selected after the time p1758, p1750.6 can be set to 1.
Page 214: Permanent-Magnet Synchronous Motors
Vector control 5.2 Vector control without encoder (SLVC) 5.2.6 Permanent-magnet synchronous motors Permanent-magnet synchronous motors (PMSM) are always started and reversed in the open-loop controlled mode. The changeover speeds are set to 10% as well as 5% of the rated motor speed. Changeover is not subject to any time condition (p1758 is not evaluated). Prevailing load torques (motor or regenerative) are adapted in open-loop operation, facilitating constant-torque crossover to closed-loop operation even under high static loads.
Page 215: Closed-Loop Controlled Operation Down To F = 0 Hz With Test Signal
Vector control 5.2 Vector control without encoder (SLVC) Note Synchronous reluctance motors are considered to be synchronous motors Generally, the data for "Synchronous motors" provided in the SINAMCS S120 Manuals also applies to "Synchronous reluctance motors". Any deviating behavior/response of synchronous reluctance motors is always explicitly specified.
Page 216: Extended Method: Closed-Loop Controlled Operation Down To 0 Hz
The actual rotor position can be continuously determined down to 0 Hz (standstill). With Siemens 1FW4 and 1PH8 torque motors, the load can be maintained at standstill or, from standstill, the motor can accelerate any load up to rated torque.
Page 217 Note 1FW4 torque motors Siemens "1FW4" torque motors can be started from standstill and operated in the closed- loop torque controlled mode. The function is activated with parameter p1750.5 = 1. Third-party motors must be checked on a case-for-case basis.
Page 218 Vector control - interface to the Motor Module (PMSM, p0300 = 2) • 6731 Vector control - Interface to the Motor Module (RESM, p0300 = 6) • 6792 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor current • p0305[0...n] Actual motor magnetizing current / short-circuit current •...
Page 219: Vector Control With Encoder
Vector control 5.3 Vector control with encoder Vector control with encoder Benefits of vector control with an encoder ● The speed can be controlled right down to 0 Hz (standstill) ● Constant torque in the rated speed range ● Compared with speed control without an encoder, the dynamic response of drives with an encoder is significantly better because the speed is measured directly and integrated in the model created for the current components.
Page 220: Speed Controller
Vector control 5.4 Speed controller Speed controller 5.4.1 Speed controller Both closed-loop control procedures with and without an encoder (VC, SLVC) have the same speed controller structure which contains the following components: ● PI controller ● Speed controller precontrol ● Droop The total of the output variables result in the torque setpoint which is reduced to the permissible magnitude by means of the torque setpoint limitation.
Page 221 Vector control 5.4 Speed controller If the moment of inertia has been specified, the speed controller (K ) can be calculated by means of automatic parameterization (p0340 = 4). The controller parameters are defined in accordance with the symmetrical optimum as follows: = 4 ·...
Page 222 – Only then are the speed controller I component and the speed setpoint enabled. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed controller with/without encoder • 6040 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Speed setpoint after filter • r0062 CO: Actual speed value •...
Page 223: Speed Controller Adaptation
Vector control 5.4 Speed controller 5.4.2 Speed controller adaptation Fundamentals With the speed controller adaptation, any speed controller oscillation can be suppressed. Speed-dependent K adaptation is active in the factory setting. The required values are automatically calculated when commissioning and for the rotating measurement. If, in spite of this, speed oscillations do occur, then in addition the K component can be tuned using the free K...
Page 224 Parameterization with STARTER The "Speed controller" parameter screen is selected with the icon in the toolbar of the STARTER commissioning tool. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed controller adaptation (K adaptation) • 6050 Drive functions...
Page 225 Vector control 5.4 Speed controller Overview of important parameters (see SINAMICS S120/S150 List Manual) Speed control configuration: Automatic Kp/Tn adaptation active • p1400.0 Speed control configuration: Kp/Tn adaptation active • p1400.5 Speed control configuration: Free Tn adaptation active • p1400.6 Speed controller encoderless operation P gain •...
Page 226: Speed Controller Precontrol And Reference Model
Vector control 5.4 Speed controller 5.4.3 Speed controller precontrol and reference model Speed controller precontrol The command behavior of the speed control loop can be improved by calculating the acceleration torque from the speed setpoint and connecting it on the line side of the speed controller.
Page 227 Vector control 5.4 Speed controller If the speed controller has been correctly adjusted, it only has to compensate for disturbance variables in its own control loop, which can be achieved by means of a relatively small change to the correcting variables. Speed setpoint changes, on the other hand, are carried out without involving the speed controller and are, therefore, performed more quickly.
Page 228 Vector control 5.4 Speed controller Reference model Figure 5-10 Reference model The reference model is activated with p1400.3 = 1. The reference model is used to emulate the speed control loop with a P speed controller. The loop emulation can be set in p1433 to p1435. It is activated when p1437 is connected to the output of model r1436.
Page 229 Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Precontrol balancing reference/acceleration model • 6031 Vector control - Speed controller with/without encoder • 6040 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor speed • p0311[0...n] Rated motor torque • r0333[0...n] Motor moment of inertia •...
Page 230: Droop
Vector control 5.5 Droop Droop Droop (enabled via p1492) ensures that the speed setpoint is reduced proportionally as the load torque increases. ① Active only when the precontrol has been activated (p1496 > 0) ② Active only for SLVC Figure 5-11 Speed controller with droop The droop has a torque limiting effect on a drive that is mechanically coupled to a different speed (e.g.
Page 231 ● Only a single common ramp-function generator may be used for mechanically coupled drives. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed setpoint, droop • 6030 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Torque setpoint • r0079 CO: Speed controller I torque output • r1482 Droop input source •...
Page 232: Open Actual Speed Value
Vector control 5.6 Open actual speed value Open actual speed value Via the parameter p1440 (CI: Speed controller actual speed value) is the signal source for the actual speed value of the speed controller. In the factory setting, the unsmoothed actual speed value r0063[0] is the default signal source.
Page 233 Vector control - Speed controller with/without encoder • 6040 Signals and monitoring function - Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Actual speed value • r0063[0...2] CI: Speed controller actual speed value input •...
Page 234: Closed-Loop Torque Control
Vector control 5.7 Closed-loop torque control Closed-loop torque control With sensorless speed control SLVC (p1300 = 20) or speed control with sensor VC (p1300 = 21), a changeover can be made to torque control (slave drive) via BICO parameter p1501. A changeover cannot be made between speed and torque control if torque control is selected directly with p1300 = 22 or 23.
Page 235 Vector control 5.7 Closed-loop torque control OFF responses ● OFF1 and p1300 = 22, 23 – Response as for OFF2 ● OFF1, p1501 = "1" signal and p1300 ≠ 22, 23 – No separate braking response; the braking response is provided by a drive that specifies the torque.
Page 236 5.7 Closed-loop torque control Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Torque setpoint • 6060 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor moment of inertia • p0341[0...n] Ratio between the total and motor moment of inertia •...
Page 237: Torque Limiting
Vector control 5.8 Torque limiting Torque limiting Description The torque limiting value specifies the maximum permissible torque. Different limits can be parameterized for motoring and generating operation. Figure 5-14 Torque limit ● p0640[0...n] Current limit ● p1520[0...n] CO: Torque limit, upper/motoring ●...
Page 238 Motor Module, this is indicated via the following diagnostic parameters: ● r1407.8 CO:/BO: Status word speed controller: Upper torque limit active ● r1407.9 CO:/BO: Status word speed controller: Lower torque limit active Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Torque setpoint • 6060 Vector control - Upper/lower torque limit •...
Page 239: Vdc Control
Vector control 5.9 Vdc control Vdc control The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. ● Overvoltage in the DC link – Typical cause The drive is operating in regenerative mode and is supplying too much energy to the DC link.
Page 240 Vector control 5.9 Vdc control Vdc_min control Figure 5-15 Switching V control on/off (kinetic buffering) dc_min In the event of a power failure, V is activated when the V switch-on level is dc_min dc_min undershot. This controls the DC link voltage and maintains it at a constant level. The motor speed is reduced.
Page 241 Vector control 5.9 Vdc control Vdc_max control Figure 5-16 Switching the V control on/off dc_max The switch-on level for V -control (r1242) is calculated as follows: dc_max ● When the function for automatically detecting the switch-on level is switched off (p1254 = r1242 = 1.15 x p0210 (device connection voltage, DC link) ●...
Page 242 Vector control 5.9 Vdc control Remedial measures: ● activate the V control: dc_max – Vector control: p1240 = 1 (factory setting) – Servo control: p1240 = 1 – V/f control: p1280 = 1 (factory setting) ● Inhibit V control: dc_max –...
Page 243 5.9 Vdc control Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Vdc_max controller and Vdc_min controller • 6220 Overview of important parameters (see SINAMICS S120/S150 List Manual) Vdc controller or Vdc monitoring configuration • p1240[0...n] Vdc_min controller switch-on level •...
Page 244: Current Setpoint Filter
= 0, is the calculation performed. Examples for the current setpoint filter can be found in the description of the servo control in Section "Current setpoint filter (Page 103)". Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Current setpoint filter • 6710...
Page 245 Vector control 5.10 Current setpoint filter Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Current setpoint filter / actual speed value filter natural frequency • p1655[0...4] tuning Current setpoint filter activation • p1656[0...n] Current setpoint filter 1 type •...
Page 246: Speed Actual Value Filter
• 4702 Encoder evaluation - speed actual value and pole position sensing, encod- • 4715 er1, n_act_filter5 Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Current setpoint filter / actual speed value filter natural frequency • p1655[0...4] tuning Current setpoint filter / actual speed value filter activation •...
Page 247: Current Controller Adaptation
Figure 5-18 Current controller adaptation with swapped I interpolation points for p0393 > 1, with p0392 < p0391 Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Iq and Id controller • 6714 Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 248 Vector control 5.12 Current controller adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) Current controller adaptation, starting point KP • p0391[0...n] Current controller adaptation, starting point KP adapted • p0392[0...n] Current controller adaptation P gain scaling • p0393[0...n] Current control and motor model configuration •...
Page 249: Motor Data Identification And Rotating Measurement
Vector control 5.13 Motor data identification and rotating measurement 5.13 Motor data identification and rotating measurement 5.13.1 Overview There are two motor data identification options which are based on each other: ● Motor data identification (Page 251) with p1910 (standstill measurement) For measurement of the motor equivalent circuit diagram parameters (obligatory for operation with vector control).
Page 250 Vector control 5.13 Motor data identification and rotating measurement The measurements, parameterized using p1900 are started in the following sequence after the drive has been enabled: Measurements and After successful measurement: conclusion Standstill measurement Pulse inhibit activated and parameter is set to "0": p1910 = 0 Encoder adjustment Pulse inhibit activated and parameter is set to "0": p1990 = 0 Rotating measurement...
Page 251: Motor Data Identification
Vector control 5.13 Motor data identification and rotating measurement 5.13.2 Motor data identification Motor data identification (p1900, p1910) The motor data identification can be activated via p1900 = 2 or p1910 = 1. It is used to determine the motor parameters (equivalent circuit diagram) at standstill. For control engineering reasons, you are strongly advised to carry out motor data identification because the equivalent circuit diagram data and motor cable resistance can only be estimated if the data on the type plate is used.
Page 252 Vector control 5.13 Motor data identification and rotating measurement Separately excited induction motors Figure 5-19 Equivalent circuit diagram for induction motor and cable If an output filter (see p0230) or series inductance (p0353) is used, the data for this must also be entered before the standstill measurement is carried out.
Page 253 Vector control 5.13 Motor data identification and rotating measurement Figure 5-20 Magnetization characteristic Note To set the new controller setting permanently, the data must be saved in a non-volatile memory. Note At the end of the motor data identification, all dependent control parameters are calculated automatically (p0340 = 3) Motor data identification procedure 1.
Page 254: Rotating Measurement
Vector control 5.13 Motor data identification and rotating measurement 5.13.3 Rotating measurement Rotating measurement (p1900, p1960) "Rotating measurement" can be activated via p1960 or p1900 = 3. It should be performed only after the motor data identification (p1910). The rotating measurement contains a speed control tuning with which the drive's moment of inertia is ascertained and the speed controller is set.
Page 255 Vector control 5.13 Motor data identification and rotating measurement Rotating measurement (p1960 > 0): Sequence The following measurements are carried out when the enable signals are set and a switch- on command is issued in accordance with the settings in p1959 and p1960. ●...
Page 256: Shortened Rotating Measurement
Vector control 5.13 Motor data identification and rotating measurement 5.13.4 Shortened rotating measurement A normal rotating measurement cannot always be performed when a load is connected. When switching the motor on for the first time, a short measurement of the moment of inertia and the measurement of the magnetizing current and the saturation characteristic can be performed with a simplified measuring procedure.
Page 257: Overview Of Important Parameters
Vector control 5.13 Motor data identification and rotating measurement 5.13.5 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor data identification routine and speed controller optimization • r0047 Automatic calculation of motor/control parameters • p0340[0...n] Open-loop/closed-loop control operating mode •...
Page 258: Pole Position Identification
Vector control 5.14 Pole position identification 5.14 Pole position identification For synchronous motors and synchronous reluctance motors, the pole position identification determines its electrical pole position that is required for the field-oriented control. When operated with one encoder, which is not adjusted to the pole position, then the identification is used to calibrate and align the encoder.
Page 259 Vector control 5.14 Pole position identification Note For encoders, which provide an absolute position (r0404.1 = 1), determining the commutation angle offset can be deactivated (p1990 = 0). Pole position identification is only possible at standstill. If the control mode is only changed over to operation with encoder (p1300 = 21) after the automatic calculation (p3900 = 3 or p0340 = 3), then pole position identification must be manually set (p1982 = 1);...
Page 260 Vector control 5.14 Pole position identification Pole position correction with zero mark When switching on for the first time, the pole position identification roughly synchronizes the encoder angle to the pole position. After passing the zero mark, this coarse synchronization is aligned assuming that the encoder supports commutation with zero mark (r0404.15 = 1).
Page 261: Notes Regarding Pole Position Identification
● The technique is recommended if there is no magnetic asymmetry (e.g. symmetrical air gap). 5.14.4 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) Drive: Commutation angle incorrect (pole position identification) • F07413 Drive: Automatic encoder adjustment/pole position identification incorrect •...
Page 262 • A07975 (N) Drive: Traverse to the zero mark - setpoint input expected Drive: Encoder fine calibration activated • A07976 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor pole position identification current 1st phase • p0325[0...n] Motor pole position identification current •...
Page 263: Efficiency Optimization
Vector control 5.15 Efficiency optimization 5.15 Efficiency optimization 5.15.1 Efficiency optimization for induction motors Overview For induction motors, efficiency optimization has the following advantages: ● Lower energy costs ● Lower motor temperature rise ● Reduced motor noise levels Disadvantages of efficiency optimization ●...
Page 264 Vector control 5.15 Efficiency optimization Simple efficiency optimization (method 1) For p1580 = 100%, the flux in the motor under no-load operating conditions is reduced to half of the setpoint (reference flux) (p1570/2). As soon as load is connected to the drive, the setpoint (reference) flux increases linearly with the load and, reaching the setpoint set in p1570 at approx.
Page 265: Efficiency Optimization For Reluctance Motors
Vector control 5.15 Efficiency optimization Advanced efficiency optimization (method 2) The advanced efficiency optimization generally achieves a better efficiency than the basic efficiency optimization. With this technique, the actual motor operating point is determined as a function of the efficiency and flux - and the flux is set to achieve the optimum efficiency. Depending on the motor operating point, the converter either reduces or increases the flux when the motor is operating in the partial load range.
Page 266: Function Diagrams And Parameters
Vector control - Field weakening controller, flux controller (p0300 = 1) • 6723 Vector control - flux setpoint (RESM, p0300 = 6) • 6790 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Torque-generating current setpoint • r0077 Actual motor magnetizing current / short-circuit current •...
Page 267: Fast Magnetization For Induction Motors
Vector control 5.16 Fast magnetization for induction motors 5.16 Fast magnetization for induction motors For crane applications, frequently a frequency converter is switched alternately to different motors. After being switched to a different motor, a new data set must be loaded in the frequency converter and the motor magnetized.
Page 268 Vector control 5.16 Fast magnetization for induction motors Figure 5-23 Quick magnetization characteristics Notes When quick magnetization is selected (p1401.6 = 1), smooth starting is deactivated internally and alarm A07416 displayed. When the stator resistance identification function is active (see p0621 "Identification of stator resistance after restart") is active, quick magnetization is deactivated internally and alarm A07416 displayed.
Page 269 Vector control 5.16 Fast magnetization for induction motors Remedy: ● For fault cause 1: – Deactivate smooth starting: p1401.0 = 0 – Deactivate quick magnetization: p1401.6 = 0 ● For fault cause 2: – Deactivate flux build-up control: p1401.2 = 0 –...
Page 270 Vector control - Field weakening characteristic, Id setpoint (ASM, p0300 = 1) • 6722 Vector control - Field weakening controller, flux controller (ASM, p0300 = 1) • 6723 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated power unit current • r0207[0...4] Motor rated magnetizing current / short-circuit current •...
Page 271: Flying Restart
The search starts at the maximum speed plus 25%. A Voltage Sensing Module (VSM) is required for permanent-magnet synchronous motors (for additional information, see SINAMICS S120 Control Units Manual and SINAMICS S120/S150 List Manual in parameter p1200). – When operated with an encoder (actual speed value is sensed), the search phase is eliminated.
Page 272 Vector control 5.17 Flying restart Application example After a power failure, a fan drive can be quickly reconnected to the running fan motor by means of the "flying restart" function. Figure 5-24 Flying restart, example of induction motor without encoder Figure 5-25 Flying restart, example of induction motor with encoder Drive functions...
Page 273: Fast Flying Restart
Vector control 5.17 Flying restart Flying restart in encoderless operation for long cables As a rule, it is important to consider the cable resistance. The cable resistance is required for calculation of the thermal motor model. 1. Enter the cable resistance in parameter p0352 before you perform motor data identification.
Page 274 Vector control 5.17 Flying restart Note Parameter p1203 has no effect on the fast flying restart. Parameter p1202 (flying restart detection current) can be used to tune the fast flying restart. Note Detection current must not become too small If the drive is operated well into the field weakening or with filters or long cables, the detection current may become too small with the fast flying restart (F07330).
Page 275: Flying Restart For A Synchronous Reluctance Motor
Vector control 5.17 Flying restart 5.17.2 Flying restart for a synchronous reluctance motor With encoderless control of a synchronous reluctance motor, using the "Flying restart" function, the position and speed of the rotor can be determined with almost no delay. To increase the quality of the function, a motor data identification routine (p1900, stationary measurement) must be carried out.
Page 276: Messages And Parameters
Vector control 5.17 Flying restart 5.17.3 Messages and parameters Overview of important faults (see SINAMICS S120/S150 List Manual) Flying restart: Detection current measured too low • F07330 Flying restart: Function not supported • F07331 Overview of important parameters (see SINAMICS S120/S150 List Manual) Voltage measurement configuration •...
Page 277: Synchronization
Vector control 5.18 Synchronization 5.18 Synchronization Description You can synchronize a motor with the line supply using the "Synchronization" function and an existing voltage sensing module VSM10 (to measure the line voltage). The connection to the line supply or the required contactor control can be realized using the existing bypass function or a higher-level control system.
Page 278 Vector control 5.18 Synchronization Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - Synchronizing • 7020 Overview of important parameters (see SINAMICS S120/S150 List Manual) Sync-line-drive activation • p3800[0...n] Sync-line-drive drive object number • p3801[0...n] BI: Sync-line-drive enable • p3802[0...n] CO/BO: Sync-line-drive control word •...
Page 279: Voltage Sensing Module
(p3800 = 0). Topology view The VSM is used on the encoder side for SINAMICS S120 drives. The VSM is only used at the VECTOR drive object in sensorless operating modes. The VSM is integrated into the topology at the position of the motor encoder.
Page 280 Voltage Sensing Module (VSM) - Analog inputs (AI 0 ... AI 3) • 9880 Voltage Sensing Module (VSM) - Temperature evaluation • 9886 Overview of the important parameters (see SINAMICS S120/S150 List Manual) Voltage Sensing Module component number • p0151[0...n] Activate/deactivate Voltage Sensing Module •...
Page 281: Simulation Mode
Vector control 5.20 Simulation mode 5.20 Simulation mode Simulation mode allows you to simulate the drive without a connected motor and without the DC-link voltage. In this case, it should be noted that the simulation mode can only be activated under an actual DC-link voltage of 40 V. If the voltage is higher, simulation mode is reset and fault message F07826 is output.
Page 282: Redundancy Mode Power Units
● Maximum 4 Motor Modules Innovation in parallel ● Parallel connection of power units with suitable power reserves ● DRIVE-CLiQ star topology (possibly a DMC20 or a DME20, see SINAMICS S120 Control Units Manual) ● Motor with one single-winding system (p7003 = 0) ●...
Page 283: Bypass
Vector control 5.22 Bypass 5.22 Bypass 5.22.1 Overview The bypass function controls two contactors via digital outputs of the drive converter and evaluates the feedback signals of the contactors via digital inputs (e.g. via TM31). This circuit allows the motor to be operated using the converter or directly on the supply line. The contactors are activated by the converter.
Page 284: Bypass With Synchronization With Overlap
Vector control 5.22 Bypass NOTICE Incorrect synchronization as a result of an incorrect phase sequence The target frequency r3804 is specified as an absolute value. It does not contain information about the direction of the rotating field (phase sequence)! If the phase sequence of the line voltage, which must be synchronized with, does not match the motor voltage phase sequence, then this results in incorrect synchronization.
Page 285 Vector control 5.22 Bypass A reactor is used to de-couple the drive converter from the line supply - the uk value for the reactor is 10% +/- 2%. Figure 5-26 Circuit example: Bypass with synchronization with overlap Note As a result of the overlap, when synchronizing back to the converter, the DC link voltage can increase;...
Page 286 Vector control 5.22 Bypass Parameter assignment The following parameters must be set after the bypass function with synchronization with overlap (p1260 = 1) has been activated. Table 5- 3 Parameter setting for bypass function with synchronization with overlap Parameter Description r1261.0 = Control signal for contactor K1 r1261.1 =...
Page 287 Vector control 5.22 Bypass The motor is transferred to the line supply (the drive converter controls contactors K1 and K2): ● The initial state is as follows: Contactor K1 is closed, contactor K2 is open and the motor is fed from the drive converter. ●...
Page 288: Bypass With Synchronization Without Overlap
Vector control 5.22 Bypass 5.22.3 Bypass with synchronization without overlap Description When "bypass with synchronization without overlap (p1260 = 2)" is activated, contactor K2 to be closed is only closed when contactor K1 has opened (anticipatory type synchronization). During this time, the motor is not connected to the line supply so that its speed is determined by the load and the friction.
Page 289 Vector control 5.22 Bypass Figure 5-28 Circuit example, bypass with synchronization without overlap Activation The bypass function with synchronization without overlap (p1260 = 2) can only be activated using a control signal. Activation using a speed threshold is not possible. Parameter assignment The following parameters must be set after the bypass function with synchronization without overlap (p1260 = 2) has been activated.
Page 290: Bypass Without Synchronization
Vector control 5.22 Bypass 5.22.4 Bypass without synchronization Description When the motor is transferred to the line supply, contactor K1 is opened (after the drive converter pulses have been inhibited); the system then waits for the motor de-excitation time and then contactor K2 is closed so that the motor is directly connected to the line supply. Because the motor is not synchronized when it is connected to the line supply an equalization current flows.
Page 291 Vector control 5.22 Bypass Activation The bypass without synchronization (p1260 = 3) can be triggered using the following signals (p1267): ● Bypass using a control signal (p1267.0 = 1): The bypass can be activated using a digital signal (p1266) (e.g. from a higher-level control system).
Page 292: Function Diagrams And Parameters
5.22 Bypass 5.22.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - Synchronizing • 7020 Overview of important parameters (see SINAMICS S120/S150 List Manual) Bypass function Bypass configuration • p1260 CO/BO: Bypass control/status word • r1261.0...12 Bypass dead time •...
Page 293: Asynchronous Pulse Frequency
Vector control 5.23 Asynchronous pulse frequency 5.23 Asynchronous pulse frequency The pulse frequency is coupled to the current controller cycle, and can only be adjusted in multiple integer steps. For most standard applications, this setting makes sense and should not be modified. For certain applications, it may be advantageous if the pulse frequency is decoupled from the current controller cycle.
Page 294 Vector control 5.23 Asynchronous pulse frequency Application example Situation: A large (> 250 kW) Motor Module in the chassis format and a small (< 250 kW) Motor Module, e.g. in the booksize format, are to be connected to one DRIVE-CLiQ line. The factory setting of the current controller cycle of the small Motor Module is 250 µs, corresponding to a pulse frequency of 2 kHz.
Page 295 Vector control 5.23 Asynchronous pulse frequency Overview of important parameters (see SINAMICS S120/S150 List Manual) Sampling times for internal control loops • p0115[0...6] Pulse frequency setpoint • p1800[0...n] Modulator configuration • p1810 Actual value correction configuration • p1840[0...n] Drive functions...
Page 296 Vector control 5.23 Asynchronous pulse frequency Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 297: V/F Control (Vector Control)
V/f control (vector control) The V/f control characteristic is the simplest way to control an induction motor. When configuring the drive using the STARTER commissioning tool, V/f control is activated in the "Closed-loop control structure" screen (also see p1300). Note For V/f control, the permissible range of the ratio between the rated motor current (p0305) and rated Motor Module current (r0207) is 1:1 to 1:12.
Page 298 V/f control (vector control) Several variations of the V/f characteristic exist, which are shown in the following table: Table 6- 1 V/f characteristic (p1300) Parameter Meaning Application / property values Linear characteristic Standard (without voltage boost) Linear characteristic Characteristic that compensates for volt- with flux current con- age losses in the stator resistance for trol (FCC)
Page 299 V/f control (vector control) Parameter Meaning Application / property values Programmable char- Characteristic that takes into account acteristic motor/machine torque curve (e.g. syn- chronous motor). Linear characteristic Characteristic, see parameter 0 and Eco mode at a constant operating point. and ECO In the ECO mode, the efficiency at a constant operating point is optimized.
Page 300 V/f control (vector control) Function diagram Vector control - V/f control, overview • 6300 Vector control - V/f characteristic and voltage boost • 6301 Parameter Open-loop/closed-loop control operating mode • p1300[0...n] V/f control programmable characteristic frequency 1 • p1320[0...n] V/f control programmable characteristic voltage 4 •...
Page 301: Technological Application
V/f control (vector control) 6.1 Technological application Technological application Using parameter p0500, you can influence the calculation of open-loop control and closed- loop control parameters. The default setting helps you find suitable values for standard applications. You can make preassignments for the following technological applications: Value p0500 Application Standard drive (VECTOR) •...
Page 302: Voltage Boost
V/f control (vector control) 6.2 Voltage boost Voltage boost According to the V/f characteristic, at an output frequency of 0 Hz, the control supplies an output voltage of 0 V. This means that at 0 V, the motor cannot generate any torque. There are several reasons for the use of the "Voltage boost"...
Page 303 V/f control (vector control) 6.2 Voltage boost Note The voltage boost affects all V/f characteristics (p1300). Note Excessive motor temperature rise as a result of excessive voltage boost If the voltage boost value is too high, this can result in an excessively high motor winding temperature increase - and therefore result in a shutdown (trip).
Page 304 Voltage boost while accelerating (example: p1300 = 0 and p1311 > 0) Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - V/f characteristic and voltage boost • 6301 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor voltage • p0304[0...n] Rated motor current •...
Page 305: Slip Compensation
A parameter setting of p1351 > 0 automatically activates the slip compensation (p1335 = 100%). Figure 6-5 Slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor slip • r0330[0...n] V/f control slip compensation starting frequency •...
Page 306: Resonance Damping
45 Hz. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Resonance damping and slip compensation • 6310 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Output frequency • r0066 CO: Torque-generating actual current value •...
Page 307: Vdc Control
V/f control (vector control) 6.5 Vdc control Vdc control The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. Figure 6-7 dc control Undervoltage in the DC link ●...
Page 308 V/f control (vector control) 6.5 Vdc control Overvoltage in the DC link ● Typical cause: The drive is operating in regenerative mode and is supplying too much energy to the DC link. ● Remedy: Reduce the regenerative torque to maintain the DC link voltage within permissible limits. Properties ●...
Page 309 V/f control (vector control) 6.5 Vdc control When the line supply returns, the DC link voltage increases again. 5% above the V dc_min switch-on level, the V control is switched off again. The motor continues operating dc_min normally. If the power supply is not re-established, the motor speed continues to drop. When the threshold in p1297 is reached, this results in a response in accordance with p1296.
Page 310 V/f control (vector control) 6.5 Vdc control If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), or for power failure or overload (for SLM/ALM), the V control may only be dc_max activated for a Motor Module whose drive should have a high moment of inertia. For the other Motor Modules this function must be disabled or monitoring must be set.
Page 311 Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Vdc_max controller and Vdc_min controller (V/f) • 6320 Overview of important parameters (see SINAMICS S120/S150 List Manual) Vdc controller or Vdc monitoring configuration (V/f) • p1280[0...n] Vdc_max controller switch-on level (V/f) •...
Page 312 V/f control (vector control) 6.5 Vdc control Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 313: Basic Functions
This assignment and the unit groups can be read for each parameter in the parameter list in the SINAMICS S120/S150 List Manual. The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and p0595).
Page 314 > "Configuration" > "Units". The reference parameters can be found via the menu path "Drive object" > "Configuration" > "Reference parameters". Overview of the important parameters (see SINAMICS S120/S150 List Manual) Infeed, commissioning parameter filter • p0010 IEC/NEMA motor standard •...
Page 315: Reference Parameters/Scaling
PROFIdrive controller whenever a new calculation of the reference parameters via p0340 takes place. Parameters p0514 ... p0519 are provided for scaling purposes when interconnecting BICO parameters (also see SINAMICS S120/S150 List Manual). Figure 7-1 Illustration of conversion with reference values Note If a referenced form is selected and the reference parameters (e.g.
Page 316 Basic functions 7.2 Reference parameters/scaling Scaling for the VECTOR drive object Table 7- 1 Scaling for the VECTOR drive object Size Scaling parameter Default when commissioning for the first time Reference speed 100% = p2000 p2000 = Maximum speed (p1082) Reference voltage 100% = p2001 p2001 = 1000 V...
Page 317 Basic functions 7.2 Reference parameters/scaling Scaling for the SERVO drive object Table 7- 2 Scaling for the SERVO drive object Size Scaling parameter Default when commissioning for the first time Reference speed 100% = p2000 Induction motor p2000 = Maximum motor speed (p0322) Synchronous motor p2000 = Rated motor speed (p0311)
Page 318 Basic functions 7.2 Reference parameters/scaling Scaling for the S_INF drive object Table 7- 4 Scaling for the S_INF drive object Size Scaling parameter Default when commissioning for the first time Reference frequency 100% = p2000 p2000 = 50 Hz Reference voltage 100% = p2001 p2001 = p0210 Reference current...
Page 319 Basic functions 7.2 Reference parameters/scaling Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated power module power • r0206[0...4] Device supply voltage • p0210 Automatic calculation of motor/control parameters • p0340[0...n] Inhibit automatic reference value calculation • p0573 Reference speed reference frequency •...
Page 320: Configuring The Short-Circuit/Ground Fault Test Mode
Basic functions 7.3 Configuring the short-circuit/ground fault test mode Configuring the short-circuit/ground fault test mode When switching on the power unit, test pulses can be generated that check the connection between the power unit and motor - or the motor winding itself - for a short-circuit or ground fault.
Page 321: Modular Machine Concept
Basic functions 7.4 Modular machine concept Modular machine concept The modular machine concept is based on a maximum topology created "offline" in STARTER. The maximum design of a particular machine type is referred to as the maximum configuration in which all the machine components that may be used are pre-configured in the target topology.
Page 322 Basic functions 7.4 Modular machine concept Figure 7-2 Example of a sub-topology Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 323 If a drive in a Safety Integrated drive line-up is deactivated using p0105, then r9774 is not correctly output. The signals of a deactivated drive are no longer updated. Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object •...
Page 324: Sine-Wave Filter
– Shielded cables: Max. 300 m ● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 air-cooled chassis power units – SINAMICS S120 liquid-cooled chassis power units Note If a filter cannot be parameterized (p0230 < 3), this means that a filter has not been provided for the component.
Page 325 Basic functions 7.5 Sine-wave filter Table 7- 6 Parameter settings for sine-wave filters Parameter number Name Setting p0233 Power unit motor reactor Filter inductance p0234 Power unit sine-wave filter Filter capacitance capacitance p0290 Power unit overload response Disable pulse frequency reduction p1082 Maximum speed Fmax filter / pole pair number...
Page 326: Motor Reactors
● SINAMICS S120 AC Drive ● SINAMICS S120 booksize power units ● SINAMICS S120 air-cooled chassis power units ● SINAMICS S120 liquid-cooled chassis power units The maximum permissible pulse frequency for the motor reactor is defined as follows for the SINAMICS power units: ●...
Page 327 Basic functions 7.6 Motor reactors Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive filter type, motor side • p0230 Power unit motor reactor • p0233 Number of motor reactors in series • p0235 Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 328: Dv/Dt Filter Plus Voltage Peak Limiter
– Unshielded cables: Max. 450 m ● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 air-cooled chassis power units – SINAMICS S120 chassis power units, liquid-cooled The maximum permissible pulse frequency when using a du/dt filter: ●...
Page 329 Basic functions 7.7 dv/dt filter plus Voltage Peak Limiter NOTICE Damage to the du/dt filter by exceeding the maximum pulse frequency Inadmissibly high pulse frequencies can damage the du/dt filter. • Do not exceed maximum permissible pulse frequency. Commissioning The dv/dt filter must be activated when commissioning the system (p0230 = 2). Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 330: Dv/Dt Filter Compact Plus Voltage Peak Limiter
Basic functions 7.8 dv/dt filter compact plus Voltage Peak Limiter dv/dt filter compact plus Voltage Peak Limiter The dv/dt filter compact plus Voltage Peak Limiter consists of two components: The dv/dt reactor and the voltage limiting network (Voltage Peak Limiter, VPL). A VPL cuts off the voltage peaks and feeds the energy back into the DC link.
Page 331 – Unshielded cables: Max. 150 m ● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 air-cooled chassis power units – SINAMICS S120 chassis power units, liquid-cooled Commissioning During commissioning, you must activate the dv/dt filter with p0230 = 2.
Page 332: Pulse Frequency Wobbling
(1000/p0115[0]). These conditions apply to all indices. Note If pulse frequency wobbling is deactivated, parameter p1811 is set to "0" in all of the indices. Overview of important parameters (see SINAMICS S120/S150 List Manual) Modulator configuration • p1810 Pulse frequency wobbling amplitude •...
Page 333: Direction Reversal Without Changing The Setpoint
Basic functions 7.10 Direction reversal without changing the setpoint 7.10 Direction reversal without changing the setpoint The direction of rotation of the motor can be reversed using the direction reversal via p1821 without having to change the motor rotating field by interchanging two phases at the motor and having to invert the encoder signals using p0410.
Page 334 (p2507), as the position reference is lost when the direction of rotation is switched over. Overview of the important parameters (see SINAMICS S120/S150 List Manual) CO: Phase current actual value •...
Page 335: Automatic Restart
Basic functions 7.11 Automatic restart 7.11 Automatic restart The automatic restart function is used to automatically restart the drive / drive line-up, e.g. when the power is restored after a power failure. In this case, all of the faults present are automatically acknowledged and the drive is powered-up again.
Page 336 Basic functions 7.11 Automatic restart Automatic restart mode Table 7- 7 Automatic restart mode p1210 Mode Meaning Disables automatic restart Automatic restart inactive Acknowledges all faults without re- Any faults that are present, are acknowledged automatically once the starting cause has been rectified. If further faults occur after faults have been acknowledged, then these are also again automatically acknowledged.
Page 337 Basic functions 7.11 Automatic restart The startup attempt has been successfully completed if the flying restart and the motor magnetization (induction motor) have been completed (r0056.4 = 1) and one additional second has expired. The starting counter is only reset to the initial value p1211 after this time.
Page 338 Basic functions 7.11 Automatic restart Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Drive coupling status word / control word • r0863.0...2 Automatic restart fault active • p1206[0...9] BI: Automatic restart (AR) - connection to the following drive object •...
Page 339: Armature Short-Circuit, Dc Braking
Basic functions 7.12 Armature short-circuit, DC braking 7.12 Armature short-circuit, DC braking The "Armature short-circuit" and "DC braking" functions can be set using parameters p1231[0...n]. The current status of the armature short-circuit or the DC braking can be seen in r1239. Armature short-circuit Using this function, you can brake permanent-magnet synchronous motors.
Page 340: Armature Short-Circuit Braking For Permanent-Magnet Synchronous Motors
Basic functions 7.12 Armature short-circuit, DC braking WARNING Motor accelerates uncontrollably for pulling loads For pulling loads, when DC braking is used, during the demagnetization time, the motor can accelerate uncontrollably. This can result in severe injury or death. An additional supporting mechanical brake is only closed after the demagnetization time - when the motor is already rotating - and therefore does not prevent the motor from accelerating uncontrollably.
Page 341: External Armature Short-Circuit Braking
Basic functions 7.12 Armature short-circuit, DC braking Deactivation The function is deactivated if the signal source of p1230 is set to a "0". When triggered by a fault, the fault must have been removed and acknowledged. 7.12.1.2 External armature short-circuit braking This function controls an external contactor via output terminals that then short-circuits the motor windings through resistors.
Page 342 Basic functions 7.12 Armature short-circuit, DC braking Example of an activation: 1. The signal source of p1230 is set to a "1" signal 2. As a consequence, the display parameters of drive object Motor Module r1239.0 and r0046.4 also indicate a "1". 3.
Page 343 Basic functions 7.12 Armature short-circuit, DC braking Example of external armature short-circuit braking Before parameterizing external armature short-circuit braking, you have to create a new project with a Motor Module and a motor. The following conditions must be fulfilled: ● A short-circuit contactor with an additional feedback signal contact is used (p1231 = 1). ●...
Page 344: Dc Braking
Basic functions 7.12 Armature short-circuit, DC braking 7.12.2 DC braking Preconditions ● This function has been released for Motor Modules in the booksize, blocksize and chassis formats. ● An induction motor must be used. With the function "DC braking", after a demagnetization time, a DC current is injected in the stator windings of the induction motor.
Page 345: Activation Via Fault Response
Basic functions 7.12 Armature short-circuit, DC braking The following applies: ● For servo control (with encoder): The drive returns to close-loop control after the demagnetization time has elapsed (p0347 can also be set to 0). ● For vector control (with and without encoder): When the "flying restart"...
Page 346: Activation Via Off Fault Responses
Basic functions 7.12 Armature short-circuit, DC braking 7.12.2.3 Activation via OFF fault responses Setting as a response to OFF fault signals With p1231 = 5, DC braking is set as a response to OFF1 or OFF3. Parameter p1230 has no influence on the response for OFF1/OFF3.
Page 347: Internal Voltage Protection
Basic functions 7.12 Armature short-circuit, DC braking 7.12.3 Internal voltage protection With the integrated voltage protection is active, after the pulses have been canceled, all the motor terminals are at half of the DC link potential (without integrated voltage protection the motor terminals have a no voltage condition)! ●...
Page 348: Configuring The Fault Response
7.12.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - External armature short circuit (EASC, p0300 = 2xx or • 7014 4xx) Technology functions - Internal armature short-circuit (IVP, p0300 = 2xx or 4xx) •...
Page 349 Basic functions 7.12 Armature short-circuit, DC braking Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Missing enable signals • r0046.0...31 Motor type selection • p0300[0...n] Motor de-excitation time • p0347[0...n] Motor encoder fault response: ENCODER • p0491 CO/BO: CU digital inputs, status •...
Page 350: Motor Module As A Braking Module
• SINAMICS S120 Motor Modules Chassis (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (500 V - 690 V) 7.13.1...
Page 351: Configuring Resistors
Basic functions 7.13 Motor Module as a Braking Module 7.13.2 Configuring resistors Rules and values ● Under no circumstances may the resistance values for the peak braking power, which are listed in this table, be fallen below! ● The resistance values apply for each of the three resistors in a star connection in the cold state.
Page 352 Basic functions 7.13 Motor Module as a Braking Module Motor Rated volt- Rated Braking Continu- Peak Resistance at the Resistance at the DC link Module current current chopper ous brak- braking continuous brak- peak braking frame size threshold ing power power ing power power...
Page 353 Basic functions 7.13 Motor Module as a Braking Module Motor Rated Rated Braking Continu- Peak Resistance Resistance DC link Module voltage current current chopper ous brak- braking at the continuous at the peak brak- frame size threshold ing power power braking power ing power [kW]...
Page 354: Activating The "Braking Module" Function
You have opened the STARTER commissioning tool and created a new project or opened an existing project. Activating the Braking Module 1. Configure the Control Unit and the infeed module as usual (see SINAMICS S120 Commissioning Manual with STARTER). 2. Select "Vector" as drive object type.
Page 355 Basic functions 7.13 Motor Module as a Braking Module 3. "V/f control" should be selected as controller structure. 4. Under "Control mode", select "(15) Operation with braking resistor". 5. Select the supply voltage in the configuration dialog box. 6. In the configuration dialog box, select "Chassis" as format. 7.
Page 356: Protective Equipment
Basic functions 7.13 Motor Module as a Braking Module Operating a parallel connection in master/slave mode Motor Modules connected in parallel can also be operated in master/slave mode. 1. To do this, use parameter p1330 to transfer the input of the V/f characteristic to the next power unit.
Page 357: Overview Of The Important Parameters
Basic functions 7.13 Motor Module as a Braking Module 7.13.5 Overview of the important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated power unit current • r0207[0…4] Fault value • r0949[0...63] Open-loop/closed-loop control operating mode • p1300[0…n] CI: V/f control independent of voltage setpoint •...
Page 358: Off3 Torque Limits
• 5620 Servo control - Upper/lower torque limit • 5630 Vector control - Upper/lower torque limit • 6630 Overview of important parameters (see SINAMICS S120/S150 List Manual) Torque limit, upper/motoring • p1520[0...n] CO: Torque limit, lower/regenerative • p1521[0...n] Drive functions...
Page 359: Technology Function Friction Characteristic
Basic functions 7.15 Technology function friction characteristic 7.15 Technology function friction characteristic The friction characteristic curve is used to compensate the friction torque for the motor and the driven machine. A friction characteristic enables the speed controller to be precontrolled and improves the response.
Page 360 • 5610 Vector control - Current setpoint filter • 6710 Technology functions - Friction characteristic • 7010 Overview of important parameters (see SINAMICS S120/S150 List Manual) Friction characteristic, value n0 • p3820[0...n] Friction characteristic, value M9 • p3839[0...n] CO/BO: Friction characteristic status word •...
Page 361: Simple Brake Control
The Motor Module then performs the action and activates the output for the holding brake. The exact sequence control is shown in function diagrams 2701 and 2704 (see SINAMICS S120/S150 List Manual). The operating principle of the holding brake can be configured via parameter p1215.
Page 362 It is only permissible to activate brake control monitoring for booksize power units and blocksize power units with Safe Brake Relay (p1278 = 0). Function diagrams (see SINAMICS S120/S150 List Manual) Brake control - Simple brake control (r0108.14 = 0) •...
Page 363 Basic functions 7.16 Simple brake control Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, closed-loop control; • r0056.4 magnetizing complete CO: Speed setpoint before the setpoint filter • r0060 CO: Actual velocity value smoothed • r0063 CO: Actual speed value •...
Page 364: Runtime (Operating Hours Counter)
Basic functions 7.17 Runtime (operating hours counter) 7.17 Runtime (operating hours counter) Total system runtime The total system runtime is displayed in p2114 (Control Unit). Index 0 indicates the system runtime in milliseconds after reaching 86,400,000 ms (24 hours), the value is reset. Index 1 indicates the system runtime in days.
Page 365 Basic functions 7.17 Runtime (operating hours counter) Time stamp mode The mode for the time stamp can be set via parameter p3100. ● p3100 = 0 Time stamp based on operating hours ● p3100 = 1 Time stamp UTC format ●...
Page 366: Energy-Saving Display
Using the SINAMICS S120 system enables control of the flow rate or the pressure by changing the speed of the continuous-flow machine. As a consequence, the plant or system is controlled close to its maximum efficiency over the complete operating range.
Page 367 Basic functions 7.18 Energy-saving display Solution to optimize the system When using a speed controller, the process-specific flow rate of the continuous-flow machine is controlled by varying the speed. The flow rate changes proportionally with the speed of the continuous-flow machine. Any throttles or valves remain completely open. The entire plant/system characteristic is shifted by the speed controller to achieve the required flow rate.
Page 368 Basic functions 7.18 Energy-saving display Energy-saving function This function determines the amount of energy used and compares it with the interpolated energy required for a plant or system equipped with a conventional throttle control. The amount of energy saved is calculated over the last 100 operating hours and is displayed in kW.
Page 369: Encoder Diagnostics
● Displaying the last written BIN file ● Number of still possible write operations (from 10000 downwards). Note BIN files can only be evaluated by Siemens. Alarm A3x930 is output while diagnostics data is being actively recorded. Do not switch off the system during this time.
Page 370: Encoder Dirty Signal
The input is automatically set to a high level if a wire is broken: As a consequence, for a broken wire, the encoder is considered to be "good". Overview of important parameters (see SINAMICS S120/S150 List Manual) Sensor Module extended configuration •...
Page 371: Tolerant Encoder Monitoring
Basic functions 7.20 Tolerant encoder monitoring 7.20 Tolerant encoder monitoring The tolerant encoder monitoring offers the following expanded functionality regarding the evaluation of encoder signals: ● Encoder track monitoring (Page 372) ● Zero mark tolerance (Page 373) (also for other sensor modules) ●...
Page 372: Encoder Track Monitoring
If you selected your encoder from the list of parameter p0400, then the values above are pre-selected and cannot be changed (also refer to the information on p0400 in the SINAMICS S120/S150 List Manual). Deactivating track monitoring If encoder track monitoring is activated, you can deactivate the function by setting p0437.26 = 1.
Page 373: Zero Mark Tolerance
Basic functions 7.20 Tolerant encoder monitoring If a fault is detected, then fault F3x117 is output. The faulty tracks are included in the fault value bit-coded. Note For modules CU310-2, CUA32, D410-2 and SMC30 (only article numbers 6SL3055-0AA00-5CA0 and 6SL3055-0AA00-5CA1), there is only a common signal. If you connect a square-wave encoder without R track to one of these modules, then if track monitoring is activated, fault F3x117 is output.
Page 374: Freezing The Speed Raw Value
Basic functions 7.20 Tolerant encoder monitoring 7.20.3 Freezing the speed raw value If, for high speed changes, the dn/dt monitoring function responds, then the "freeze speed raw value" function gives you the opportunity of briefly specifying the actual speed value therefore equalizing the speed change.
Page 375: Edge Evaluation Of The Zero Mark
Basic functions 7.20 Tolerant encoder monitoring Effect You can calculate the influence of the filter time on the maximum possible speed as follows: n_max [rpm] = 60 / (p0408 · 2 · r0452) Here, p0408 is the pulse number of the rotary encoder. Example Specifications: ●...
Page 376: Pole Position Adaptation
Basic functions 7.20 Tolerant encoder monitoring Parameterization ● Under unfavorable conditions, if the drive oscillates around the zero mark for one revolution, a zero mark error can occur with the rough order of magnitude of the zero mark width. ● This behavior can be avoided using the appropriate value of parameter "p4686 zero mark minimum length".
Page 377: Pulse Number Correction For Faults
Basic functions 7.20 Tolerant encoder monitoring 7.20.7 Pulse number correction for faults Interference currents or other EMC faults can falsify encoder evaluation. However, it is possible to correct the measured signals using the zero marks. Commissioning 1. Set p0437.2 = 1 to activate "Pulse number correction for faults". 2.
Page 378: Tolerance Band Pulse Number" Monitoring
Basic functions 7.20 Tolerant encoder monitoring 7.20.8 "Tolerance band pulse number" monitoring This function monitors the number of encoder pulses between two zero marks. An alarm is output if the number lies outside a tolerance band that can be selected. Commissioning 1.
Page 379: Signal Edge Evaluation (1X, 4X)
Basic functions 7.20 Tolerant encoder monitoring 7.20.9 Signal edge evaluation (1x, 4x) The "signal edge evaluation" function allows square-wave encoders with higher production tolerances or older encoders to be used. Using this function, a "steadier" actual speed value is calculated for encoders with an uneven pulse duty factor of the encoder signals. As a consequence, you can keep the old motors together with the encoders - for example when modernizing plants.
Page 380: Setting The Measuring Time To Evaluate Speed "0
Basic functions 7.20 Tolerant encoder monitoring 7.20.10 Setting the measuring time to evaluate speed "0" This function is only necessary for slow-speed drives (up to 40 rpm rated speed) in order to be able to output actual speeds correctly close to 0. For a stationary drive, this prevents that the I component of the speed controller slowly increases and the drive unnecessarily establishes a torque.
Page 381: Troubleshooting
Basic functions 7.20 Tolerant encoder monitoring 7.20.12 Troubleshooting Table 7- 11 Fault profiles and their possible causes Fault profile Fault description Remedy No fault – F3x101 (zero mark Check that the connec- failed) tion assignment is cor- rect (A interchanged with –A or B interchanged with –B) F3x100 (Zero mark...
Page 382 Basic functions 7.20 Tolerant encoder monitoring Fault profile Fault description Remedy Zero mark too wide Use edge evaluation of the zero mark EMC faults Use an adjustable hard- ware filter Zero mark too early/late For faults, use pole position adaptation or (interference pulse or pulse number correction pulse loss on the A/B...
Page 383: Tolerance Window And Correction
Basic functions 7.20 Tolerant encoder monitoring 7.20.13 Tolerance window and correction Figure 7-10 Tolerance window and correction Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 384: Dependencies
Basic functions 7.20 Tolerant encoder monitoring 7.20.14 Dependencies Parameter Functionality These functions can be freely combined with one These functions another build on one another from left to right, and can be combined with the adjacent ones Indices p0405.2 Track monitoring p0430.20 Speed calculation mode p0430.21...
Page 385 Basic functions 7.20 Tolerant encoder monitoring Parameter Functionality These functions can be freely combined with one These functions another build on one another from left to right, and can be combined with the adjacent ones Indices Messages F3x117 Inversion signal A and B error F3x118 Speed difference outside tolerance F3x131...
Page 386: Overview Of Important Parameters
Basic functions 7.20 Tolerant encoder monitoring 7.20.15 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Encoder configuration active • p0404[0...n] Square-wave encoder track A/B / square-wave encoder A/B • p0405[0...n] Rotary encoder pulse No. • p0408[0...n] Sensor Module configuration •...
Page 387: Parking Axis And Parking Encoder
Basic functions 7.21 Parking axis and parking encoder 7.21 Parking axis and parking encoder The "parking" function is used in two ways: ● "Parking axis" – Monitoring of all encoders and Motor Modules assigned to the "Motor control" application of a drive are suppressed. –...
Page 388 Basic functions 7.21 Parking axis and parking encoder Parking an encoder When an encoder is parked, the encoder being addressed is switched to inactive (r0146 = 0). ● Control is carried out via the encoder control/status words of the cyclic telegram (Gn_STW.14 and Gn_ZSW.14).
Page 389 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 7-12 Function chart: parking encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 390: Position Tracking
Basic functions 7.22 Position tracking 7.22 Position tracking 7.22.1 General information Terms ● Encoder range The position area that can itself represent the absolute encoder. ● Singleturn encoder A rotating absolute encoder, which provides an absolute image of the position within one encoder revolution.
Page 391: Measuring Gearbox
Basic functions 7.22 Position tracking The encoder actual position value in r0483 (must be requested via GnSTW.13) is limited to places. When position tracking (p0411.0 = 0) is switched off, the encoder actual position value r0483 comprises the following position information: ●...
Page 392 Basic functions 7.22 Position tracking Example: Gear ratio 1:3 (motor revolutions p0433 to encoder revolutions p0432), absolute encoder can count eight encoder revolutions (p0421 = 8). Figure 7-15 Drive with odd-numbered gearboxes without position tracking In this case, for each encoder overflow, there is a load-side offset of 1/3 of a load revolution, after three encoder overflows, the motor and load zero position coincide again.
Page 393 Basic functions 7.22 Position tracking Measuring gear configuration (p0411) The following points can be set by configuring this parameter: ● p0411.0: Activation of position tracking ● p0411.1: Setting the axis type (linear axis or rotary axis) Here, a rotary axis refers to a modulo axis (modulo offset can be activated through higher-level controller or EPOS).
Page 394 (Measuring gear, position tracking tolerance window) can only be set via the expert list. Requirement ● Absolute encoder Function diagrams (see SINAMICS S120/S150 List Manual) Encoder evaluation - Position and temperature sensing, encoders 1 ... 3 • 4704 Drive functions...
Page 395 Basic functions 7.22 Position tracking Overview of important parameters (see SINAMICS S120/S150 List Manual) Gear unit type selection • p0402[0...n] Measuring gear configuration • p0411[0...n] Measuring gear, absolute encoder, rotary revolutions, virtual • p0412[0...n] Measuring gear, position tracking tolerance window •...
Page 396: Creating An Encoder As Drive Object
● Project with one CU320-2 The project can also be created OFFLINE. A description of this can be found in Section "Commissioning" in the SINAMICS S120 Commissioning Manual with STARTER. Connection conditions for ENCODER drive objects ● All encoders that can be assigned to a drive can be used.
Page 397: Creating An Encoder Drive Object
Basic functions 7.23 Creating an encoder as drive object 7.23.2 Creating an ENCODER drive object Creating/inserting an ENCODER drive object is described using a CU320-2 as an example. In this example, the project is created OFFLINE using the STARTER commissioning tool. In the project navigator, you can find the selection of the ENCODER drive object between "Input/output components"...
Page 398: Terminal Module 41
Basic functions 7.24 Terminal Module 41 7.24 Terminal Module 41 Terminal Module 41 is characterized by the following features: ● Pulse encoder emulation, TTL signals according to the RS422 standard (X520) ● 1 analog input ● 4 digital inputs ● 4 bidirectional digital inputs/outputs Terminal Module 41 (TM41) emulates incremental encoder signals (TTL) - and outputs them via interface X520.
Page 399: Sinamics Mode
Basic functions 7.24 Terminal Module 41 Special features ● PROFIdrive telegram 3 ● Own control word (r0898) ● Own status word (r0899) ● Sequence control (refer to function diagram 9682) ● Settable zero mark position (p4426) ● Operating display (r0002) 7.24.2 SINAMICS mode The SINAMICS mode of the incremental encoder emulation is set using parameter p4400 =...
Page 400 Basic functions 7.24 Terminal Module 41 Special features ● The runtime of the encoder actual position value up to the pulse encoder emulation can be compensated using the deadtime compensation with p4421. ● The pulse number ratio between the encoder to be emulated and the emulating TM41 can be set as required.
Page 401: Zero Mark Emulation (Sinamics Mode)
Basic functions 7.24 Terminal Module 41 7.24.3 Zero mark emulation (SINAMICS mode) The referencing mode set for the leading encoder is used to determine the zero mark position for the zero mark emulation of the TM41. Possible referencing modes are: ●...
Page 402 Basic functions 7.24 Terminal Module 41 Example of a pulse number step-up ratio The leading encoder emits 12 pulses and a zero mark per revolution. However, the application requires 32 pulses per revolution. By setting p4408 and p4418, the required 32 pulses a revolution are available at X520 of the TM41.
Page 403 Basic functions 7.24 Terminal Module 41 Example of a pulse number step-up ratio with several zero positions If the original encoder has several zero positions/marks per revolution (e.g. resolver with several pole pairs), the correct zero mark must be selected via an additional condition. Otherwise, there is no reproducible relationship between the position of the original encoder and the zero mark position of the encoder emulation.
Page 404: Synchronization Of The Zero Marks (Sinamics Mode)
Basic functions 7.24 Terminal Module 41 7.24.4 Synchronization of the zero marks (SINAMICS mode) After the drive has been powered up, a static offset is obtained as a result of the random switch-on instant of the incremental encoder emulation. This static offset can be corrected using this function. The positions of the zero marks output at the TM41 are synchronized with the zero marks of the leading encoder.
Page 405: Limit Frequencies For Tm41
Basic functions 7.24 Terminal Module 41 Detecting the zero mark position for new synchronization If the number of encoder pulses has not been set equal to 2 (for example p0408 = 1000), then after the higher-level controller has been reset, it is possible that the position of the next zero mark cannot be determined from the actual position value xACT1 signaled from the TM41.
Page 406: Example In The Sinamics Mode
Basic functions 7.24 Terminal Module 41 7.24.6 Example in the SINAMICS mode The signals of the leading encoder should be adapted using the TM41 and transferred to the SERVO drive object. Figure 7-23 Example: TM41 Commissioning the example Input of parameter values via STARTER screen form: ●...
Page 407: Function Diagrams And Parameters
Terminal Module 41 (TM41) - Status word sequence control • 9680 Terminal Module 41 (TM41) - Sequencer (p4400 = 0) • 9682 Overview of important parameters (see SINAMICS S120/S150 List Manual) General TM41 status display • r0002 TM41 encoder emulation pulse number •...
Page 408 Basic functions 7.24 Terminal Module 41 Incremental encoder emulation using a speed setpoint (p4400 = 0) BI: ON/OFF (OFF1) • p0840 CO/BO: Control word, sequence control • r0898.0...13 CO/BO: Status word, sequence control • r0899.0...15 CI: TM41 encoder simulation speed setpoint 1 •...
Page 409: Upgrade The Firmware And Project
Basic functions 7.25 Upgrade the firmware and project 7.25 Upgrade the firmware and project 7.25.1 Overview The firmware must be upgraded, if in a more recent firmware version, an extended functional scope is available that you would like to use. In principle, upgrading the firmware functions the same for both the CU310-2 and the CU320-2.
Page 410: Updating The Firmware Via The Web Server
Upgrade for SINAMICS S120 chassis Upgrading S120 chassis devices is more complex and involves more settings than for booksize devices. You can find a detailed description of the procedure when upgrading chassis devices at the following SIEMENS internet site Upgrading S120 chassis devices (https://support.industry.siemens.com/cs/ww/en/view/60494864) 7.25.2...
Page 411: Updating Firmware/Configuration On The Memory Card
Basic functions 7.25 Upgrade the firmware and project 7.25.2.2 Updating firmware/configuration on the memory card You can load a firmware or a configuration to the memory card of the drive with the aid of the Web server. If required, firmware and configuration can be loaded at the same time. Requirements ●...
Page 412 Basic functions 7.25 Upgrade the firmware and project Updating the firmware or configuration You can update the firmware and a configuration separately via a zip file. The configuration data must have been zipped via STARTER (using the "Load to file system" function). Firmware and configuration can also be updated together.
Page 413: Updating The Firmware
Basic functions 7.25 Upgrade the firmware and project Restoring the last update The current firmware version is displayed at “Restore last update" in the "Manage config" area. If an older version of the firmware is available as a backup, this version is also displayed with its ID and in this case, you can downgrade the firmware back to this backup version.
Page 414 – In the project navigator, select menu "Drive unit" > "Target device" > "Update device version / device type" – Then select the required firmware version: e.g. version "SINAMICS S120 firmware version 4.x" > "Change version" 3. Replace the memory card: –...
Page 415: Downgrade Lock
Basic functions 7.25 Upgrade the firmware and project 7.25.4 Downgrade lock The downgrade lock prevents the downgrade of firmware upgrades that have already been performed to correct errors. Note Upgrade higher firmware versions Components with higher firmware versions are fully downwards compatible with components with lower firmware versions.
Page 416 Basic functions 7.25 Upgrade the firmware and project Amended data on the memory card If the data on the working partition of the memory card and the backup partition is no longer consistent, the warning "A01073: POWER ON for backup copy on memory card required" is emitted.
Page 417: Extended Service Mode For Cu310-2 Connected To Blocksize Power Units
This data is only accessible for the service and repair organization. Requirements: The following preconditions are necessary when using ESM with SINAMICS S120: ● CU310-2 PN or CU310-2 DP ● Vector control ● PM240-2 Power Module ●...
Page 418 Basic functions 7.26 Extended service mode for CU310-2 connected to blocksize power units Activating/deactivating the essential service mode Signal p3880 = 1 activates the essential service mode: ● If the motor was switched off by activating essential service mode, the converter switches the motor on.
Page 419 Basic functions 7.26 Extended service mode for CU310-2 connected to blocksize power units Automatic restart during active essential service mode ● The converter ignores the settings in p1206 (faults without automatic restart) and works with the setting "restart after a fault with further start attempts" (p1210 = 6). ●...
Page 420: Configuring The Essential Service Mode
Basic functions 7.26 Extended service mode for CU310-2 connected to blocksize power units 7.26.2 Configuring the essential service mode Commissioning Proceed as follows to commission the essential service mode: 1. Interconnect a free digital input as signal source to activate ESM. Example for digital input DI 3: Set p3880 = 722.3.
Page 421: Function Diagrams And Parameters
Setpoint channel - Direction limitation and direction reversal • 3040 Technology functions - Emergency operation (ESM, Essential Service Mode • 7033 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor encoder fault response ENCODER • p0491 Automatic restart mode •...
Page 422: Pulse/Direction Interface
• More information on the Control Unit CU320-2 and the SMC30 is provided in the SINAMICS S120 Control Units Manual. • More information on the Control Unit CU310-2 is provided in the SINAMICS S120 AC Drive Manual. Application: Speed-controlled drive The drive is subject to speed control when operating on the controller.
Page 423 STARTER configuration wizard in the "Encoder Data" dialog box. Note The pulse/direction interface is activated using p0405.5 = 1 (e.g. via the Expert list of STARTER). Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive, commissioning parameter filter • p0010 CO: Actual speed value unsmoothed •...
Page 424: Derating Function For Chassis Units
Units that are connected in parallel operate in the same manner as single units. The dependency of the output current on the pulse frequency for the chassis power units is described in the SINAMICS S120 Chassis Power Units Manual. Operating principle...
Page 425: Parallel Connection Of Motors
Basic functions 7.29 Parallel connection of motors 7.29 Parallel connection of motors For simple commissioning of group drives (a number of identical motors operating on one power unit), the number of parallel-connected motors can be entered via STARTER (only for vector control) or via the expert list (for servo and vector control) (p0306).
Page 426 Basic functions 7.29 Parallel connection of motors Parameter p0306 is assigned in a STARTER commissioning screen. When the subsequent parameters are set, p0306 is included in the calculation of the current limit (p0640) and in the reference current (p2002). Parameter p0306 has a value range of 1 to 50, and is it dependent on the motor data set (MDS).
Page 427 The motor must then be decoupled from the parallel grouping. Parameter p0306 is changed by the DDS/MDS changeover. Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor type selection • p0300[0...n] Number of motors connected in parallel: •...
Page 428: Web Server
Basic functions 7.30 Web server 7.30 Web server 7.30.1 Overview The Web server provides information on a SINAMICS device via its Web pages. Access is via an Internet browser. The information on the Web pages is shown in German or English. For information about message texts, drive object states and parameter names, there is a language selection which allows a switchover of the display to the desired language (German, English, Chinese, Italian, French, Spanish).
Page 429: Requirements And Addressing
2. In the search screen, select "S120" as the DriveType and "Web Server" as the Specialty. 3. Click the desired brief information in the list of results. The corresponding brief information is then displayed in the SIEMENS Industry Online Support. From the brief information, you can then download a detailed description as a PDF file.
Page 430 Basic functions 7.30 Web server The commissioning tools (STARTER, SCOUT, etc.) can also be used to determine and allocate IP addresses. As delivered, the integrated Ethernet interface has IP address 169.254.11.22. Supported Internet browsers In the current version, the SINAMICS Web server supports large displays such as on usual PC screens.
Page 431: Configuring The Web Server
Basic functions 7.30 Web server 7.30.3 Configuring the Web server 7.30.3.1 Performing the basic configuration The configuration of the Web server is performed via the "Configure Web Server" dialog box of STARTER. Basically, the configuration can be performed in online mode as well as in offline mode of STARTER.
Page 432 Basic functions 7.30 Web server Restricting Web server access to a secure connection Using the default configuration of the Web server, you can access the SINAMICS frequency converter via an HTTP connection as well as via the encrypted HTTPS connection. Using the configuration, access can be restricted so that only the secure HTTPS connection is possible.
Page 433: Assigning A Password
Basic functions 7.30 Web server 7.30.3.2 Assigning a password Requirement The configuration dialog box for the Web server has been opened in STARTER and the Web server is activated (see Basic configuration (Page 431)). Figure 7-27 Configuring the Web server with default settings During the first commissioning, the password can also be assigned via the Web server ("Setup"...
Page 434 Basic functions 7.30 Web server The "Administrator" user has the full rights as standard. However, only restricted access rights apply for the standard "SINAMICS" user. Note Secure passwords SINAMICS specifies almost no password rules for the assignment of passwords. The only rule is that at least 8 characters are used.
Page 435 Basic functions 7.30 Web server 5. Repeat the input in the "Confirm password" field. For security reasons, the password entries displayed in the input fields are encrypted. 6. Click "OK" to confirm the input. If both password entries were identical, the input dialog box is closed. If both entries do not match, the input dialog box remains open and an error message is displayed.
Page 436: Access Protection And Rights
Basic functions 7.30 Web server Password forgotten? A forgotten password results in that you can no longer access your previously accessible SINAMICS data and functions via the Web server. Proceed as follows to set a new password: 1. Back up the current configuration of the drive device in the STARTER. Select the drive unit and call the shortcut menu "Target device >...
Page 437: Web Server Access Protection
Basic functions 7.30 Web server Summary The most effective access protection is a combination of the aforementioned safety mechanisms. NOTICE Manipulation of the frequency converter parameter assignment due to password theft If unauthorized persons obtain a user’s login data, they can manipulate the parameter assignment and cause damage.
Page 438 Basic functions 7.30 Web server However, the following access rights apply for a commissioned drive: Functions of the Web server Access rights SINAMICS Administrator Start page / password input Diagnostic pages (version overview, DO state, alarms, – diagnostic buffer) Resetting the fault memory –...
Page 439: Access Protection For Parameter Lists In The Web Server
Basic functions 7.30 Web server 7.30.4.3 Access protection for parameter lists in the web server Default rights for parameter lists Three standard rights are specified for the parameter lists: Standard Explanation right Change list The user can create, change and delete the list. Read The user can read the parameters from the list.
Page 440: Starting The Web Server
Basic functions 7.30 Web server Changing access rights to parameter lists in the Web server 1. Start the Web server (see Starting the Web server (Page 440)). 2. Click the "Parameter" entry in the navigation. The parameter display is then active on the right in the browser. The "Define" tab is displayed.
Page 441 Basic functions 7.30 Web server Start 1. Enter the IP address of your SINAMICS drive in the address line of your Internet browser. Default setting for Ethernet interface (X127): 169.254.11.22. Note Security In addition to a normal connection to your drive, secure data transfer via HTTPS is also possible.
Page 442 Basic functions 7.30 Web server 3. Enter the login name and password at the top left. 4. Click "Login" to confirm the input. Figure 7-31 Start page after logging in After logging in you can call other display areas. Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 443 Basic functions 7.30 Web server Areas of the Web server display The display of the Web server is divided into two main areas: ● Navigation You can select the various display areas directly by clicking in the navigation. ● Display area Different information is displayed in the various areas.
Page 444: Displaying Device Information
Basic functions 7.30 Web server 7.30.6 Displaying device information The most important device information can be displayed with the aid of the Web server. Displaying information Click the “Device information" entry in the navigation. The most important device information is then displayed in the “Device information" area. Figure 7-32 Display area: Device information You can resort the table displayed using the arrow in the column headers.
Page 445: Displaying Diagnostic Functions
Basic functions 7.30 Web server 7.30.7 Displaying diagnostic functions 7.30.7.1 Status and operating display of the drive object The status and operating display of the drive objects can be called with the aid of the Web server. Displaying the Service overview 1.
Page 446: Loading Trace Files
Activation and parameterization of the multiple trace Detailed information on the activation and parameter assignment of a multiple trace can be obtained in the following documentation: • SINAMICS S120 Commissioning Manual with STARTER • SINAMICS S120 Commissioning Manual with Startdrive • STARTER Online Help •...
Page 447 Basic functions 7.30 Web server Loading trace files from the memory card 1. Click the “Diagnostics" entry in the navigation. 2. Click the “Trace files" tab. A list of loadable trace files is then displayed in the “Trace files" tab: Figure 7-34 Loading trace files 3.
Page 448: Displaying Messages
(including pre-history). Note You can find more detailed information on the diagnostic buffer in the "Diagnostic buffer" chapter of the SINAMICS S120 Commissioning Manual with STARTER. Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 449 Basic functions 7.30 Web server Displaying the diagnostic buffer 1. Click the “Events" entry in the navigation. 2. Click the “Diagnostic buffer" tab. The diagnostic buffer is then displayed on the “Diagnostic buffer" tab. Figure 7-35 Displaying the diagnostic buffer The following information is displayed: Column Explanation...
Page 450: Displaying Faults And Alarms
Basic functions 7.30 Web server 7.30.8.2 Displaying faults and alarms You can display and acknowledge pending drive alarms and faults with the aid of the Web server. Displaying alarm messages 1. Click the “Events" entry in the navigation. 2. Click the “Alarm display" tab. The current faults and alarms of the drive object are then displayed on the “Alarm display"...
Page 451: Displaying And Changing Drive Parameters
Basic functions 7.30 Web server 7.30.9 Displaying and changing drive parameters 7.30.9.1 Creating a parameter list Access to all drive parameters is possible with the Web server user-defined parameter lists: ● including DCC and Tec parameters ● including Level 4 parameters if the corresponding password has been set Up to 20 parameter lists, each with up to 40 parameters, can be managed in the Web server.
Page 452 Basic functions 7.30 Web server Creating a parameter list in the Web server 1. Click the "Parameter" entry in the navigation. The "Parameter" area is then displayed on the right in the Internet browser. The “Define" tab is active when this display area is called. Figure 7-37 Drive parameters - defining the parameter list 2.
Page 453 Basic functions 7.30 Web server 5. Select the drive object in the "DO" drop-down list. Figure 7-39 Drive parameters – creating a parameter list 6. Enter the parameter of the drive object in the following input fields (e.g. 601:0). – First field: Parameter number –...
Page 454: Deleting A Parameter List
Basic functions 7.30 Web server 7.30.9.2 Deleting a parameter list Either the entire parameter list or individual lines of a selected parameter list can be deleted in the "Parameter" display area of the Web server. Note You require the appropriate change rights to delete the selected parameter list (see Chapter “Access rights for parameter lists in the Web server (Page 439)”).
Page 455 Basic functions 7.30 Web server Deleting entries from the parameter list 1. In the “List name" drop-down list, select the parameter list from which you want to delete selected list elements (lines). 2. Click the "DEL" button in the parameter list in front of the line that you want to delete. Figure 7-41 Drive parameters - deleting an individual list If you have the required change rights for this parameter list, the line is deleted.
Page 456: Displaying And Changing Drive Parameters
Basic functions 7.30 Web server 7.30.9.3 Displaying and changing drive parameters The parameter values are displayed via the tab in the "Parameter" display area. Each list created is displayed as a separate tab. The parameter display is updated regularly. If an update is not possible, the corresponding parameters are marked red.
Page 457 Basic functions 7.30 Web server Changing parameter values 1. Click the "Parameter" entry in the navigation. 2. Click the tab of the required parameter list in the "Parameter" display area. The parameter list is displayed. Figure 7-42 Changing drive parameters Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 458 Basic functions 7.30 Web server 3. Click in the line, next to the parameter whose value you wish to change, on the "Change" button. A dialog box opens. Figure 7-43 Changing drive parameters - new value 4. Enter the new parameter value in the “New value" input field. Then click “Confirm" to confirm the input.
Page 459: Updating The Firmware Or Configuration
Basic functions 7.30 Web server 7.30.10 Updating the firmware or configuration Series commissioning via the Web server You can load a firmware or a configuration to the memory card of the drive with the aid of the Web server (see Updating firmware/configuration on the memory card (Page 411)). One of the most important applications for the configuration update is the series commissioning via the duplication of a master configuration.
Page 460: Certificates For The Secure Data Transfer
Basic functions 7.30 Web server 7.30.11 Certificates for the secure data transfer 7.30.11.1 Overview The "Transport Layer Security" protocol "TLS" enables encrypted data transfer between a client and the SINAMICS drive. HTTPS access operations between the browser and the drive is based on the "Transport Layer Security" protocol. This section informs you which steps you need to follow to enable encrypted data transfer between a client and SINAMICS.
Page 461 Basic functions 7.30 Web server The certificate handling then looks like this: Figure 7-44 Certificate handling concept You can find further information on Transport Layer Security certificates at Address (http://www.verisign.com). Delivery state A private key is generated as a file on the device when you first use HTTPSso that you can access the drive via HTTPS in the SINAMICS delivery state.
Page 462: Using The Certificate Default Configuration
Basic functions 7.30 Web server 7.30.11.2 Using the certificate default configuration Note Security The use of a default configuration described in the following is not the most secure way of transferring data to your drive with the Web server. It should therefore only be used if no self-created or purchased certificate can be used. In the delivery state, there is a standard root certificate and a private key stored on the memory card of your device as a file.
Page 463: Generating Your Own Certificates
You can either generate your own certificates for the secured data connection (the software required to do this is not included in the scope of delivery von SINAMICS S120) or purchase them from a certification authority. In these cases, a server certificate and a private server key are supplied.
Page 464: Messages And Parameters
7.30.12 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) A09000 Web server security: Administrator password not set Overview of important parameters (see SINAMICS S120/S150 List Manual) Topology component status • r0196[0...255] IE IP Address actual • r8911[0...3] PN IP Address actual •...
Page 465: Function Modules
Function modules A function module is a functional expansion of a drive project that can be activated during commissioning. Examples of function modules: ● Technology controller ● Extended setpoint channel ● Extended brake control Function modules have their own parameters and, in some cases, also their own alarm and fault messages.
Page 466 STARTER. Commissioning via parameter (only with BOP20) Function modules can be activated/deactivated using parameter p0108 of the Control Unit (CU). Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • p0108[0..n] Main component identification via LED •...
Page 467: Technology Controller
Function modules 8.1 Technology controller Technology controller Simple closed-loop control functions can be implemented with the technology controller, e.g.: ● Level control ● Temperature control ● Dancer roll position control ● Pressure control ● Flow control ● Simple closed-loop controls without higher-level controller ●...
Page 468 Function modules 8.1 Technology controller Commissioning with STARTER The "technology controller" function module can be activated via the commissioning wizard. You can check the actual configuration in parameter r0108.16. Application example: Level control The objective here is to maintain a constant level in the container. This is carried out by means of a variable-speed pump in conjunction with a sensor for measuring the level.
Page 469 Technology controller - Kp/Tn adaption (r0108.16 = 1) • 7959 Technology controller - Controller DC link voltage (r0108.16 = 1) • 7960 Overview of important parameters (see SINAMICS S120/S150 List Manual) Fixed setpoints CO: Technology controller fixed value 1 • p2201[0...n] CO: Technology controller fixed value 15 •...
Page 470 Function modules 8.1 Technology controller Motorized potentiometer Technology controller motorized potentiometer configuration • p2230[0...n] Technology controller motorized potentiometer setpoint memory • r2231 BI: Technology controller motorized potentiometer, setpoint, raise • p2235[0...n] BI: Technology controller motorized potentiometer, setpoint, lower • p2236[0...n] Technology controller motorized potentiometer maximum value •...
Page 471 Function modules 8.1 Technology controller Technology controller differentiation time constant • p2274 Technology controller proportional gain • p2280 Technology controller integral time • p2285 BI: Hold technology controller integrator • p2286[0...n] CI: Technology controller precontrol signal • p2289[0...n] CO: Technology controller maximum limiting •...
Page 472: Extended Monitoring Functions
Function modules 8.2 Extended monitoring functions Extended monitoring functions When the extension is activated, the monitoring functions are extended as follows: ● Speed setpoint monitoring: |n_set | ≤ p2161 ● Speed setpoint monitoring: n_set > 0 ● Load monitoring Load monitoring This function monitors power transmission between the motor and the working machine.
Page 473 Signals and monitoring functions - Speed messages 2 • 8011 Signals and monitoring functions - Load monitoring (r0108.17 = 1) • 8013 Overview of important parameters (see SINAMICS S120/S150 List Manual) Load monitoring Load monitoring, response • p2181[0...n] Load monitoring, speed threshold 1 •...
Page 474: Extended Brake Control
Function modules 8.3 Extended Brake Control Extended Brake Control Features ● Forced brake release (p0855, p1215) ● Closing of brake for a 1 signal "unconditionally close holding brake" (p0858) ● Binector inputs for opening or closing the brake (p1218, p1219) ●...
Page 475 Function modules 8.3 Extended Brake Control WARNING Destruction of the holding brake as a result of incorrect parameterization If the drive moves against the closed holding brake, this can destroy the holding brake and as a consequence result in death or severe injury. •...
Page 476 Function modules 8.3 Extended Brake Control Examples Starting against a closed brake When the device is switched on, the setpoint is enabled immediately (if the required enable signals are issued), even if the brake has not yet been released (p1152 = 1). The factory setting p1152 = r0899.15 must be separated here.
Page 477 Function modules 8.3 Extended Brake Control Figure 8-4 Example of operating brake for a crane drive Control and status messages for extended brake control Table 8- 2 Controller extended brake control Signal name Binector input Control word sequence control / inter- connection parameters Enable speed setpoint p1142 BI: Enable speed setpoint...
Page 478 (r0108.14 = 1) Brake control - Extended brake control, • 2711 signal outputs (r0108.14 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive objects, function module; • r0108.14 Extended brake control CO/BO: Status word, sequence control •...
Page 479 Function modules 8.3 Extended Brake Control Open and close the brake BI: Unconditionally open holding brake • p0855[0...n] BI: Unconditionally close holding brake • p0858[0...n] Motor holding brake opening time • p1216 Motor holding brake closing time • p1217 BI: Open motor holding brake •...
Page 480: Braking Module External
Function modules 8.4 Braking Module External Braking Module External This function module can be activated via the infeed commissioning wizard. You can check the current configuration in parameter r0108.26. The appropriate binectors must be interconnected via digital inputs/outputs (e.g. Control Unit, TM31 or TB30) with the Braking Module.
Page 481 Function modules 8.4 Braking Module External Acknowledgment of faults When the Braking Module issues a fault message at binector input p3866, an attempt is made to acknowledge the fault using signal r3861 at terminal X21.1 booksize or X21.3 chassis every 10 ms. Alarm A06900 is output simultaneously. Parameterization Table 8- 4 Parameterization...
Page 482 Function modules 8.4 Braking Module External Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module; • r0108.26 Braking Module External Braking Module number of modules connected in parallel • p3860 BO: Braking Module inhibit/acknowledgment • r3861.0...7 Braking module, DC link fast discharge delay time •...
Page 483: Cooling Unit
Function modules 8.5 Cooling unit Cooling unit A cooling unit (RKA) is responsible for the cooling and the (non) conductivity in the de- ionized water cooling circuit of a liquid-cooled power unit. The cooling unit is controlled and monitored from a PLC that is part of the cooling unit. The "cooling unit"...
Page 484 Auxiliaries - Cooling unit, control and feedback signals (r0108.28 = 1) • 9794 Auxiliaries - Cooling unit, sequence control (r0108.28 = 1) • 9795 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Missing enables; • r0046.29 cooling unit ready missing Drive object function module;...
Page 485: Extended Torque Control (Kt Estimator, Servo)
Function modules 8.6 Extended torque control (kT estimator, servo) Extended torque control (kT estimator, servo) The "Extended torque control" function module comprises two modules - the k estimator and the compensation of the voltage emulation error of the drive converter. As a consequence, the torque accuracy is increased.
Page 486 (p1752). The k estimator is activated using p1780.3 and the voltage compensation using p1780.8. Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - kT estimator • 7008 Drive functions...
Page 487 Function modules 8.6 Extended torque control (kT estimator, servo) Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module; • r0108.1 extended torque control Motor model adaptation configuration; • p1780.3 selects motor model PMSM kT adaptation Motor model adaptation configuration;...
Page 488: Position Control
Function modules 8.7 Position control Position control 8.7.1 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 489 Function modules 8.7 Position control The following interconnections are automatically established after the assignment has been made. ● p0480[0] (G1_STW) = encoder control word r2520[0] ● p0480[1] (G2_STW) = encoder control word r2520[1] ● p0480[2] (G3_STW) = encoder control word r2520[2] Figure 8-6 Actual position value sensing with rotary encoders The link between the physical variables and the neutral length unit LU is established via...
Page 490 Function modules 8.7 Position control Figure 8-7 Actual position 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 491: Indexed Actual Value Acquisition
Function modules 8.7 Position control A correction can be made using connector input p2513 (correction value, actual position value processing) and a positive edge at binector input p2512 (activates the correction value). When the "basic positioning" function module is activated, p2513 is automatically interconnected with r2685 (EPOS correction value) and p2512 with r2684.7 (activate correction).
Page 492 Function modules 8.7 Position control The measuring probe evaluation can be enabled for the encoder evaluation x, which is not assigned to position control, via p2509[x]. The signal sources are assigned via p2510[0...3], the edge evaluation is set via p2511[0...3]. The measured value is available in r2523[x] if, in the status word for encoder x (encoder 0: r2526.0..9, encoder1: 2627.0..2, encoder2: r2628.0..2, encoder3: r2529.0..2) the "Measurement value valid"...
Page 493: Load Gear Position Tracking
Function modules 8.7 Position control 8.7.2.4 Load gear position tracking Position tracking enables the load position to be reproduced when using gearboxes. It can also be used to extend the position area. Position tracking for load gear, functions in the same way as position tracking for the measuring gear (see "Measuring gear position tracking").
Page 494 Function modules 8.7 Position control Example of position area extension With absolute encoders without position tracking, it must be ensured that the traversing range around 0 is less 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 495 Function modules 8.7 Position control 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 axis or rotary axis) Here, a rotary axis refers to a modulo axis; the modulo offset can be activated from a higher-level controller or EPOS.
Page 496 Function modules 8.7 Position control In the case of linear axes, the virtual multiturn resolution (p2721) is preset to the multiturn resolution value of the encoder (p0421), which is extended by six bits, (max. 32 positive/negative overflows). The setting for p2721 cannot be edited again afterwards. Example: Multiturn encoder For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096.
Page 497 Function modules 8.7 Position control Multiple drive data sets Position tracking of the load gear can be activated in multiple drive data sets. ● The load gear is DDS-dependent. ● Load gear position tracking is computed only for the active drive data set and is EDS- dependent.
Page 498 Function modules 8.7 Position control The table below describes the changeover behavior on transition from one DDS to another. A changeover is always executed by DDS0. An overview of DDS changeover without position tracking load gear can be found in section "Instructions for data set changeover"...
Page 499: Commissioning Position Tracking Load Gear Using Starter
Function modules 8.7 Position control Definitions: ● Position tracking is continued The behavior of the position tracking during the changeover is the same as it would be if the data set had not even been changed. ● Position tracking is newly initiated (the position actual value can change when the changeover is made!) The behavior during changeover is the same as the behavior after a POWER ON.
Page 500: Function Diagrams And Parameters
Encoder evaluation - Position and temperature sensing, encoders 1 ... 3 • 4704 Encoder evaluation - Actual speed value and pole position sensing encoder • 4710 Overview of important parameters (see SINAMICS S120/S150 List Manual) LR encoder assignment • p2502[0...n] LR length unit LU per 10 mm •...
Page 501 Function diagrams (see SINAMICS S120/S150 List Manual) Position control - Position controller (r0108.3 = 1) • 4015 Overview of important parameters (see SINAMICS S120/S150 List Manual) LR position setpoint filter time constants • p2533[0...n] LR speed feedforward control factor •...
Page 502: Monitoring Functions
Function modules 8.7 Position control 8.7.4 Monitoring functions Figure 8-10 Standstill monitoring, positioning window The position controller monitors the standstill, positioning and following error. Standstill monitoring is activated via binector inputs p2551 (setpoint stationary) and p2542 (standstill window). If the standstill window is not reached once the monitoring time (p2543) has elapsed, fault F07450 is triggered.
Page 503 ● Positioning monitoring (p2544, p2545) ● Dynamic following error monitoring (p2546, r2563) ● Cam controllers (p2547, p2548, p2683.8, p2683.9) Function diagrams (see SINAMICS S120/S150 List Manual) Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1) • 4020 Position control - Dynamic following error monitoring, cam controllers •...
Page 504: Measuring Probe Evaluation And Reference Mark Search
Function modules 8.7 Position control Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: LR position setpoint • p2530 CI: LR actual position value • p2532 LR standstill window • p2542 LR standstill monitoring time • p2543 LR positioning window •...
Page 505 Encoder evaluation - Encoder interface, receive signals, encoders 1 ... 3 • 4720 Encoder evaluation - Encoder interface, send signals, encoders 1 ... 3 • 4730 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: LR activate reference mark search • p2508[0...3] BI: LR activate measuring probe evaluation •...
Page 506: Commissioning
Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1) • 4020 Position control - Dynamic following error monitoring, cam controllers • 4025 (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • r0108 CI: Speed controller, speed setpoint 2 • p1160[0...n] BI: Position control enable 2 •...
Page 507: Basic Positioner
Function modules 8.8 Basic positioner Basic positioner The basic positioner (EPOS) 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). EPOS is available for servo control and vector control. For the basic positioner functionality, STARTER provides graphic guides through the configuration, commissioning and diagnostic functions.
Page 508 Function modules 8.8 Basic positioner ● Referencing or adjustment – Setting reference point (with stationary axis) – 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 509: Mechanical System
Function modules 8.8 Basic positioner 8.8.1 Mechanical system 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. Thus, backlash (play) can occur between the machine component and the encoder.
Page 510 Function modules 8.8 Basic positioner Figure 8-14 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. after one revolution: 360°...
Page 511: Limits
EPOS - Interpolator (r0108.4 = 1) • 3635 Position control - Actual position value processing (r0108.3 = 1) • 4010 Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS modulo offset modulo range • p2576 BI: EPOS modulo offset activation •...
Page 512 Function modules 8.8 Basic positioner 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 513 Function modules 8.8 Basic positioner Software limit switch 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 514 Function modules 8.8 Basic positioner 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 maximum acceleration (a ) and deceleration (d ) are effective immediately.
Page 515 F07490 being output. Function diagrams (see SINAMICS S120/S150 List Manual) • 3630 EPOS - Traversing range limits (r0108.4 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS maximum speed • p2571 EPOS maximum acceleration •...
Page 516: Epos And Safe Setpoint Velocity Limitation
Function modules 8.8 Basic positioner STOP cam BI: EPOS STOP cam activation • p2568 BI: EPOS STOP cam, minus • p2569 BI: EPOS STOP cam, plus • p2570 CO/BO: EPOS status word 2 • r2684.0...15 Jerk limitation EPOS jerk limitation •...
Page 517: Referencing
Function modules 8.8 Basic positioner 8.8.4 Referencing After a machine has been switched on, for positioning, the absolute dimension reference must be established to the machine zero. This procedure is referred to as referencing. The following referencing types are possible: ●...
Page 518 Function modules 8.8 Basic positioner Note Referencing of distance-coded zero marks is not supported. 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 519 Function modules 8.8 Basic positioner If the reference point (p2599) is in the encoder range, the actual position value is set to the reference point during adjustment. Otherwise, adjustment is canceled with F07443. NOTICE Unplanned movement of the machine when using the encoder outside the defined encoder range If a rotary absolute encoder is used outside the defined encoder range, then after switching off/switching on, undesirable motion can occur.
Page 520 Function modules 8.8 Basic positioner Figure 8-17 Example: Reference point approach with reference cam The signal on binector input p2595 (start referencing) is used to trigger travel to the reference cam (p2607 = 1) if search for reference is selected at the same time (0 signal at binector input p2597 (referencing type selection)).
Page 521 Function modules 8.8 Basic positioner If a signal at binector input p2613 (reversing cam, MINUS) or at binector input p2614 (reversing cam, PLUS) is detected during reference point approach, the search direction is reversed. If the minus reversing cam is approached in the positive direction of travel or the plus reversing cam in the negative direction of travel, fault F07499 (EPOS: reversing cam approached with the incorrect traversing direction) is output.
Page 522 Function modules 8.8 Basic positioner Step 2: Synchronization 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 523 Function modules 8.8 Basic positioner Step 3: Travel to reference point Travel to the reference point is started when the drive has successfully synchronized to the reference zero mark (refer to 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 524 Function modules 8.8 Basic positioner The probe pulse is used to supply connector input p2660 (referencing measured value) with the measured value via parameter r2523. The validity of the measurement is reported to binector input p2661 (measurement valid feedback) via r2526.2. Note The following must always apply to the "Flying referencing mode"...
Page 525 Function modules 8.8 Basic positioner Instructions for data set changeover Using drive data set changeover (DDS), motor data sets (MDS, p0186) and encoder data sets (EDS, p0187 to p0189) can be changed over. The following table shows when the reference bit (r2684.11) or the status of the adjustment with absolute encoders (p2507) is reset.
Page 526 Function modules 8.8 Basic positioner The following table contains a few examples for data set changeover. The initial data set is always DDS0. Table 8- 8 DDS changeover without load gear position tracking p0186 (MDS) p0187 (encoder 1) EDS0 EDS0 EDS0 EDS0 EDS0...
Page 527: Function Diagrams And Parameters
(p2597 = 0 signal) EPOS - flying referencing mode (r0108.4 = 1) • 3614 (p2597 = 1 signal) Overview of important parameters (see SINAMICS S120/S150 List Manual) Equivalent zero mark, input terminal • p0494[0...n] Equivalent zero mark, input terminal • p0495 BI: EPOS set reference point •...
Page 528: Referencing With Several Zero Marks Per Revolution
Function modules 8.8 Basic positioner 8.8.5 Referencing with several zero marks per revolution The drive detects several zero marks per revolution when using reduction gears or measuring gears. In this cases, an additional BERO signal allows the correct zero mark to be selected.
Page 529 Function modules 8.8 Basic positioner Example with a measuring gear Figure 8-19 Measuring gear between the motor and encoder The diagram shows an application example for using referencing with several zero marks per revolution with a measuring gear located between the motor/load and encoder. As a result of the measuring gear, several encoder zero marks appear within one motor/load revolution.
Page 530 Function modules 8.8 Basic positioner Evaluating the BERO signal You have the option of either evaluating the positive or negative signal edge of the BERO signal: ● Positive edge (factory setting) For referencing with a positive edge evaluation of the BERO signal, the encoder interface supplies the position of that reference mark, which is directly detected after the positive edge of the BERO signal.
Page 531: Safely Referencing Under Epos
Function modules 8.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) Probe 1, input terminal • p0488 Probe 2, input terminal • p0489 Zero mark selection, input terminal • p0493 Equivalent zero mark, input terminal • p0495 Probe, input terminal •...
Page 532 Function modules 8.8 Basic positioner The ratio for the gearbox used must be parameterized in p9521/p9522 for Safety Integrated Extended functions and in p2504/p2505 for EPOS. For a gearbox to convert 2 motor revolutions to 1 load revolution, set p9521 = 1, p9522 = 2, p2504 = 2 and p2505 = 1. Example 2: Safety Integrated Extended functions monitors the linear axis using the rotating motor encoder.
Page 533: Traversing Blocks
Function modules 8.8 Basic positioner Using the spindle pitch parameterized in parameter p9520, rotary motion is converted into linear motion. EPOS does not take into account spindle pitch. Instead, the LUs are defined in the number of load revolutions in p2506. The load revolutions refer to the movement of the ball screw, that is, the motion after the gearbox.
Page 534 Function modules 8.8 Basic positioner Parameter sets Traversing blocks are parameterized using parameter sets that have a fixed structure: ● Traversing block number (p2616[0...63]) Every traversing block must be assigned a traversing block number (in STARTER "No."). The traversing blocks are executed in the sequence of the traversing block numbers. Numbers containing the value "-1"...
Page 535 Function modules 8.8 Basic positioner 0100, CONTINUE_EXTERNAL_WAIT Control signal "External block change" can be used to trigger a flying changeover to the next task at any time during the traveling phase. If "External block change" is not triggered, the axis remains in the parameterized target position until the signal is issued.
Page 536 Function modules 8.8 Basic positioner The task is executed until the target position is reached. If, when the task is activated, the drive is already located at the target position, then for the block change enable (CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL, the text task is selected in the same interpolation cycle.
Page 537 Function modules 8.8 Basic positioner JERK Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter = 0) by means of the JERK task. The signal at the binector input p2575 "Active jerk limitation" must be set to zero. The value parameterized in "jerk limit" p2574 is the jerk limit. A precise stop is always carried out here regardless of the parameterized continuation condition of the task preceding the JERK task.
Page 538 POSITION and WAIT task can be started. Function diagrams (see SINAMICS S120/S150 List Manual) EPOS - Traversing blocks mode (r0108.4 = 1) • 3616 Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS traversing block, block number • p2616[0...n] EPOS traversing block, position •...
Page 539: Travel To Fixed Stop
Function modules 8.8 Basic positioner 8.8.8 Travel to fixed stop 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 540 Note The fault can be changed into an alarm (see Section "Message configuration" in the SINAMICS S120 Commissioning Manual with STARTER), which means that the drive program will advance to the next specified block. The target point must be sufficiently far inside the workpiece.
Page 541 400 Nm, then r2686[0] is preset to 80%, r2686[1] to 0% and r2687 to 800 Nm when travel to fixed stop is activated. Function diagrams (see SINAMICS S120/S150 List Manual) EPOS - Traversing blocks mode (r0108.4 = 1) •...
Page 542: Direct Setpoint Input (Mdi)
Function modules 8.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Torque limit, upper/motoring, scaling • p1528[0...n] CI: Torque limit, lower/regenerative scaling • p1529[0...n] BI: Activate travel to fixed stop • p1545[0...n] CO/BO: LR status word •...
Page 543 – Positive edge on p2650 or – Positive edge on p2649 An overview of the setpoint transfer / direct setpoint specification can be found in the function diagram 3620 (see SINAMICS S120/S150 List Manual). Features ● Select direct setpoint specification (p2647) ●...
Page 544 • 3618 EPOS - Direct setpoint specification / MDI mode, dynamic values (r0108.4 = 1) • 3620 EPOS - Direct setpoint specification / MDI mode (r0108.4 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: EPOS modulo offset activation •...
Page 545: Jog
● Incremental (p2587, p2588, p2591) Function diagrams (see SINAMICS S120/S150 List Manual) EPOS - Jog mode (r0108.4 = 1) • 3610 Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS jog 1 setpoint velocity • p2585 EPOS jog 2 setpoint velocity •...
Page 546: Status Signals
Function modules 8.8 Basic positioner 8.8.11 Status signals The status signals relevant to positioning mode are described below. Tracking mode active (r2683.0) The "Follow-up active mode" status signal shows that follow-up mode has been activated which can be done by binector input p2655 (follow-up mode) or by a fault. In this status, the position setpoint follows the actual position value, i.e.
Page 547 Function modules 8.8 Basic positioner Cam switching signal 1 (r2683.8) Cam switching signal 2 (r2683.9) The electronic cam function can be implemented using these signals. Cam switching signal 1 is 0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if the actual position is greater than p2548 - otherwise 1.
Page 548 Function modules 8.8 Basic positioner Acknowledgement, traversing block activated (r2684.12) A positive edge is used to acknowledge that in the mode "traversing blocks" a new traversing task or setpoint was transferred (the same signal level as binector input p2631 activate traversing task).
Page 549: Master/Slave Function For Active Infeed
Function modules 8.9 Master/slave function for Active Infeed Master/slave function for Active Infeed 8.9.1 Operating principle This function allows drives to be operated with a redundant infeed. Redundancy can only be implemented in the components specified below, such as Line Modules, Motor Modules and Control Units.
Page 550 Function modules 8.9 Master/slave function for Active Infeed Features ● The "master/slave" function only works in conjunction with Active Line Modules. ● One Active Line Module is the master and up to three others are slaves. ● If the master fails, a slave ALM takes on the role of the master. ●...
Page 551 Function modules 8.9 Master/slave function for Active Infeed Topology Figure 8-23 Topology structure and communications network based on PROFIBUS for master/slave operation with redundant infeeds (four infeed trains) Master/slave operation can be implemented for a maximum of four Active Line Modules. Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 552: Types Of Communication
Function modules 8.9 Master/slave function for Active Infeed Electrical isolation of infeeds To successfully implement the structure, a means of electrically isolating the infeeds from the line supply is required in addition to the SINAMICS components. This is to prevent circulating currents from developing if the pulse patterns of the Active Line Modules are not synchronized.
Page 553: Description Of Functions
Function modules 8.9 Master/slave function for Active Infeed The number "1946" can be set in one of the parameters p2101[0..19] and p2101[x] set to "0" in order to block fault message F01946. This means that the drive will not shut down when one slave-to-slave communication node fails.
Page 554 Structogram of master/slave operation, three identical Active Line Modules (ALMs) of identical output rating, PROFIBUS communication system Function diagrams The function of the "Master/slave infeeds" function module is shown in function diagrams 8940 and 8948 (see SINAMICS S120/S150 List Manual). Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 555 Function modules 8.9 Master/slave function for Active Infeed Explanations for the function diagrams ● Current setpoint interconnection Parameter p3570 is used to connect the setpoint for the closed-loop current control (active current setpoint from the master). Using parameter p3513, which can be changed in the "ready for operation"...
Page 556: Commissioning
(see Section Line supply and DC link identification (Page 35)) must be executed during commissioning for each infeed line. Please follow the instructions given in the SINAMICS S120 Commissioning Manual with STARTER for commissioning infeed units. Once each individual infeed has been identified, the correct inductance for current control and the DC link capacitance for voltage control are set.
Page 557 Function modules 8.9 Master/slave function for Active Infeed The Vdc setpoint in p3510 must be set high enough to prevent the standby controller from responding to line overvoltage (the response threshold of 97% can be increased if necessary, but current and voltage harmonics will develop if the setting causes overcontrol). In any case, the tolerance band must be set wide enough that it will not be violated should the control factor reserve controller still respond because the measures described above have not been implemented.
Page 558: Function Diagrams And Parameters
Active Infeed - Controller modulation depth reserve / controller DC link voltage • 8940 (p3400.0 = 0) Active Infeed - Master/slave (r0108.19 = 1) • 8948 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Voltage-controlled operation disable • p3513 Infeed current distribution factor • p3516 CI: Master/slave active current setpoint •...
Page 559: Parallel Connection Of Power Units
8.10 Parallel connection of power units In order to extend the power range, SINAMICS S120 supports the parallel connection of identical power units such as Line Modules and/or Motor Modules. The prerequisites for connecting power units in parallel are as follows: ●...
Page 560 – Parallel connection of up to 6 Motor Modules Innovation on one motor is possible. Note Additional information and instructions in the SINAMICS S120 Chassis Power Units Manual must be carefully taken into consideration. ● Parallel connection of up to four power units on the infeed side (closed/open loop).
Page 561 The reduction of the rated current (derating) of a power unit for parallel connection is: ● 7.5% for parallel connections of SINAMICS S120 Basic Line Modules and SINAMICS S120 Smart Line Modules when neither module is equipped with a current compensation control.
Page 562: Applications Of Parallel Connections
Note Additional information on parallel power unit connections, particularly with regard to their configuration, can be found in the "SINAMICS Low Voltage Configuration Manual (http://www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/Documentsu20 Catalogs/lv-umrichter/sinamics-engineering-manual-lv-en.pdf)". Infeed concepts - parallel (one CU) and redundant parallel (two CUs) Some applications require redundant infeeds for a DC line-up. This requirement can be fulfilled through the implementation of multiple, independent infeeds which are connected in parallel to the DC line-up.
Page 563 The type of circuit required depends on whether the redundancy requirement applies only to the infeed itself or also includes the supply-side transformers or the supply systems (see "SINAMICS Low Voltage Configuration Manual (http://www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/Documentsu20 Catalogs/lv-umrichter/sinamics-engineering-manual-lv-en.pdf)"). 6-pulse infeed With a 6-pulse infeed, the two redundant infeeds with the same power rating are supplied from a line supply via a two-winding transformer.
Page 564: Parallel Connection Of Basic Line Modules
Function modules 8.10 Parallel connection of power units 8.10.1.1 Parallel connection of Basic Line Modules Features of Basic Line Modules: ● The DC-link voltage is greater than the rms value of the line rated voltage by a factor of 1.35. ●...
Page 565 Function modules 8.10 Parallel connection of power units 6-pulse parallel connection of Basic Line Modules With the 6-pulse parallel connection, up to four Basic Line Modules are supplied by a common two-winding transformer on the line side and controlled by a common Control Unit. 12-pulse parallel connection of Basic Line Modules For 12-pulse parallel connections, up to four Basic Line Modules are supplied by a three- winding transformer on the line side.
Page 566: Parallel Connection Of Smart Line Modules
Function modules 8.10 Parallel connection of power units WARNING Unexpected motion of individual drives If several Motor Modules are supplied from one infeed unit, then if the V control is dc_max incorrectly parameterized, individual drives can accelerate in an uncontrolled fashion - which can lead to death or severe injury.
Page 567: Parallel Connection Of Active Line Modules
Function modules 8.10 Parallel connection of power units 6-pulse parallel connection of Smart Line Modules With the 6-pulse parallel connection, up to four Smart Line Modules are supplied by a common two-winding transformer on the line side and synchronously controlled by a common Control Unit.
Page 568: Parallel Connection Of Motor Modules
Function modules 8.10 Parallel connection of power units The following rules must be observed when connecting Active Line Modules in parallel: ● Up to four identical Active Line Modules can be connected in parallel. ● Active Line Modules can only be connected and operated in parallel in the vector control mode.
Page 569 Function modules 8.10 Parallel connection of power units Winding systems for motors in SINAMICS parallel connections The following are admissible: ● Motors with electrically isolated winding systems (multi-winding system) in which the individual systems are not electrically coupled. ● Motors with a common winding system (single winding system) in which all parallel windings in the motor are interconnected in such a way that from the outside they look like a single winding system.
Page 570 Function modules 8.10 Parallel connection of power units Owing to the electrical isolation of the winding systems, this arrangement offers the following advantages: ● Decoupling measures are not required at the infeed output in order to limit any potential circulating currents between the parallel-connected Motor Modules (no minimum cable lengths and no motor reactors).
Page 571: Commissioning
For further detailed information about commissioning, restrictions regarding operation and parameterization options, please refer to the following manuals: ● SINAMICS S120 Commissioning Manual with STARTER ● SINAMICS S120/S150 List Manual Parameters r7002 ff. 8.10.3 Additional drive in addition to the parallel connection Frequently, a controlled auxiliary drive is required in addition to the main drives, e.g.
Page 572 Function modules 8.10 Parallel connection of power units Conditions for switching in an auxiliary drive The secondary conditions for connecting an additional drive object as auxiliary drive to a parallel connection are: ● Only power units of the same type and the same power rating may be connected together in parallel.
Page 573 Function modules 8.10 Parallel connection of power units Example of the required topology You can see an example created with STARTER below. 3 Basic Line Modules, 2 Motor Modules and an auxiliary drive are configured. The parallel connections can be clearly seen in the topology tree as one infeed and one drive.
Page 574 Function modules 8.10 Parallel connection of power units Overview of important parameters (see SINAMICS S120/S150 List Manual) Power Module data sets (PDS) number • p0120 Power Module component number • p0121[0...n] CO: Power unit output current, maximum • r0289 Parallel connection power unit number temperature sensor •...
Page 575: Extended Stop And Retract
If extended stop and retract are to activated simultaneously with Safety Integrated Functions, the following conditions must also be satisfied. Further information can be found in the SINAMICS S120 Function Manual Safety Integrated. Example For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and various feed drives for a tool.
Page 576: Activating And Enabling The Esr Function Module
Function modules 8.11 Extended stop and retract 8.11.1 Activating and enabling the ESR function module PG/PC and drive are connected with one another via PROFIBUS or PROFINET. Procedure 1. Select the ESR function with parameter p0888: – p0888 = 0: No function –...
Page 577: Invalid Sources
Function modules 8.11 Extended stop and retract Triggering for all drives of a Control Unit Conditions for triggering the function: ● ESR function has been configured in the drive, e.g. stopping or retraction. ● ESR function has been enabled in the drive. ●...
Page 578: Esr Responses
Function modules 8.11 Extended stop and retract 8.11.4 ESR responses 8.11.4.1 Extended stopping In the case of a fault, the objective is to stop the drive in a defined fashion. The stopping method is used as long as the drive is still capable of functioning. The function is parameterized and operates on an axis-specific basis.
Page 579 Function modules 8.11 Extended stop and retract 3. Use parameter p0892 to specify how long the retraction speed is to be applied. 4. Select the OFF ramp with parameter p0891. Figure 8-29 OFF ramp with "extended retract" The retraction speed is not approached suddenly. It is approached via the OFF3 ramp. Parameter p0893 supplies the ramp-function generator with the setpoint for the ESR retraction speed which is actuated by an OFF3 ramp in the case of drive-autonomous motions.
Page 580: Regenerative Operation
Function modules 8.11 Extended stop and retract 8.11.4.3 Regenerative operation In the case of a fault, the objective is to buffer the DC link until all of the drives connected to the DC link and enabled by ESR have reached their configured final position. To achieve this, a suitable drive in the drive line-up, for example a spindle drive, is braked in generator operation.
Page 581: Profidrive Telegram For Esr
1 = ESR response initiated / generator operation active p2082[9] = r0887.12 8.11.7 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) PROFIdrive - STW1 control word interconnection (p2038 = 1) • 2443 PROFIdrive - MELDW status word interconnection •...
Page 582 Function modules 8.11 Extended stop and retract Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: actual speed value • r0063 Drive object function module • p0108[0...n] Drive object function module; • r0108.9 extended stop and retract / ESR BO: ESR status word •...
Page 583: Moment Of Inertia Estimator
Function modules 8.12 Moment of inertia estimator 8.12 Moment of inertia estimator 8.12.1 Introduction Features The "Moment of inertia estimator" function is required when the moments of inertia of the drive change considerably during operation (e.g. when using tools or workpieces with different moments of inertia).
Page 584 Function modules 8.12 Moment of inertia estimator Determining the load torque The load torque must first be determined to determine the moment of inertia. Phases with constant speed not equal to zero are required to determine the load torque (e.g. friction force).
Page 585 Function modules 8.12 Moment of inertia estimator Determining the moment of inertia For larger speed changes, the converter initially calculates the accelerating torque M as the difference between the motor torque M , load torque M and frictional torque M The moment of inertia J of the motor and load is then obtained from the accelerating torque –...
Page 586 Function modules 8.12 Moment of inertia estimator The results of the moment of inertia and load estimator can be taken over by permanently saving (RAM to ROM) after the system has settled (r1407.26 = 1). If there are no significant changes to the moments of inertia, the inertia estimator can be deactivated after saving.
Page 587: Commissioning
Function modules 8.12 Moment of inertia estimator 8.12.2 Commissioning Procedure To activate the "Moment inertia estimator" function module, proceed as follows: 1. Call the drive configuration offline in STARTER. In the "Configuration" screen form, click the "Function modules / technology packages" button. In the "Object Properties" dialog box, activate the "Moment of inertia estimator"...
Page 588: Supplementary Functions Of The Moment Of Inertia Estimator For Vector Control
Function modules 8.12 Moment of inertia estimator 8.12.3 Supplementary functions of the moment of inertia estimator for vector control Moment of inertia precontrol In applications where the motor predominantly operates with a constant speed, the converter can only infrequently calculate the moment of inertia using the function described above. Moment of inertia precontrol is available for situations such as these.
Page 589: Function Diagrams And Parameters
The estimated load moment of inertia is taken into account for the speed controller gain. 8.12.4 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - moment of inertia estimator (r0108.10 = 1) • 5035 Servo control - moment of inertia estimator (r0108.10 = 1) •...
Page 590 Function modules 8.12 Moment of inertia estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • r0108 Rated motor torque • r0333[0...n] Motor moment of inertia • p0341[0...n] Ratio between the total and motor moment of inertia •...
Page 591: Additional Controls For Active Infeed
3. Activate the "Additional closed-loop controls" function module in the function modules selection with a mouse click. Parameter r0108.03 indicates whether the function module has been activated. Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed - controller modulation depth reserve / controller DC link voltage • 8940 (p3400.0 = 0)
Page 592: Advanced Position Control (Including Active Vibration Suppression)
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14.1 Introduction The "Advanced Position Control" (APC) function module provides closed-loop control related functions to actively dampen/influence mechanical oscillations. APC is not a filter. The function actively responds to measured oscillations using an appropriate manipulated variable.
Page 593 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) APC application examples ● Using APC, it is possible to improve the response of a position control superimposed on a speed control. Frequently, a higher position control gain can be set by dampening the critical oscillation in the speed control loop.
Page 594 – P control of the velocity at the direct measuring system. Preconditions ● The "Advanced Position Control" (APC, r0108.7) function module for SINAMICS S120 is only available for servo control. ● For some functions integrated in the APC, a 2nd measuring system is required. A more detailed description of the associated preconditions is documented in the description of the various subfunctions.
Page 595: Commissioning The Function Module
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14.2 Commissioning the function module Activating the function module in SINUMERIK For SINUMERIK, the function module cannot be activated from STARTER. However, the drive commission functionality of SINUMERIK Operate provides support. The APC function module can be selected for activation in the menu "Commissioning >...
Page 596 1 To optimize the encoder combination, a starting value of 0 is set. p3778: APC speed limit Setting the limit for the APC output value. For Siemens standard motors (1FT, 1FK) with rated speeds in the range 2000 ... 6000 rpm, then it makes sense to have a speed limit of about 500 rpm.
Page 597: Active Vibration Suppression (Apc Without Sensor On The Load Side)
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14.3 Active Vibration Suppression (APC without sensor on the load side) Description The function "Active Vibration Suppression" (AVS) is a robust procedure for vibration damping without requiring a direct measuring system. Only the current and speed actual values signals measured at the motor are used.
Page 598 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Function diagram (excerpt from function diagram 7012) Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 599 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Important notes for parameterization The function is activated using p3700.2 = 1. The function uses information about the moment of inertia of the motor and axis, which is parameterized outside the APC function module. Parameter p0341 (motor moment of inertia), p0342 (scaling, motor moment of inertia) and p1498 (load moment of inertia) are used.
Page 600 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Examples: The diagram shows, as example, how an open APC circuit can be measured. The stability of the control loop can be identified based on the amplitude reserve at the frequency where the phase goes through -180°...
Page 601 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) It only makes sense to measure the closed APC circuit if a direct measuring system is being used. See also the examples in Chapter "APC with acceleration feedback (Page 609)". The effect of the functions on the frequency response is very similar in both cases.
Page 602 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Examples: Positioning response with and without APC Figure 8-35 Positioning response: without APC Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 603 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Figure 8-36 Positioning response: APC ideally set Measured signals: Orange: r0061[0] motor speed/velocity Brown: r3771[0] load speed/velocity Light blue: r3777[1] APC output Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 604: Apc With Encoder Combination And Differential Position Feedback
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14.4 APC with encoder combination and differential position feedback: Description The control loop for the speed control can be influenced using these two functions. The encoder combination acts on the zero positions (quenching frequencies) of the system - and the differential position feedback on the pole (resonant frequencies).
Page 605 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Function diagrams Figure 8-37 APC encoder combination Figure 8-38 APC differential position feedback Important notes for parameterization The functions always require a direct measuring system. If an axis is equipped with a measuring system (encoder 2 or encoder 3), then this can be selected using p3701.
Page 606 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) The weighting factor for encoder combination p3702 has, for compatibility reasons to previous software releases, a default value of 1. For most applications, this value cannot be activated. This value should be set to 0 before activating the encoder combination. Negative values for p3702 are permissible.
Page 607 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Examples Yel- Speed controlled system without encoder combination low: Red: Speed controlled system with encoder combination (p3702 = 0.3) Figure 8-39 Encoder combination, effect on the speed control system Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 608 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) As a result of the encoder combination, the quenching frequency is increased from 20 Hz to 24 Hz. Yel- Reference frequency response speed controller without differential position feedback low: Red: Reference frequency response speed controller with differential position feedback Figure 8-40 Differential position input, effect on the reference frequency response speed controller...
Page 609: Apc With Acceleration Feedback
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14.5 APC with acceleration feedback Description Using this function, the acceleration signal from a direct measuring system is used to dampen oscillations. Only oscillations that can be measured at the direct measuring system can be dampened. If this is not the case, then an external acceleration sensor can be mounted at a favorable location within the machine, and used for APC.
Page 610 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Function diagram (excerpt from function diagram 7012) Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 611 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Important notes for parameterization The function always requires a direct measuring system. If an axis is equipped with a measuring system (encoder 2 or encoder 3), then this can be selected using p3701. BICO sink p3749 can be activated by setting p3700.9 = 1.
Page 612 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Examples: Yellow Speed controller reference frequency response Magenta APC closed circuit (load speed/motor speed), measured with APC inactive Green APC open circuit (filter 1 output/motor speed), p3761 = 3 ms Figure 8-41 APC circuit open Drive functions...
Page 613 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Yellow Speed controller reference frequency response Magenta APC closed circuit (load speed/motor speed), p3761 = 3 ms Green APC open circuit (filter 1 output/motor speed), measured with APC active Figure 8-42 APC circuit closed Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 614 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) The following diagram shows, in the time domain, how APC with acceleration feedback acts on the motor and load velocity: Blue Load speed Green Motor speed Figure 8-43 APC with acceleration input (example) At the beginning, the motor must move more in order to combat oscillation.
Page 615 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Principle of operation of the two feedback loops The following diagrams show the principle of operation of the two combined APC feedback loops: ● Block diagram Figure 8-44 Control loop with two APC feedbacks ●...
Page 616: Apc With Load Velocity Control
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) ● Load frequency response with APC: 1 feedback closed ● Load frequency response with APC: 2 feedbacks closed 8.14.6 APC with load velocity control Description With this function, a P control of the load velocity is implemented in parallel to normal speed control.
Page 617 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Function diagram (excerpt from function diagram 7012) Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 618 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Important notes for parameterization The function always requires a direct measuring system. If an axis is equipped with a measuring system (encoder 2 or encoder 3), then this can be selected using p3701. BICO sink p3749 can be activated by setting p3700.9 = 1.
Page 619: Additional Information
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14.7 Additional Information Setting activation parameter p3700 The individual bits of the activation parameter have the following significance: p3700 bit Value Significance The value 0 is not applied to the speed setpoint. This setting must be used to measure the filter frequency responses.
Page 620 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) APC filter The filter is used to stabilize the control. For SINUMERIK, in HMI Operate screen form- based support is provided using menu "Commissioning > Optimization/test > Active filter > Filter group ".
Page 621 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) APC applied to master-slave axes With axes, which form a master-slave group with several drives, generally only 1 direct measuring system is integrated, which is generally assigned to the master. If APC is to be used with an axis such as this, using a direct measuring system, then frequently the effect is not sufficient when only the master is parameterized.
Page 622: Measuring Frequency Responses
Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 8.14.8 Measuring frequency responses This chapter describes which measuring functions are available to measure the relevant frequency responses, and how these can be executed. Are you As APC has its own control loop, it is always recommended, when starting optimization, to measure the open circuit once with a high bandwidth (e.g.
Page 623 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Application with STARTER In STARTER there are no predefined measurement functions to measure the relevant frequency responses of APC. However, for the predefined measurement functions, you have the option of recording 2 additional signals.
Page 624 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) 2. Define the transfer functions. Figure 8-48 Transfer functions Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 625 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Definition of the measuring functions Measuring function Configuration APC open circuit 1. As measuring function select "Speed controller reference frequency response" 2. Add signal r3777[1] "APC output value" to the measuring signals. 3.
Page 626: Function Diagrams And Parameters
Technology functions - Advanced Positioning Control (APC, r0108.7 = 1) • 7012 Technology functions - APC differential position gain (APC, r0108.7 = 1) • 7013 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor moment of inertia • p0341[0...n] Ratio between the total and motor moment of inertia •...
Page 627 Function modules 8.14 Advanced Position Control (including Active Vibration Suppression) Advanced Positioning Control filter 3.1 denominator natural frequency • p3731[0...n] Advanced Positioning Control filter 3.1 denominator damping • p3732[0...n] Advanced Positioning Control filter 3.1 counter natural frequency • p3733[0...n] Advanced Positioning Control filter 3.1 counter damping •...
Page 628: Cogging Torque Compensation
Function modules 8.15 Cogging torque compensation 8.15 Cogging torque compensation 8.15.1 Overview For synchronous motors, the cogging torque can be compensated to improve radial eccentricity as there is a fixed connection between the absolute location and cogging force in these motors. Induction motors are not suitable for cogging torque compensation. The entire cogging torque compensation is executed via a compensation table which, depending on the position of the motor measuring system, is read out and precontrolled.
Page 629: Commissioning
Function modules 8.15 Cogging torque compensation 8.15.2 Commissioning Activate cogging torque compensation function module 1. Activate the “Cogging torque compensation” function module using the commissioning Wizards in the STARTER. - OR - 2. Open the configuration of the drive unit (“Configuration” > “Function module / Technology package”) and activate the option “Cogging torque compensation”...
Page 630: Filling Compensation Tables
Function modules 8.15 Cogging torque compensation 8.15.3 Filling compensation tables Cogging torque compensation is executed via a table p5260 which, depending on the position of the motor measuring system, is read out and precontrolled. The table is entered in Nm for rotating motors or in N for linear motors. Configure settings to fill the compensation tables.
Page 631 Function modules 8.15 Cogging torque compensation Para- Index Value Significance meter p5253 Sets the factor for the search velocity for the periodicity during cogging torque compensation. For rotating motors, the factor refers to one mechanical revolution (p5253 = • 0.5 then generates one period of half of one mechanical revolution). For linear motors, the factor refers to one pole pair width.
Page 632: Examples
Function modules 8.15 Cogging torque compensation 8.15.4 Examples Slow supplementary Learning in a linear motor For linear motors you cannot measure the complete traversing distance in one operation. The motor must first be accelerated up to its learning velocity and then learning is activated. For this reason, it is advisable to measure the traversing distance in several steps.
Page 633 Function modules 8.15 Cogging torque compensation Filling process depending on the direction of motion Compensation depending on the direction of motion is beneficial when the operating point changes depending on the direction of motion given large friction forces. 1. So that a compensation table is used for each direction of motion, activate p5250.1 = 1 (prerequisite: p5250.0 = 1).
Page 634: Messages And Parameters
8.15.5 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) A07354 Drive: Cogging torque compensation not possible Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • r0108 Cogging torque compensation configuration • p5250[0...n] Activate cogging torque compensation learning •...
Page 635: Monitoring Functions And Protective Functions
Monitoring functions and protective functions Power unit protection, general SINAMICS power units offer comprehensive functions for protecting power components. Table 9- 1 General protection for power units Protection against: Precautions Responses Overcurrent Monitoring with 2 thresholds: A30031, A30032, A30033 1. Threshold exceeded •...
Page 636: Thermal Monitoring And Overload Responses
Monitoring functions and protective functions 9.2 Thermal monitoring and overload responses Thermal monitoring and overload responses The thermal power unit monitor is responsible for identifying critical situations. If alarm thresholds are exceeded, the user can set parameterizable response options that enable continued operation (e.g.
Page 637 The time until shutdown, however, is not defined and depends on the degree of overload. Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - thermal monitoring power unit • 8021 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Power unit overload I2t • r0036 CO: Power unit temperatures •...
Page 638: Blocking Protection
Blocking protection Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Blocked motor monitoring enable (negated) • p2144[0...n] Motor locked speed threshold •...
Page 639: Stall Protection (Vector Control Only)
Vector control - Interface to Motor Module (ASM, p0300 = 1) • 6730 Signals and monitoring functions - Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, current controller • r1408.0...15 Motor model speed threshold stall detection •...
Page 640: Thermal Motor Protection
Monitoring functions and protective functions 9.5 Thermal motor protection Thermal motor protection The thermal motor protection monitors the motor temperature and responds to overtemperature conditions with alarms or faults. The motor temperature is either measured with sensors in the motor, or is calculated without sensors, using a temperature model from the operating data of the motor.
Page 641: Thermal Motor Model 1
Monitoring functions and protective functions 9.5 Thermal motor protection NOTICE Damage to the motor when operated without temperature sensors The thermal model cannot protect the motor in the event of incorrect installation, elevated ambient temperature, or incorrect parameter assignment, and as a consequence, the motor can be damaged.
Page 642 Monitoring functions and protective functions 9.5 Thermal motor protection Important settings The most important parameters for thermal motor model 1 and/or for the expansion of this model are subsequently explained. When the expansion is subsequently activated, the corresponding parameters of the expansion are preassigned with the parameter values before activating the expansion.
Page 643: Thermal Motor Model 2
9.5.1.3 Thermal motor model 3 Thermal motor model 3 is only intended for certain Siemens motors, which do not have their own integrated temperature sensors. Thermal motor model 3 is a thermal 3-mass model. It is activated with p0612.02 = 1. The necessary parameters are automatically transferred when commissioning via DRIVE-CLiQ.
Page 644: Function Diagrams And Parameters
Drive: Motor overtemperature • F07011 Drive: Motor temperature model 1/3 overtemperature • A07012 Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - thermal monitoring motor, Mot_temp • 8016 ZSW F/A Signals and monitoring functions - motor temperature model - 1 (I2t) •...
Page 645 Monitoring functions and protective functions 9.5 Thermal motor protection Overview of important parameters (see SINAMICS S120/S150 List Manual) Thermal motor model 1 CO: Thermal motor load • r0034 Motor stall current • p0318[0...n] Mot_temp_mod 1/2 threshold and temperature value • p0605[0...n] I2t motor model thermal time constant •...
Page 646: Motor Temperature Sensing
The temperature sensor is connected to the Sensor Module at the appropriate terminals (- Temp) and (+Temp) (see the relevant section in the SINAMICS S120 Control Units and Supplementary System Components Manual). The threshold value for switching over to an alarm or fault is 1650 Ω.
Page 647 Function of the KTY The temperature sensor is connected to the Sensor Module at the appropriate terminals (- Temp) and (+Temp) (see the relevant section in the SINAMICS S120 Control Units and Supplementary System Components Manual). A KTY84/1C130 temperature sensor has an almost linear characteristic and is therefore also suitable for continuously measuring and displaying the motor temperature.
Page 648: Sensor Modules
Monitoring functions and protective functions 9.5 Thermal motor protection 9.5.3 Sensor Modules Sensor Modules are needed when additional temperature sensors are to be connected via DRIVE-CLiQ. Various Sensor Modules are available to do this: ● Sensor Module Cabinet-Mounted (SMC) for rail mounting in control cabinets ●...
Page 649: Sensor Module External
Monitoring functions and protective functions 9.5 Thermal motor protection 9.5.3.2 Sensor Module External A Sensor Module External (SME) is required if the sensor interface is to be installed close to the motor sensor outside a control cabinet. The SME has an IP67 degree of protection. 9.5.3.3 Sensor Module SME 20/25 The SME20 and SME25 evaluate encoder and sensor data.
Page 650 Monitoring functions and protective functions 9.5 Thermal motor protection Temperature measurement ● p0600 = 1/2/3 selects the additional motor temperature measurement via channels 2 to 4. ● p0601 = 10 activates the evaluation via several temperature channels SME12x. KTY84 ● p4601[0...n] to p4603[0...n] = 20 sets temperature sensor type KTY. ●...
Page 651: Terminal Modules
Monitoring functions and protective functions 9.5 Thermal motor protection 9.5.4 Terminal Modules Terminal Modules provided the drive system with additional analog and digital data inputs and outputs. They are intended for use in control cabinets. The Terminal Modules are connected via DRIVE-CLiQ with the drive system. Terminal Modules TM31, TM120 and TM150 provide inputs for temperature sensors.
Page 652: Terminal Module 31
Monitoring functions and protective functions 9.5 Thermal motor protection 9.5.5 Terminal Module 31 A Terminal Module 31 (TM31) is used when additional digital and analog inputs/outputs required. The temperature sensor is connected at terminal X522. The values of the fault and/or alarm thresholds can be set in parameter p4102[0..1] from -48 °C to 251 °C.
Page 653: Terminal Module 120
Fault messages for an individual temperature channel in the TM120 are propagated to all other drive objects connected with the TM120. As such all other drive objects (connected with the TM120) also trigger a fault. You will find additional information in the SINAMICS S120 Control Units and Supplementary System Components Manual. Temperature measurement ●...
Page 654 Monitoring functions and protective functions 9.5 Thermal motor protection ● r4620[0...3] ≠ -200° C means: – a KTY84/PT1000 is connected – the temperature display is valid. ● r4620[0...3] = -200° C means: – a PTC or a bimetal NC contact is connected –...
Page 655: Terminal Module 150
TM150. As such all other drive objects (connected with the TM150) also trigger a fault. You can find additional information in the function diagrams 9625, 9626 and 9627 in the SINAMICS S120/S150 List Manual. Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 656 To do this, short-circuit the sensor cable as close as possible to the sensor. The procedure is described in the SINAMICS S120/150 List Manual under p4109[0...11]. The measured cable resistance is then taken into account when evaluating the temperature.
Page 657: Measurement With Up To 6 Channels
With p4108[0...5] = 3, you evaluate a sensor in a 4-wire system at a 4-wire connection at terminals 3 and 4. The measuring cable is connected at terminals 1 and 2. You can find additional information in function diagram 9626 in the SINAMICS S120/S150 List Manual.
Page 658: Forming Groups Of Temperature Sensors
Monitoring functions and protective functions 9.5 Thermal motor protection 9.5.7.3 Forming groups of temperature sensors You can combine the temperature channels to form groups using parameter p4111[0...2]. For each group, the following calculated values are provided from the temperature actual values (r4105[0...11]): ●...
Page 659: Setting The Smoothing Time For Temperature Channels
Monitoring functions and protective functions 9.5 Thermal motor protection If the evaluation of the temperature actual value from p4105[0...11] has exceeded the fault threshold set in p4102[0...23], then the corresponding fault is immediately activated. Using p4118[0...11], a hysteresis for p4102[0...23] can be set for each channel. Using p4119[0...11], a filter can be activated to smooth the temperature signal for each channel.
Page 660: Motor Module/Power Module Chassis Format
Monitoring functions and protective functions 9.5 Thermal motor protection 3. Click on the “Smoothing” button in the circuit diagram of the displayed temperature sensor/channel (for sensor 5: p4119[5] = 1). Figure 9-3 Smoothing time of a temperature sensor/channel. Thus the filter to smooth the temperature signal is activated. Under the "Smoothing" button, an entry field for the necessary smoothing time constant (p4122[0...11]) is displayed.
Page 661 Monitoring functions and protective functions 9.5 Thermal motor protection Activation of the temperature sensing With p0600[0...n] = 11, motor temperature sensing via a Motor Module is activated. Setting the temperature sensor The temperature sensor type is set using p0601[0...n]. When connecting a temperature sensor to terminal X41 of a chassis unit, you must specify to which power unit the temperature sensor is to be connected when power units are connected in parallel.
Page 662: Connection Of The Cu310-2 And The Cua31/Cua32 Adapters
Monitoring functions and protective functions 9.5 Thermal motor protection 9.5.9 Connection of the CU310-2 and the CUA31/CUA32 adapters The Control Unit Adapter CUA31 and CUA32 have one temperature channel. The terminal strip in the CUA31 has an interface for a motor temperature sensor. The temperature sensor can be alternatively connected at the CUA32 via the encoder interface.
Page 663: Motor With Drive-Cliq
Monitoring functions and protective functions 9.5 Thermal motor protection 9.5.10 Motor with DRIVE-CLiQ The motor and encoder data are saved as an electronic type plate in a motor equipped with a DRIVE-CLiQ connection. This data is transferred to the Control Unit when commissioning. As a consequence, when commissioning this motor type, all of the necessary parameters are pre-assigned and set automatically.
Page 664: Function Diagrams And Parameters
• 9626 (channel 0 ... 5) Terminal Module 150 (TM150) - Temperature evaluation 2x2-wire • 9627 (channel 0 ... 11) Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Thermal motor load • r0034 CO: Motor temperature • r0035 CO: Absolute actual current value •...
Page 665 Monitoring functions and protective functions 9.5 Thermal motor protection CI: Motor temperature signal source • p0603 Mot_temp_mod 2:sensor warning threshold • p0604[0...n] Mot_temp_mod 1/2 threshold and temperature value • p0605[0...n] Mot_temp_mod 2/sensor timer • p0606[0...n] Temperature sensor fault timer • p0607[0...n] CI: Motor temperature, signal source 2 •...
Page 666 Monitoring functions and protective functions 9.5 Thermal motor protection TM150 terminal block measurement method • p4108[0...5] TM150 cable resistance measurement • p4109[0...11] TM150 cable resistance value • p4110[0...11] TM150 group channel assignment • p4111[0...2] CO: TM150 group, temperature actual value maximum value •...
Page 667: Safety Integrated Basic Functions
• You should subscribe to and carefully read the corresponding newsletter in order to obtain the latest information and to allow you to modify your equipment accordingly. To subscribe to the newsletter, please proceed as follows: 1. Go to the following Siemens internet site in your browser: Siemens Drives (http://www.industry.siemens.com/drives/global/en/pages/drive- technology.aspx)
Page 668 Safety Integrated Basic Functions 10.1 Latest information 6. Open the topic "Products and solutions". You will now be shown which newsletter is available for this particular subject area or topic. You can subscribe to the appropriate newsletter by clicking on the "Subscribe" entry.
Page 669: General Information
The machine manufacturer decides whether or not a password is required. The probability of failure (PFH) and certification of the safety functions apply even if no password has been set. More information can be found in the SINAMICS S120 Safety Integrated Function Manual. 10.2.1...
Page 670 Part 5-2: Safety requirements - Functional Note Certifications In conjunction with certified components, the safety functions of the SINAMICS S120 drive system fulfill the following requirements: • Safety integrity level 2 (SIL 2) according to IEC 61508. • Category 3 according to DIN EN ISO 13849-1 •...
Page 671 This is the reason that in this manual, only the parameters of the 1st channel are mentioned. You can find the associated parameters of the 2nd channel in the parameter description, e.g. in the SINAMICS S120/S150 List Manual. Also for faults and alarms, only the fault numbers of the 1st channel are mentioned.
Page 672: Supported Functions
A cyclic cross-check of the safety-related data in the two monitoring channels is carried out. If any data is inconsistent, a stop response is triggered with any Safety function. Overview of important parameters (see SINAMICS S120/S150 List Manual) SI monitoring cycle (Control Unit) •...
Page 673 Safety Integrated Basic Functions 10.2 General information Safety Integrated Extended Functions (including the Basic Functions) An additional license that will be charged is required to use the following Safety Integrated Extended Functions. ● Safe Torque Off (STO) ● Safe Stop 1 (SS1, time and acceleration controlled) ●...
Page 674: Control Possibilities
Safety Integrated Basic Functions 10.2 General information 10.2.3 Control possibilities The following options for controlling Safety Integrated functions are available: Table 10- 1 Controlling the Safety Integrated functions Control via: Basic Extended Advanced Terminals (on the Control Unit and Motor/Power Module) PROFIsafe based on PROFIBUS or PROFINET TM54F...
Page 675 Safety Integrated Basic Functions 10.2 General information ● Factory settings for safety parameters – A reset of the safety parameters to the factory setting on a drive-specific basis using p3900 and p0010 = 30 is only possible when the safety functions are not enabled (p9301 = p9601 = p10010 = 0).
Page 676 1. Set the entire drive unit (Control Unit with all connected drives/components) to the factory setting. 2. Recommission the drive unit and drives. 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 Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 677: Forced Checking Procedure (Test Stop)
Safety Integrated Basic Functions 10.2 General information Overview of important parameters for "Password" (see SINAMICS S120/S150 List Manual) SI password input • p9761 SI password new • p9762 SI password acknowledgment • p9763 10.2.5 Forced checking procedure (test stop) Forced dormant error detection or test of the switch-off signal paths (test stop) for Safety Integrated...
Page 678 Safety Integrated Basic Functions 10.2 General information Forced dormant error detection (test stop) can be automatically executed at POWER ON. ● If the forced dormant error detection (test stop) as well as the test of the F-DO for the CU310-2 are to be executed automatically, then set p9507.6 = 1. When testing the FD-O of the CU310-2, you must parameterize p10042 and activate the test in p10046.
Page 679: Safety Instructions
Safety Integrated Basic Functions 10.3 Safety instructions 10.3 Safety instructions Additional safety instructions and residual risks Additional safety information and residual risks not specified in this section are included in the relevant sections of this Function Manual. DANGER Risk minimization through Safety Integrated Safety Integrated can be used to minimize the level of risk associated with machines and plants.
Page 680 Safety Integrated Basic Functions 10.3 Safety instructions WARNING Danger to life as a result of undesirable motor movement when automatically restarting The Emergency Stop function must bring the machine to a standstill according to stop Category 0 or 1 (STO or SS1) (EN 60204-1). It is not permissible that the motor automatically restarts after an Emergency Stop, as this represents danger to life as a result of the associated undesirable motor motion.
Page 681: Safe Torque Off (Sto)
Safety Integrated Basic Functions 10.4 Safe Torque Off (STO) 10.4 Safe Torque Off (STO) 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 energy supply to the motor. A restart is prevented by the two-channel pulse suppression.
Page 682 Safety Integrated Basic Functions 10.4 Safe Torque Off (STO) WARNING Unplanned motor motion After the energy feed has been disconnected (STO active) the motor can undesirably move (e.g. the motor can coast down), therefore presenting risk to persons. • Take suitable measures to prevent undesirable movement, e.g. by using a brake with safety-relevant monitoring.
Page 683 Safety Integrated Basic Functions 10.4 Safe Torque Off (STO) ● STO via TM54F: – p9601.0 = 0 – p9601.2 = 0 – p9601.3 = 0 – p9601.6 = 1 ● STO via TM54F and onboard terminals: – p9601.0 = 1 –...
Page 684 The "STO" safety function has the higher priority when simultaneously selected. If the "STO" function is initiated, then an activated "internal armature short-circuit" is disabled. Overview of important parameters (see SINAMICS S120/S150 List Manual) CU inputs/outputs, sampling time • p0799[0...2] SI enable functions integrated in the drive (Control Unit) •...
Page 685: Safe Stop 1 (Ss1, Time Controlled)
Safety Integrated Basic Functions 10.5 Safe Stop 1 (SS1, time controlled) 10.5 Safe Stop 1 (SS1, time controlled) 10.5.1 SS1 with OFF3 The "Safe Stop 1" (SS1) function allows the drive to be stopped in accordance with EN 60204-1, Stop Category 1. The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1"...
Page 686 Safety Integrated Basic Functions 10.5 Safe Stop 1 (SS1, time controlled) Functional features of Safe Stop 1 SS1 is enabled by p9652 (delay time) ≠ 0. ● Setting parameter p9652 has the following effect: – p9652 = 0 SS1 is not enabled. Only STO can be selected via TM54F, the onboard terminals and/or PROFIsafe.
Page 687: Ss1 With External Stop
Safety Integrated Basic Functions 10.5 Safe Stop 1 (SS1, time controlled) 10.5.2 SS1 with external stop In drive line-ups (e.g. drives that are mechanically connected via the material), the drive- independent braking on the respective OFF3 ramp can cause problems. If the SS1E function is used, the safe delay time (p9652) is started when the function is selected, but no OFF3 is triggered.
Page 688: Function Diagrams And Parameters
SI Basic Functions - STO (Safe Torque Off), SS1 (Safe Stop 1) • 2810 SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation • 2811 Overview of important parameters (see SINAMICS S120/S150 List Manual) OFF3 ramp-down time • p1135[0...n] Motor holding brake closing time •...
Page 689: Safe Brake Control (Sbc)
Safety Integrated Basic Functions 10.6 Safe Brake Control (SBC) 10.6 Safe Brake Control (SBC) The "Safe Brake Control" function (SBC) is used to safely control holding brakes that function according to the closed-circuit principle (e.g. motor holding brake). The opening and closing of the brake is controlled by the Motor Module / Power Module. Terminals are available for this on the device in booksize format.
Page 690 Safety Integrated Basic Functions 10.6 Safe Brake Control (SBC) Functional features of "Safe Brake Control" ● SBC is executed when "Safe Torque Off" (STO) is selected. ● In contrast to conventional brake control, SBC is executed via two channels. ● SBC is executed regardless of the brake control or mode set in p1215. However, SBC does not make sense for 1215 = 0 or 3.
Page 691: Sbc For Motor Modules In The Chassis Format
Safety Integrated Basic Functions 10.6 Safe Brake Control (SBC) The brake diagnosis can only reliably detect a malfunction in either of the switches (TB+, TB-) when the status changes, i.e. when the brake is released or applied. If the Motor Module or Control Unit detects a fault, the brake current is switched off. The brake then closes and a safe state is reached.
Page 692 Safety Integrated Basic Functions 10.6 Safe Brake Control (SBC) There are two options for registering this power unit with the system: ● Automatic brake identification when commissioning the system for the first time – Requirements: - No Safety Integrated functions enabled - p1215 = 0 (no motor holding brake available) –...
Page 693: Response Times
Safety Integrated Basic Functions 10.7 Response times 10.7 Response times The Basic Functions are executed in the monitoring cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 · r9780). Note Actual value of the monitoring cycle (r9780) You can only see the actual value of the monitoring cycle (r9780) if you are connected...
Page 694: Controlling Via Terminals On The Control Unit And Motor Module
Safety Integrated Basic Functions 10.7 Response times 10.7.1 Controlling via terminals on the Control Unit and Motor Module The following table lists the response times from the control via terminals until the response actually occurs. Table 10- 2 Response times for control via terminals on the Control Unit and the Motor Module. Function Worst case for Drive system has no fault...
Page 695: Control Via Tm54F
Safety Integrated Basic Functions 10.7 Response times Function Worst case for Drive system has no fault A fault is present SS1/SS1E (time-controlled) Selection until SBC is initiated 6 · r9780 + p9652 + t_K 10 · r9780 + p9652 + t_K SS1 (time-controlled) Selection until braking is initiated 5 ·...
Page 696: Control Via Terminals On The Control Unit And Motor/Power Module
● The F-DI 0 is available on the CU310-2 Overview of the safety function terminals for SINAMICS S120 The different power unit formats of SINAMICS S120 have different terminal designations for the inputs of the safety functions. These are shown in the following table.
Page 697 (p9620[0]) terminals) Power Module blocksize with (see CU310-2) STO_A and STO_B CU310-2 (for more detailed information, see "SINAMICS S120 AC Drive Manual ") SIMOTION CX32-2 controller X122.1...6 – extension DI 0...3/16/17 Please note: For the CU310-2, you must use the EP terminal (DI 17) as a switchoff signal path. As 2nd switch-off signal path, use any free digital input (DI).
Page 698 Safety Integrated Basic Functions 10.8 Control via terminals on the Control Unit and Motor/Power Module Both terminals must be energized within the tolerance time p9650, otherwise a fault will be output. Figure 10-2 Example: Terminals for "Safe Torque Off": Example of Motor Modules Booksize and CU320-2 Grouping drives (not for CU310-2) To ensure that the function works for more than one drive at the same time, the terminals for the corresponding drives must be grouped together as follows:...
Page 699 Safety Integrated Basic Functions 10.8 Control via terminals on the Control Unit and Motor/Power Module The assignment is checked during the test for the switch-off signal paths. The operator selects "Safe Torque Off" for each group. The check is drive-specific. Example: Terminal groups It must be possible to select/deselect "Safe Torque Off"...
Page 700: Simultaneity And Tolerance Time Of The Two Monitoring Channels
Safety Integrated Basic Functions 10.8 Control via terminals on the Control Unit and Motor/Power Module 10.8.1 Simultaneity and tolerance time of the two monitoring channels The "Safe Torque Off" function must be selected/deselected simultaneously in both monitoring channels using the input terminals and is only effective for the associated drive. 1 signal: Deselecting the function 0 signal: Selecting the function The time delay that is unavoidable due to mechanical switching processes, for example, can...
Page 701: Bit Pattern Test
F-DI input filter (p9651 for Basic Functions). To do this, a value must be entered in p9651 or p10017 that is greater than the duration of a test pulse. Overview of important parameters (see SINAMICS S120/S150 List Manual) SI STO/SBC/SS1 debounce time (Control Unit) • p9651 SI Motion digital inputs debounce time (processor 1) •...
Page 702: Control Via Tm54F
24 VDC switching output, an output switching to ground and a digital input for reading back the switching state. A fail-safe digital input is made up of 2 digital inputs. Function diagrams (see SINAMICS S120/S150 List Manual) SI TM54F - overview • 2890...
Page 703: Fault Acknowledgment
L2+ (for additional information on forced checking procedure (test stop), see the corresponding function description in Section "Forced checking procedure (test stop) (Page 677)"). Table 10- 7 Overview of the fail-safe inputs in the SINAMICS S120/S150 List Manual: Module Function diagram Inputs...
Page 704 • Only use outputs that have a maximum quiescent current of 0.5 mA when in the "OFF" state (according to IEC 61131 Part 2, Chapter 5.2 (2008)) You can find additional information on this topic in the Internet at: Parameterizing and configuring safety hardware (http://support.automation.siemens.com/WW/view/de/39700013) Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 705: Function Of The F-Do
The actuator connected to the F-DO can also be tested under specific conditions as part of the forced checking procedure (test stop). See Section "Forced checking procedure (test stop) (Page 677)". Table 10- 8 Overview of the fail-safe outputs in the SINAMICS S120/S150 List Manual: Module Function diagram Outputs...
Page 706 Safety Integrated Basic Functions 10.9 Control via TM54F F-DO signal sources A drive group contains several drives with similar characteristics. The groups are parameterized at the p10010 and p10011 parameters. The following signals are available for interconnecting (p10042, ..., p10045) each one of the four drive groups with the F-DO: ●...
Page 707 AND operation. The different signals selected via p10039 are logically OR'ed. Result of these logic operations is the "Safe State" for each drive group. You can find details in the SINAMICS S120/S150 List Manual in function diagrams 2901 (Basic Functions) or 2906 (Extended Functions).
Page 708 Safety Integrated Basic Functions 10.9 Control via TM54F Overview of important parameters (see SINAMICS S120/S150 List Manual) SI TM54F Safe State signal selection • p10039[0...3] SI TM54F F-DO 0 signal sources • p10042[0...5] SI TM54F F-DO 1 signal sources • p10043[0...5] SI TM54F F-DO 2 signal sources •...
Page 709: Commissioning The "Sto", "Sbc" And "Ss1" Functions
Safety Integrated Basic Functions 10.10 Commissioning the "STO", "SBC" and "SS1" functions 10.10 Commissioning the "STO", "SBC" and "SS1" functions 10.10.1 General information about commissioning safety functions Commissioning notes Note Duplicating safety parameters For safety-relevant reasons, using the STARTER commissioning tool (or SCOUT) you can only set the safety-relevant parameters of the Control Unit offline.
Page 710 Safety Integrated Basic Functions 10.10 Commissioning the "STO", "SBC" and "SS1" functions Standard commissioning of the safety functions ● A commissioned project that has been uploaded to STARTER can be transferred to another drive unit keeping the existing safety parameterization. ●...
Page 711: Commissioning Via Direct Parameter Access
Safety Integrated Basic Functions 10.10 Commissioning the "STO", "SBC" and "SS1" functions 10.10.2 Commissioning via direct parameter access To commission the "STO", "SBC" and "SS1" functions via terminals, carry out the following steps: Table 10- 9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p0010 = 95...
Page 712 Safety Integrated Basic Functions 10.10 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p9620 = "fast DI Set terminals for "Safe Torque Off (STO)". on CU" Wire terminal "EP" (enable pulses) on the Motor Module. Terminal "EP" Control Unit monitoring channel: •...
Page 713 Safety Integrated Basic Functions 10.10 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Parameterize Safe Brake Adapter. p9621 = "value" Set with p9621 the signal source for the Safe Brake Adapter. • p9622[0...1] = Set with p9622 the wait times for switching on and switching off the Safe Brake Adapter •...
Page 714: Safety Faults
Safety Integrated Basic Functions 10.10 Commissioning the "STO", "SBC" and "SS1" functions 10.10.3 Safety faults The fault messages of the Safety Integrated Basic Functions are saved in the standard message buffer and can be read out from there. When faults associated with Safety Integrated Basic Functions occur, the following stop responses can be initiated: Table 10- 10 Stop responses for Safety Integrated Basic Functions Stop re-...
Page 715 If this action has not eliminated the fault cause, the fault is displayed again immediately after power-up. Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated functions are described in SINAMICS S120/S150 List Manual Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 716: Acceptance Test And Acceptance Report
• Note the information in Section "Commissioning the "STO", "SBC" and "SS1" functions (Page 709)". • The acceptance report presented below is both an example and recommendation. • An acceptance report template in electronic format is available at your local Siemens sales office. Drive functions...
Page 717 10.11 Acceptance test and acceptance report Note PFH values • The PFH values of the individual SINAMICS S120 safety components can be found at: http://support.automation.siemens.com/WW/view/en/76254308 • The PFH values of all safety components from Siemens are available in the "Safety Evaluation Tool", see...
Page 718: Content Of The Complete Acceptance Test
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.1.1 Content of the complete acceptance test A) Documentation Documentation of the machine and safety functions 1. Machine description (with overview) 2. Specification of the controller (if this exists) 3. Configuration diagram 4.
Page 719: Content Of The Partial Acceptance Test
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.1.2 Content of the partial acceptance test A) Documentation Documentation of the machine and safety functions 1. Extending/changing the hardware data 2. Extending/changing the software data (specify version) 3. Extending/changing the configuration diagram 4.
Page 720 Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report D) Functional testing of actual value acquisition 1. General testing of actual value acquisition – After exchanging the component, initial activation and brief operation in both directions. WARNING Danger to life due to axis movements during the acceptance test The operation causes the machine to move.
Page 721: Test Scope For Specific Measures
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.1.3 Test scope for specific measures Scope of partial acceptance tests for specific measures The measures and points specified in the table refer to the information provided in Section Content of the partial acceptance test (Page 719). Table 10- 11 Scope of partial acceptance tests for specific measures Measure A) Documentation...
Page 722: Safety Logbook
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.2 Safety logbook The "Safety Logbook" function is used to detect changes to safety parameters that affect the associated CRC sums. CRCs are only generated when p9601 (SI enable, functions integrated in the drive CU/Motor Module) is >...
Page 723: Si Functions For Each Drive
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report Parameters Firmware version Control Unit r0018 = Drive number Firmware version SI version r9770 = r0128 = r9870 = Parameters r0128 = r9870 = Motor Modules r0128 = r9870 = r0128 = r9870 = r0128 =...
Page 724: Acceptance Tests
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.4 Acceptance tests 10.11.4.1 General information about acceptance tests Note Conditions for the acceptance test 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 braking times that can be expected.
Page 725: Acceptance Test For Safe Torque Off (Sto)
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.4.2 Acceptance test for Safe Torque Off (STO) Description Status Note: The acceptance test must be individually performed for each configured control. The control can be realized via TM54F, onboard terminals (CU310-2) or via PROFIsafe. Initial state Drive in the "Ready"...
Page 726: Acceptance Test For Safe Stop 1, Time Controlled (Ss1)
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.4.3 Acceptance test for Safe Stop 1, time controlled (SS1) Description Status Note: The acceptance test must be individually performed for each configured control. The control can be realized via TM54F, onboard terminals (CU310-2) or via PROFIsafe. Initial state Drive in the "Ready"...
Page 727 Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report Description Status r9774.5 = r9774.6 = 1 (SS1 selected and active - group); only relevant for grouping • Canceling SS1 No Safety faults and alarms (r0945[0...7], r2122[0...7]) • r9772.22 = 0 (SS1 deselection via terminals – DI CU / EP terminal Motor Module); only •...
Page 728: Acceptance Test For "Safe Brake Control" (Sbc)
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.4.4 Acceptance test for "Safe Brake Control" (SBC) Description Status Note: The acceptance test must be individually performed for each configured control. The control can be realized via TM54F, onboard terminals (CU310-2) or via PROFIsafe. Initial state Drive in the "Ready"...
Page 729: Completion Of Certificate
Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report 10.11.5 Completion of certificate SI parameters Specified values checked? Control Unit Motor Module Checksums Basic functions Drive name Drive number SI reference checksum SI SI reference checksum SI parameters (Control Unit) parameters (Motor Module) p9799 = p9899 =...
Page 730 Safety Integrated Basic Functions 10.11 Acceptance test and acceptance report Safety logbook Functional Checksum for functional tracking of changes r9781[0] = Checksum for hardware dependent tracking of changes r9781[1] = Time stamp for functional tracking of changes r9782[0] = Time stamp for hardware dependent tracking of changes r9782[1] = 1) These parameters can be found in the expert list of the Control Unit.
Page 731: Overview Of Parameters And Function Diagrams
SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation • 2811 SI Basic Functions - SBC (Safe Brake Control), SBA (Safe Brake Adapter) • 2814 Overview of important parameters (see SINAMICS S120/S150 List Manual) Table 10- 12 Parameters for Safety Integrated Parameters Name...
Page 732 Safety Integrated Basic Functions 10.12 Overview of parameters and function diagrams Parameters Name Changeable to (p0010 = 95) p10040 SI TM54F F-DI input mode p10041 SI TM54F F-DI test enable p10042[0...5] SI TM54F F-DO 0 signal sources p10043[0...5] SI TM54F F-DO 1 signal sources p10044[0...5] SI TM54F F-DO 2 signal sources p10045[0...5]...
Page 733: Communication
Communication 11.1 Communication according to PROFIdrive PROFIdrive is the PROFIBUS and PROFINET profile for drive technology with a wide range of applications in production and process automation systems. PROFIdrive is independent of the bus system used (PROFIBUS, PROFINET). Note PROFIdrive for drive technology is standardized and described in the following document: •...
Page 734 Communication 11.1 Communication according to PROFIdrive Properties of the Controller, Supervisor and drive units Table 11- 2 Properties of the Controller, Supervisor and drive units Properties Controller Supervisor Drive unit As bus node Active Passive Send messages Permitted without external Only possible on request by the request Controller...
Page 735 Do not use this interface for other purposes (e.g. field bus communication) and ensure that X127 (e.g. for service) is always accessible. Table 11- 3 Properties of IF1 and IF2 PROFIdrive and SIEMENS telegram Free telegram Isochronous mode Drive object types...
Page 736: Profidrive Application Classes
Communication 11.1 Communication according to PROFIdrive 11.1.1 PROFIdrive application classes There are different application classes for PROFIdrive according to the scope and type of the application processes. PROFIdrive features a total of 6 application classes, the 3 most important are compared here. ●...
Page 737 Communication 11.1 Communication according to PROFIdrive Telegram Description Class 1 Class 3 Class 4 (p0922 = x) Standard encoder with speed actual value 32 bit Speed setpoint, 32 bit with 1 position encoder and torque reduc- tion Speed setpoint, 32 bit with 2 position encoders and torque reduc- tion Speed setpoint, 32 bit with 1 position encoder, torque reduction and Dynamic Servo Control...
Page 738: Cyclic Communication
Communication 11.1 Communication according to PROFIdrive Telegram Description Class 1 Class 3 Class 4 (p0922 = x) Supplementary PZD-0/3 Supplementary PZD-2/5 Supplementary PZD-3/1 Free interconnection and length Dynamic Servo Control (DSC) The PROFIdrive profile contains the "Dynamic Servo Control" control concept. This requires PROFIdrive application class 4 and transfers not only the speed setpoint, but also the KPC position controller gain factor and the XERR system deviation.
Page 739 STARTER in accordance with the telegram number setting. The SINAMICS S120/S150 List Manual contains the standard telegrams in the following function diagrams: – 2415 PROFIdrive - Standard telegrams and process data 1 –...
Page 740 Communication 11.1 Communication according to PROFIdrive SERVO, TM41 VECTOR CU_S A_INF, B_INF, TB30, TM31, ENCODER S_INF TM15DI_DO, TM120, TM150 Receive process data DWORD con- r2060[0 ... 18] r2060[0 ... 30] r2060[0 ... 2] nector output WORD connect- r2050[0 ... 19] r2050[0 ...
Page 741 Figure 11-2 Normalization of speed You can find the detailed structure of the telegrams in the SINAMICS S120/S150 List Manual in the associated function diagrams. Which drive objects support which telegrams?
Page 742 Communication 11.1 Communication according to PROFIdrive Drive object Telegrams (p0922) Function dia- grams TM41 3, 999 2415, 2423 TM120 No predefined telegram. TM150 No predefined telegram. TB30 No predefined telegram. CU_S 390, 391, 392, 393, 394, 395, 999 2422, 2423 Depending on the drive object, different process data (PZD) can be sent and received: Drive objects Maximum number of PZD...
Page 743: Information About Control Words And Status Words
Communication 11.1 Communication according to PROFIdrive 11.1.2.2 Information about control words and status words Overview of control words and setpoints A detailed overview of the control words and setpoints is contained in the SINAMICS S120/S150 List Manual in the following function diagrams: •...
Page 744 Communication 11.1 Communication according to PROFIdrive Example: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference marks (function 1 / function 2) ● Position control with encoder 1 Figure 11-4 Sequence chart for "Find reference mark" Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 745 Communication 11.1 Communication according to PROFIdrive Example: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Figure 11-5 Sequence chart for "Flying measurement" Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 746: Motion Control With Profidrive
Communication 11.1 Communication according to PROFIdrive 11.1.2.4 Motion control with PROFIdrive An isochronous drive coupling can be established between the control and device using the "Motion control with PROFIdrive" function. Note The isochronous drive coupling is defined in the following documentation: PROFIdrive Profile Drive Technology PROFIBUS User Organization e.
Page 747 Communication 11.1 Communication according to PROFIdrive Overview of closed-loop control ● Position actual value sensing in the device is alternatively realized using an: – Indirect measuring system (motor encoder) – Additional direct measuring system ● The encoder interface must be configured in the process data. ●...
Page 748 Communication 11.1 Communication according to PROFIdrive Structure of the data cycle The data cycle comprises the following elements: ● Global control telegram (PROFIBUS only) ● Cyclic part - setpoints and actual values ● Acyclic part - parameters and diagnostic data ●...
Page 749: Parallel Operation Of Communication Interfaces
Communication 11.1 Communication according to PROFIdrive 11.1.3 Parallel operation of communication interfaces The two cyclic interfaces for the setpoints and actual values differ by the parameter ranges used (BICO technology etc.) and the functions that can be used. The interfaces are designated as cyclic interface 1 (IF1) and cyclic interface 2 (IF2).
Page 750 Communication 11.1 Communication according to PROFIdrive Properties of the cyclic interfaces IF1 and IF2 Table 11- 5 Properties of the cyclic interfaces IF1 and IF2 Feature Setpoint (BICO signal source) r2050, r2060 r8850, r8860 Actual value (BICO signal sink) p2051, p2061 p8851, p8861 Table 11- 6 Implicit assignment of hardware to the cyclic interfaces for p8839[0] = p8839[1] = 99...
Page 751 Communication 11.1 Communication according to PROFIdrive Parameters for IF2 The following parameters are available in order to tune the IF2 for a PROFIBUS or PROFINET interface: ● Receive and send process data: r8850, p8851, r8853, r8860, p8861, r8863 ● Diagnostic parameters: r8874, r8875, r8876 ●...
Page 752: Acyclic Communication
Communication 11.1 Communication according to PROFIdrive Overview of important parameters (see SINAMICS S120/S150 List Manual) IF1 PROFIdrive PZD telegram selection • p0922 List of drive objects • p0978[0...n] IF1/IF2 PZD functionality selection • p8815[0...1] PZD interface hardware assignment • p8839[0...1] 11.1.4...
Page 753 Communication 11.1 Communication according to PROFIdrive Figure 11-8 Reading and writing data Characteristics of the parameter channel ● One 16-bit address exists for each parameter number and subindex. ● Concurrent access by several additional PROFIBUS masters (master class 2) or PROFINET IO supervisor (e.g.
Page 754: Structure Of Requests And Responses
Communication 11.1 Communication according to PROFIdrive 11.1.4.2 Structure of requests and responses Structure of parameter request and parameter response Parameter request Offset Values for Request header Request reference Request ID write access Axis Number of parameters only 1st parameter address Attribute Number of elements Parameter number...
Page 755 Communication 11.1 Communication according to PROFIdrive Description of fields in the parameter request and response Field Data type Values Remark Request reference Unsigned8 0x01 ... 0xFF Unique identification of the request/response pair for the controller. The controller changes the request reference with each new request. The device mirrors the request reference in its response.
Page 756 Communication 11.1 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 0x40...
Page 757 Write access is possible while the device is in the "Controller – ler. enable" state. Pay attention to the parameter attribute "changeable" in the SINAMICS S120/S150 List Manual (C1, C2, U, T). 0x6C Parameter %s [%s]: Unknown unit. – –...
Page 758 Communication 11.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x71 Parameter %s [%s]: Write access – – only in the ready mode (p0010 = 0). 0x72 Parameter %s [%s]: Write access – – only in the commissioning state, parameter reset (p0010 = 30).
Page 759: Determining The Drive Object Numbers
Communication 11.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x82 Transfer of master control is blocked – – by BI: p0806. 0x83 Parameter %s [%s]: Requested BICO BICO output does not supply float values. The BICO input, –...
Page 760: Example 1: Read Parameters
Communication 11.1 Communication according to PROFIdrive 11.1.4.4 Example 1: read parameters Requirements ● The PROFIdrive controller has been commissioned and is fully operational. ● PROFIdrive communication between the controller and the device is operational. ● The controller can read and write data sets in conformance with PROFINET/PROFIBUS. 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 761 Communication 11.1 Communication according to PROFIdrive ● Number of elements: 08 hex → The actual fault incident with eight faults is to be read. ● Parameter number: 945 dec → p0945 (fault code) is read. ● Subindex: 0 dec → Reading starts at index 0. Initiate parameter request.
Page 762: Example 2: Writing Parameters (Multi-Parameter Request)
Communication 11.1 Communication according to PROFIdrive 11.1.4.5 Example 2: Writing parameters (multi-parameter request) Requirements ● The PROFIdrive controller has been commissioned and is fully operational. ● PROFIdrive communication between the controller and the device is operational. ● The controller can read and write data sets in conformance with PROFINET/PROFIBUS. Special requirements for this example: ●...
Page 763 Communication 11.1 Communication according to PROFIdrive Basic procedure 1. Create a request to write the parameters. 2. Invoke the request. 3. Evaluate the response. Create the request Parameter request Offset Request header Request reference = 40 Request ID = 02 hex 0 + 1 Axis = 02 hex Number of parameters = 04 hex...
Page 764 Communication 11.1 Communication according to PROFIdrive Notes relating to 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 → This identifier is required for a write request. ●...
Page 765: Diagnostics Channels
Communication 11.1 Communication according to PROFIdrive Evaluate the parameter response. Parameter response Offset Response header Request reference mirrored = 40 hex Response ID = 02 hex Axis mirrored = 02 hex Number of parameters = 04 hex Notes regarding the parameter response: ●...
Page 766 Communication 11.1 Communication according to PROFIdrive The functional scope of the diagnostic channels depends on the bus system. PROFIdrive message classes Faults Alarms Component assignment GSDML ● SINAMICS transfers the messages in the sequence in which they occurred. ● If an alarm appears, SINAMICS sends an "incoming" message. The alarm remains until SINAMICS sends the corresponding "outgoing"...
Page 767: Profinet-Based Diagnostics
Communication 11.1 Communication according to PROFIdrive 11.1.5.1 PROFINET-based diagnostics For PROFINET, to transfer PROFIdrive message classes, channel diagnostics (Channel Diagnosis) are used (see PROFINET IO specification (http://www.profibus.com)). A message always comprises the following components in this specific sequence: ● Block Header (6 Byte) –...
Page 768 Communication 11.1 Communication according to PROFIdrive Individual components of the Channel Diagnosis Data block can be included n times in a message. A precise explanation of these message components is subsequently provided: Designation Data For SINAMICS type/length Value Significance Channel Number 1 ...
Page 769: Profibus-Based Diagnostics
Communication 11.1 Communication according to PROFIdrive System response - reading out diagnostics data The converter can request diagnostics data via "Read data set" (detailed information is provided in the PROFINET-IO specification (http://www.profibus.com)). Example: For example, a read record with index 0x800C can be used to read out diagnostics data from specific sub slots.
Page 770 Communication 11.1 Communication according to PROFIdrive The other diagnostics data (types) can be in any sequence. This is the reason that the following diagnostics data include a header: ● Identifier-related diagnostics ● Status messages/module status ● Channel-related diagnostics The diagnostic data type can be uniquely identified based on the header. Note The master must operate in the DPV1 mode.
Page 771 Communication 11.1 Communication according to PROFIdrive Identifier-related diagnostics The identifier-related diagnostics provides a bit (KB_n) for each slot 1 allocated when configuring the device. If a diagnostics message is active at a slot, then it's KB_n = true. Octet Name Header- Block length (2 ...
Page 772 Communication 11.1 Communication according to PROFIdrive Channel-related diagnostics Channel-related diagnostics encompasses the following data: Octet Name Header- 0 ... 63 (module number) including this byte Byte x + 1 0 (no component assignment) x + 2 Message classes: 2 undervoltage 3 overvoltage 9 error 16 Hardware/software error...
Page 773 Communication 11.1 Communication according to PROFIdrive Data sets DS0/DS1 and diagnostics alarm The PROFIdrive message classes are transferred using diagnostic alarm DS0/DS1. All faults are assigned channel 0. The drive objects are assigned using the slot number. The structure is as follows: Octet Name Header-Byte...
Page 774: Communication Via Profibus Dp
Communication 11.2 Communication via PROFIBUS DP 11.2 Communication via PROFIBUS DP 11.2.1 General information about PROFIBUS 11.2.1.1 General information about PROFIBUS for SINAMICS PROFIBUS is an open international fieldbus standard for a wide range of production and process automation applications. The following standards ensure open, multi-vendor systems: ●...
Page 775 Communication 11.2 Communication via PROFIBUS DP Master and slave ● 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 Possible without any re- Only receive and acknowledge strictions permitted...
Page 776 Communication 11.2 Communication via PROFIBUS DP Sequence of drive objects in the telegram On the drive side, the sequence of drive objects in the telegram is displayed via a list in p0978[0...24] where it can also be changed. You can use the STARTER commissioning tool to display the sequence of drive objects for a commissioned drive system in the project navigator under "Drive unit"...
Page 777: Example: Telegram Structure For Cyclic Data Transmission
Communication 11.2 Communication via PROFIBUS DP 11.2.1.2 Example: telegram structure for cyclic data transmission Task The drive system comprises the following drive objects: ● Control Unit (CU_S) ● Active Infeed (A_INF) ● SERVO 1 (comprises a Single Motor Module and other components) ●...
Page 778 Communication 11.2 Communication via PROFIBUS DP Configuration settings (e.g. HW Config for SIMATIC S7) Due to the telegram structure shown, the objects in the "DP slave properties" overview must be configured as follows: Telegram 370 • Active Infeed (A_INF): Standard telegram 6 •...
Page 779 Communication 11.2 Communication via PROFIBUS DP DP slave properties – details Figure 11-13 Slave properties – details The axis separator separates the objects in the telegram as follows: Object 1 ––> Active Infeed (A_INF) • Slots 4 and 5: Object 2 ––> SERVO 1 •...
Page 780: Commissioning Profibus
Communication 11.2 Communication via PROFIBUS DP 11.2.2 Commissioning PROFIBUS 11.2.2.1 Setting the PROFIBUS interface Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available as standard on the CU320-2 DP Control Unit. Figure 11-14 Interfaces and diagnostic LED Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 781 Communication 11.2 Communication via PROFIBUS DP ● PROFIBUS interface The PROFIBUS is described in the "SINAMICS S120 Control Units and Supplementary System Components Manual". ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnostics purposes.
Page 782: Profibus Interface In Operation
The GSD files can be found: ● On the Internet: PROFINET I/O (http://support.automation.siemens.com/WW/view/en/49217480) (GSDML files) PROFIBUS DP (http://support.automation.siemens.com/WW/view/en/49216293) (GSD files) ●...
Page 783: Commissioning Profibus
The telegram type for each drive object is known by the application. • PROFIBUS master • The communication properties of the SINAMICS S120 slave must be availa- ble in the master (GSD file or Drive ES slave OM). Drive functions...
Page 784: Diagnostics Options
Communication 11.2 Communication via PROFIBUS DP Commissioning steps (example with SIMATIC S7) 1. Set the PROFIBUS address on the slave. 2. Set the telegram type on the slave. 3. Perform the following in HW Config: – Connect the drive unit to PROFIBUS and assign the address. –...
Page 785 Communication 11.2 Communication via PROFIBUS DP Controllers: Protocol always "SIMATIC S7 - 300/400" Table 11- 8 Additional parameters Field Value Network parameter profile Network parameter baud rate Communication partner address PROFIBUS address of the drive unit Communication partner Don’t care, 0 slot/rack Table 11- 9 Variables: "General"...
Page 786: Monitoring Telegram Failure
Communication 11.2 Communication via PROFIBUS DP 11.2.2.6 Monitoring telegram failure When monitoring the telegram failure, SINAMICS differentiates between two cases: ● Telegram failure with a bus fault After a telegram failure and the additional monitoring time has elapsed (p2047), bit r2043.0 is set to "1"...
Page 787 Communication 11.2 Communication via PROFIBUS DP Example: Quick stop at telegram failure Assumption: ● A drive unit with an Active Line Module and a Single Motor Module. ● VECTOR mode is activated. ● After a ramp-down time (p1135) of two seconds, the drive is at a standstill. Settings: p2047 = 20 ms A_INF...
Page 788: Motion Control With Profibus
Communication 11.2 Communication via PROFIBUS DP 11.2.3 Motion Control with PROFIBUS Motion control / isochronous drive coupling with PROFIBUS Figure 11-17 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T = 2 ∙ T MAPC Sequence of data transfer to closed-loop control system 1.
Page 789 Communication 11.2 Communication via PROFIBUS DP Designations and descriptions for motion control Table 11- 10 Time settings and meanings Name Limit value Description 250 µs Time base for T BASE_DP ≥ T DP cycle time DP_MIN = Dx + MSG + RES + GC = multiple integer ∙...
Page 790 Communication 11.2 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 Note After T has been changed on the PROFIBUS master, the drive system must be switched on (POWER ON) or parameter p0972 = 1 (reset drive unit) must be set.
Page 791 Communication 11.2 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 an arbitrary value between 1 and 15.
Page 792: Slave-To-Slave Communication
Communication 11.2 Communication via PROFIBUS DP 11.2.4 Slave-to-slave communication For PROFIBUS DP, the master interrogates all of the slaves one after the other in a DP cycle. In this case, the master transfers its output data (setpoints) to the particular slave and receives as response the input data (actual values).
Page 793 Communication 11.2 Communication via PROFIBUS DP Links and taps The links configured in the subscriber (connections to publisher) contain the following information: ● From which publisher is the input data received? ● What is the content of the input data? ●...
Page 794: Setpoint Assignment In The Subscriber
Communication 11.2 Communication via PROFIBUS DP 11.2.4.1 Setpoint assignment in the subscriber Information about setpoints ● Number of setpoint When bus communication is being established, the master signals the slave the number of setpoints (process data) to be transferred using the configuring telegram (ChkCfg). ●...
Page 795 Communication 11.2 Communication via PROFIBUS DP Parameterizing telegram (SetPrm) The filter table is transferred, as dedicated block from the master to the slave with the parameterizing telegram when a bus communication is established. Figure 11-19 Filter block in the parameterizing telegram (SetPrm) Configuration telegram (ChkCfg) Using the configuration telegram, a slave knows how many setpoints are to be received from the master and how many actual values are to be sent to the master.
Page 796: Commissioning Profibus Slave-To-Slave Communication
Communication 11.2 Communication via PROFIBUS DP 11.2.4.3 Commissioning PROFIBUS slave-to-slave communication The commissioning of slave-to-slave communication between two SINAMICS drive devices using the additional Drive ES package is described below in an example. Settings in HW Config Based on the example of the project below, the settings in HW Config are described when using standard telegrams.
Page 797 1. You have generated a project, e.g. with SIMATIC Manager and HW Config. In the project example, you defined a CPU 314 controller as master and 2 SINAMICS S120 Control Units as slaves. Of the slaves, one CU310-2 DP is the publisher and one CU320-2 DP the subscriber.
Page 798 Communication 11.2 Communication via PROFIBUS DP 4. Then switch to the detailed view. – Slots 4/5 contain the actual and setpoint values for the first drive object, e.g. SERVO. – Slots 7/8 contain the telegram components for the actual values and setpoints for the second drive object, e.g.
Page 799 Communication 11.2 Communication via PROFIBUS DP 7. In the first column, select the PROFIBUS DP address of the publisher, in this example "5". All PROFIBUS DP slaves are listed here, for which actual value data can be retrieved. It also provides the possibility of sharing data via slave-to-slave communication within the same drive device.
Page 800 Communication 11.2 Communication via PROFIBUS DP 9. Click the "Slave-to-slave communication overview" tab. The configured slave-to-slave communication relationships are shown here which correspond to the current status of the configuration in HW Config. Figure 11-25 Slave-to-slave communication - overview After the slave-to-slave communication link has been created, instead of showing "Standard telegram 2"...
Page 801: Diagnosing The Profibus Slave-To-Slave Communication In Starter
Communication 11.2 Communication via PROFIBUS DP The details after creation of the slave-to-slave communication link for a drive object of the drive device are as follows: Figure 11-27 Details after the creation of the slave-to-slave communication link 10.You should therefore adjust the telegrams for each drive object of the selected drive device that is to participate actively in slave-to-slave communication.
Page 802: Messages Via Diagnostics Channels
Any interruption to the publisher is also reported by the fault F01946 at the affected drive object. A failure of the publisher only impacts the respective drive objects. More detailed information on the messages can be found in the SINAMICS S120/S150 List Manual.
Page 803 Messages The message texts are described in detail in the SINAMICS S120/S150 List Manual, Section 4.1.2 "Explanations on the list of faults and alarms". A current list of the message texts can be found in the "Message classes and coding of different diagnostics interfaces" table.
Page 804: Communication Via Profinet Io
● An IO supervisor is an engineering tool, typically based on a PC, to configure e and diagnose the individual IO devices (drive units). IO devices: Drive units with PROFINET interface ● SINAMICS S120 with CU320-2 DP and inserted CBE20 ● SINAMICS S120 with CU320-2 PN ● SINAMICS S120 with CU310-2 PN...
Page 805: Real-Time (Rt) And Isochronous Real-Time (Irt) Communication
Communication 11.3 Communication via PROFINET IO Cyclic communication using PROFINET IO with IRT or using RT is possible on all drive units equipped with a PROFINET interface. This means that error-free communication using other standard protocols is guaranteed within the same network. Note PROFINET for drive technology is standardized and described in the following document: PROFIBUS profile PROFIdrive - Profile Drive Technology...
Page 806: Addresses
Communication 11.3 Communication via PROFINET IO PROFINET IO with IRT (Isochronous Real Time) Isochronous real time: Real time property of PROFINET IO where IRT telegrams are transferred deterministically via planned communication paths in a defined sequence to achieve the best possible synchronism and performance between the IO controller and IO device (drive unit).
Page 807 IO controller. In this case, the IP address is not stored permanently. The IP address entry is lost after POWER ON/OFF. The IP address can be assigned retentively via the STARTER function "Accessible nodes" (see SINAMICS S120 Commissioning Manual with STARTER).
Page 808: Dynamic Ip Address Assignment
Communication 11.3 Communication via PROFINET IO Note Address information for interfaces The address data for the corresponding interfaces can be entered in the STARTER/Startdrive in the expert list using the following parameters: • X127 Ethernet interfaces: Parameters p8901, p8902, and p8903 •...
Page 809 (each value 2). Make one of the following settings: – For Ethernet onboard (X127): p8905 = 1 or 2 – For PROFINET onboard: p8925 = 1 or 2 (applies only to SINAMICS S120 devices) – For CBE20: p8945 = 2 A direct activation is not possible for the CBE20.
Page 810: Dcp Flashing
Communication 11.3 Communication via PROFINET IO 11.3.1.4 DCP flashing This function is used to check the correct assignment to a module and its interfaces. This function is supported by a CU310-2 PN and a CU320-2 DP/PN with inserted CBE20. The function can also be used without CBE20 in a CU320-2 PN.
Page 811 Communication 11.3 Communication via PROFINET IO You can use the STARTER commissioning tool to display the sequence of drive objects for a commissioned drive system in the project navigator under "Drive unit" > "Communication" > "Telegram configuration". When you create the configuration on the controller side (e.g. HW Config), the process-data- capable drive objects for the application are added to the telegram in the sequence shown (see above).
Page 812: Communication Channels For Profinet
Communication 11.3 Communication via PROFINET IO 11.3.1.6 Communication channels for PROFINET PROFINET connection channels ● A Control Unit has an integrated Ethernet interface (X127). ● The PROFINET versions CU320-2 PN and CU310-2 PN each have a PROFINET interface (X150) with two onboard ports: P1 and P2 ●...
Page 813: References
CPU and SINAMICS S120 (http://support.automation.siemens.com/WW/view/en/27196655)". ● A description of the CBE20 and how you can install it is provided in the SINAMICS S120 Control Units and Additional System Components Manual. ● The PROFINET interface on the CU310-2 PN unit is described in the SINAMICS S120...
Page 814 Communication 11.3 Communication via PROFINET IO Integrated PROFINET interface PN name of station • p8920[0...239] PN IP address • p8921[0...3] PN default gateway • p8922[0...3] PN Subnet Mask • p8923[0...3] PN DHCP mode • p8924 PN interfaces configuration • p8925 PN Name of Station actual •...
Page 815: Rt Classes For Profinet Io
Communication 11.3 Communication via PROFINET IO 11.3.2 RT classes for PROFINET IO PROFINET IO is a scalable realtime communication system based on Ethernet technology. The scalable approach is expressed with three realtime classes. RT communication is based on standard Ethernet. The data is transferred via prioritized Ethernet telegrams.
Page 816 ● S110 CU305 PN Clock generation via PROFINET IO (isochronous communication) SINAMICS S120 with CU310-2 PN/CU320-2 DP/CU320-2 PN can only assume the role of a synchronization device within a PROFINET IO network. For a CU310-2 PN/CU320-2 DP/CU320-2 PN with CBE20 module, the following applies: ●...
Page 817 Communication 11.3 Communication via PROFINET IO Comparison between RT and IRT Table 11- 12 Comparison between RT and IRT IRT "high flexibility" IRT "high performance" Transfer mode Switching based on the MAC Switching using the MAC Path-based switching ac- address; prioritization of the address;...
Page 818 Communication 11.3 Communication via PROFINET IO Synchronization domain The sum of all devices to be synchronized form a synchronization domain. The whole domain must be set to a single, specific RT class (real-time class) for synchronization. Different synchronization domains can communicate with one another via RT. For IRT, all IO devices and IO controllers must be synchronized with a common synchronization master.
Page 819 Communication 11.3 Communication via PROFINET IO The table below specifies the reduction ratios which can be set between the send cycle and the update times for IRT "high performance", IRT "high flexibility", and RT. Table 11- 13 Settable send cycles and update cycles Send cycle Reduction ratios between update time and send cycles IRT "high performance"...
Page 820 Communication 11.3 Communication via PROFINET IO Topology rules Topology rules for RT ● A topology can be, but need not be configured for RT. If a topology has been configured, the devices must be wired in accordance with the topology. ●...
Page 821: Profinet Gsdml
11.3 Communication via PROFINET IO 11.3.3 PROFINET GSDML SINAMICS S120 supports the GSDML version: "PROFINET GSDML" to embed the converter in a PROFINET network. PROFINET GSDML allows standard telegrams to be combined with a PROFIsafe telegram – and if required, a telegram extension. Each of the modules has four subslots: The Module Access Point (MAP), the PROFIsafe telegram, a PZD telegram to transfer process data and where necessary, a telegram for PZD extensions.
Page 822: Motion Control With Profinet
Communication 11.3 Communication via PROFINET IO Configuration 1. Insert a "DO SERVO/VECTOR/..." module. 2. Insert the optional submodule "PROFIsafe telegram 30". 3. Insert a submodule "PZD telegram xyz". 4. Insert the optional submodule "PZD extension". 5. Assign the I/O addresses for the module and the submodules. You will find a detailed description for processing a GSDML file in HW Config in the SIMATIC documentation.
Page 823 Communication 11.3 Communication via PROFINET IO Sequence of data transfer to closed-loop control system 1. Actual position value G1_XIST1 is read into the telegram image at time T before the IO_Input start of each cycle and transferred to the controllers in the next cycle. 2.
Page 824 Communication 11.3 Communication via PROFINET IO Name Limit value Description T_IO_InputMIN ≤ Time of actual value acquisition IO_Input T_IO_Input < T_DC This is the time at which actual values are acquired before a new cycle starts. = T_IO_Input · T IO_Input IO_BASE T_IO_Input: integer factor...
Page 825 Communication 11.3 Communication via PROFINET IO User data integrity User data integrity is verified in both transfer directions (IO controller <––> IO device) 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 826: Communication With Cbe20
Path for the UFW file and folders on the memory card: /OEM/SINAMICS/CODE/CB/CBE20.UFW Identification of the firmware version Using parameter r8858, the loaded firmware version of the PROFINET interface can be identified uniquely. Overview of important parameters (see SINAMICS S120/S150 List Manual) CBE20 firmware selection • p8835 COMM BOARD read diagnostics channel •...
Page 827: Communication Via Profinet Gate
Possible drive units: ● CU320-2 PN The CBE20 in the CU320-2 PN of the SINAMICS S120 contains the "PN Gate" function (p8835 = 2). The PN Gate represents the controller in the sense of PROFINET. It covers a standard PROFINET network.
Page 828: Functions Supported By Pn Gate
Communication 11.3 Communication via PROFINET IO 11.3.6.1 Functions supported by PN Gate PN Gate function overview Function Description Communication channels Cyclic data communication: • – IRT – RT Acyclic data communication: • - PROFINET alarms - Read/write data set - TCP/IP PROFINET basic services LLDP •...
Page 829: Preconditions For Pn Gate
Communication 11.3 Communication via PROFINET IO 11.3.6.2 Preconditions for PN Gate Hardware ● SINAMICS CU320-2 PN with firmware version as of 4.5 ● Communication Board Ethernet 20 (CBE20) ● Short Ethernet cable to connect CBE20 and CU320-2 PN (X150) Recommendation: Ethernet cable with the article number: 6SL3060-4AB00-0AA0 ●...
Page 830 Communication 11.3 Communication via PROFINET IO Scope of delivery PN Gate Dev Kit (Development Kit) The PN Gate development kit is supplied on a DVD and contains the following components: ● STEP 7 add-on setup – CD1 PN Gate add-on setup for STEP7 5.5 SP2, STARTER 4.3, SINAMICS 4.5 ●...
Page 831: Profinet With 2 Controllers
The following diagram shows a configuration example of a drive with three axes. The A-CPU sends Siemens telegram 105 for axis 1 and Siemens telegram 102 for axis 2. The F-CPU sends PROFIsafe telegram 30 for axis 1 and axis 3.
Page 832: Configuring Shared Device
Communication 11.3 Communication via PROFINET IO Configuration To configure the connection, proceed as follows: 1. Using parameters p9601.3 = p9801.3 = 1, enable PROFIsafe for axes 1 and 2. 2. Configure the PROFINET communication in HW Config (see section "Configuring the controllers").
Page 833 Communication 11.3 Communication via PROFINET IO Example: 2 controllers in a common project Start STEP 7: 1. Under S7, create an automation controller for the new project, in the example called A- CPU, based on a SIMATIC 300. Figure 11-34 Creating a new S7 project 2.
Page 834 Communication 11.3 Communication via PROFINET IO 4. Select menu "Station/save and compile" (Ctrl+S). The previous project is saved. 5. To configure the drives in STARTER, from the shortcut menu of the S120 drive, select "Open object with STARTER". Figure 11-36 New project transferred from HW Config into STARTER Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 835 Communication 11.3 Communication via PROFINET IO The STARTER window opens automatically The project is displayed in the navigation window. 1. Configure an infeed and three drives in servo control. We have selected telegram 370 for the infeed communication, and standard telegrams 1, 2 and 3 for the drives. –...
Page 836 Communication 11.3 Communication via PROFINET IO 3. To transfer your telegram changes into HW Config, click on "Set up addresses". Figure 11-40 The telegrams were aligned with HW Config After the telegrams have been successfully transferred to HW Config, the red exclamation mark is replaced by a checkmark.
Page 837 Communication 11.3 Communication via PROFINET IO Configuring the safety controller: 1. In the HW Config window, click the S120 drive. Figure 11-41 Updated project in HW Config There is full access to all telegrams. You must enable this in order that the PROFIsafe controller can access telegram 30.
Page 838 Communication 11.3 Communication via PROFINET IO 3. In the following window, you lock the access of the PROFIsafe telegrams through the A- CPU. Figure 11-42 Safety telegrams of the A-CPU enabled Inserting the PROFIsafe controller in STEP 7 You configure the PROFIsafe controller in precisely the same way as the automation controller under STEP 7.
Page 839 Communication 11.3 Communication via PROFINET IO Configuring the F-CPU in HW Config 1. Contrary to an automation controller, you now select a PROFIsafe-compatible controller, for example, a CPU 317F-2 PN/DP. We have manually renamed the PROFIsafe controller to "F-CPU". 2. To establish the communication, select PROFINET IO again. Figure 11-43 PROFIsafe controller configuration 3.
Page 840 Communication 11.3 Communication via PROFINET IO 8. Select "Insert shared" in the shortcut menu. The S120 automation controller is connected to the PROFINET of the PROFIsafe controller. In the table, the PROFIsafe controller has automatically been allocated full access for PROFIsafe telegram 30. Figure 11-44 New project completed in HW Config Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 841: Overview Of Important Parameters
If there is a checkmark after each telegram type in STARTER, then the Shared Device has been successfully configured. 11.3.7.3 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) SI enable functions integrated in the drive (Control Unit) • p9601 SI enable functions integrated in the drive (Motor Module) •...
Page 842: Profinet Media Redundancy
PROFINET system redundancy 11.3.9.1 Overview Thanks to SINAMICS S120 PROFINET Control Unit, the assembly of system-redundant systems is possible. Precondition for system-redundant systems is a so-called H-system. The H-system consists of 2 fault-tolerant controls – master and reserve CPU – which are constantly synchronized via fiber-optic cables.
Page 843 ● No simultaneous operation of Shared Device and Shared I-Device ● Maximum 2 cyclical PROFINET connections ● System redundancy only via the onboard interface of SINAMICS S120 PROFINET Control Unit ● For the duration of switching from one controller to the other, the setpoints of the last connection remain frozen and valid.
Page 844: Design, Configuring And Diagnostics
Communication 11.3 Communication via PROFINET IO 11.3.9.2 Design, configuring and diagnostics Configuration The figure below shows a sample structure of a system-redundant controller with 3 converters. Figure 11-46 System redundancy with converters Configuring Configuring the redundancy takes place in STEP 7. In the converter, you only have to configure the communication via PROFINET.
Page 845: Messages And Parameters
• A01980 PN: Second controller missing • A01982 PN: System redundancy switchover running • A01983 Overview of important parameters (see SINAMICS S120/S150 List Manual) BO: IF1 PROFIdrive PZD status • r2043.0...2 BO: IF2 PZD status • r8843.0...2 PN state of the cyclic connection •...
Page 846: Profienergy
If access is made via another module/submodule, the data record access is rejected with error code 0x80B0 “Invalid Index”. PROFIenergy properties of the SINAMICS S120 drive system SINAMICS S120 drive system devices meet the following requirements: ● Are certified for PROFIenergy ● PROFIenergy function unit Class 3 ●...
Page 847 Communication 11.3 Communication via PROFINET IO SINAMICS devices support the following PROFIenergy functions: Figure 11-47 PROFIenergy functions Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 848: Tasks Of Profienergy
Communication 11.3 Communication via PROFINET IO 11.3.10.1 Tasks of PROFIenergy PROFIenergy is a data interface based on PROFINET. This data interface allows loads to be shut down during non-operational periods in a controlled fashion, and irrespective of the manufacturer and device. Consequently, the process should be given only the energy it actually requires.
Page 849: Profienergy Commands
Communication 11.3 Communication via PROFINET IO 11.3.10.2 PROFIenergy commands Principle of operation At the start and end of pauses, the plant operator activates or deactivates the pause function of the plant/system after which the IO controller sends the PROFIenergy "START_Pause" / "END_Pause"...
Page 850 Communication 11.3 Communication via PROFINET IO PROFIenergy query commands Query commands Description List_Energy_Saving_Modes Determines all supported energy-saving modes. Get_Mode Determines the energy-saving mode. PEM_Status Determines the current PROFIenergy status. PEM_Status_with_CTTO Determines the actual PROFIenergy status, the same as for the command "PEM status" and in addition with the regular transition time to the operating state.
Page 851: Profienergy Measured Values
11.3.10.4 PROFIenergy energy-saving mode SINAMICS S120 drive devices support PROFIenergy energy-saving mode 2. The following two parameters indicate the effective PROFIenergy mode: ● Parameter r5600 indicates the currently active PROFIenergy mode. ● Using interconnectable bits, the r5613 parameter indicates whether the PROFIenergy energy saving is active.
Page 852: Profienergy Inhibit And Pause Time
PROFIenergy - Control commands / query commands • 2381 PROFIenergy - States • 2382 Sequence control - Sequencer • 2610 Overview of important parameters (see SINAMICS S120/S150 List Manual) Pe hibernation ID • r5600 Pe hibernation pause time, minimum • p5602[0...1] Pe hibernation duration, maximum •...
Page 853: Messages Via Diagnostics Channels
Communication 11.3 Communication via PROFINET IO 11.3.11 Messages via diagnostics channels Messages can be displayed not only via the well-known commissioning tools (STARTER, SCOUT). After the activation of a diagnostic function, the messages are also transferred to the higher-level controller via the standardized diagnostic channels. The messages are evaluated there or forwarded for convenient display to the corresponding user interfaces (SIMATIC HMI, TIA Portal, etc.).
Page 854: Support Of I&M Data Sets 1
Messages The message texts are described in detail in the SINAMICS S120/S150 List Manual, Chapter "Explanations on the list of faults and alarms". A current list of the message texts can be found in the "Message classes and coding of different diagnostics interfaces" table.
Page 855 Communication 11.3 Communication via PROFINET IO I&M parameters Table 11- 18 Parameter designation, assignment and meaning I&M parameter Format Size/oct Initialization SINAMICS Meaning designation parameters I&M 0: r8820[62,63] The parameter indicates which I&M data sets IM_SUPPORTED are supported. The value 0x1E indicates that I&M data sets 1...4 are available.
Page 856 ● I&M data sets are not changed when the alternative parameter sets are stored or loaded. The transfer of parameter sets between a memory card and non-volatile device memory does not have any effect on the I&M data sets. Overview of important parameters (see SINAMICS S120/S150 List Manual) Identification and Maintenance 1 • p8806[0...53] Identification and Maintenance 2 •...
Page 857: Communication Via Modbus Tcp
The data throughput is greater than in ASCII code. ● Modbus TCP - via Ethernet data as TCP/IP packages. TCP port 502 is reserved for Modbus TCP. Only transfer type "Modbus TCP" is available for SINAMICS S120. Possible drive units: ● CU320-2 PN ●...
Page 858 Communication 11.4 Communication via MODBUS TCP General information about communication Communication with Modbus TCP runs via the Ethernet/PROFINET interfaces: ● X150: For Modbus TCP with a CU320-2 PN or CU310-2 PN. ● X1400: For Modbus TCP with a CU320-2 PN or a CU320-2 DP via a CBE20. Precisely one Modbus connection can be established.
Page 859: Configuring Modbus Tcp Via Interface X150
Communication 11.4 Communication via MODBUS TCP 11.4.2 Configuring Modbus TCP via interface X150 Activate Modbus TCP via X150 (CU320-2 PN or CU310-2 PN) 1. For drive object DO1, set p2030 = 13 (Modbus TCP). 2. Using p8921, set the IP address for the onboard PROFINET interface on the Control Unit. 3.
Page 860: Configuring Modbus Tcp Via Interface X1400
Communication 11.4 Communication via MODBUS TCP 11.4.3 Configuring Modbus TCP via interface X1400 Activating Modbus TCP via X1400 (CBE20) 1. For drive object DO1, set p8835 = 5 (Modbus TCP). 2. Set the IP address for the CBE20 using p8941. 3.
Page 861: Mapping Tables
Register Description Unit Scaling ON/OFF text Data / parameter cess or Value range Control data 40100 Control word (see SINAMICS S120/150 Process data 1 List Manual, function diagram 2442) 40101 Main setpoint Process data 2 40102 STW 3 Process data 3...
Page 862 Communication 11.4 Communication via MODBUS TCP Table 11- 20 Assigning the Modbus register to the parameters - parameter data Register Description Unit Scaling ON/OFF text Data / parameter cess or Value range Drive identification 40300 Actual power unit code number 0 …...
Page 863 Communication 11.4 Communication via MODBUS TCP Register Description Unit Scaling ON/OFF text Data / parameter cess or Value range 40512 Proportional amplification of the tech- 1000 0.000 … 65.535 p2280 nology controller 40513 Integral time of the technology control- 0 … 60 p2285 40514 Time constant D-component of the...
Page 864: Write And Read Access Using Function Codes
Communication 11.4 Communication via MODBUS TCP 11.4.5 Write and read access using function codes Function codes used For data exchange between the controller and device, predefined function codes are used for communication via Modbus. The Control Unit uses the following Modbus function codes: ●...
Page 865 Communication 11.4 Communication via MODBUS TCP The response returns the corresponding data set: Table 11- 23 Device response to the read request, example Value Byte Description MBAP header 03 h 04 h Number of bytes (4 bytes are returned) 11 h Data first register "High"...
Page 866: Communication Via Data Set 47
Communication 11.4 Communication via MODBUS TCP The response returns register address (bytes 8 and 9) and the value (bytes 10 and 11), which the higher-level control had written to the register. Table 11- 26 Device response to the write request, example Value Byte Description...
Page 867: Communication Details
Communication 11.4 Communication via MODBUS TCP Register 40605 contains the attribute that you use to control whether you read out the parameter value or the parameter attribute. In the number of elements you specify how many indices are read. 11.4.6.1 Communication details General parameter access is realized using the Modbus register 40601 …...
Page 868: Examples: Read Parameter
Communication 11.4 Communication via MODBUS TCP 11.4.6.2 Examples: Read parameter Table 11- 28 Write parameter request: Reading parameter value of r0002 from device number 17 Value Byte Description MBAP header 10 h Function code (write multiple) 0258 h Register start address 0007 h 10,11 Number of registers to be read (40601 …...
Page 869: Examples: Write Parameter
Communication 11.4 Communication via MODBUS TCP Table 11- 31 Response for unsuccessful read operation - read request still not completed Value Byte Description MBAP header Number of following data bytes (20 h: 32 bytes ≙ 16 registers) 03 h Function code (read) 20 h 0001 h 9,10...
Page 870: Communication Procedure
Communication 11.4 Communication via MODBUS TCP Table 11- 34 Response for successful write operation Value Byte Description MBAP header Number of following data bytes (20 h: 32 bytes ≙ 16 registers) 03 h Function code (read) 20 h 0002 h 9,10 40601: DS47 Control = 2 (request was executed) 2F04 h...
Page 871: Messages And Parameters
"Setpoint timeout" (F08501) is issued by the Modbus if p8840 is set to a value > 0 ms and no process data is requested within this time period. 11.4.8 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) Fieldbus: Setpoint timeout • F01910 Modbus TCP connection interrupted •...
Page 872 Communication 11.4 Communication via MODBUS TCP Overview of important parameters (see SINAMICS S120/S150 List Manual) List of drive objects • p0978[0...n] Fieldbus interface protocol selection • p2030 Fieldbus interface monitoring time: • p2040 CO: IF1 PROFIdrive PZD receive word • r2050[0...19] CI: IF1 PROFIdrive PZD send word •...
Page 873: Communication Via Ethernet/Ip
Communication 11.5 Communication via EtherNet/IP 11.5 Communication via EtherNet/IP 11.5.1 Overview EtherNet/IP (short: EIP) is real-time Ethernet, and is mainly used in automation technology. Communication via EtherNet/IP is possible via the following connection(s): ● Via the Option Board Ethernet CBE20 Possible drive units: ●...
Page 874 To commission the drive, connect the drive via an interface (depending on the Control Unit type: PROFIBUS, PROFINET, Ethernet, etc) with your computer, on which STARTER, version ≥ 4.5 is installed. You can find additional information in the SINAMICS S120 Commissioning Manual with STARTER. Drive functions...
Page 875: Requirements For Communication
Communication 11.5 Communication via EtherNet/IP 11.5.3 Requirements for communication Check the communication settings using the following questions. If you answer "Yes" to the questions, you have correctly set the communication settings and can control the drive via the fieldbus. ● Is the drive correctly connected to the EtherNet/IP? ●...
Page 876: Supported Objects
Identity object 4 hex Assembly Object 6 hex Connection Management Object 32C hex Siemens Drive Object 32D hex Siemens Motor Data Object F5 hex TCP/IP Interface Object F6 hex Ethernet Link Object 300 hex Stack Diagnostic Object 302 hex Adapter Diagnostic Object...
Page 877 11.5 Communication via EtherNet/IP Table 11- 38 Instance Attribute Service Type Name Value/explanation UINT16 Vendor ID 1251 UINT16 Device Type - Siemens Drive 0C hex UINT16 Product code r0964[1] UINT16 Revision UINT16 Status See the following table UINT32 Serial number Bit 0 …...
Page 878 Communication 11.5 Communication via EtherNet/IP Table 11- 40 Class Attribute Service Type Name UINT16 Revision UINT16 Max Instance UINT16 Num of Instances Table 11- 41 Instance Attribute Service Type Name Value/explanation Array of Assembly 1 byte array UINT8 Connection Management Object, Instance Number: 6 hex Supported services Class Instance...
Page 879 Communication 11.5 Communication via EtherNet/IP Siemens Drive Object, Instance Number: 32C hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Table 11- 44 Class Attribute Service Type Name UINT16 Revision UINT16 Max Instance...
Page 880 Communication 11.5 Communication via EtherNet/IP Service Name Value/explanation get, set PID Down Limit p2292 technology controller minimum limiting Speed setpoint r0020 speed setpoint Output Frequency r0024 output frequency Output Voltage r0025 output voltage DC Link Voltage r0026[0] DC link voltage Actual Current r0027 current actual value Actual Torque...
Page 881 Communication 11.5 Communication via EtherNet/IP Siemens Motor Data Object, Instance Number: 32D hex Supported services Class Instance • Get Attribute single • Get Attribute single • Set Attribute single Object "32D hex" is only available on "SERVO" and "VECTOR" drive objects: ●...
Page 882 Communication 11.5 Communication via EtherNet/IP TCP/IP Interface Object, Instance Number: F5 hex Supported services Class Instance • Get Attribute all • Get Attribute all • Get Attribute single • Get Attribute single • Set Attribute single Table 11- 48 Class Attribute Service Type Name...
Page 883 Communication 11.5 Communication via EtherNet/IP Link Object, Instance Number: F6 hex Supported services Class Instance • Get Attribute all • Get Attribute all • Get Attribute single • Get Attribute single • Set Attribute single Table 11- 50 Class Attribute Service Type Name...
Page 884 Communication 11.5 Communication via EtherNet/IP Service Type Name Value/explanation get_and_ UINT32 Alignment Errors Structure received, which does not match the num- clear ber of octets UINT32 FCS Errors Structure received, which does not pass the FCS check UINT32 Single Collisions Structure successfully transmitted, precisely one collision UINT32...
Page 885 Communication 11.5 Communication via EtherNet/IP Table 11- 52 Class Attribute Service Type Name UINT16 Revision UINT16 Max Instance UINT16 Num of Instances Parameter access to drive object 0 (DO 0) is realized via this class. Example: Read parameter 2050[10] (connector output to interconnect the PZD received from the fieldbus controller) Get Attribute single function with the following values: ●...
Page 886: Integrate The Drive Device Into The Ethernet Network Via Dhcp
Communication 11.5 Communication via EtherNet/IP Example: 0x401 -> DO 1 0x402 -> DO 2 0x43E -> DO 62 11.5.6 Integrate the drive device into the Ethernet network via DHCP Integrating the drive into an Ethernet network Proceed as follows to integrate the drive into Ethernet: 1.
Page 887: Messages And Parameters
• F08501 (N,A) • A08526 (F) PN/COMM BOARD: No cyclic connection • A50011 (F) EtherNetIP/COMM BOARD: Configuration error Overview of important parameters (see SINAMICS S120/S150 List Manual) List of drive objects • p0978[0...n] IF1 PROFIdrive PZD telegram selection • p0922 List of modified parameters 10 •...
Page 888: Communication Via Sinamics Link
● Setpoint cascading for n drives ● Load distribution of drives coupled through a material web ● Master/slave function for infeed units ● Links between SINAMICS DC-MASTER and SINAMICS S120 Requirements The following preconditions must be fulfilled to operate SINAMICS Link: ●...
Page 889 Communication 11.6 Communication via SINAMICS Link Send and receive data The SINAMICS Link telegram contains 32 indices (0...31) for the process data (PZD1...32). Each PZD is precisely 1 word long (= 16 bits). Indices that are not required are automatically filled with zeros.
Page 890: Topology
Communication 11.6 Communication via SINAMICS Link Bus cycle and number of nodes You can operate the bus cycle of the SINAMICS Link with the current controller cycle, either synchronized or non-synchronized. ● Synchronized operation is set with p8812[0] = 1. A maximum of 64 nodes can then communicate with one another via SINAMICS Link.
Page 891 Communication 11.6 Communication via SINAMICS Link Features ● The CBE20 can be assigned to IF1 or IF2 when SINAMICS Link is used. The interface, assigned to the CBE20, must be switched into synchronous operation if p8812[0] = 1 is set. You must also make the following parameter settings in order to assign, e.g.
Page 892: Configuring And Commissioning
Communication 11.6 Communication via SINAMICS Link 11.6.3 Configuring and commissioning Commissioning When commissioning, proceed as follows: 1. Set the Control Unit parameter p0009 = 1 (device configuration). 2. Set the Control Unit parameter p8835 = 3 (SINAMICS Link). 3. Using p8839, define which interface should be used (for example for IF1: p8839[0] = 2). 4.
Page 893 Communication 11.6 Communication via SINAMICS Link In this example, the first "Control Unit 1" node has two drive objects: "Drive 1" and "Drive 2". Proceed as follows to send data: 1. If SINAMICS Link is assigned to IF1, then for each drive object, in its associated parameter p2051[0...31], you define which data (PZDs) should be sent.
Page 894 Communication 11.6 Communication via SINAMICS Link Table 11- 56 Compile send data of drive 2 (DO3) p2051[x] p2061[x] Contents From pa- Slots in the send buffer rameter p8871[x] Index Index Telegram word 0...5 ZSW1 r0899 Actual speed value part 1 r0061[0] Actual speed value part 2 Actual torque value part 1...
Page 895 Communication 11.6 Communication via SINAMICS Link Receiving data The sent telegrams of all nodes are simultaneously available at the SINAMICS Link. Each telegram has a length of 32 PZD. Each telegram has a marker of the sender. You select those PZD that you want to receive for the relevant node from all telegrams. You can process a maximum of 32 PZD.
Page 896: Example
Communication 11.6 Communication via SINAMICS Link Note For double words, two PZD must be read in succession. To do this, read in a 32 bit setpoint, which is on PZD 2 + PZD 3 of the telegram of node 2. Emulate this setpoint on PZD 2 + PZD 3 of node 1: p8872[1] = 2, p8870[1] = 2, p8872[2] = 2, p8870[2] = 3 Activating the SINAMICS Link...
Page 897 Communication 11.6 Communication via SINAMICS Link 4. Assign the node numbers for the devices involved: – Node 1 (≙ device 1): p8836 = 1 – Node 2 (≙ device 2): p8836 = 2 5. Set all CBE20 to the isochronous mode by setting p8812[0] = 1. 6.
Page 898 Communication 11.6 Communication via SINAMICS Link 11.Define the receive data for node 1: – Specify the data that should be placed in the receive buffer p8872 of node 1 in location 0, received from node 2: p8872[0] = 2 – Define that PZD1 of node 2 is saved in the receive buffer p8870 of node 1 in location p8870 [ 0] = 1 –...
Page 899: Communication Failure When Booting Or In Cyclic Operation
Communication 11.6 Communication via SINAMICS Link 11.6.5 Communication failure when booting or in cyclic operation If at least one sender does not correctly boot after commissioning or fails in cyclic operation, then alarm A50005 is output to the other nodes: "Sender was not found on the SINAMICS Link."...
Page 900: Function Diagrams And Parameters
(r0108.31 = 1, p8835 = 3) Control Unit communication - SINAMICS Link send data • 2200 (r0108.31 = 1, p8835 = 3) Overview of important parameters (see SINAMICS S120/S150 List Manual) Sampling time for additional functions • p0115[0] IF1 PROFIdrive STW1.10 = 0 mode •...
Page 901: Communication Services And Used Port Numbers
Communication 11.7 Communication services and used port numbers 11.7 Communication services and used port numbers SINAMICS converters support the communication protocols listed in the following table. The address parameters, the relevant communication layer, as well as the communication role and the communication direction are decisive for each protocol. You require this information to match the security measures for the protection of the automation system to the used protocols (e.g.
Page 902 Communication 11.7 Communication services and used port numbers Report Port num- (2) Link layer Function Description (4) Transport layer PTCP Not relevant (2) Ethernet II and PROFINET PTC enables a time IEEE 802.1Q and delay measurement Precision Trans- send clock and Ethertype 0x8892 parent Clock time synchroni-...
Page 903 Communication 11.7 Communication services and used port numbers Report Port num- (2) Link layer Function Description (4) Transport layer ISO on TCP (4) TCP ISO-on-TCP ISO on TCP (according protocol to RFC 1006) is used for (according to the message-oriented RFC 1006) data exchange to a re- mote CPU, WinAC, or...
Page 904 Communication 11.7 Communication services and used port numbers Report Port num- (2) Link layer Function Description (4) Transport layer EtherNet/IP protocols Explicit 44818 (4) TCP Is used for parameter messaging access, etc. (4) UDP Is closed when deliv- ered, and is opened when selecting Ether- Net/IP.
Page 905: Time Synchronization Between The Control And Converter
11.8.1 Overview In the factory setting, SINAMICS S120 drives use an operating hours counter. Based on the operating hours, SINAMICS S120 saves alarms and warnings that occur. Using this method, it is not possible to have a comparable timestamp between various converters.
Page 906 Communication 11.8 Time synchronization between the control and converter If the snap has not been transferred within 5 s after receiving the ping, then this synchronization cycle is not used. Figure 11-53 Ping snap Differences for isochronous and non-isochronous communication: Communication Description Isochronous...
Page 907: Setting Sinamics Time Synchronization
Communication 11.8 Time synchronization between the control and converter 11.8.2 Setting SINAMICS time synchronization Setting time synchronization 1. Using p3100, changeover the time format from operating hours into the UTC format (see "Changing the time format"). 2. Set the synchronization technique: –...
Page 908: Set Ntp Time Synchronization
RAM to ROM. You have now changed over the converter time format to UTC format. Application example You can find an application example for SINAMICS time synchronization in the SIEMENS "Industry Online Support": Example: Specific SINAMICS time synchronization (https://support.industry.siemens.com/cs/de/en/view/88231134)
Page 909 RAM to ROM. You have now changed over the converter time format to UTC format. Application example You can find the following application example in the SIEMENS "Industry Online Support": Example: Converter as NTP client (https://support.industry.siemens.com/cs/ww/en/view/82203451)
Page 910: Messages And Parameters
Faults and alarms (see SINAMICS S120/S150 List Manual) UTC synchronization tolerance violated • A01099 NTP server cannot be reached • A01097 (N) Overview of important parameters (see SINAMICS S120/S150 List Manual) IF1 PROFIdrive PZD sampling time • p2048 RTC time stamp mode • p3100 Set UTC time •...
Page 911: Applications
Applications 12.1 Application examples You can find SINAMICS application examples on the Internet page "SINAMICS application examples". We can offer you efficient system strategies, especially as a result of the optimum interaction between SIMATIC control technology and SINAMICS drive systems. The application examples provide you with: ●...
Page 912 12.1 Application examples Finding and calling application examples 1. Call the following site in your Internet browser: SINAMICS application examples (https://www.automation.siemens.com/mc- app/sinamics-application-examples/Home/Index?language=en) 2. Select the required filter in the search mask. Example: The result list is updated every time a filter setting is specified.
Page 913 Applications 12.1 Application examples The required tooltip is then displayed in the Siemens Industry Online Support. Generally, you can download a detailed application description as PDF via the tooltip. Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 914: Infeed Switch On By A Drive
Applications 12.2 Infeed switch on by a drive 12.2 Infeed switch on by a drive Using this BICO interconnection, a drive object (DO) "X_INF" (= all drive objects "Infeed"; i.e.: A_INF, B_INF, S_INF) can be activated by a "SERVO/VECTOR" drive object. This switch-on version is mainly used for drive units in the "chassis"...
Page 915 Applications 12.2 Infeed switch on by a drive If an application requires an automatic restart function (AR), (see Chapter Automatic restart (Page 335)), then the following extended interconnection applies: Figure 12-2 BICO interconnection: Switching on an infeed by a drive - in addition with automatic restart ●...
Page 916 • Take the appropriate measures on the plant/system side so that there is no safety risk as a result of an unexpected restart. Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Drive coupling status word / control word •...
Page 917: Control Units Without Infeed Control
Applications 12.3 Control Units without infeed control 12.3 Control Units without infeed control To ensure that the drive line-up functions satisfactorily, you must ensure, among other things, that the drives only draw power from the DC link when the infeed is in operation. In a DC link line-up that is controlled by precisely one Control Unit and which includes a drive object X_INF , the BICO interconnection p0864 = p0863.0 is established automatically...
Page 918 The source for the "Infeed operation" signal is a digital input in the example. Figure 12-4 Example: interconnection with more than one Control Unit Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: CU digital inputs, status • r0722.0...21 CO/BO: Drive coupling status word / control word •...
Page 919: Quick Stop In The Event Of A Power Failure Or Emergency Stop (Servo)
Applications 12.4 Quick stop in the event of a power failure or emergency stop (servo) 12.4 Quick stop in the event of a power failure or emergency stop (servo) A drive line-up generally responds when the power fails with an OFF2, even when a Control Supply Module and a Braking Module is being used.
Page 920 Applications 12.4 Quick stop in the event of a power failure or emergency stop (servo) In addition to the component wiring shown above, each drive object that is to carry out a quick stop if the power fails needs to be parameterized. If parameterization is not carried out, the drive coasts down once a DC link undervoltage has been identified (OFF2).
Page 921: Motor Changeover
Applications 12.5 Motor changeover 12.5 Motor changeover Description The motor changeover is used in the following cases, for example: ● Changing over between different motors and encoders ● Changing over different windings in a motor (e.g. star-delta changeover) ● Adapting the motor data If several motors are operated alternately on a Motor Module, a matching number of drive data sets must be created.
Page 922 Applications 12.5 Motor changeover Figure 12-6 Example of motor changeover Table 12- 1 Settings for the example Parameter Settings Remark p0130 Configure four MDS. p0180 Configure four DDS. p0186[0...3] 0, 1, 2, 3 The MDS are assigned to the DDS. p0820, p0821 Digital inputs DDS The digital inputs for motor changeover via DDS selec-...
Page 923 Applications 12.5 Motor changeover 3. Open the motor contactor: Motor contactor 1 is opened (r0830 = 0) and the status bit "Motor changeover active" (r0835.0) is set. 4. Change over the drive data set: The requested data set is activated (r0051 = requested data set). 5.
Page 924 Note: Using p2140, you can define an additional hyste- resis for the changeover (refer to function diagram 8010 in the SINAMICS S120/150 List Manual). Procedure for star-delta changeover 1. Start condition: For synchronous motors, the actual speed must be lower than the star field-weakening speed.
Page 925 Data sets - Encoder Data Sets (EDS) • 8570 Data sets - Motor Data Sets (MDS) • 8575 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Drive data set DDS effective • r0051[0...4] Motor data sets (MDS) number •...
Page 926: Application Examples With Dmc20
Applications 12.6 Application examples with DMC20 12.6 Application examples with DMC20 The DRIVE-CLiQ Hub Module Cabinet 20 (DMC20/DME20) is used for the star-shaped distribution of a DRIVE-CLiQ line. With the DMC20, an axis grouping can be expanded with five DRIVE-CLiQ sockets for additional subgroups. The component is especially suitable for applications which require DRIVE-CLiQ nodes to be removed in groups, without interrupting the DRIVE-CLiQ line and, therefore, the data exchange process.
Page 927 Applications 12.6 Application examples with DMC20 Example: Distributed structure Several direct length measuring systems are used in a machine. These are to be combined in a control cabinet and connected to the Control Unit via a DRIVE-CLiQ cable. When a DMC20 is used, up to five measuring systems can be combined. Figure 12-8 Example, distributed topology using DMC20 Example: Hot-plugging...
Page 928 Applications 12.6 Application examples with DMC20 The complete drive object (Motor Module, motor encoder, Sensor Module) is disabled via p0105. STW2.7 is used to set the function "Park axis" for all components that are assigned to the motor control (Motor Module, motor encoders). All components that belong to Encoder_2 or Encoder_3 remain active.
Page 929 2. Right-click "Topology" in the project navigator and call the "Add new object > DRIVE- CLiQ hub" context menu. 3. Configure the topology. Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 930: Dcc And Dcb Extension Applications
12.7 DCC and DCB extension applications 12.7 DCC and DCB extension applications You can find further application examples, such as applications with DCC, on the Siemens homepage. Finding and calling application examples 1. Call the following Internet site in your browser: SINAMICS application examples (https://www.automation.siemens.com/mc-...
Page 931 12.7 DCC and DCB extension applications 3. Click the required DCC application. A tooltip on the required DCC application is then displayed in the Siemens Industry Online Support. Generally, you can download a detailed application description as PDF via the tooltip.
Page 933: Basic Information About The Drive System
Basic information about the drive system 13.1 Parameter 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 934 Basic information about the drive system 13.1 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 935 = 1; automatically reset to 0 Access level The parameters are subdivided into access levels. The SINAMICS S120/S150 List Manual specifies the access level in which the parameter is displayed and can be changed. The required access levels 0 to 4 can be set in p0003.
Page 936: Drive Objects
Basic information about the drive system 13.2 Drive objects 13.2 Drive objects A drive object (DO) is an independent, "self-contained" software function that has its own parameters and, in some cases, its own faults and alarms. Drive objects can be provided as standard (e.g.
Page 937 Note Drive objects A list of all drive objects is provided in the SINAMICS S120/S150 List Manual in Section Overview of parameters. Configuring drive objects Various drive objects can be created within a Control Unit. When commissioning for the first time, these drive objects can be set up using STARTER.
Page 938 Basic information about the drive system 13.2 Drive objects Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object numbers • p0101[0...n] Number of drive objects • r0102[0...1] Drive object type • p0107[0...n] Drive object function module (only for "Control Unit" drive object) •...
Page 939: Licensing
13.3.1 Overview To use the SINAMICS S120 drive system and the activated options, you must assign the purchased licenses to the hardware. When making this assignment, users receive a License Key, which electronically links the relevant option with the hardware.
Page 940 Basic information about the drive system 13.3 Licensing Note The drive can only be operated with an insufficient license for an option during commissioning and servicing. For this purpose, the Trial License Mode must be activated explicitly. The drive requires a sufficient license in order for it to operate. Not all options support the Trial License Mode.
Page 941: Overview Of Licenses
Basic information about the drive system 13.3 Licensing Information on performance expansion The "Performance" option (Article number: 6SL3074-0AA01-0AA0) is required as of the 4th axis (for SERVO/VECTOR) or as of the 7th V/f axis for the CU320-2 is (see Availability of SW functions (Page 1069)).
Page 942 Basic information about the drive system 13.3 Licensing This overview allows the following: ● Obtain a status overview of the individual licenses of your drive system ● Display and enter license key refer to Chapter "Displaying/entering the License Key (Page 947)" ●...
Page 943: Activating A Trial License
Basic information about the drive system 13.3 Licensing Features ● The Trial License Mode can be used for maximum of 3 periods. Whereby the 1st period is primarily regarded as the initial trial period within the scope of commissioning and accompanying trials.
Page 944 Basic information about the drive system 13.3 Licensing Procedure The Trial License Mode can be used for maximum of 3 Trial License Periods. 1. Call the license overview page on: – Startdrive: Select the drive in the project navigator. Select the subentry "License overview" in the project navigator.
Page 945: Creating A License Key
Additional trial license periods can now no longer be activated. When a Trial License Period ends, the next time that the system runs up, a lock (inhibit) becomes active. You require a full license if you wish to use the SINAMICS S120 or the associated subfunctions.
Page 946 13.3 Licensing Creating a license key 1. Call the following link: WEB License Manager (https://workplace.automation.siemens.com/pls/swl- pub/SWL_MAIN_MENU.NAVIGATION_HEAD?a_lang_id=E&a_action=) 2. Select the "Direct access" link. The progress indicator is at "Login" in the License Manager. 3. Enter the license number and delivery note number of your license and then click "Next".
Page 947: Displaying/Entering The License Key
Basic information about the drive system 13.3 Licensing 3. Enter the serial number of your memory card in the "Hardware serial number" field or in the "License no." field. enter your license number and then click the "Display license key" button.
Page 948 Basic information about the drive system 13.3 Licensing Procedure 1. Call the license overview page on: – Startdrive: Select the drive in the project navigator. Select the subentry "License overview" in the project navigator. – STARTER: Select the drive in the project navigator. Select the subentry "License overview" in the project navigator.
Page 949: Messages And Parameters
Basic information about the drive system 13.3 Licensing 13.3.6 Messages and parameters Overview of important alarms and faults (see SINAMICS S120/S150 List Manual) Licensing is not sufficient • F13000 Licensing, function module not licensed. • F13010 Trial license activated • A13030 Trial license period expired •...
Page 950: Bico Technology: Interconnecting Signals
Basic information about the drive system 13.4 BICO technology: Interconnecting signals 13.4 BICO technology: Interconnecting signals 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 requirements.
Page 951: Interconnecting Signals Using Bico Technology
Basic information about the drive system 13.4 BICO technology: Interconnecting signals Connectors, CI: Connector Input, CO: Connector Output A connector is a digital signal, e.g. in 32-bit format. It can be used to emulate words (16 bits), double words (32 bits) or analog signals. Connectors are subdivided into connector inputs (signal sink) and connector outputs (signal source).
Page 952: Internal Coding Of The Binector/Connector Output Parameters
Basic information about the drive system 13.4 BICO technology: Interconnecting signals Note A connector input (CI) cannot be interconnected with any connector output (CO, signal source). The same applies to the binector input (BI) and binector output (BO). For each CI and BI parameter, the parameter list shows under "data type" the information on the data type of the parameter and the data type of the BICO parameter.
Page 953: Sample Interconnections
Basic information about the drive system 13.4 BICO technology: Interconnecting signals 13.4.4 Sample interconnections Example 1: Interconnection of digital signals Suppose you want to operate a drive via terminals DI 0 and DI 1 on the Control Unit using jog 1 and jog 2. Figure 13-12 Interconnection of digital signals (example) Example 2: Connection of OC/OFF3 to several drives The OFF3 signal should be connected to two drives via terminal DI 2 on the Control Unit.
Page 954: Notes On Bico Technology
Basic information about the drive system 13.4 BICO technology: Interconnecting signals 13.4.5 Notes on BICO technology BICO interconnections to other drives The following parameters are available for BICO interconnections to other drives: ● r9490 Number of BICO interconnections to other drives ●...
Page 955: Scaling
Basic information about the drive system 13.4 BICO technology: Interconnecting signals 13.4.6 Scaling Signals for the analog outputs Table 13- 4 List of signals for analog outputs Signal Parameter Unit Scaling (100% = ...) Speed setpoint before the r0060 p2000 setpoint filter Actual speed value, motor r0061...
Page 956: Propagation Of Faults
Basic information about the drive system 13.4 BICO technology: Interconnecting signals 13.4.7 Propagation of faults In the case of faults that are, for example, triggered by the Control Unit or a Terminal Module, central functions of the drive are also often affected. As a result of propagation, faults that are triggered by one drive object are therefore transferred to other drive objects.
Page 957: Data Sets
Basic information about the drive system 13.5 Data sets 13.5 Data sets 13.5.1 CDS: Command data set The BICO parameters are combined (binector and connector inputs) in a command data set (CDS). These parameters are used to interconnect the signal sources of a drive. By parameterizing several command data sets and switching between them, the drive can be operated with different pre-configured signal sources.
Page 958: Dds: Drive Data Set
The parameters that are grouped together in the drive data set are identified in the SINAMICS S120/S150 List Manual by "Data Set DDS" and are assigned an index [0...n]. It is possible to parameterize several drive data sets. You can switch easily between different drive configurations (control type, motor, encoder) by selecting the corresponding drive data set.
Page 959: Eds: Encoder Data Set
Basic information about the drive system 13.5 Data sets Binector inputs p0820 to p0824 are used to select a drive data set. They represent the number of the drive data set (0 to 31) in binary format (where p0824 is the most significant bit).
Page 960 Basic information about the drive system 13.5 Data sets If encoder 1 (p0187) is switched over via DDS, then an MDS must also be switched over. Note Switching over between several encoders In order to be able to switch between two or more encoders using the EDS switched function, you must connect these encoders via various Sensor Modules or DRIVE-CLiQ ports.
Page 961: Mds: Motor Data Set
The parameters that are grouped together in the motor data set are identified in the SINAMICS S120/S150 List Manual by "Data Set MDS" and are assigned an index [0...n]. A separate motor data set is required for each motor that is controlled by the Control Unit via a Motor Module.
Page 962: Function Diagrams And Parameters
DDS 3 MDS 1 EDS 6 13.5.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Data sets - Command Data Sets (CDS) • 8560 Data sets - Drive Data Sets (DDS) • 8565 Data sets - Encoder Data Sets (EDS) •...
Page 963 Basic information about the drive system 13.5 Data sets Overview of important parameters (see SINAMICS S120/S150 List Manual) Power Module data sets (PDS) number • p0120 Motor data sets (MDS) number • p0130 Copy motor data set (MDS) • p0139[0...2] Encoder data sets (EDS) number •...
Page 964: Inputs/Outputs
Detailed information on the hardware properties of the inputs/outputs can be found in the SINAMICS S120 Control Units Manual. For detailed information about the structural relationships between all I/Os of a component and their parameters, please refer to the function diagrams in the SINAMICS S120/S150 List Manual: Drive functions...
Page 965: Digital Inputs/Outputs
– Jumper closed, non-isolated. The reference potential of the digital inputs is the ground of the Control Unit. ● Sampling time for digital inputs/outputs can be adjusted (p0799). Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit 320-2 CU320-2 input/output terminals - •...
Page 966 Basic information about the drive system 13.6 Inputs/outputs Control Unit 310-2 CU310-2 input/output terminals - • 2020 isolated digital inputs (DI 0 ... DI 3, DI 22) CU310-2 input/output terminals - • 2021 isolated digital inputs (DI 16 ... DI 21) CU310-2 input/output terminals - •...
Page 967 Basic information about the drive system 13.6 Inputs/outputs Function diagrams (see SINAMICS S120/S150 List Manual) TB30 Terminal Board 30 (TB30) - • 9102 isolated digital inputs (DI 0 ... DI 3) TM31 Terminal Module 31 (TM31) - • 9556 Digital relay outputs, electrically isolated (DO 0 ... DO 1)
Page 968 Basic information about the drive system 13.6 Inputs/outputs Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit CU310-2 CU310-2 input/output terminals - • 2030 digital input/outputs, bidirectional (DI/DO 8 … DI/DO 9) CU310-2 input/output terminals - • 2031 digital input/outputs, bidirectional (DI/DO 10 ... DI/DO 11) CU310-2 input/output terminals - •...
Page 969: Use Of Bidirectional Inputs/Outputs On The Cu
Basic information about the drive system 13.6 Inputs/outputs 13.6.2 Use of bidirectional inputs/outputs on the CU The bidirectional inputs/outputs of terminals X122 and X132 on the CU (DO1) can be used by a drive object as well as a higher-level controller (resource sharing). The assignment to a terminal is defined by means of BICO interconnections which are either connected to a controller via the DO1 telegram p0922 = 39x or to a drive object.
Page 970: Analog Inputs
Basic information about the drive system 13.6 Inputs/outputs Fault reaction to controller failure The onboard I/Os assigned to the controller are switched to the safe state in response to a fault. This also applies to terminals whose signals are transferred via the bypass channel of the controller.
Page 971 Terminal Module 41 (TM41) - Analog input 0 (AI 0) • 9663 CU310-2: CU310-2 input/output terminals - Analog input (AI 0) • 2040 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: CU analog input current input voltage/current • r0752[0] CU analog input smoothing time constant • p0753[0] CU analog input wire-break monitoring response threshold •...
Page 972: Analog Outputs
Parameters p4077 to p4080 of the scaling do not limit the voltage values / current values (for TM31, the output can be used as current output). Function diagrams (see SINAMICS S120/S150 List Manual) Terminal Board 30 (TB30) - Analog outputs (AO 0 ... AO 1) •...
Page 973: Write Protection
Basic information about the drive system 13.7 Write protection 13.7 Write protection The write protection prevents unauthorized changing of the drive unit settings. If you are working with a commissioning tool, such as STARTER, then write protection is only effective online.
Page 974 ● Transferring the settings from an external data backup, e.g. upload into the drive unit from a memory card. The parameters where write protection does not apply can be found in the SINAMICS S120/150 List Manual in Chapter "Parameters for write protection and know-how protection", Subsection "Parameters with WRITE_NO_LOCK". Drive functions...
Page 975 Basic information about the drive system 13.7 Write protection Overview of important parameters (see SINAMICS S120/S150 List Manual) Write protection/know-how protection status • r7760 Write protection • p7761 Write protection multi-master fieldbus system access behavior • p7762 Drive functions Function Manual, 11/2017, 6SL3097-4AB00-0BP5...
Page 976: Know-How Protection
Figure 13-16 Setting options for know-how protection Know-how protection without copy protection is possible with or without memory card Know-how protection with copy protection is only possible with a Siemens memory card. Know-how protection without copy protection The drive unit can be operated with or without a memory card. You can transfer drive unit settings to other drive units using a memory card, an operator panel, or STARTER.
Page 977: Know-How Protection Features
Several adjustable parameters can be read and changed when know-how protection is active. You can find a list of the readable and adjustable parameters that can be read in the SINAMICS S120/S150 List Manual in Chapter "Parameters for write protection and know- how protection" under "KHP_WRITE_NO_LOCK".
Page 978 Diagnostics under know-how protection If service or diagnostics is to be performed when know-how protection is active, then Siemens AG can only provide support in collaboration with the OEM partner. Functions locked using know-how protection Active know-how protection inhibits the following functions: ●...
Page 979: Configuring Know-How Protection
Basic information about the drive system 13.8 Know-how protection Optional functions that can be executed: The functions listed below can be executed despite activated know-how protection provided diagnostic functions were permitted when it was activated: ● Trace function ● Function generator ●...
Page 980: Activate Know-How Protection
Basic information about the drive system 13.8 Know-how protection Absolute know-how protection If you remove password p7766 from the exception list, it is no longer possible to enter or change the password for know-how protection. You must reset the drive unit to factory settings in order to regain access to the drive unit's adjustable parameters.
Page 981 Basic information about the drive system 13.8 Know-how protection 4. In the shortcut menu, select "Drive unit know-how protection > Activate". The "Activate Know-how Protection for Drive Object" dialog box opens. Figure 13-17 Activating 5. The "Without copy protection" option is active by default. When an appropriate memory card is inserted in the Control Unit, you can choose from two copy-protection options: –...
Page 982 Basic information about the drive system 13.8 Know-how protection 7. Enter your password. Length of the password: 1 … 30 characters. Recommendations for assigning a password: – Only use characters from the ASCII character set. If you use arbitrary characters for the password, changing the windows language settings after activating know-how protection can result in problems when subsequently checking a password.
Page 983: Deactivating Know-How Protection
Basic information about the drive system 13.8 Know-how protection 13.8.3.3 Deactivating know-how protection Requirements ● The drive unit has been fully commissioned. ● Know-how protection has been activated for the drive unit. Procedure 1. Connect the drive unit to the programming device. 2.
Page 984: Changing The Password
Basic information about the drive system 13.8 Know-how protection 6. Enter your password, and click "OK". Know-how protection is now deactivated. If larger data volumes are being decrypted, a progress display informs that the decryption or the deactivation of the know-how protection is still running.
Page 985: Loading Know-How Protected Data To The File System
Basic information about the drive system 13.8 Know-how protection 13.8.4 Loading know-how protected data to the file system Data with know-how protection can be directly loaded or saved to the file system from the drive unit. The activated know-how protection ensures that the data cannot be forwarded to unauthorized third parties.
Page 986 Basic information about the drive system 13.8 Know-how protection Calling the "Load to File System" dialog box 1. Call STARTER. 2. Open the required project. 3. Select the required drive unit in the project navigator of your STARTER project. 4. Call the "Load to file system" function. The "Load to File System"...
Page 987 Basic information about the drive system 13.8 Know-how protection Specifying the general memory data The "General" tab is displayed automatically when the dialog is called. The "Save normally" option is activated by default. 1. If you want to save the data in compressed form, click the "Save compressed (.zip archive)"...
Page 988 Basic information about the drive system 13.8 Know-how protection Configuring know-how protection Make the settings for the know-how protection on the "Drive unit know-how protection" tab. 1. Click the "Drive unit know-how protection" tab. Figure 13-22 Load to file system know-how protection By default, the "Without know-how protection"...
Page 989 Basic information about the drive system 13.8 Know-how protection The input fields for the passwords and the serial numbers appropriate for the activated know-how protection are then active. Figure 13-23 Activating load to file system know-how protection The active input fields are mandatory inputs. 3.
Page 990: Overview Of Important Parameters
Basic information about the drive system 13.8 Know-how protection 13.8.5 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) KHP Control Unit serial number • r7758[0...19] KHP Control Unit reference serial number • p7759[0...19] Write protection / know-how protection status •...
Page 991: Component Replacement
Basic information about the drive system 13.9 Component replacement 13.9 Component replacement 13.9.1 Replacing components To ensure that the entire functionality of a firmware version can be used, it is recommended that all the components in a drive line-up have the same firmware version. Description If the type of comparison is set to the highest setting, the following examples apply.
Page 992: Examples Of Replacing Components
Replacing motors with SINAMICS Sensor Module Integrated or with DRIVE-CLiQ Sensor Integrated If a defect has occurred in a motor with integrated DRIVE-CLiQ interface (SINAMICS Sensor Module Integrated), please contact the Siemens office in your region to arrange for repair. 13.9.2...
Page 993 Basic information about the drive system 13.9 Component replacement Example: (p9909 = 1) replacing a defective component with an identical article number Requirement: ● The replaced component has an identical article number ● The serial number of the new replacement component must not be contained in the stored target topology of the Control Unit.
Page 994 Basic information about the drive system 13.9 Component replacement Example: Replacing a Motor Module/Power Module with a different power rating Requirements: ● The replaced power unit has a different power rating ● Vector: Power of the Motor Module/Power Module not greater than 4 motor current Table 13- 9 Example: Replacing a power unit with a different power rating Action...
Page 995: Data Backup
0 if the operation was successful. If the operation was not successful, p7775 indicates a corresponding fault value. Further details of the fault values can be found in the SINAMICS S120/S150 List Manual. Note NVRAM data change The data in the NVRAM can only be restored or deleted if the pulse inhibit is set.
Page 996 Basic information about the drive system 13.10 Data backup Restoring NVRAM data With p7775 = 2, the NVRAM data is transferred back from the memory card into the Control Unit. When restoring you decide which data you require and want to copy. There are two reasons that necessitate the NVRAM data being restored.
Page 997: Redundant Data Backup On Memory Card
When write protection is activated, p7775 can only be written to from a higher-level controller using cyclic communication. More information on fault buffers, diagnostic buffers and message buffers is provided in the SINAMICS S120 Commissioning Manual with STARTER. 13.10.2 Redundant data backup on memory card In conjunction with the "Firmware download via Web server"...
Page 998 ≥ E CU320-2 DP ≥ G CU320-2 PN ≥ D Overview of important faults and alarms (see SINAMICS S120/S150 List Manual) Memory card restored from backup copy • F01072 POWER ON required for backup copy on memory card • A01073 (N)
Page 999: Drive-Cliq
Electronic rating plate The electronic rating plate contains the following data: ● Component type (e.g. SMC20) ● Article number (e.g. 6SL3055-0AA0-5BA0) ● Manufacturer (e.g. SIEMENS) ● Hardware version (e.g. A) ● Serial number (e.g. "T-PD3005049) ● Technical specifications (e.g. rated current) Actual topology The actual topology corresponds to the actual DRIVE-CLiQ wiring harness.
Page 1000 Basic information about the drive system 13.11 DRIVE-CLiQ The target topology can be specified in two ways and saved on the memory card: ● Using STARTER by creating the configuration and loading it onto the drive ● Using quick commissioning (automatic configuration): the actual topology is read and the target topology written to the memory card Comparison of topologies at Power On Comparing the topologies prevents a component from being controlled/evaluated incorrectly...
Page 1001: Drive-Cliq Diagnostics
As a result of the interconnectability, you can record when data transfer errors occur and correlate them with other events in the drive. Overview of important parameters (see SINAMICS S120/S150 List Manual) DRIVE-CLiQ diagnostics, error counter connection • r9936[0...199] DRIVE-CLiQ diagnostics configuration •...
Page 1002 Basic information about the drive system 13.11 DRIVE-CLiQ Note Autonomous (emergency) operation is possible only for Motor Modules and Basic Line Modules with article numbers that end with the code ..3, e.g. 6SL3130-6TE21-6AA3. Principle of operation Two task profiles are obtained for autonomous operation: ●...
Page 1003 Basic information about the drive system 13.11 DRIVE-CLiQ Resumption of DRIVE-CLiQ communication when autonomous mode is active A distinction must be made between the following two operating states: ● The DRIVE-CLiQ bus timing, e.g. clock cycle settings, has not changed since the component last booted: The DRIVE-CLiQ component boots in cyclic mode.

Siemens SINAMICS S120 Function Manual

1 Fundamental Safety Instructions

2 Infeed

3 Extended Setpoint Channel

4 Servo Control

5 Vector Control

6 V/F Control (Vector Control)

7 Basic Functions

8 Function Modules

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Summary of Contents for Siemens SINAMICS S120