Page 1 SINAMICS S120 Function Manual · 01/2013 SINAMICS...
Page 3 ___________________ Drive functions Foreword ___________________ Infeed ___________________ Extended setpoint channel SINAMICS ___________________ Servo control S120 ___________________ Drive functions Vector control ___________________ U/f control (vector control) Function Manual ___________________ Basic functions ___________________ Function modules Monitoring 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: Foreword
Siemens' content, and adapt it for your own machine documentation: http://www.siemens.com/mdm Training Under the following link there is information on SITRAIN - training from Siemens for products, systems and automation engineering solutions: http://www.siemens.com/sitrain FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support: http://support.automation.siemens.com...
Page 6 Equipment for Machine Tools (Catalog NC 61) SINUMERIK 840D sl Type 1B • Equipment for Machine Tools (Catalog NC 62) Installation/assembly SINAMICS S120 Equipment Manual for Control Units and • Additional System Components SINAMICS S120 Equipment Manual for Booksize Power •...
Page 7 The EC Declaration of Conformity for the EMC Directive can be found on the Internet at: http://support.automation.siemens.com There – as a search term – enter the number 15257461 or contact your local Siemens office. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 8 Foreword Structure The Function Manual is structured as follows: Chapter 1 Infeed (Page 25) Chapter 2 Extended setpoint channel (Page 57) Chapter 3 Servo control (Page 81) Chapter 4 Vector control (Page 161) Chapter 5 U/f control (vector control) (Page 253) Chapter 6 Basic functions (Page 269) Chapter 7...
Page 9: Notation For Faults And Alarms (Examples
Foreword Notation The following notation and abbreviations are used in this documentation: Notation for parameters (examples): Adjustable parameter 918 • p0918 Display parameter 1024 • r1024 Adjustable parameter 1070, index 1 • p1070[1] Adjustable parameter 2098, index 1 bit 3 •...
Page 10 Foreword ESD Notes Electrostatic sensitive devices (ESDs) are individual components, integrated circuits, modules or devices that may be damaged by either electrostatic fields or electrostatic discharge. NOTICE Damage due to electric fields or electrostatic discharge Electric fields or electrostatic discharge can result in malfunctions as a result of damaged individual components, integrated circuits, modules or devices.
Page 11 Foreword Safety notices DANGER Danger to life when live parts are touched Death or serious injury can result when live parts are touched. • Only work on electrical devices when you are qualified for this job. • Always observe the country-specific safety rules. Generally, six steps apply when establishing safety: 1.
Page 12 Foreword DANGER General safety notices • Commissioning is absolutely prohibited until it has been completely ensured that the machine, in which the components described here are to be installed, is in full compliance with the provisions of the EC Machinery Directive. •...
Page 13 Foreword NOTICE Material damage due to incorrect voltage tests • As part of routine tests, SINAMICS devices with three-phase motors are subject to a voltage test in accordance with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of industrial machines in accordance with EN 60204-1, Section 18.4, all connectors of SINAMICS equipment must be disconnected/unplugged to prevent the equipment from being damaged.
Page 14 Foreword Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 15: Table Of Contents
Contents Foreword ..............................3 Infeed ..............................25 Active Infeed ..........................25 1.1.1 Active Infeed closed-loop control booksize..................26 1.1.2 Active Infeed closed-loop control chassis..................28 1.1.3 Function diagrams and parameters .....................29 1.1.4 Parameterizable bandstop filters for Active Infeed Controls in chassis format ......31 1.1.5 Line and DC link identification......................33 1.1.6...
Page 16 Contents Current controller ........................98 Current setpoint filters ....................... 101 Note about the electronic motor model ..................108 V/f control ..........................109 3.10 Optimizing the current and speed controller ................113 3.11 Sensorless operation (without an encoder) ................115 3.12 Motor data identification ......................
Page 17 Contents 4.16 Quick magnetization for induction motors..................212 4.17 Instructions for commissioning induction motors (ASM)............216 4.18 Instructions for commissioning permanent-magnet synchronous motors .........219 4.18.1 Encoder adjustment in operation ....................224 4.18.2 Automatic encoder adjustment ....................225 4.18.3 Pole position identification ......................226 4.18.4 Function diagrams and parameters ...................228 4.19 Instructions for commissioning separately-excited synchronous motors ........229 4.20...
Page 18 Contents 6.11.2 DC braking ..........................295 6.11.2.1 Activation via parameters......................296 6.11.2.2 Activation via fault response ..................... 297 6.11.2.3 Activation via OFF fault responses ................... 297 6.11.2.4 Activation via a speed threshold ....................298 6.11.3 Configuring the fault response ....................299 6.11.4 Function diagrams and parameters ..................
Page 19 Contents 6.23 Terminal Module 41 ........................351 6.23.1 SIMOTION mode ........................351 6.23.2 SINAMICS mode........................352 6.23.3 Zero mark emulation ........................354 6.23.4 Zero mark synchronization......................357 6.23.5 Limit frequencies for TM41 ......................358 6.23.6 Example in the SINAMICS mode....................359 6.23.7 Function diagrams and parameters ...................360 6.24 Upgrade the firmware and project....................362 6.24.1...
Page 20 Contents Function modules ..........................407 Technology controller........................ 409 Extended monitoring functions....................414 Extended Brake Control ......................416 Braking Module External ......................422 Cooling unit ..........................424 Extended torque control (kT estimator, servo)................426 Closed-loop position control...................... 429 7.7.1 General features ........................429 7.7.2 Position actual value conditioning.....................
Page 21 Contents 7.11 Extended stop and retract......................517 7.11.1 Activating and enabling the ESR function module..............518 7.11.2 Valid sources for triggering the ESR functions ................518 7.11.3 Invalid sources ...........................519 7.11.4 ESR responses ..........................520 7.11.4.1 Extended stopping ........................520 7.11.4.2 Extended retract.........................521 7.11.4.3 Regenerative operation......................522 7.11.5 Restrictions for ESR........................523 7.11.6...
Page 22 Contents Safety Integrated basic functions......................559 Latest information........................559 General information........................561 9.2.1 Explanations, standards, and terminology ................561 9.2.2 Supported functions ........................563 9.2.3 Controlling the Safety Integrated functions ................565 9.2.4 Parameter, Checksum, Version, Password ................566 9.2.5 Forced dormant error detection ....................
Page 23 Contents 10.1.2.5 Control and status words for encoder..................675 10.1.2.6 Extended encoder evaluation ....................685 10.1.2.7 Central control and status words ....................686 10.1.2.8 Motion Control with PROFIdrive ....................696 10.1.2.9 Diagnostics channel for cyclic communication ................700 10.1.3 Parallel operation of communication interfaces .................701 10.1.4 Acyclic communication.......................706 10.1.4.1 General information about acyclic communication ..............706...
Page 24 Contents 10.3.9 PROFIenergy ..........................798 10.3.9.1 Function diagrams and parameters ..................800 10.3.10 Messages via diagnostics channels..................800 10.4 Communication via SINAMICS Link ..................804 10.4.1 Basic principles of SINAMICS Link ................... 804 10.4.2 Topology............................ 806 10.4.3 Configuring and commissioning....................806 10.4.4 Example ............................
Page 25 Loading know-how protected data to the file system............935 12.14.3 Overview of important parameters.....................940 Appendix..............................941 Availability of hardware components ..................941 Availability of SW functions......................944 Functions of SINAMICS S120 Combi ..................953 List of abbreviations ........................955 Index..............................967 Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 26 Contents Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 27: Infeed
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) ● Several Active Line Modules connected in parallel ●...
Page 28: Active Infeed Closed-Loop Control Booksize
Infeed 1.1 Active Infeed 1.1.1 Active Infeed closed-loop control booksize Figure 1-1 Schematic structure of Active Infeed booksize Active Infeed closed-loop control for Active Line Modules booksize The Active Line Module can be operated in two different modes depending on the parameterized line supply voltage (p0210): ●...
Page 29 Infeed 1.1 Active Infeed Voltage Sensing Module 10 (VSM10) used with S120 Active Line Module Using a "Voltage Sensing Module 10" (VSM10) to sense the line voltage, drives can also be operated in systems with significant frequency fluctuations beyond the range defined in IEC 61000-2-4 if certain supplementary conditions are met.
Page 30: Active Infeed Closed-Loop Control Chassis
Infeed 1.1 Active Infeed 1.1.2 Active Infeed closed-loop control chassis Figure 1-2 Schematic structure of Active Infeed chassis 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 31: Function Diagrams And Parameters
For thermal reasons, the step-up factor for Active Line Modules chassis may be set to a maximum of 2.00. 1.1.3 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Overviews - Active Infeed • 1774 Active Infeed - Control word, sequence control, infeed •...
Page 32 Infeed 1.1 Active Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046 Device supply voltage • p0210 Infeed line filter type • p0220 DC-link voltage maximum steady-state • p0280 BI: ON/OFF (OFF1) •...
Page 33: Parameterizable Bandstop Filters For Active Infeed Controls In Chassis Format
● Actual current value filter; activation with p5200.2 = 1 ● Vdc actual value filter; activation with p1656.4 = 1 Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed - Controller modulation depth reserve / controller DC-link voltage • 8940 (p3400.0 = 0)
Page 34 Infeed 1.1 Active Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Signal filter activation • p1656[0...n] Vdc actual value filter 5 type • p1677[0...n] Vdc actual value filter 5 denominator natural frequency • p1678[0...n] Vdc actual value filter 5 denominator natural frequency •...
Page 35: Line And Dc Link Identification
When the identification function is activated, alarm A06400 is output. 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 (two measuring routines with different current magnitudes).
Page 36: Active Infeed Open-Loop Control
Infeed 1.1 Active Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed identification method • p3410 Infeed identified inductance • r3411 Infeed DC-link capacitance identified • r3412 Infeed Vdc controller proportional gain • p3560 1.1.6 Active Infeed open-loop control The Active Line Module can be controlled via the BICO interconnection using terminals or the fieldbus.
Page 37 Infeed 1.1 Active Infeed Switching on the Active Line Module Figure 1-3 Active Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 38 Infeed 1.1 Active Infeed 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. However, there is no pre-charging at switch off. Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This allows the attached drives to be braked in a controlled manner.
Page 39: Reactive Current Control
• 1774 Active Infeed - Current precontrol / current controller / gating unit (p3400.0 = 0) • 8946 Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed reactive current fixed setpoint • p3610 CI: Infeed reactive current supplementary setpoint •...
Page 40: Harmonics Controller
100% 100% The phase currents in parameter p0069[0..2] (U, V, W) can be checked using the STARTER trace function. Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed harmonics controller order • p3624[0...1] Infeed harmonics controller scaling • p3625[0...1] Infeed harmonics controller output •...
Page 41: Smart Infeed
Infeed 1.2 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 42 Infeed 1.2 Smart Infeed Figure 1-5 Schematic structure of Smart Infeed chassis Commissioning The device connection voltage (p0210) must be parameterized during commissioning. Note In a supply system without regenerative feedback capability (e.g. generators), the regenerative operation of the infeed must be deactivated via the binector input p3533. Smart Line Modules do not support kinetic buffering in generator mode.
Page 43 Smart Infeed - Signals and monitoring functions, line voltage monitoring • 8860 Smart Infeed - Signals and monitoring functions, line frequency and Vdc • 8864 monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046 Device supply voltage •...
Page 44: Line Supply And Dc Link Identification Routine For Smart Infeed Booksize
0 when one of the two identification routines (p3410 = 4 or p3410 = 5) completes successfully. 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 45: Smart Infeed Open-Loop Control
Infeed 1.2 Smart Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed identification method • p3410 Infeed inductance • p3421 Infeed DC-link capacitance • p3422 1.2.2 Smart Infeed open-loop control The Smart Line Module can be controlled via the BICO interconnection, e.g. using terminals or the fieldbus.
Page 46 Infeed 1.2 Smart Infeed Switching on the Smart Line Module Figure 1-6 Smart Infeed power-up Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 47 Infeed 1.2 Smart Infeed Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Switching off the Smart Line Module The Smart Line Module is switched off by the same procedure used to switch it on, but in the reverse order.
Page 48 Infeed 1.2 Smart Infeed Table 1- 6 Smart Infeed status message Signal name Internal status Parameter PROFIdrive telegram 370 word 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 49: Basic Infeed
Infeed 1.3 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 50 Infeed 1.3 Basic Infeed Figure 1-8 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 51: Function Diagrams And Parameters
– Servo control: p1240 = 4 or 6 – U/f control: p1280 = 4 or 6 1.3.1 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Basic Infeed - Control word, sequence control, infeed • 8720 Basic Infeed - Status word, sequence control, infeed •...
Page 52: Basic Infeed Open-Loop Control
Infeed 1.3 Basic Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046 Device supply voltage • p0210 BI: ON/OFF (OFF1) • p0840 BI: No coast down / coast down (OFF2) •...
Page 53 Infeed 1.3 Basic Infeed Switching on the Basic Line Module Figure 1-9 Basic Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 54 Infeed 1.3 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 1- 7 Basic Infeed open-loop control Signal name Internal Binector input...
Page 55: Line Contactor Control
Infeed 1.4 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 with the following drive objects: ●...
Page 56 Infeed 1.4 Line contactor control Example of commissioning line contactor control Assumption: ● Line contactor control via a digital output of the Control Unit (DI/DO 8) ● Line contactor feedback via a digital input of the Control Unit (DI/DO 9) ●...
Page 57 Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed - Missing enables, line contactor control • 8934 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 58: Pre-Charging And Bypass Contactor Chassis
HI and JI. With the Smart Line Module, pre-charging is integrated in the Smart Line Module itself, although the bypass contactor must be provided externally. Further information: See SINAMICS S120 Chassis Power Units Manual Procedure during power ON/OFF Power ON: ●...
Page 59: Extended Setpoint Channel
Extended setpoint channel In servo control, the extended setpoint channel is deactivated through the factory setting. If an extended setpoint channel is required, it has to be activated. The extended setpoint channel is always activated in vector control. Properties of servo control without the "extended setpoint channel" function module ●...
Page 60: Activation Of The "Extended Setpoint Channel" Function Module In Servo Control
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). Note When the "extended setpoint channel" function module for servo control is activated, under certain circumstances, the number of drives in the multi-axis group that can be controlled from a Control Unit is reduced.
Page 61: Description
Extended setpoint channel 2.2 Description Description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control. The setpoint for the motor control can also originate from the technology controller, see Section Technology controller (Page 409) Figure 2-1 Extended setpoint channel Properties of the extended setpoint channel...
Page 62 Extended setpoint channel 2.2 Description 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 63: Fixed Speed Setpoints
Function diagrams (see SINAMICS S120/S150 List Manual) Overviews - Setpoint channel • 1550 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 64: Motorized Potentiometer
Extended setpoint channel 2.4 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 • 1550 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: Jog
Extended setpoint channel 2.5 Jog This function can be selected via digital inputs or via a fieldbus (e.g. PROFIBUS). This means that the setpoint is specified via p1058[0...n] and p1059[0...n]. When a jog signal is present, the motor is accelerated to the jog setpoint with the acceleration ramp of the ramp-function generator (referred to the maximum speed p1082;...
Page 67 Extended setpoint channel 2.5 Jog Jog 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. ● Jog is possible from the "Ready to start" state. ●...
Page 68 Extended setpoint channel 2.5 Jog Jog sequence Figure 2-4 Jog sequence Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 69 Extended setpoint channel 2.5 Jog Control and status messages Table 2- 1 Jog control Signal name Internal control Binector input PROFIdrive/Siemens word telegram 1 ... 352 0 = OFF1 STWA.0 p0840 BI: ON/OFF1 STW1.0 0 = OFF2 STWA.1 p0844 BI: 1st OFF2 STW1.1...
Page 70 Function diagrams (see SINAMICS S120/S150 List Manual) Sequence control - Sequencer • 2610 Setpoint channel - Main/supplementary setpoint, setpoint scaling, jogging • 3030 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 •...
Page 71: Main/Supplementary Setpoint And Setpoint Modification
Figure 2-5 Setpoint addition, setpoint scaling Function diagrams (see SINAMICS S120/S150 List Manual) Overviews - Setpoint channel • 1550 Setpoint channel - Main setpoint / supplementary setpoint, setpoint scaling, •...
Page 72 Extended setpoint channel 2.6 Main/supplementary setpoint and setpoint modification 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 73: Direction Of Rotation Limiting And Direction Of Rotation Changeover
Extended setpoint channel 2.7 Direction of rotation limiting and direction of rotation changeover Direction of rotation limiting and direction of rotation changeover A reversing operation involves a direction of rotation reversal. Selecting setpoint inversion p1113[C] can reverse the direction of rotation in the setpoint channel. Parameter p1110[C] or p1111[C] can be set respectively to prevent input of a negative or positive setpoint via the setpoint channel.
Page 74 Overviews - Setpoint channel • 1550 Setpoint channel - Direction limitation and direction reversal • 3040 Overview of important parameters (see SINAMICS S120/S150 List Manual) • p1110[0...n] BI: Block negative direction • p1111[0...n] BI: Block positive direction • p1113[0...n] BI: Setpoint inversion Parameterization with STARTER The "Speed Setpoint"...
Page 75: Suppression Bandwidths And Setpoint Limits
Extended setpoint channel 2.8 Suppression bandwidths and setpoint limits Suppression bandwidths and setpoint limits 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 76 Function diagrams (see SINAMICS S120/S150 List Manual) Overviews - Setpoint channel • 1550 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 77: Ramp-Function Generator
Extended setpoint channel 2.9 Ramp-function generator Ramp-function generator Function of the ramp-function generator The ramp-function generator is used to limit acceleration in the event of abrupt setpoint changes, which helps 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 up and down ramps.
Page 78 Extended setpoint channel 2.9 Ramp-function generator Properties of the basic ramp-function generator Figure 2-8 Ramp-up and ramp-down with the basic ramp-function generator ● Ramp-up time Tup p1120[0...n] ● Ramp-down time Tdn p1121[0...n] ● OFF 3 ramp-down: – OFF 3 ramp-down time p1135[0...n] ●...
Page 79 Extended setpoint channel 2.9 Ramp-function generator ● Final rounding FR p1131[0...n] ● Effective ramp-up time Tup_eff = Tup + (IR/2 + FR/2) ● Effective ramp-down time Tdn_eff = Tdn + (IR/2 + FR/2) – OFF3 ramp-down – OFF 3 ramp-down time p1135[0...n] –...
Page 80 Extended setpoint channel 2.9 Ramp-function generator Override of the ramp-function generator ● Down ramp for Safety Integrated functions: If Safety Integrated functions are activated and the down ramp is monitored, only the OFF3 ramp according to p1135 is effective. The speed setpoint limit is selected using p1051/p1052.
Page 81 Extended setpoint channel 2.9 Ramp-function generator 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 ● Control signal STW1.6 Enable setpoint ● Control signal STW2.1 Bypass ramp-function generator...
Page 82 Extended setpoint channel 2.9 Ramp-function generator Overview of important parameters (see SINAMICS S120/S150 List Manual) ESR speed • p0893 CI: Speed limit in RFG, positive direction of rotation • p1051[0...n] CI: Speed limit RFG, negative direction of rotation • p1052[0...n] CO: Speed limit in positive direction of rotation •...
Page 83: Servo Control
Servo control This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls.
Page 84 Servo control Subject Servo control Vector control Sampling time, current controller / Booksize: Booksize: • • sampling time, speed controller / 31.25 μs / 31.25 μs / ≥ 8 kHz 250 μs / 1000 μs / ≥ 2 kHz pulse frequency (factory setting, 8 kHz) (factory setting 4 kHz) 500 μs / 2000 μs / ≥...
Page 85 • If a higher output frequency is required, Note: consult the specialist support from SINAMICS S can achieve the specified SIEMENS. values without optimization. Higher frequencies can be set under the following secondary conditions and additional optimization runs: Up to 1500 Hz •...
Page 86: Speed Controller
Servo control 3.1 Speed controller 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 ● Speed controller adaptation Note Speed and torque cannot be controlled simultaneously.
Page 87: Speed Setpoint Filter
● Low-pass 1st order (PT1) ● Low-pass 2nd order (PT2) Figure 3-2 Filter overview for speed setpoint filters Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Speed setpoint filter and speed precontrol • 5020 Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 88 Servo control 3.2 Speed setpoint filter Overview of important parameters (see SINAMICS S120/S150 List Manual) Speed setpoint filter activation • p1414[0...n] Speed setpoint filter 1 type • p1415[0...n] Speed setpoint filter 1 time constant • p1416[0...n] Speed setpoint filter 1 denominator natural frequency •...
Page 89: Speed Controller Adaptation
Servo control 3.3 Speed controller adaptation Speed controller adaptation There are two types of adaptation available: The free Kp_n adaptation and the speed- dependent Kp_n/Tn_n adaptation. Free Kp_n adaptation is also active in "operation without encoder" mode and is used in "operation with encoder"...
Page 90 This type of adaptation is only active when the drive is operated with an encoder! Figure 3-4 Speed controller Kp_n/Tn_n adaptation Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Speed controller adaptation (Kp_n/Tn_n adaptation) • 5050 Drive functions...
Page 91 Servo control 3.3 Speed controller adaptation 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 • p1456[0...n] Speed controller P gain adaptation upper starting point •...
Page 92: Torque-Controlled Operation
Servo control 3.4 Torque-controlled operation Torque-controlled operation An operating mode switchover (p1300) or binector input (p1501) can be used to switch from speed control to torque control mode. All torque setpoints from the speed control system are rendered inactive. The setpoints for torque control mode are selected by parameterization. Properties ●...
Page 93 Servo control 3.4 Torque-controlled operation OFF responses ● OFF1 and p1300 = 23 – Response as for OFF2 ● OFF1, p1501 = "1" signal and p1300 ≠ 23 – No separate braking response; the braking response is provided by a drive that specifies the torque.
Page 94 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 CO/BO: Control word, speed controller / torque control active •...
Page 95: Torque Setpoint Limitation
Servo control 3.5 Torque setpoint limitation Torque setpoint limitation The steps required for limiting the torque setpoint are as follows: 1. Define the torque setpoint and an additional torque setpoint 2. Generate torque limits The torque setpoint can be limited to a maximum permissible value in all four quadrants. Different limits can be parameterized for motor and regenerative modes.
Page 96 Servo control 3.5 Torque setpoint limitation Properties The connector inputs of the function are initialized with fixed torque limits. If required, the torque limits can also be defined dynamically (during operation). ● A control bit can be used to select the torque limitation mode. The following alternatives are available: –...
Page 97 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). Example: Torque limits with or without offset The signals selected via p1522 and p1523 include the torque limits parameterized via p1520 and p1521.
Page 98 – Set the torque offset. Examples ● Travel to fixed stop ● Tension control for continuous goods conveyors and winders Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Torque limiting/reduction/interpolator • 5610 Servo control - Motoring/generating torque limit •...
Page 99 Servo control 3.5 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 100: Current Controller
Servo control 3.6 Current controller Current controller Properties ● Current controller as PI controller ● Four identical current setpoint filters ● Current and torque limitation ● Current controller adaptation ● Flux control Current controller No settings are required for operating the current controller. Optimization measures can be taken in certain circumstances.
Page 101 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 102 Servo control 3.6 Current controller Current controller adaptation Current controller adaptation, starting point KP • p0391[0...n] Current controller adaptation, starting point KP adapted • p0392[0...n] Current controller adaptation, P gain adaptation • p0393[0...n] Flux controller P gain • p1590[0...n] Flux controller integral time •...
Page 103: Current Setpoint Filters
Servo control 3.7 Current setpoint filters Current setpoint filters Activate and set current setpoint filter The current setpoint filters 1 to 4 are available as standard. The current setpoint filters 5 to 10 can be activated when required via bit 21 (extended current setpoint filters) of the function module.
Page 104 Servo control 3.7 Current setpoint filters In addition to the 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 3-9 Current setpoint filter Transfer function: Denominator natural frequency f...
Page 105 Servo control 3.7 Current setpoint filters Table 3- 3 Example of a PT2 filter STARTER filter Amplitude log frequency curve Phase frequency curve parameters Characteristic frequency 500 Hz Damping D 0.7 dB Band-stop with infinite notch depth Table 3- 4 Example of band-stop with infinite notch depth STARTER filter Amplitude log frequency curve...
Page 106 Servo control 3.7 Current setpoint filters Band-stop with defined notch depth Table 3- 5 Example of band-stop with defined notch depth STARTER filter Amplitude log frequency curve Phase frequency curve parameters Blocking frequency = 500 Hz Bandwidth f = 500 Hz Notch depth K = -20 dB Reduction Abs = 0 dB Simplified conversion to parameters for general order filters:...
Page 107 Servo control 3.7 Current setpoint filters General conversion to parameters for general order filters: ● Numerator natural frequency: ω π ● Numerator damping: ⎛ ⎞ ⎜ ⎟ • • − ⎜ ⎟ ⎜ ⎜ ⎟ ⎟ • ⎝ ⎠ ● Denominator natural frequency: ●...
Page 108 Denominator frequency = 900 Hz Denominator damping = 0.15 dB Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Current setpoint filters 1 ... 4 • 5710 Servo control - Current setpoint filters 5 … 10 (r0108.21 = 1) •...
Page 109 Servo control 3.7 Current setpoint filters Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive objects, function module / • p0108.21 function module object 21 Current setpoint filters 1 to 4 activation • p1656[0...n] Current setpoint filter 1 type •...
Page 110: Note About The Electronic Motor Model
Servo control 3.8 Note about the electronic motor model Note about the electronic motor model A model change takes place within the speed range p1752 x (100% - p1756) and p1752. With induction motors with encoder, the torque image is more accurate in higher speed ranges;...
Page 111: V/F Control
Servo control 3.9 V/f control 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 112 Servo control 3.9 V/f control 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: –...
Page 113 Servo control 3.9 V/f control Commission V/f control 1. Check the requirements for V/f control. 2. Set the rated motor speed via parameter p0311. 3. Activate the function with the parameter setting of p1317 = 1. 4. Set the enables for operation. 5.
Page 114 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 • 5650 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 •...
Page 115: Optimizing The Current And Speed Controller
Servo control 3.10 Optimizing the current and speed controller 3.10 Optimizing the current and speed controller Note Controller optimization may only be performed by skilled personnel with a knowledge of control engineering. The following tools are available for optimizing the controllers: ●...
Page 116 Servo control 3.10 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 117: Sensorless Operation (Without An Encoder)
Servo control 3.11 Sensorless operation (without an encoder) 3.11 Sensorless operation (without an encoder) 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.
Page 118 Servo control 3.11 Sensorless operation (without an encoder) To accept a high load torque even in the open-loop controlled range, the motor current can be increased via p1612. To do so, the drive torque (e.g. friction torque) must be known or estimated.
Page 119 Servo control 3.11 Sensorless operation (without an encoder) Switchover between closed-loop/open-loop operation and operation with/without encoder Operation without an encoder is activated via 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 120 • 5060 Servo control - Speed controller without encoder • 5210 Overview of important parameters (see SINAMICS S120/S150 List Manual) • p0341[0...n] Motor moment of inertia • p0342[0...n] Ratio between the total and motor moment of inertia • p0353[0...n] Motor series inductance •...
Page 121: Motor Data Identification
Servo control 3.12 Motor data identification 3.12 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 122 Servo control 3.12 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 123 Servo control 3.12 Motor data identification Motor data Motor data input requires the following parameters: Table 3- 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 124: Motor Data Identification Induction Motor
Servo control 3.12 Motor data identification Parameters to control the motor data identification The following parameters influence the motor data identification: Table 3- 11 Parameters for control Static measurement (motor data identification) Rotating measurement • p0640 current limit • p0640 current limit p1215 motor holding brake configuration p1082 maximum speed •...
Page 125 Servo control 3.12 Motor data identification Determined data (gamma) Data that is accepted (p1910 = 1) r1934 q inductance identified r1936 magnetizing inductance identified r0382 motor main inductance, transformed (gamma) p0360 motor main inductance p1590 flux controller P gain p1592 flux controller integral action time r1973 encoder pulse number identified Note: The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and is only suitable for...
Page 126: Motor Data Identification Synchronous Motor
Servo control 3.12 Motor data identification 3.12.2 Motor data identification synchronous motor Table 3- 14 Data determined using p1910 for synchronous motors (standstill measurement) Determined data Data that is accepted (p1910 = 1) r1912 stator resistance identified p0350 motor stator resistance, cold + p0352 cable resistance r1925 threshold voltage identified r1932 d inductance...
Page 127 Servo control 3.12 Motor data identification Determined data Data that is accepted (p1960 = 1) r1969 moment of inertia identified p0341 motor moment of inertia * p0342 ratio between the total moment of inertia and that of the motor + p1498 load moment of inertia r1973 encoder pulse number identified Note: The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and is only suitable for...
Page 128 Servo control 3.12 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 129: 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 130 Servo control 3.13 Pole position identification 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 131 Before using the pole position identification routine, the control sense of the speed control loop must be corrected (p0410.0). For linear motors, see SINAMICS S120 Commissioning Manual. NOTICE Inaccuracy when determining the commutation angle If more than one 1FN3 linear motor is using saturation-based pole position identification for commutation (p1980 ≤...
Page 132 Servo control 3.13 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 133 Servo control 3.13 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 134 Servo control 3.13 Pole position identification Commutation angle offset commissioning support (p1990) The function for determining the commutation angle offset is activated via p1990=1. The commutation angle offset is entered in p0431. This function can be used in the following cases: ●...
Page 135 Servo control 3.13 Pole position identification 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 • p0329[0...n] Encoder configuration; commutation with zero mark (not induction motor) •...
Page 136: Vdc Control
Servo control 3.14 Vdc control 3.14 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 137 Servo control 3.14 Vdc control Vdc_min control Figure 3-16 Switching Vdc_min control on/off (kinetic buffering) 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 138 Servo control 3.14 Vdc control Vdc_max control Figure 3-17 Switching-in/switching-out the Vdc_max control 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 139 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 140: 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 141 Servo control 3.15 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 142 Servo control 3.15 Dynamic Servo Control (DSC) When dynamic servo control is activated, you check the position controller gain KPC in the master. It may be necessary to correct the setting. Note KPC when DSC is activated After activating dynamic servo control, check the position controller gain KPC in the master. It may be necessary to correct the setting.
Page 143 Servo control 3.15 Dynamic Servo Control (DSC) Wind-up effect If the drive reaches its torque limits when in the DSC mode, e.g. because of excessively fast setpoint inputs, then positioning motion can be overshot. With this so-called wind-up effect, the drive overshoots the specified target, the controller enters a specific correction, the drive reverses, again overshoots the target, etc.
Page 144 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 CI: DSC position deviation XERR •...
Page 145: Travel To Fixed Stop
Servo control 3.16 Travel to fixed stop 3.16 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 146 Servo control 3.16 Travel to fixed stop When the "basic positioner" function module is activated, the signals listed above are automatically interconnected to the basic positioner. Figure 3-18 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"...
Page 147 Servo control 3.16 Travel to fixed stop Signal chart Figure 3-19 Signal chart for "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 →...
Page 148 Servo control 3.16 Travel to fixed stop Control and status messages Table 3- 17 Control: Travel to fixed stop Signal name Internal control word STW Binector input PROFIdrive p0922 and/or n_ctrl p2079 Activate travel to fixed stop p1545 Activate travel to fixed STW2.8 stop Table 3- 18...
Page 149 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; torque limit reached •...
Page 150: Vertical Axes
Torque setpoint, switchover control mode • 5060 Motoring/generating torque limit • 5620 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 151: Variable Signaling Function
Servo control 3.18 Variable signaling function 3.18 Variable signaling function Definition: Attribute "traceable" A parameter whose value can be acquired using the trace function of STARTER or SCOUT, is allocated the "traceable" attribute. These parameters can be called in STARTER or SCOUT in the "Device trace"...
Page 152 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 153: 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 154 Servo control 3.19 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 155 Servo control 3.19 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 156 Servo control 3.19 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 157 Servo control 3.19 Central probe evaluation 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. Probe time stamp references For telegram 395, the probe time stamps MT_ZS_1...16 are assigned to the telegram locations using the probe time stamp references MT_ZSB1...4.
Page 158 Servo control 3.19 Central probe evaluation Reference time stamp Probe bit, binary values Edge selection bit Reference MT_ZS2 Bits 4...6: Bit 7: 000: MT_ZS2 from MT1 0: MT_ZS2 falling edge 001: MT_ZS2 from MT2 1: MT_ZS2 rising edge 110: MT_ZS2 from MT7 111: MT_ZS2 from MT8 Reference MT_ZS3 Bits 8...10...
Page 159: Examples
Servo control 3.19 Central probe evaluation 3.19.1 Examples Examples of probe evaluation Hex values in MT_ZSB from the above example: ● 0 = time stamp from probe 1, falling edge ● 8 = time stamp from probe 1, rising edge ●...
Page 160 Servo control 3.19 Central probe evaluation Example 2 MT_STW = 101H: a search is made for rising and falling edges for probe 1 Figure 3-22 A search is made for rising and falling edges for probe 1 In the DP cycle, all time stamps for rising and falling edges are transferred corresponding to their sequence in time for probe 1.
Page 161 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 • p0565[0...15] CO: Probe time stamp reference • p0566[0...3] CO: Probe diagnostic word •...
Page 162 Servo control 3.19 Central probe evaluation Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 163: Vector Control
Vector 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 164 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 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 with •...
Page 165 Vector control Subject Servo control Vector control Sampling time, current controller / Booksize: Booksize: • • sampling time, speed controller / 31.25 μs / 31.25 μs / ≥ 8 kHz 250 μs / 1000 μs / ≥ 2 kHz pulse frequency (factory setting, 8 kHz) (factory setting 4 kHz) 500 μs / 2000 μs / ≥...
Page 166 • If a higher output frequency is required, Note: consult the specialist support from SINAMICS S can achieve the specified SIEMENS. values without optimization. Higher frequencies can be set under the following secondary conditions and additional optimization runs: Up to 1500 Hz •...
Page 167: Sensorless Vector Control (Slvc)
Vector control 4.1 Sensorless vector control (SLVC) Sensorless vector control (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 168 Vector control 4.1 Sensorless vector control (SLVC) Encoderless vector control has the following characteristics at low frequencies: ● Closed-loop controlled operation for passive loads up to approx. 0 Hz output frequency (p0500 = 2), for p1750.2 = 1 and p1750.3 = 1. ●...
Page 169 Vector control 4.1 Sensorless vector control (SLVC) Note If, in the closed-loop controlled mode, start from 0 Hz or reversing takes longer than 2 s, or the time set in p1758 - then the system automatically changes over from closed-loop controlled into open-loop controlled operation.
Page 170 Vector control 4.1 Sensorless vector control (SLVC) Closed-loop control without changeover between closed-loop and open-loop speed control is restricted to applications with passive load: A passive load only has a reactive effect on the drive torque of the driving motor at the starting point, e.g.
Page 171 Vector control 4.1 Sensorless vector control (SLVC) Active loads Active loads, which can reverse the drive, e.g. hoisting gear, must be started in the open- loop speed control mode. In this case, bit p1750.6 must be set to 0 (open-loop controlled operation when the motor is blocked).
Page 172 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 173 Vector control 4.1 Sensorless vector control (SLVC) Supplementary conditions for the use of third-party motors ● The procedure is very suitable for motors with magnets within the rotor core (IPMSM - Interior Permanent Magnet Synchronous Motors). ● The ratio of stator quadrature reactance (Lsq): Stator direct-axis reactance (Lsd) must be >...
Page 174 Vector control - Interface to Motor Module (ASM, p0300 = 1) • 6730 Vector control - Interface to Motor Module (PEM, p0300 = 2) • 6731 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor current • p0305[0...n] Actual motor magnetizing current / short-circuit current •...
Page 175: Vector Control With Encoder
Vector control 4.2 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 176: Speed Controller
Vector control 4.3 Speed controller 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 177 Vector control 4.3 Speed controller If the moment of inertia has been specified, the speed controller (Kp, Tn) can be calculated by means of automatic parameterization (p0340 = 4). The controller parameters are defined in accordance with the symmetrical optimum as follows: Tn = 4 * Ts Kp = 0.5 * r0345 / Ts = 2 * r0345 / Tn Ts = total of the short delay times (contains p1442 and p1452)
Page 178 4.3 Speed controller 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 • r0063[0...1] Automatic calculation of motor/control parameters •...
Page 179: Speed Controller Adaptation
Vector control 4.4 Speed controller adaptation Speed controller adaptation Fundamentals With the speed controller adaptation, any speed controller oscillation can be suppressed. The speed-dependent Kp_n/Tn_n adaptation is activated 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 Kp_n component can be optimized using the free Kp_n adaptation.
Page 180 Vector control 4.4 Speed controller adaptation The Kp_n/Tn_n adaptation can be deactivated with p1400.5 = 0. As a consequence, the dynamic reduction of the speed controller is deactivated. Figure 4-7 Kp_n-/Tn_n adaptation Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 181 Vector control 4.4 Speed controller adaptation Example of speed-dependent adaptation Figure 4-8 Speed controller Kp_n/Tn_n adaptation For operation without encoder, a higher value is in p1464 than in p1465. As a consequence, the behavior is inverted: Kp increases with increasing speed and Tn decreases. Special case, encoderless operation in the field-weakening range In encoderless operation, dynamic reduction for the field-weakening range can be activated with p1400.0 = 1.
Page 182 Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed controller adaptation (Kp_n/Tn_n adaptation) • 6050 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 •...
Page 183: Speed Controller Pre-Control And Reference Model
Vector control 4.5 Speed controller pre-control and reference model Speed controller pre-control 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 184 Vector control 4.5 Speed controller pre-control and reference model 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.
Page 185 Vector control 4.5 Speed controller pre-control and reference model Reference model Figure 4-10 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.
Page 186 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 187: Droop
Vector control 4.6 Droop Droop Droop (enabled via p1492) ensures that the speed setpoint is reduced proportionally as the load torque increases. Figure 4-11 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 188 ● 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 189: Open Actual Speed Value
Vector control 4.7 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 190 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) Actual speed value • r0063[0...2] CI: Speed controller actual speed value •...
Page 191: Torque Control
Vector control 4.8 Torque control 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 192 Vector control 4.8 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 193 4.8 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 Ratio between the total and motor moment of inertia •...
Page 194: Torque Limiting
Vector control 4.9 Torque limiting Torque limiting Description The torque limiting value specifies the maximum permissible torque. Different limits can be parameterized for motoring and generating operation. ● p0640[0...n] Current limit ● p1520[0...n] CO: Torque limit, upper/motoring ● p1521[0...n] CO: Torque limit, lower/regenerative ●...
Page 195 ● r1407.8 Upper torque limit active ● r1407.9 Lower torque limit active Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Torque setpoint • 6060 Vector control - Upper/lower torque limit •...
Page 196: Vdc Control
Vector control 4.10 Vdc control 4.10 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 197 Vector control 4.10 Vdc control Vdc_min control Figure 4-15 Switching Vdc_min control on/off (kinetic buffering) In the event of a power failure, Vdc_min control is activated when the Vdc_min switch-on level is undershot. This controls the DC-link voltage and maintains it at a constant level. The motor speed is reduced.
Page 198 Vector control 4.10 Vdc control Vdc_max control Figure 4-16 Switching Vdc_max control on/off The switch-on level for Vdc_max control (r1242) is calculated as follows: ● When the function for automatically detecting the switch-on level is switched off (p1254 = 0) r1242 = 1.15 * p0210 (device connection voltage, DC link).
Page 199 Vector control 4.10 Vdc control WARNING Inadvertent acceleration of individual drives 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 Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia.
Page 200 4.10 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 201: Current Setpoint Filter
= 0, is the calculation performed. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Current setpoint filter • 6710 Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Current setpoint filter natural frequency tuning • p1655[0...n] Current setpoint filter activation •...
Page 202: Speed Actual Value Filter
• 1680 Encoder evaluation - actual speed value and pole position sensing, motor • 4715 encoder ASM/SM (encoder1) 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 203: Current Controller Adaptation
Figure 4-18 Current controller adaptation with swapped iq interpolation points for p0393 > 1, with p0392 < p0391 Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Current setpoint filter • 6710 Vector control - Iq and Id controller •...
Page 204 Vector control 4.13 Current controller adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) Current controller adaptation, starting point KP • p0391 Current controller adaptation, starting point KP adapted • p0392 Current controller adaptation P gain scaling • p0393 Current control and motor model configuration •...
Page 205: Motor Data Identification And Rotating Measurement
Vector control 4.14 Motor data identification and rotating measurement 4.14 Motor data identification and rotating measurement 4.14.1 Overview There are two motor data identification options which are based on each other: ● Motor data identification (Page 204) with p1910 (standstill measurement) ●...
Page 206: Motor Data Identification
Vector control 4.14 Motor data identification and rotating measurement WARNING Dangerous motor motion through motor data identification During motor data identification, the drive may cause the motor to move. The Emergency Off functions must be fully operational during commissioning. To protect the machines and personnel, the relevant safety regulations must be observed.
Page 207 Vector control 4.14 Motor data identification and rotating measurement It is advisable to enter the motor supply cable resistance (p0352) before the standstill measurement (p1910) is performed, so that it can be subtracted from the total measured resistance when the stator resistance is calculated (p0350). Entering the cable resistance improves the accuracy of thermal resistance adaptation, particularly when long supply cables are used.
Page 208 Vector control 4.14 Motor data identification and rotating measurement In addition to the equivalent circuit diagram data, motor data identification (p1910 = 3) can be used for induction motors to determine the magnetization characteristic of the motor. Due to the higher accuracy, the magnetization characteristic should, if possible, be determined during the rotating measurement (without encoder: p1960 = 1, 3;...
Page 209: Rotating Measurement
Vector control 4.14 Motor data identification and rotating measurement 4.14.3 Rotating measurement Rotating measurement (p1960) "Rotating measurement" can be activated via p1960 or p1900 = 1. The main difference between the rotating measurement and the normal motor data identification is the speed control optimization, with which the drive's moment of inertia is ascertained and the speed controller is set.
Page 210 Vector control 4.14 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 211: Shortened Rotating Measurement
Vector control 4.14 Motor data identification and rotating measurement 4.14.4 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 212 Vector control 4.14 Motor data identification and rotating measurement Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor data identification routine and speed controller optimization • r0047 Open-loop/closed-loop control operating mode • p1300[0...n] Motor data identification and rotating measurement •...
Page 213: Efficiency Optimization
Function diagrams (see SINAMICS S120/S150 List Manual) • 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) • 6723 Field weakening controller, flux controller for induction motor (p0300 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Torque-generating current setpoint • r0077 Actual motor magnetizing current / short-circuit current •...
Page 214: Quick Magnetization For Induction Motors
Vector control 4.16 Quick magnetization for induction motors 4.16 Quick 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 215 Vector control 4.16 Quick magnetization for induction motors Figure 4-22 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 216 Vector control 4.16 Quick magnetization for induction motors Alarms and faults Flux controller configuration When a function controlled by parameter p1401 (flux controller configuration) and p0621 (identification of stator resistance after restart) is activated, the system checks whether any other incompatible function is already selected. If this is the case, alarm A07416 is displayed with the number of the parameter which is incompatible with the configuration parameter (i.e.
Page 217 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) Motor rated magnetizing current / short-circuit current • p0320 [0...n] Motor excitation build-up time •...
Page 218: Instructions For Commissioning Induction Motors (Asm)
Vector control 4.17 Instructions for commissioning induction motors (ASM) 4.17 Instructions for commissioning induction motors (ASM) Equivalent circuit diagram for induction motor and cable Figure 4-23 Equivalent circuit diagram for induction motor and cable Induction motors, rotating The following parameters must be entered in the commissioning wizard of STARTER: Table 4- 3 Motor data type plate Parameter...
Page 219 Vector control 4.17 Instructions for commissioning induction motors (ASM) Table 4- 4 Optional motor data Parameter Description Remark p0320 Motor rated magnetizing current / short-circuit current p0322 Maximum motor speed p0341 Motor moment of inertia p0342 Ratio between the total and motor moment of inertia p0344 Motor weight...
Page 220 Vector control 4.17 Instructions for commissioning induction motors (ASM) Features ● Field weakening up to approx. 1.2 * rated speed (this depends on the drive converter supply voltage and the motor data, also refer to supplementary conditions). ● Flying restart ●...
Page 221: 4.18 Instructions For Commissioning Permanent-Magnet Synchronous Motors
Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors 4.18 Instructions for commissioning permanent-magnet synchronous motors Equivalent circuit diagram for synchronous motor and cable Figure 4-24 Equivalent circuit diagram for synchronous motor and cable Permanent-magnet synchronous motors, rotating Permanent-magnet synchronous motors with or without encoder are supported. The following encoder types are supported: ●...
Page 222 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Table 4- 6 Motor data Parameter Description Remark p0304 Rated motor voltage If this value is not known, a "0" can also be entered. Using this value, the stator leakage inductance can be more precisely calculated (p0356, p0357).
Page 223 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors WARNING Hazardous voltage As soon as the motor starts to rotate, a voltage is generated. When work is carried out on the converter, the motor must be safely disconnected. If this is not possible, the motor must be locked by a holding brake, for example.
Page 224 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Supplementary conditions ● Maximum speed or maximum torque depend on the converter output voltage available and the back EMF of the motor (calculation specifications: EMF must not exceed U rated converter). ●...
Page 225 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Commissioning We recommend the following points when commissioning: ● Commissioning wizard in STARTER When commissioning the drive, using the wizards in STARTER, the motor identification and the "rotating measurement" (p1900) can be activated. The encoder adjustment (p1990) is automatically activated together with the motor identification routine.
Page 226: Encoder Adjustment In Operation
Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors 4.18.1 Encoder adjustment in operation This function can only be used for permanent-magnet synchronous motors operating in the "vector control" mode. You can use this function to readjust encoders that have been replaced in operation.
Page 227: Automatic Encoder Adjustment
1FW4 permanent-magnet synchronous motors 1FW4 motors are optimized for operation with this function. When commissioning with the STARTER commissioning tool, all of the required data is automatically transferred to the Control Unit (see also SINAMICS S120 Commissioning Manual). 4.18.2 Automatic encoder adjustment The pole wheel-oriented closed-loop control of the synchronous motor requires information about the pole wheel position angle.
Page 228: Pole Position Identification
The measurement causes the motor to rotate. The motor turns through a minimum of one complete revolution. Do not enter the working area of the motor. Overview of important parameters (see SINAMICS S120/S150 List Manual) Encoder configuration; commutation with zero mark (not induction motor) • p0404.15 •...
Page 229 The measurement can electrically trigger a rotation or movement of the motor, by up to a half rotation. Do not enter the working area of the motor. Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor pole position identification current 1st phase • p0325 Motor pole position identification current •...
Page 230: Function Diagrams And Parameters
Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors 4.18.4 Function diagrams and parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor type selection • p0300[0...n] Motor code number selection • p0301[0...n] Rated motor voltage • p0304[0...n] Rated motor current •...
Page 231: Instructions For Commissioning Separately-Excited Synchronous Motors
4.19 Instructions for commissioning separately-excited synchronous motors 4.19 Instructions for commissioning separately-excited synchronous motors Note Separately excited synchronous motor Please consult Siemens technical support if you wish to commission a separately-excited synchronous motor. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 232: 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). – When operated with an encoder (actual speed value is sensed), the search phase is eliminated.
Page 233 Vector control 4.20 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 4-26 Flying restart, example of induction motor without encoder Figure 4-27 Flying restart, example of induction motor with encoder Drive functions...
Page 234 Vector control 4.20 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 carry out motor identification. 2.
Page 235 Vector control 4.20 Flying restart The settings for fast flying restart can be made in the expert list. 1. To switch flying restart to "fast flying restart", make the following setting: "p1780.11 = 1". The normal flying restart had the parameter setting "p1780.11 = 0". For operation with encoder, settings of this bit are ignored because fast flying restart is not possible in this case.
Page 236 Vector control 4.20 Flying restart Overview of important faults and parameters (see SINAMICS S120/S150 List Manual) Overview of important faults Flying restart: Detection current measured too low • F07330 Flying restart: Function not supported • F07331 Overview of important parameters Cable resistance •...
Page 237: Synchronization
(p3800 = 0), the voltage is sensed using a VSM, which is connected to the line phases. The voltage values must be transferred to the synchronization via connectors r3661 and r3662. Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - Synchronizing • 7020...
Page 238 Vector control 4.21 Synchronization 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 • r3803 CO: Sync-line-drive target frequency • r3804 CO: Sync-line-drive frequency difference •...
Page 239: Voltage Sensing Module
(see SINAMICS S120 Control Units Manual). 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 240 Voltage Sensing Module (VSM) - Analog inputs (AI 0 ... AI 3) • 9880 Voltage Sensing Module (VSM) - Temperature evaluation • 9886 Overview of important parameters (see SINAMICS S120/S150 List Manual) Voltage Sensing Module component number • p0151[0...n] Activate/deactivate Voltage Sensing Module •...
Page 241: Simulation Mode
Vector control 4.23 Simulation mode 4.23 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 242: Redundance Operation Power Units
● Maximum number of parallel power units is 4 ● 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 243: Bypass
Vector control 4.25 Bypass 4.25 Bypass 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 244: Bypass With Synchronization With Overlap
Vector control 4.25 Bypass Features ● Available for the vector control mode ● Available for induction motors without encoder Commissioning the bypass function The bypass function is part of the function module "technology controller" that can be activated when using the commissioning wizard. Parameter r0108.16 indicates whether it has been activated.
Page 245 Vector control 4.25 Bypass Example The following parameters must be set after the bypass function with synchronization with overlap (p1260 = 1) has been activated. Table 4- 9 Parameter setting for bypass function with synchronization with overlap Parameter Description r1261.0 = Control signal for contactor K1 r1261.1 = Control signal for contactor K2...
Page 246 Vector control 4.25 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 247: Bypass With Synchronization Without Overlap
Vector control 4.25 Bypass 4.25.2 Bypass with synchronization without overlap 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 248: Bypass Without Synchronization
Vector control 4.25 Bypass Example The following parameters must be set after the bypass function with synchronization without overlap (p1260 = 2) has been activated. Table 4- 10 Parameter settings for bypass function with synchronization without overlap Parameter Description p1266 = Control signal setting when p1267.0 = 1 p1267.0 = 1 Bypass function is initiated by the control signal.
Page 249 Vector control 4.25 Bypass Requirement In this case, contactor K2 must be designed/selected to be able to switch inductive loads. Contactors K1 and K2 must be interlocked so that they cannot simultaneously close. The "flying restart" function must be activated (p1200). Figure 4-31 Circuit example, bypass without synchronization Activation...
Page 250 Vector control 4.25 Bypass Example After activating the bypass function without synchronization (p1260 = 3) the following parameters still have to be set: Table 4- 11 Parameter settings for non-synchronized bypass function with overlap Parameter Description p1262 = Setting of the dead time for non-synchronized bypass p1263 = Setting of the delay time to switch back to converter operation for non- synchronized bypass...
Page 251 Vector control 4.25 Bypass 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...9 Bypass dead time •...
Page 252: Asynchronous Pulse Frequency
Vector control 4.26 Asynchronous pulse frequency 4.26 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 253 Vector control 4.26 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 254 Vector control 4.26 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 Modulator configuration • p1810 Actual value correction configuration • p1840[0...n] Drive functions...
Page 255: U/F Control (Vector Control)
U/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). The stator voltage of the induction motor is set proportional to the stator frequency. This procedure is used for many standard applications where the dynamic performance requirements are low, for example: ●...
Page 256 U/f control (vector control) Several variations of the V/f characteristic exist, which are shown in the following table: Table 5- 1 V/f characteristic (p1300) Parameter Meaning Application / property values Linear Standard (without voltage boost) characteristic Linear Characteristic that compensates for voltage characteristic with losses in the stator resistance for flux current control...
Page 257 U/f control (vector control) Parameter Meaning Application / property values Programmable Characteristic that takes into account characteristic motor/machine torque curve (e.g. synchronous motor). Linear Characteristic, see parameter 0 and Eco mode at a constant operating point. characteristic and In the ECO mode, the efficiency at a constant operating point is optimized. This •...
Page 258 U/f control (vector control) Function diagram Vector control - V/f characteristic and voltage boost • 6300 Parameter Open-loop/closed-loop control operating mode • p1300[0...n] Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 259: Voltage Boost
U/f control (vector control) 5.1 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 260 U/f control (vector control) 5.1 Voltage boost NOTICE Overload of the motor winding through excessive voltage boost If the voltage boost value is too high, this can result in a thermal overload of the motor winding. Voltage boost, permanent Figure 5-3 Permanent voltage boost (example: p1300 = 0 and p1310 >...
Page 261 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 • 6300 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor voltage • p0304[0...n] Rated motor current •...
Page 262: Slip Compensation
A parameter setting of p1351 > 0 automatically activates the slip compensation (p1335 = 100%). Figure 5-5 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 263: 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 264: Vdc Control
U/f control (vector control) 5.4 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 5-7 Vdc control V/f 1. Undervoltage in the DC link Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 265 U/f control (vector control) 5.4 Vdc control – Typical cause: Failure of the supply voltage or supply for the DC link. – Remedy: Specify a regenerative torque for the rotating drive to compensate the existing losses, thereby stabilizing the voltage in the DC link (kinetic buffering). 2.
Page 266 U/f control (vector control) 5.4 Vdc control Vdc_min control Figure 5-8 Switching Vdc_min control on/off (kinetic buffering) In the event of a power failure, Vdc_min control is activated when the Vdc_min switch-on level is undershot. This controls the DC-link voltage and maintains it at a constant level. The motor speed is reduced.
Page 267 U/f control (vector control) 5.4 Vdc control Vdc_max control Figure 5-9 Switching Vdc_max control on/off The switch-in level for Vdc_max control (r1282) is calculated as follows: p1294 (automatic detection of the Switch-on level of the Comment ON level (V/f)) Vdc_max control (r1282) Value Meaning Switched out...
Page 268 U/f control (vector control) 5.4 Vdc control WARNING Inadvertent acceleration of individual drives 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 Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia.
Page 269 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 270 U/f control (vector control) 5.4 Vdc control Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 271: 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 four parameters (p0100, p0349, p0505 and p0595).
Page 272 Basic functions 6.1 Changing over units Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed, commissioning parameter filter • p0010 IEC/NEMA motor standard • p0100 Unit system, motor equivalent circuit diagram data • p0349 Unit system selection • p0505 Technological unit selection •...
Page 273: Reference Parameters/Normalizations
Basic functions 6.2 Reference parameters/normalizations Reference parameters/normalizations Reference values, corresponding to 100%, are required for the display of units as percentages. These reference values are entered in parameters p2000 to p2007. They are computed during the calculation through p0340 = 1 or in STARTER during drive configuration.
Page 274 Basic functions 6.2 Reference parameters/normalizations Scaling for the VECTOR drive object Table 6- 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 275 Basic functions 6.2 Reference parameters/normalizations Size Scaling parameter Default when commissioning for the first time Reference modulation 100% = Maximum output depth voltage without overload Reference flux 100% = Rated motor flux Reference temperature 100% = 100° C p2006 Reference electrical 100% = 90°...
Page 276 Reference temperature 100% = 100° C p2006 Reference electrical 100% = 90° angle 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 Inhibit automatic reference value calculation •...
Page 277: Modular Machine Concept
Basic functions 6.3 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 278 Basic functions 6.3 Modular machine concept Figure 6-2 Example of a sub-topology Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 279 Therefore, before deactivating, take this drive out of the group (see Section Safety Integrated basic functions (Page 559)). Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 280: Sinusoidal Filter
● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 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 281 Basic functions 6.4 Sinusoidal filter Table 6- 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 282: Motor Reactors
● Maximum permissible motor cable lengths are limited and depend on the number of motor reactors connected in series. Details can be found in the SINAMICS S120 AC Drive, SINAMICS S120 Booksize Power Units, SINAMICS S120 Chassis Power Units and SINAMICS S120 Liquid Cooled Chassis Power Units Manuals.
Page 283: Dv/Dt Filter Plus Vpl
● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis Power Units – SINAMICS S120 Liquid Cooled Chassis Power Units NOTICE Damage to the dv/dt filter through too high a pulse frequency when using with Voltage Peak...
Page 284: Dv/Dt Filter Compact Plus Voltage Peak Limiter
Basic functions 6.7 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 285 ● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis Power Units – SINAMICS S120 Liquid Cooled Chassis Power Units Commissioning During commissioning, you must activate the dv/dt filter with p0230 = 2. Drive functions...
Page 286: 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 287: Direction Reversal Without Changing The Setpoint
Basic functions 6.9 Direction reversal without changing the setpoint 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 288 Basic functions 6.9 Direction reversal without changing the setpoint Overview of important parameters (see SINAMICS S120/S150 List Manual) Phase current actual value • r0069 Phase voltage, actual value • r0089 Reverse output phase sequence • p1820 Direction of rotation • p1821 Rotating measurement configuration •...
Page 289: Automatic Restart
Basic functions 6.10 Automatic restart 6.10 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 290 Basic functions 6.10 Automatic restart p1210 Mode Meaning Restart after line supply failure, An automatic restart is only carried out, if fault F30003 has also without additional startup attempts occurred at the Motor Module, or there is a high signal at binector input p1208[1], or in the case of an infeed drive object (X_INF ), fault F06200 has occurred.
Page 291 After the cause of the fault has been removed, the drives must be switched-on in another way. Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Drive coupling status word / control word •...
Page 292: Armature Short-Circuit Braking, Dc Braking
Basic functions 6.11 Armature short-circuit braking, DC braking 6.11 Armature short-circuit braking, DC braking The "Armature short-circuit braking" and "DC braking" functions can be set using parameters p1231[0...n]. The current status of the armature short-circuit braking or the DC braking can be seen in r1239.
Page 293: Armature Short-Circuit Braking For Permanent-Magnet Synchronous Motors
Basic functions 6.11 Armature short-circuit braking, DC braking 6.11.1 Armature short-circuit braking for permanent-magnet synchronous motors Preconditions ● This function has been released for Motor Modules in the booksize and chassis formats. ● Short-circuit-proof motors (p0320 < p0323) ● One of the following motor types is used: –...
Page 294: External Armature Short-Circuit Braking
Basic functions 6.11 Armature short-circuit braking, DC braking 6.11.1.2 External armature short-circuit braking This function controls an external contactor via output terminals that then short-circuits the motor windings through resistors. Setting The external armature short-circuit braking is activated via p1231 = 1 with contactor feedback signal or via p1231 = 2 without contactor feedback signal.
Page 295 Basic functions 6.11 Armature short-circuit braking, DC braking Calculating the external braking resistors To achieve the highest braking effect, calculate the values of the resistors using the following formula: = 5.2882 × 10 × p0314 × p0356 × n - p0350 = maximum speed used Parameterization You can parameterize the Motor Module and the Control Unit using the STARTER...
Page 296 Basic functions 6.11 Armature short-circuit braking, 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: ●...
Page 297: Dc Braking
Basic functions 6.11 Armature short-circuit braking, DC braking Parameterization of the example: 1. Set p1231 = 1. 2. Define DI 14 as input with p0728.14 = 0. 3. Connect the feedback signal of the external armature short-circuit contactor with terminal 12 of terminal strip X132 (DI 14).
Page 298: Activation Via Parameters
Basic functions 6.11 Armature short-circuit braking, DC braking 6.11.2.1 Activation via parameters Setting DC braking is set with parameter p1231 = 4. ● Setting the braking current for DC braking with p1232[0..n] ● Setting the braking current duration for DC braking with p1233[0..n] ●...
Page 299: Activation Via Fault Response
Basic functions 6.11 Armature short-circuit braking, DC braking 6.11.2.2 Activation via fault response If DC braking is activated as fault response, then the following responses are executed: 1. The motor is braked along the braking ramp up to the threshold in p1234. The gradient of the braking ramp corresponds to the gradient of the down ramp (can be set using p1121).
Page 300: Activation Via A Speed Threshold
Basic functions 6.11 Armature short-circuit braking, DC braking 6.11.2.4 Activation via a speed threshold Setting If p1231 is set to 14, DC braking as a response is activated as soon as the actual speed falls below p1234. Activation Before activation, the actual speed must be > p1234. DC braking can then be activated when both of the following conditions are met: ●...
Page 301: Configuring The Fault Response
6.11.4 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - External armature short circuit • 7014 (EASC, p0300 = 2xx or 4xx) Technology functions - Internal armature short-circuit •...
Page 302 Basic functions 6.11 Armature short-circuit braking, 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 303: 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) 6.12.1...
Page 304: Configuring Resistors
Basic functions 6.12 Motor Module as a Braking Module 6.12.2 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 3 resistors in a star connection in the cold state.
Page 305 Basic functions 6.12 Motor Module as a Braking Module Motor Rated Rated Braking Continuou Peak Resistance at the Resistance at the DC link Module voltage current current chopper s braking braking continuous peak braking frame size threshold power power braking power power [kW] [kW]...
Page 306 Basic functions 6.12 Motor Module as a Braking Module Motor Rated Rated Braking Continuou Peak Resistance Resistance DC link Module voltage current current chopper s braking braking at the continuous at the peak frame size threshold power power braking power braking power [kW] [kW]...
Page 307 Basic functions 6.12 Motor Module as a Braking Module Connecting braking resistors Preferably connect the braking resistors in a star configuration Figure 6-5 Braking resistors Setting of the Braking Module activation threshold The value of the Braking Module activation threshold p1362[0] and the hysteresis p1362[1] can be adjusted.
Page 308: Activating The "Braking Module" Function
Activating the Braking Module 1. Configure the Control Unit and the infeed module as usual (see SINAMICS S120 Commissioning Manual). 2. Select "Vector" as drive object type. 3. "V/f control" should be selected as controller structure. 4. Under "Control mode", select "(15) Operation with braking resistor".
Page 309 Basic functions 6.12 Motor Module as a Braking Module 4. Check the number of Motor Modules that you have set in the topology. The braking resistors must be dimensioned for each Motor Module according to the table of resistances above. Figure 6-6 Parallel connection of Motor Modules as Braking Modules 5.
Page 310: Protective Equipment
Basic functions 6.12 Motor Module as a Braking Module 6.12.4 Protective equipment The protection functions are explained in detail in Section Thermal monitoring and overload responses (Page 530). Additional protective devices include: ● Ground fault Monitoring of sum of all phase currents. ●...
Page 311: Function Diagrams And Parameters
Basic functions 6.12 Motor Module as a Braking Module 6.12.5 Function diagrams and 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 312: Off3 Torque Limits
Servo control - Motoring/generating torque limit • 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 Torque limit, lower/regenerative • p1521 Drive functions...
Page 313: Technology Function: Friction Characteristic
Basic functions 6.14 Technology function: friction characteristic 6.14 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 314 • 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 Friction characteristic, value M9 • p3839 CO/BO: Friction characteristic curve status •...
Page 315: 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 316 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 317 Basic functions 6.15 Simple brake control Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, closed-loop control; magnetizing complete • r0056.4 CO: Speed setpoint before the setpoint filter • r0060 CO: Actual velocity value smoothed • r0063 CO: Actual speed value •...
Page 318: Runtime (Operating Hours Counter)
Basic functions 6.16 Runtime (operating hours counter) 6.16 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 319: 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 320 Basic functions 6.17 Energy-saving display Figure 6-8 Energy-saving potential Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 321 Basic functions 6.17 Energy-saving display Legend for top characteristic: H[%]: Delivery height, P[%]: Delivery pressure, Q[%]: Delivery rate, V[%]: Flow rate Legend for bottom characteristic: P[%]: Power drawn by the conveyor machine, n[%]: Speed of the conveyor machine Interpolation points p3320 ... p3329 for the system characteristic with n = 100%: P1 ...
Page 322 Basic functions 6.17 Energy-saving display Table 6- 11 Plant/system interpolation points Interpolation point Parameter Factory setting: P - power in % n - speed in % p3320 P1 = 25.00 p3321 n1 = 0.00 p3322 P2 = 50.00 p3323 n2 = 25.00 p3324 P3 = 77.00 p3325...
Page 323: 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 324: 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 325: Tolerant Encoder Monitoring
Basic functions 6.19 Tolerant encoder monitoring 6.19 Tolerant encoder monitoring The tolerant encoder monitoring offers the following expanded functionality regarding the evaluation of encoder signals: ● Encoder track monitoring (Page 324) ● Zero mark tolerance (Page 325) (also for other sensor modules) ●...
Page 326: 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 327: Zero Mark Tolerance
Basic functions 6.19 Tolerant encoder monitoring Evaluating messages All of the track monitoring functions can be individually evaluated. You can use both HTL as well as TTL encoders. If a fault is detected, then fault F3x117 is output. The faulty tracks are included in the fault value bit-coded.
Page 328: Freezing The Speed Raw Value
Basic functions 6.19 Tolerant encoder monitoring 6.19.3 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 329 Basic functions 6.19 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 330: Edge Evaluation Of The Zero Mark
Basic functions 6.19 Tolerant encoder monitoring 6.19.5 Edge evaluation of the zero mark This functionality is suitable for encoders, where the zero mark ≥ 1 pulse wide. In this particular case, errors would otherwise occur as a result of the edge detection of the zero mark.
Page 331: Pole Position Adaptation
Basic functions 6.19 Tolerant encoder monitoring 6.19.6 Pole position adaptation For example, for a dirty encoder disk, the drive adds the missing pulses to the pole position using the zero mark that is cyclically received in order to correct the pole position error. If, for example EMC interference causes too many pulses to be added, then these will be subtracted again every time the zero mark is crossed.
Page 332: Tolerance Band Pulse Number" Monitoring
Basic functions 6.19 Tolerant encoder monitoring If the deviation exceeds the tolerance window size, fault F3x131 is output. Note When the function "Commutation with zero mark" (p0404.15 = 1) is activated, then the system waits until fine synchronization has been completed before making a correction (r1992.8 = 1).
Page 333 Basic functions 6.19 Tolerant encoder monitoring Sequence 1. After each zero mark, it is again checked as to whether up to the next zero mark the number of pulses lies within the tolerance band. If this is not the case and "pulse number correction for faults"...
Page 334: Signal Edge Evaluation (1X, 4X)
Basic functions 6.19 Tolerant encoder monitoring 6.19.9 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 335: Setting The Measuring Time To Evaluate Speed "0
Basic functions 6.19 Tolerant encoder monitoring 6.19.10 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 336: Troubleshooting
Basic functions 6.19 Tolerant encoder monitoring 6.19.12 Troubleshooting Table 6- 12 Fault profiles and their possible causes Fault profile Fault description Remedy No fault – F3x101 (zero mark Check that the failed) connection assignment is correct (A interchanged with –A or B interchanged with –B) F3x100 (Zero mark Check whether the...
Page 337 Basic functions 6.19 Tolerant encoder monitoring Fault profile Fault description Remedy Zero mark too wide Use edge evaluation of the zero mark EMC faults Use an adjustable hardware 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 338: Tolerance Window And Correction
Basic functions 6.19 Tolerant encoder monitoring 6.19.13 Tolerance window and correction Reference mark (or zero mark) Correction Correction increment per zero increment per zero mark = -1 quadrant mark = +1 quadrant Zero mark negative tolerance window Zero mark positive tolerance Rotor position adaptation (p0430.22 = 1): window -30°...
Page 339 Basic functions 6.19 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 p0405.2 Track monitoring p0430.20 Speed calculation mode p0430.21 Zero mark tolerance...
Page 340: Overview Of Important Parameters
A3x422 Number of pulses square-wave encoder outside tolerance 6.19.15 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.
Page 341: Parking Axis And Parking Encoder
Basic functions 6.20 Parking axis and parking encoder 6.20 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 342 Basic functions 6.20 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 343 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 6-12 Flow diagram: Parking encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 344: Position Tracking
Basic functions 6.21 Position tracking 6.21 Position tracking 6.21.1 General Information Terms ● Encoder range The encoder range is the position area that can itself represent the absolute encoder. ● Singleturn encoder A singleturn encoder is a rotating absolute encoder, which provides an absolute image of the position within one encoder revolution.
Page 345: Measuring Gear
Basic functions 6.21 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 346 Basic functions 6.21 Position tracking Example: Gear ratio 1:3 (motor revolutions p0433 to encoder revolutions p0432), absolute encoder can count eight encoder revolutions (p0421 = 8). Figure 6-15 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 347 Basic functions 6.21 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 348 Basic functions 6.21 Position tracking Tolerance window (p0413) After switching on, the difference between the stored position and the actual position is determined and, depending on the result, the following is initiated: ● Difference within the tolerance window The position is reproduced based on the actual encoder value. ●...
Page 349 6.21 Position tracking Function diagrams (see SINAMICS S120/S150 List Manual) Encoder evaluation - Position and temperature sensing, encoders 1 ... 3 • 4704 Overview of important parameters (see SINAMICS S120/S150 List Manual) Gear unit type selection • p0402 Measuring gear configuration •...
Page 350: 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. Connection conditions for ENCODER drive objects ● All encoders that can be assigned to a drive can be used.
Page 351: Creating An Encoder Drive Object
Basic functions 6.22 Creating an encoder as drive object 6.22.2 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 with the STARTER commissioning tool. In the project navigator, you can find the selection of the ENCODER drive object between "Input/output components"...
Page 352 Basic functions 6.22 Creating an encoder as drive object Procedure 1. Double-click "Insert encoder". The "Insert Encoder" dialog box opens. 2. Enter a name for the encoder in the "Name:" input field. 3. Click the "Drive object no." button. 4. Enter a new drive object number in the "Drive object no." input field. All assigned drive object numbers are shown in the "Assigned drive object no."...
Page 353: Terminal Module 41
Basic functions 6.23 Terminal Module 41 6.23 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 354: Sinamics Mode
Basic functions 6.23 Terminal Module 41 Figure 6-18 Function diagram encoder emulation 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) ●...
Page 355 Basic functions 6.23 Terminal Module 41 The runtime of the encoder actual position value up to the pulse encoder emulation can be compensated using the dead time compensation with parameter p4421. If p4422 = 1, input signal p4420 is inverted. The zero mark signal for the TM41 is generated from the zero position of the leading encoder.
Page 356: Zero Mark Emulation
Basic functions 6.23 Terminal Module 41 6.23.3 Zero mark emulation For determining the zero mark position for zero mark emulation of the TM41, all referencing modes that are permissible via the encoder interface of the drive object can be used. The TM41 then uses the same mode parameterized in the drive object.
Page 357 Basic functions 6.23 Terminal Module 41 Example of a pulse number step-up ratio The leading encoder outputs three pulses and one zero mark per revolution. However, the application requires eight pulses per revolution. By setting p4408 and p4418, the required eight pulses a revolution are available at X520 of the TM41.
Page 358 Basic functions 6.23 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 359: Zero Mark Synchronization
Basic functions 6.23 Terminal Module 41 Enabling the zero mark output of the TM41 For p4401.1 = 1, the zero mark from the leading encoder is also output from the TM41. For p4401.1 = 0, TM41 outputs the zero pulse at the position at which the TM41 was located when switching on.
Page 360: Limit Frequencies For Tm41
Basic functions 6.23 Terminal Module 41 Layout of the synchronization: ● After the SINAMICS system has been powered up, the TM41 drive object requests the zero position of the leading encoder via the encoder interface. The encoder emulation follows the movements of the leading encoder and outputs the track signals A/B. At this point in time, no zero mark is output.
Page 361: Example In The Sinamics Mode
Basic functions 6.23 Terminal Module 41 Table 6- 14 Maximum output frequencies for TM41 = 1024 kHz (p4401.7 = 1) Higher setpoint resolution activated (p4401.5 = 1) Sampling time p4099[3] 125 µs 250 µs 500 µs Resolution 0.122 Hz 0.061 Hz 0.031 Hz SINAMICS mode Output frequency f...
Page 362: Function Diagrams And Parameters
BICO with a digital output (TM41 or CU) which can be read by the external control system. 6.23.7 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Terminal Module 41 (TM41) – digital inputs, isolated (DI 0 ... DI 3) • 9660 Terminal Module 41 (TM41) - Digital inputs/outputs, bidirectional •...
Page 363 Basic functions 6.23 Terminal Module 41 Overview of important parameters (see SINAMICS S120/S150 List Manual) General • r0002 TM41 status display • p0408 TM41 encoder emulation pulse number • p0418 Fine resolution Gx_XIST1 (in bits) • p4099 TM41 inputs/outputs sampling time •...
Page 364: Upgrade The Firmware And Project
Basic functions 6.24 Upgrade the firmware and project 6.24 Upgrade the firmware and project 6.24.1 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 365: Updating The Firmware Via The Web Server
Basic functions 6.24 Upgrade the firmware and project Update This operation can take several minutes. This is indicated by the RDY-LED on the corresponding components flashing green/red and the Control Unit RDY-LED flashing orange at 0.5 Hz. Parameter p7827 indicates the progress. The update has been completed if the RDY-LED on the Control Unit stops to flash at 0.5 Hz.
Page 366: Updating Firmware/Configuration On The Memory Card
Basic functions 6.24 Upgrade the firmware and project 6.24.2.2 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 367 Basic functions 6.24 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 368: Updating The Firmware
Basic functions 6.24 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 369 – In the project navigator, right-click "Drive unit" > "Target device" > "Update device version / device type" – Select the required firmware version, e.g. version "SINAMICS S120 firmware version 4.x" > "Change version" 4. Transfer the project into the new hardware –...
Page 370: Downgrade Lock
Basic functions 6.24 Upgrade the firmware and project 6.24.4 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 371 Basic functions 6.24 Upgrade the firmware and project Inconsistent data on the memory card If the data on the working partition of the memory card and the backup partition is no longer consistent, alarm "A1073 CU: POWER ON required for backup copy on memory card" is output.
Page 372: 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 373 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 374: 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 375: Connecting The Motors In Parallel
Basic functions 6.27 Connecting the motors in parallel 6.27 Connecting the motors in parallel 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 376 Basic functions 6.27 Connecting the motors in parallel 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 377 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 378: Web Server
Basic functions 6.28 Web server 6.28 Web server 6.28.1 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 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 languages that are stored on the memory card.
Page 379: Requirements And Addressing
Basic functions 6.28 Web server 6.28.2 Requirements and addressing Requirements for the operation of a Web server: The Web server is available for all CU310-2 and CU320-2 Control Units via the LAN interface. For Control Units with PROFINET interface, the Web server is also available via this interface.
Page 380: Configuring The Web Server
Basic functions 6.28 Web server 6.28.3 Configuring the Web server 6.28.3.1 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 381 Basic functions 6.28 Web server Deactivating the Web server 1. Deactivate the "Activate Web server" checkbox in the configuration dialog box. 2. Then click "OK" to close the configuration dialog box and accept the settings. Restricting Web server access to a secure connection Using the default configuration of the Web server, you can access SINAMICS data via an HTTP connection as well as via the secure HTTPS connection.
Page 382: Assigning A Password
Basic functions 6.28 Web server 6.28.3.2 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 378)). Figure 6-26 Configuring the Web server with default settings During the first commissioning, the password can also be assigned via the Web server ("Setup"...
Page 383 Basic functions 6.28 Web server Note Secure passwords SINAMICS does not specify any password rules for the assignment of passwords. You can therefore assign any passwords without restriction. STARTER does not make any checks for illegal characters or passwords which have already been used. Therefore, as the user, you are responsible for the required password security.
Page 384 Basic functions 6.28 Web server Changing the password A password can be changed at any time. If a password has already been assigned for a user, the existing password is shown in encrypted form. 1. Click the "Change password" button in the user setting area. The "Web Server - Specify Password"...
Page 385: Access Protection And Rights
Basic functions 6.28 Web server 6.28.4 Access protection and rights 6.28.4.1 SINAMICS access protection The specified settings of the Write and know-how protection (Page 925) including password protection also apply for access via the Web server to the drive parameters and configuration.
Page 386 Basic functions 6.28 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 387: Access Rights For Parameter Lists
Basic functions 6.28 Web server 6.28.4.3 Access rights for parameter lists Default rights for parameter lists Three standard rights are specified for the user-defined parameter lists: Standard right Explanation Change The user can create, change and delete the list. Read The user can read the parameters from the list.
Page 388: Starting The Web Server
Basic functions 6.28 Web server 5. Click "Access". The "Access rights" dialog box opens with the access settings of the parameter list. Figure 6-28 Access rights The preset access rights can be seen for the "SINAMICS" and the "Administrator" users. The checkbox is selected for the activated access rights.
Page 389 Basic functions 6.28 Web server Start 1. Enter the IP address of your SINAMICS drive in the address line of your Internet browser. 2. Confirm with <Return>. The start page of the Web server then opens. The most important data of your drive is displayed.
Page 390 Basic functions 6.28 Web server 3. Then enter the login name and password at the top left. 4. Click "Login" to confirm the input. Figure 6-30 Start page after logging in After logging in you can call other display areas. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 391 Basic functions 6.28 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 tables in the various areas.
Page 392: Displaying Device Information
Basic functions 6.28 Web server Logout If you no longer require the Web server or want to block the detailed display areas, you can log out. Click "Logout" at the top left in the navigation. 6.28.6 Displaying device information The most important device information can be displayed with the aid of the Web server. Displaying information Click the "Device Info"...
Page 393: Displaying Diagnostic Functions
Basic functions 6.28 Web server 6.28.7 Displaying diagnostic functions 6.28.7.1 Status and operating display of the drive object The status and operating display of the drive object can be called with the aid of the Web server. Displaying the diagnostic buffer Click the "Diagnostics"...
Page 394: Displaying Messages
Basic functions 6.28 Web server The following information is displayed for each drive object: ● Drive object number ● Drive object name ● Drive object type ● Graphical display of the status Fault Alarm ● Drive object status (via r0002) 6.28.8 Displaying messages 6.28.8.1...
Page 395 Basic functions 6.28 Web server Displaying the diagnostic buffer 1. Click the "Messages and Logs" entry in the navigation. 2. Click the "Diagbuffer" tab. The diagnostic buffer is then displayed on the "Diagbuffer" tab. Figure 6-33 Displaying the diagnostic buffer The following information is displayed: Column Explanation...
Page 396: Displaying Faults And Alarms
Basic functions 6.28 Web server 6.28.8.2 Displaying faults and alarms You can display and acknowledge the current faults and alarms with the aid of the Web server. Displaying alarm messages 1. Click the "Messages and Logs" entry in the navigation. 2.
Page 397: Displaying And Changing Drive Parameters
Web server. Note You can find detailed information about the following parameters in the SINAMICS S120/150 List Manual in Section "Parameters for write protection and know-how protection": • Parameters that can be changed with active know-how protection, see Section "Parameters with KHP_WRITE_NO_LOCK"...
Page 398 Basic functions 6.28 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 6-35 Drive parameters - defining the parameter list 2.
Page 399 Basic functions 6.28 Web server 5. Select the drive object in the "DO" drop-down list. Figure 6-37 Drive parameters - specifying the parameter list 6. Enter the parameter of the drive object in the following input fields (e.g. 601:0). – First field: Parameter number –...
Page 400: Deleting A Parameter List
Basic functions 6.28 Web server 6.28.9.2 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 Access rights for parameter lists (Page 385)).
Page 401 Basic functions 6.28 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 6-39 Drive parameters - deleting an individual list If you have the required change rights for this parameter list, the line is deleted.
Page 402: Changing Drive Parameters
(see Access rights for parameter lists (Page 385)). An existing access and password protection also applies. Note You can find detailed information about the following parameters in the SINAMICS S120/150 List Manual in Section "Parameters for write protection and know-how protection": • Parameters that can be changed with active know-how protection, see Section "Parameters with KHP_WRITE_NO_LOCK"...
Page 403 Basic functions 6.28 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 6-40 Changing drive parameters 3.
Page 404: Updating The Firmware Or Configuration
Basic functions 6.28 Web server 4. Enter the new parameter value in the "New Value" input field. Then click "Submit" to confirm the input. If this value is not possible or not permitted, the dialog box remains open. A message text is also displayed.
Page 405: Certificates For The Secure Data Transfer
Basic functions 6.28 Web server 5. If the know-how protection was not activated, you can now finely adjust the configuration for the individual drives. If the know-how protection was activated, you require a password for the fine adjustment of all parameters on the individual drives that are not listed in the exception list. Note You can find detailed information about the following parameters in the SINAMICS S120/150 List Manual in Section "Parameters for write protection and know-how...
Page 406: Key Files
Basic functions 6.28 Web server 6.28.11.2 Key files Encryption methods You need two key files for the encryption method used by the Secure Socket Layer protocol. ● A public certificate ● A private key The pair of keys is created individually for the appropriate SINAMICS drive interface. This ensures that the address requested matches the SINAMICS drive accessed during https communication.
Page 407: Creating Key Files With A Script
Basic functions 6.28 Web server 6.28.11.4 Creating key files with a script Overview If no Certification Authority (CA) is available in your organization, we recommend that you follow the steps described in the following section. The certificate and the key files are created with the OpenSSL tool and a script/tool.
Page 408: Importing Certificates Into The Browser
Basic functions 6.28 Web server 3. Execute the script/tool with the following options: "cert. -c <IP address> -s -p" A Certification Authority is created, after which a server key is generated and the certificate is signed. The following files are stored in the folder (e.g. "c:\MySSL"): "c:\MySSL\CA\cakey.pem"...
Page 409: 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 ● Setpoint channel ● Extended brake control Function modules have their own parameters and, in some cases, also their own alarm and fault messages.
Page 410 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 the SINAMICS S120/150 List Manual) Drive object function module • p0108[0..23] Main component identification via LED •...
Page 411: Technology Controller
Function modules 7.1 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 412 Function modules 7.1 Technology controller If a PID controller has to be used for control reasons, the D component is switched to the setpoint/actual value difference (p2263 = 1) unlike in the factory setting. This is always necessary when the D component is to be effective, even if the reference variable changes. The D component can only be activated when p2274 >...
Page 413 Determine by optimization p2285 Technology controller integral time p2285 Determine by optimization Function diagrams (see SINAMICS S120/S150 List Manual) Technology controller - Fixed values, binary selection (r0108.16 = 1 and • 7950 p2216 = 2) Technology controller - Fixed values, direct selection (r0108.16 = 1 and •...
Page 414 Function modules 7.1 Technology controller 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 • p2215[0...n] BI: Technology controller fixed value selection bit 0 •...
Page 415 Function modules 7.1 Technology controller CI: Technology controller actual value • p2264[0...n] Technology controller actual value filter time constant • p2265 CO: Technology controller actual value after filter • r2266 Technology controller upper limit actual value • p2267 Technology controller lower limit actual value •...
Page 416: Extended Monitoring Functions
Function modules 7.2 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 417 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 418: Extended Brake Control
Function modules 7.3 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 419 Function modules 7.3 Extended Brake Control In the case of brakes with a feedback signal (p1222), the inverted signal must be connected to the BICO input for the second (p1223) feedback signal. The brake closing and opening times can be set in p1216 and p1217. NOTICE Damage to the holding brake through incorrect parameterization If parameter p1215 = 0 (no brake available) is set when a brake is present, the drive runs...
Page 420 Function modules 7.3 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 421 Function modules 7.3 Extended Brake Control 1275 1224 < > [2501 ] p1279[0] r1229.3 p0856 r1229.10 p1279[1] <1> 1142 & 0898 <1 > 1152 0899 .15) Figure 7-4 Example of operating brake for a crane drive Control and status messages for extended brake control Table 7- 2 Controller extended brake control Signal name...
Page 422 B_ZSW.10 Brake AND logic operation result r1229.11 B_ZSW.11 Function diagrams (see SINAMICS S120/S150 List Manual) Brake control - Extended brake control, standstill detection (r0108.14 = 1) • 2704 Brake control - Extended brake control / open/close brake (r0108.14 = 1) •...
Page 423 Function modules 7.3 Extended Brake Control Overview of important parameters (see SINAMICS S120/S150 List Manual) Extended brake control • r0108.14 CO/BO: Status word, sequence control • r0899 Standstill monitoring CO: Speed setpoint before the setpoint filter • r0060 CO: Actual speed smoothed (servo) •...
Page 424: Braking Module External
Function modules 7.4 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 425 Note A fast DC link discharge requires the use of a line contactor with feedback signal (p0860) that is controlled via r0863.1. Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module; Braking Module External • r0108.26 Braking Module number of modules connected in parallel •...
Page 426: Cooling Unit
Function modules 7.5 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 427 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) Missing enables; cooling unit ready missing • r0046.29 Drive object function module; cooling unit •...
Page 428: Extended Torque Control (Kt Estimator, Servo)
Function modules 7.6 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 429 Function modules 7.6 Extended torque control (kT estimator, servo) Description of the k estimator The adaptation of the torque constants for synchronous motors is used to improve the absolute torque accuracy for the control (closed-loop) of synchronous motors. The magnetization of the permanent magnets varies as a result of production tolerances and temperature fluctuations and saturation effects.
Page 430 Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - kT estimator • 7008 Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module; extended torque control • r0108.1 Motor model adaptation configuration; selects motor model PEM k •...
Page 431: Closed-Loop Position Control
Function modules 7.7 Closed-loop position control Closed-loop position control 7.7.1 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 432 Function modules 7.7 Closed-loop 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 7-6 Actual position value sensing with rotary encoders The link between the physical variables and the neutral length unit LU is established via...
Page 433 Function modules 7.7 Closed-loop position control Figure 7-7 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 434: Indexed Actual Value Acquisition
Function modules 7.7 Closed-loop position control The correction value present at the connector input p2513 can be negated and activated via p2730. p2516 can be used to switch in position offset. Using EPOS, p2516 is automatically interconnected to r2667. Backlash compensation is implemented using this interconnection. Using the connector input p2515 (position setting value) and a "1"...
Page 435: Load Gear Position Tracking
Function modules 7.7 Closed-loop position control The actual position values of the different encoders can be read out using parameter r2521[0...3]. These actual position values can be corrected with a signed value from p2513[0...3] after a 0/1 signal from the signal source in p2512[0...3]. In addition, the actual velocity value (r2522[0...3]) and the position offset for absolute encoders p2525[0...3] can be processed for each encoder by the higher-level controller.
Page 436 Function modules 7.7 Closed-loop position control The load actual position value in r2723 (must be requested via Gn_STW.13, see Section "Control and status words for encoders") comprises the following information: ● Encoder pulses per revolution (p0408) ● Fine resolution per revolution (p0419) ●...
Page 437 Function modules 7.7 Closed-loop position control The following diagram illustrates an absolute encoder that can represent eight encoder revolutions (p0421 = 8). Figure 7-9 Position tracking (p2721 = 24), setting p2504 = p2505 =1 (gear factor = 1) In this example, this means: ●...
Page 438 Function modules 7.7 Closed-loop position control Note If position tracking of the load gear is activated with parameter p2720[0] = 1 (position gear load tracking) after the encoder is adjusted (p2507 = 3), the adjustment will be reset. If the encoder is adjusted again when load position tracking is active, the load gear position will be reset (overflows).
Page 439 Function modules 7.7 Closed-loop position control Tolerance window (p2722) After switching on, the difference between the stored position and the actual position is determined and, depending on the result, the following is initiated: Difference within the tolerance window -> the position is reproduced based on the current actual encoder value.
Page 440 Function modules 7.7 Closed-loop position control Restrictions ● Position tracking cannot be activated for an encoder data set which is used in different drive data sets as encoder1 for different gears. If an attempt is still made to activate position tracking, fault "F07555 Drive encoder: Configuration position tracking" will be displayed with fault value 03 hex.
Page 441 Function modules 7.7 Closed-loop position control DDS p0186 p0187 p0188 p0189 Encoder Mechanical Position Changeover conditions tracking response (MDS) (encoder_1) (encoder_2) (encoder_3) position p2504/ p2505/ Load gear control p2506/ p2503 p2502 EDS0 EDS3 EDS2 encoder_2 xxx Activated Pulse inhibit/operation: Position tracking for EDS0 is continued and the referencing bit is reset.
Page 442 Function modules 7.7 Closed-loop position control DDS p0186 p0187 p0188 p0189 Encoder Mechanical Position Changeover conditions tracking response (MDS) (encoder_1) (encoder_2) (encoder_3) position p2504/ p2505/ Load gear control p2506/ p2503 p2502 EDS0 EDS1 EDS2 encoder_1 xxx Deactivated Pulse inhibit/operation: Referencing bit is reset.
Page 443: Commissioning Position Tracking Load Gear Using Starter
Function modules 7.7 Closed-loop 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 ●...
Page 444: Function Diagrams And Parameters
• 4704 Encoder evaluation - Actual speed value and pole position sensing, motor • 4710 encoder (encoder1) Overview of important parameters (see SINAMICS S120/S150 List Manual) LR encoder assignment • p2502[0...n] LR length unit LU per 10 mm • p2503[0...n] LR motor/load motor revolutions •...
Page 445: Position Controller
● Adaptation (p2537, p2538) Note We only recommend that experts use the position controller functions without using the basic positioner. Function diagrams (see SINAMICS S120/S150 List Manual) Position control - Position controller (r0108.3 = 1) • 4015 Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 446: Monitoring Functions
Function modules 7.7 Closed-loop position control Overview of important parameters (see SINAMICS S120/S150 List Manual) LR position setpoint filter time constants • p2533[0...n] LR speed feedforward control factor • p2534[0...n] LR speed feedforward control balancing filter dead time • p2535[0...n] LR speed feedforward control balancing filter PT1 •...
Page 447 ● 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 448: Measuring Probe Evaluation And Reference Mark Search
Function modules 7.7 Closed-loop 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 449 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 BI: LR activate measuring probe evaluation •...
Page 450: Commissioning
• 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 • p1160[0...n] CI: Speed controller, speed setpoint 2 BI: Position control enable 2 •...
Page 451: Basic Positioner
Function modules 7.8 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 452 Function modules 7.8 Basic positioner Functions of the basic positioner In addition, the following functions can be carried out using the basic positioner: ● Mechanical system – Backlash compensation – Modulo offset – Position tracking of the load gear (motor encoder) with absolute encoders ●...
Page 453: Mechanical System
Function modules 7.8 Basic positioner ● Jog mode – Position-controlled traversing of the axis with the switchable modes "Endless position- controlled" or "Incremental jog" (to traverse an "increment") ● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the selection of which automatically establishes the internal "connection"...
Page 454 Function modules 7.8 Basic positioner Table 7- 5 The compensation value is switched in as a function of p2604 p2604 Traversing direction Switch in compensation value Positive None Negative Immediately Positive Immediately Negative None Figure 7-14 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.
Page 455 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 456: Limits
Function modules 7.8 Basic positioner 7.8.2 Limits The velocity, acceleration and deceleration can be limited and the software limit switches and STOP cams set. Features ● Traversing profile limits – Maximum velocity (p2571) – Maximum acceleration (p2572) / maximum deceleration (p2573) ●...
Page 457 Function modules 7.8 Basic positioner Maximum acceleration/deceleration Parameter p2572 (maximum acceleration) and p2573 (maximum deceleration) define the maximum acceleration and the maximum deceleration. In both cases, the units are 1000 LU/s Both values are relevant for: ● Jog mode ● Processing traversing blocks ●...
Page 458 Function modules 7.8 Basic positioner STOP cam A traversing range can, on the one hand, be limited per software using the software limit switches and on the other hand, the traversing range can be limited per hardware. In this case, the functionality of the STOP cam (hardware limit switch) is used. The function of the STOP cams is activated by the 1 signal on the binector input p2568 (activation of STOP cams).
Page 459 Function modules 7.8 Basic positioner Figure 7-16 Activated jerk limitation The maximum gradient (r ) can be set in parameter p2574 (jerk limitation) in the unit LU/s for both acceleration and braking. The resolution is 1000 LU/s . To activate the limitation permanently, set parameter p2575 (Activate jerk limitation) to 1.
Page 460: Epos And Safe Setpoint Velocity Limitation
Function modules 7.8 Basic positioner 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 • p2572 EPOS maximum delay •...
Page 461: Referencing
Function modules 7.8 Basic positioner In order to prevent a safety limit violation by the EPOS setpoint specification, you must transfer the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS (p2594): ● r9733[0] = p2594[1] ●...
Page 462 Function modules 7.8 Basic positioner Features ● Reference point offset (p2600) ● Reversing cams (p2613, p2614) ● Reference cam (p2612) ● Binector input start (p2595) ● Binector input setting (p2596) ● Velocity override (p2646) ● Reference point coordinate (p2598, p2599) ●...
Page 463 Function modules 7.8 Basic positioner Note If an adjustment is lost for an already adjusted axis, the axis will remain unadjusted even after a POWER ON of the drive unit. The axis needs to be adjusted again in such cases. NOTICE Adjustment only in a defined encoder range During adjustment with the rotary absolute encoder, a range is aligned symmetrically...
Page 464 Function modules 7.8 Basic positioner Figure 7-17 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 465 Function modules 7.8 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 466 Function modules 7.8 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 467 Function modules 7.8 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 468 Function modules 7.8 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 469 Function modules 7.8 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 470 • 3612 (p2597 = 0 signal) EPOS - Flying referencing mode (r0108.4 = 1) (p2597 = 1-signal) • 3614 Overview of important parameters (see SINAMICS S120/S150 List Manual) Equivalent zero mark input terminal • p0494[0...n] Equivalent zero mark input terminal •...
Page 471: Referencing With Several Zero Marks Per Revolution
Function modules 7.8 Basic positioner 7.8.5 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 472 Function modules 7.8 Basic positioner Example with a measuring gear PROFIdrive encoder interface BER O MoMo Zero mark Gear Motor Encoder 2 : 7 Position Figure 7-19 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.
Page 473 Function modules 7.8 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 474: Safely Referencing Under Epos
Function modules 7.8 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 475 Function modules 7.8 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 476: Traversing Blocks
Function modules 7.8 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 477 Function modules 7.8 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 478 Function modules 7.8 Basic positioner ● Task mode (p2623[0...63]) The execution of a traversing task can be influenced by parameter p2623 (task mode). This is automatically written by programming the traversing blocks in STARTER. Value = 0000 cccc bbbb aaaa –...
Page 479 Function modules 7.8 Basic positioner ● Task parameter (command-dependent significance) (p2622[0...63]) Intermediate stop and reject traversing task The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes with the parameterized deceleration value (p2620 or p2645). The current traversing task can be rejected by a 0 signal at p2641.
Page 480 Function modules 7.8 Basic positioner ENDLESS POS, ENDLESS NEG Using these tasks, the axis is accelerated to the specified velocity and is moved until: ● A software limit switch is reached. ● A STOP cam signal has been issued. ● The traversing range limit is reached. ●...
Page 481 Function modules 7.8 Basic positioner WAITING The WAIT task can be used to set a waiting period which should expire before the following task is processed. The following parameters are relevant: ● p2616[x] Block number ● p2622[x] Task parameter = delay time in milliseconds ≥ 0 ms ●...
Page 482 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 EPOS traversing block, position •...
Page 483: Travel To Fixed Stop
Function modules 7.8 Basic positioner 7.8.8 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 484 Note The fault can be changed into an alarm (see Section "Message configuration" in the SINAMICS S120 Commissioning Manual), which means that the drive program will advance to the next specified block. The target point must be sufficiently far inside the workpiece.
Page 485 400 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 486: Direct Setpoint Input (Mdi)
Function modules 7.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Torque limit, upper/motoring, scaling • p1528 CI: Torque limit, lower/regenerative scaling • p1529 BI: Activate travel to fixed stop • p1545 CO/BO: LR status word •...
Page 487 – 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 488 The "intermediate stop" and "reject traversing task" functions are only effective in "traversing blocks" and "direct setpoint specification / MDI" modes. Function diagrams (see SINAMICS S120/S150 List Manual) • 3618 EPOS - Direct setpoint specification / MDI mode, dynamic values (r0108.4 = 1) •...
Page 489 Function modules 7.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: EPOS modulo offset activation • p2577 CI: EPOS direct setpoint specification / MDI, position setpoint • p2642 CI: EPOS direct setpoint specification / MDI, velocity setpoint •...
Page 490: 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 491: Status Signals
Function modules 7.8 Basic positioner 7.8.11 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 492 Function modules 7.8 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 493 Function modules 7.8 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 494: Master/Slave Function For Active Infeed
Function modules 7.9 Master/slave function for Active Infeed Master/slave function for Active Infeed 7.9.1 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 495 Function modules 7.9 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 496 Function modules 7.9 Master/slave function for Active Infeed Topology Figure 7-23 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, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 497: Types Of Communication
Function modules 7.9 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 498: Description Of Functions
Function modules 7.9 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 499 Function modules 7.9 Master/slave function for Active Infeed Parameter p3422 (C capacitance) can be changed in operation. This means that the DC link closed-loop control can be directly adjusted via this parameter when the master/slave configuration changes, instead of changing the proportional gain of the V controller DC link (p3560).
Page 500 7.9 Master/slave function for Active Infeed 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). 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).
Page 501: Commissioning
(see Section Line and DC link identification (Page 33)) must be executed during commissioning for each infeed line. Please follow the instructions given in the SINAMICS S120 Commissioning Manual for the commissioning of infeeds. Once each individual infeed has been identified, the correct inductance for current control and the DC-link capacitance for voltage control are set.
Page 502 Function modules 7.9 Master/slave function for Active Infeed 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. Master/slave switchover If a power unit fails during operation, the higher-level controller can switch each infeed line from current control (slave operation) to DC-link voltage control (master operation) and vice...
Page 503: 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 504: Parallel Connection Of Power Units
7.10 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 505 "3" (Chassis) or a "2" (Cabinet) with one or several CUs if precisely defined preconditions and the information in the Configuration Manual are maintained. You can find this information in the "SINAMICS - Low Voltage Configuration Manual (https://www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/Documentsu2 0Catalogs/lv-umrichter/sinamics-engineering-manual-lv-en.pdf)". Drive functions...
Page 506: Applications Of Parallel Connections
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 507 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 (https://www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/Documentsu2 0Catalogs/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 508: Parallel Connection Of Basic Line Modules
7.10 Parallel connection of power units Configuring a parallel connection Additional information on configuring parallel power units connections can be found in the "SINAMICS Low Voltage Configuration Manual (https://www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/Documentsu2 0Catalogs/lv-umrichter/sinamics-engineering-manual-lv-en.pdf)". 7.10.1.1 Parallel connection of Basic Line Modules Features of Basic Line Modules: ●...
Page 509 Function modules 7.10 Parallel connection of power units As Basic Line Modules have no current compensation control, the three-winding transformer, power cabling and line reactors must meet the following requirements in order to provide a balanced current: ● Three-winding transformer must be symmetrical, recommended vector groups Dy5d0 or Dy11d0.
Page 510: Parallel Connection Of Smart Line Modules
Function modules 7.10 Parallel connection of power units WARNING Inadvertent acceleration of individual drives 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 Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia.
Page 511 Function modules 7.10 Parallel connection of power units The following rules must be observed when connecting Smart Line Modules in parallel: ● Up to four identical Smart Line Modules can be connected in parallel. ● A common Control Unit must always be used to implement the parallel connection. ●...
Page 512: Parallel Connection Of Active Line Modules
Function modules 7.10 Parallel connection of power units 7.10.1.3 Parallel connection of Active Line Modules Active Line Modules can supply motoring energy and return regenerative energy to the line supply. The parallel connection of up to four Active Line Modules is supplied by a shared two- winding transformer and controlled synchronously by a shared Control Unit.
Page 513: Parallel Connection Of Motor Modules
Function modules 7.10 Parallel connection of power units 6-pulse, redundant parallel connection of Active Line Modules with multiple Control Units For a description of parallel connections of multiple Active Line Modules under the control of separate Control Units, please refer to section " Master/slave function for infeeds". 12-pulse parallel connection of Active Line Modules The 12-pulse parallel connection can operate in master-slave mode (section "Master/slave function for infeeds").
Page 514 Function modules 7.10 Parallel connection of power units Parallel connection of two Motor Modules to one motor with double winding system Motors in the power range from about 1 MW to 4 MW, for which power units connected in parallel are generally used, frequently have several parallel windings. If these parallel windings are separately routed to the terminal box of the motor, a motor is obtained with winding systems that can be separately accessed.
Page 515: Commissioning
For further detailed information about commissioning, restrictions regarding operation and parameterization options, please refer to the following references ● SINAMICS S120 Commissioning Manual ● SINAMICS S120/S150 List Manual Parameters r7002 ff. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 516: Additional Drive In Addition To The Parallel Connection
Function modules 7.10 Parallel connection of power units 7.10.3 Additional drive in addition to the parallel connection Frequently, a controlled auxiliary drive is required in addition to the main drives, e.g. as excitation controller for shaft-mounted generators in shipbuilding or as lubricating pump drive, fan drive etc.
Page 517 Function modules 7.10 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 518 Function modules 7.10 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 CO: Power unit output current, maximum • r0289 Par_circuit power unit number temperature sensor •...
Page 519: 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 Safety Integrated Function Manual. Example For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and various feed drives for a tool.
Page 520: Activating And Enabling The Esr Function Module
Function modules 7.11 Extended stop and retract 7.11.1 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 521: Invalid Sources
Function modules 7.11 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 522: Esr Responses
Function modules 7.11 Extended stop and retract 7.11.4 ESR responses 7.11.4.1 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 523: Extended Retract
Function modules 7.11 Extended stop and retract 7.11.4.2 Extended retract In the case of a fault, the objective is to approach a retraction position. The retraction 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 524: Regenerative Operation
Function modules 7.11 Extended stop and retract 7.11.4.3 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 525: Restrictions For Esr
Function modules 7.11 Extended stop and retract 7.11.5 Restrictions for ESR ● Operating several axes in the generator mode Only use one speed-controlled axis to buffer the DC link. If you have parameterized several axes, faults can occur, which undesirably influence one another and therefore the drive line-up as a whole.
Page 526: Function Diagrams And Parameters
• 2495 Setpoint channel - extended stop and retract (ESR, r0108.9 = 1) • 3082 Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • p0108[0...23] Drive object function module; extended stop and retract / ESR •...
Page 527: Inertia Estimator
Function modules 7.12 Inertia estimator 7.12 Inertia estimator Features Note This function has only been released and can be activated for drives with servo control. The description is also valid for linear motion (torque -> force, moment of inertia, inertia -> mass, speed ->...
Page 528 Function modules 7.12 Inertia estimator In encoderless operation, the moment of inertia must be parameterized to the highest expected moment of inertia (p0341 * p0342 + p1498), so that when accelerating for the first time in the controlled range, the motor does not stall. As long as the pulses are not deleted, the actual estimated value of the moment of inertia is always used in the motor model.
Page 529 Function modules 7.12 Inertia estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • r0108 Motor moment of inertia • p0341[0...n] Speed control configuration • p1400[0...n] Current control and motor model configuration • p1402[0...n] CO: Moment of inertia, total •...
Page 530 Function modules 7.12 Inertia estimator Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 531: Monitoring And Protective Functions
Monitoring and protective functions Power unit protection, general SINAMICS power units offer comprehensive functions for protecting power components. Table 8- 1 General protection for power units Protection against: Precautions Responses Overcurrent Monitoring with two thresholds: A30031, A30032, A30033 First threshold exceeded •...
Page 532: Thermal Monitoring And Overload Responses
Monitoring and protective functions 8.2 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 533 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 • 8014 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Power unit overload I2t • r0036 CO: Power unit temperatures •...
Page 534: Block Protection
Blocking protection Function diagrams (see SINAMICS S120/S150 List Manual) • 8012 Signals and monitoring functions - Torque messages, motor locked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Blocked motor monitoring enable (negated) • p2144 Motor locked speed threshold •...
Page 535: Stall Protection (Only For Vector Control)
• 6730 Signals and monitoring functions - Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) • r1408.0...15 CO/BO: Status word, current controller • p1744[0...n] Motor model speed threshold stall detection • p1745[0...n] Motor model error threshold stall detection •...
Page 536: Thermal Motor Protection
Monitoring and protective functions 8.5 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 537: Thermal Motor Model 1
Monitoring and protective functions 8.5 Thermal motor protection NOTICE Risk of the motor overheating through operation without a sensor A thermal motor model cannot fully replace a sensor. The thermal model cannot protect the motor if incorrectly installed, for increased ambient temperatures or if errors were made in the parameter settings.
Page 538: Thermal Motor Model 2
Monitoring and protective functions 8.5 Thermal motor protection 8.5.1.2 Thermal motor model 2 The thermal motor model 2 is used for induction motors. It is a thermal 3-mass model. The thermal 3-mass model is activated with p0612.01 = 1. Enter the total motor mass in p0344.
Page 539: Function Diagrams And Parameters
1FK7101 - 8FC71 1FK7103 - 8FB71 1FK7105 - 8FB71 8.5.1.4 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - Thermal monitoring motor • 8016 Signals and monitoring functions - Thermal motor models • 8017...
Page 540 Monitoring and protective functions 8.5 Thermal motor protection Overview of important parameters (see SINAMICS S120/S150 List Manual) Thermal motor model 1 CO: Motor utilization • r0034 Motor stall current • p0318[0...n] Mot_temp_mod 1/2 threshold • p0605[0...n] I2t motor model thermal time constant •...
Page 541: 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 542: Sensor Modules
Monitoring and protective functions 8.5 Thermal motor protection Function of the bimetallic NC contact A bimetallic switch at a certain nominal response temperature actuates a switch. The tripping resistance is <100 Ohm. Not every sensor input is bimetal NC contact-capable. ●...
Page 543: Sensor Module Cabinet-Mounted
Monitoring and protective functions 8.5 Thermal motor protection 8.5.3.1 Sensor Module Cabinet-Mounted A Sensor Module Cabinet-Mounted (SMCx0) evaluates the sensor signals. The results are transferred to the drive for further processing via DRIVE-CLiQ. The SMCx0 is intended for operation in a control cabinet. SMC10, SMC20, SMC30 and SMC40 differ regarding the encoder interfaces.
Page 544: Sensor Module External 120/125
Monitoring and protective functions 8.5 Thermal motor protection 8.5.3.4 Sensor Module External 120/125 A Sensor Module External 120 (SME120) or Sensor Module External 125 (SME125) is required for the following application conditions: ● The sensor interface is installed close to the motor outside a control cabinet ●...
Page 545: Terminal Modules
Monitoring and protective functions 8.5 Thermal motor protection ● p4601[0...n] to p4603[0...n] = 10/11/12 sets the temperature sensor type PTC, the evaluation type and activates the evaluation. – p4601[0...n] = 10 PTC fault – p4601[0...n] = 11 PTC alarm – p4601[0...n] = 12 PTC alarm and timer ●...
Page 546: Terminal Module 31
Monitoring and protective functions 8.5 Thermal motor protection Table 8- 5 Temperature sensor connection Device Interface Channel +Temp -Temp Temperature sensor type TM31 X522 KTY84 / PTC TM120 X521 KTY84-1C130/PTC/bimetallic NC contact, linear motor: KTY84-1C130 KTY84-1C130/PTC/bimetallic NC contact, linear motor: KTY84-1C130 KTY84-1C130/PTC/bimetallic NC contact, linear motor: KTY84-1C130 KTY84-1C130/PTC/bimetallic NC contact,...
Page 547: Terminal Module 120
-48° C up to 251° C. Temperature sensors are connected at the TM120 at terminal strip X521 according to the table above. You will find additional information in the SINAMICS S120 Control Units and Supplementary System Components Manual.
Page 548 Monitoring and protective functions 8.5 Thermal motor protection Temperature measurement ● p0600[0...n] = 20 or 21 activates the motor temperature sensing via an external sensor. ● p0601[0...n] = 11 sets the evaluation for several temperature channels. ● p0608[0...3] allocates the temperature channels for the motor temperatures to signal source 2.
Page 549: Terminal Module 150
X531 to X536 according to the following table. The TM150 temperature inputs are not isolated. You can find additional information in the function diagrams 9625, 9626 and 9627 in the SINAMICS S120/S150 List Manual. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 550 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 551: 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 to terminals 1 and 2. You can find additional information in function diagram 9626 in the SINAMICS S120/S150 List Manual.
Page 552: Forming Groups Of Temperature Sensors
Monitoring and protective functions 8.5 Thermal motor protection Example of 8 temperature channels: 2x2 conductors at terminal X531: p4108[0] = 1 ≙ sensor 1 is at channel 0 and sensor 2 is at channel 6 2x2 wires at terminal X532: p4108[1] = 1 ≙ sensor 1 is at channel 1 and sensor 2 is at channel 7 1x3 wires at terminal X533: p4108[2] = 2 ≙...
Page 553: Evaluating Temperature Channels
Monitoring and protective functions 8.5 Thermal motor protection 8.5.7.4 Evaluating temperature channels For each of the individual 12 temperature channels, an alarm threshold and a fault threshold can be set in p4102[0...23]. The even parameter indices contain the alarm threshold and the uneven parameter indices, the fault threshold.
Page 554 Monitoring and protective functions 8.5 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 555: Cu310-2/Cua31/Cua32
Monitoring and protective functions 8.5 Thermal motor protection 8.5.9 CU310-2/CUA31/CUA32 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. The Control Unit CU310-2 DP/PN has two independent temperature channels.
Page 556: Motor With Drive-Cliq
Monitoring and protective functions 8.5 Thermal motor protection 8.5.10 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 557: Function Diagrams And Parameters
● If the motor temperature sensor set in p0600 is not connected, alarm A07820 "Temperature sensor not connected" is triggered. 8.5.12 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - Thermal monitoring motor • 8016 Signals and monitoring functions - Thermal motor models •...
Page 558 Monitoring and protective functions 8.5 Thermal motor protection Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Motor utilization • r0034 CO: Motor temperature • r0035 CO: Absolute actual current value • r0068 Motor stall current • p0318[0...n] Motor temperature sensor for monitoring •...
Page 559 Monitoring and protective functions 8.5 Thermal motor protection Additional parameters for TM120 TM120 temperature evaluation sensor type • p4100[0...3] TM120 sensor resistance • r4101[0...3] TM120 fault threshold / alarm threshold • p4102[0...7] TM120 temperature evaluation delay time • p4103[0...3] BO: TM120 temperature evaluation status •...
Page 560 Monitoring and protective functions 8.5 Thermal motor protection Thermal motor models Motor stall current • p0318[0...n] Type of motor cooling • p0335[0...n] Motor weight (for thermal motor type) • p0344[0...n] I2t motor model thermal time constant • p0611[0...n] Mot_temp_mod activation •...
Page 561: Safety Integrated Basic Functions
Go into the Internet under: http://automation.siemens.com To subscribe to the newsletter, please proceed as follows: 1. Select the desired language for the Web page.
Page 562 Safety Integrated basic functions 9.1 Latest information 7. Open the subject area "Safety Engineering - Safety Integrated". 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 box. If you require more detailed information on the newsletters then please click on these.
Page 563: General Information
General information Note Further references This manual describes the Safety Integrated Basic Functions. More information can be found in the SINAMICS S120 Safety Integrated Function Manual. 9.2.1 Explanations, standards, and terminology Safety Integrated The "Safety Integrated" functions enable the implementation of highly effective application- oriented functions for man and machine protection.
Page 564 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: • Category 3 to EN 954-1/ ISO 13849-1. • Safety integrity level 2 (SIL 2) to IEC 61508.
Page 565: 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 566 Safety Integrated basic functions 9.2 General information The following Safety Integrated functions (SI functions) are available: ● Safety Integrated Basic Functions The following functions are part of the standard scope of the drive and can be used without any additional license: –...
Page 567: Controlling The Safety Integrated Functions
– Transferring safe position values (SP) – Safe Brake Test (SBT) The Safety Integrated Extended Functions are described in the following documentation: References: /FHS/ SINAMICS S120 Safety Integrated Function Manual 9.2.3 Controlling the Safety Integrated functions The following options for controlling Safety Integrated functions are available:...
Page 568: Parameter, Checksum, Version, Password
Safety Integrated basic functions 9.2 General information Note PROFIsafe or TM54F Using a Control Unit, control is possible either via PROFIsafe or TM54F. Mixed operation is not permissible. 9.2.4 Parameter, Checksum, Version, Password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ●...
Page 569 Safety Integrated basic functions 9.2 General information Checking the checksum For each monitoring channel, the Safety parameters include one parameter for the actual checksum for the Safety parameters that have undergone a checksum check. During commissioning, the actual checksum must be transferred to the corresponding parameter for the reference checksum.
Page 570 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). Overview of important parameters for "Password" (see SINAMICS S120/S150 List Manual) SI password input •...
Page 571: Forced Dormant Error Detection
Safety Integrated basic functions 9.2 General information 9.2.5 Forced dormant error detection Forced dormant error detection or test of the switch-off signal paths for Safety Integrated Basic Functions The forced dormant error detection function at the switch-off signal paths is used to detect software/hardware faults at both monitoring channels in time and is automated by means of activation/deactivation of the "Safe Torque Off"...
Page 572: Safety Instructions
Safety Integrated basic functions 9.3 Safety instructions 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 573 Safety Integrated basic functions 9.3 Safety instructions WARNING Regulations from EN 60204-1 The Emergency Stop function must bring the machine to a standstill according to stop category 0 or 1 (STO or SS1). The machine must not restart automatically after EMERGENCY STOP. When individual safety functions (Extended Functions) are deactivated, an automatic restart is permitted under certain circumstances depending on the risk analysis (except when Emergency Stop is reset).
Page 574 Safety Integrated basic functions 9.3 Safety instructions WARNING Drive coasts down with STO or STOP A The category 0 stop function in accordance with EN 60204-1 (STO or STOP A to Safety Integrated) means that the drives are not decelerated but instead coast to standstill (the time required to coast to standstill depends on the kinetic energy).
Page 575 Safety Integrated basic functions 9.3 Safety instructions WARNING Converter operation despite pending messages With activated safety functions, there are a number of system messages that still permit the drive to be traversed. In these cases, you must ensure that the causes of the messages are corrected immediately.
Page 576: Safe Torque Off (Sto)
Safety Integrated basic functions 9.4 Safe Torque Off (STO) 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 feed to the motor. When the function is selected, the drive unit is in a "safe status".
Page 577 Safety Integrated basic functions 9.4 Safe Torque Off (STO) WARNING Danger through brief momentary movements If two power transistors simultaneously fail in the power unit (one in the upper and one in the lower bridge), then this can cause brief momentary movement. The maximum movement can be: •...
Page 578 Safety Integrated basic functions 9.4 Safe Torque Off (STO) Selecting/deselecting "Safe Torque Off" The following is executed when "Safe Torque Off" is selected: ● Each monitoring channel triggers safe pulse suppression via its switch-off signal path. ● A motor holding brake is closed (if connected and configured). Deselecting "Safe Torque Off"...
Page 579 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 SI enable functions integrated in the drive (Control Unit) •...
Page 580: Safe Stop 1 (Ss1, Time Controlled)
Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) Safe Stop 1 (SS1, time controlled) 9.5.1 SS1 (time controlled) with OFF3 General description The "Safe Stop 1" (SS1) function allows the drive to be stopped in accordance with EN 60204-1, Stop Category 1.
Page 581: Ss1 (Time-Controlled) With External Stop
Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) Requirement ● The Basic Functions or STO are enabled via terminals and/or PROFIsafe. – p9601.0/p9801.0 = 1 (enable via terminals) – p9601.3/p9801.3 = 1 (enable via PROFIsafe) ● In order that the drive can brake down to a standstill even when selected through one channel, the time in p9652/p9852 must be shorter than the sum of the parameters for the data cross-check (p9650/p9850 and p9658/p9858).
Page 582: Function Diagrams And Parameters
9.5.3 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) SI Basic Functions - STO (Safe Torque Off), SS1 (Safe Stop 1) • 2810 SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation •...
Page 583 Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) Overview of important parameters (see SINAMICS S120/S150 List Manual) OFF3 ramp-down time • p1135[0...n] Motor holding brake closing time • p1217 Pulse suppression delay time • p1228 SI enable functions integrated in the drive (Control Unit) •...
Page 584: Safe Brake Control (Sbc)
Safety Integrated basic functions 9.6 Safe Brake Control (SBC) Safe Brake Control (SBC) The "Safe Brake Control" function (SBC) is used to control holding brakes that function according to the closed-circuit principle (e.g. motor holding brake). The command for releasing or applying the brake is transmitted to the Motor Module/Power Module via DRIVE-CLiQ.
Page 585 Safety Integrated basic functions 9.6 Safe Brake Control (SBC) Enabling the "Safe Brake Control" function The "Safe Brake Control" function is enabled via the following parameters: ● p9602 SI enable safe brake control (Control Unit) ● p9802 SI enable safe brake control (Motor Module) The "Safe Brake Control"...
Page 586: Sbc For Motor Modules In The Chassis Format
Safety Integrated basic functions 9.6 Safe Brake Control (SBC) Response time with the "Safe Brake Control" function For the response times when the function is selected/deselected via input terminals, see the table in "Response times". Note Controlling the brake via a relay for "Safe Brake Control": If you use "Safe Brake Control", it is not permissible that you switch the brake via a relay, as this could initiate brake control faults.
Page 587 Safety Integrated basic functions 9.6 Safe Brake Control (SBC) There are two options for registering this power unit with the system: 1. 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 588: Response Times
Safety Integrated basic functions 9.7 Response times 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 cycle (PROFIsafe scan cycle = 2 × r9780). Note Current value of the monitoring cycle (r9780) You can only see the actual value of the monitoring cycle (r9780), if you are connected...
Page 589 Safety Integrated basic functions 9.7 Response times Control of the Basic Functions via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 9- 3 Response times when controlling via PROFIsafe Function Typical...
Page 590: Control Via Terminals On The Control Unit And Motor/Power Module
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 591 Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module Terminals for STO, SS1 (time-controlled), SBC The functions are separately selected/deselected for each drive using two terminals. 1. Control Unit switch-off signal path (CU310-2/CU320-2) The desired input terminal is selected via BICO interconnection (BI: p9620[0]). 2.
Page 592 Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module Note Parameterization of the grouping The grouping must be configured (DI on Control Unit) and wired (EP terminals) identically in both monitoring channels. Note Response of STO for grouping If a fault in a drive results in a "Safe Torque Off"...
Page 593: Simultaneity And Tolerance Time Of The Two Monitoring Channels
Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module Information on the parallel connection of chassis type Motor Modules When chassis type Motor Modules are connected in parallel, a safe AND element is created on the parallel drive object.
Page 594: Bit Pattern Test
F-DI input filter (p9651/p9851). To do this, a value must be entered in p9651/p9851 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) •...
Page 595: Commissioning The "Sto", "Sbc" And "Ss1" Functions
Control Unit offline. In order to set the safety- relevant parameters of the Motor Module, establish an online connection to SINAMICS S120 and copy the parameters using the "Copy parameter" button on the start screen of the safety configuration into the Motor Module.
Page 596 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Requirements for commissioning the safety functions ● Commissioning of the drives must be complete. ● Non-safe pulse suppression must be present (e.g. via OFF1 = "0" or OFF2 = "0") If the motor holding brake is connected and parameterized, the holding brake is applied.
Page 597 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Replacing Motor Modules with a more recent firmware version ● After a Motor Module fails, a more recent firmware version can be installed on the new Motor Module. ●...
Page 598: Procedure For Commissioning "Sto", "Sbc" And "Ss1
Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions 9.9.2 Procedure for commissioning "STO", "SBC" and "SS1" To commission the "STO", "SBC" and "SS1" functions via terminals, carry out the following steps: Table 9- 5 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p0010 = 95...
Page 599 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Enable the "Safe brake control" function. p9602 = 1 Enable "SBC" on the Control Unit p9802 = 1 Enable "SBC" on the Motor Module The parameters are not changed until safety commissioning mode has been exited (i.e. •...
Page 600 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Set transition period from STOP F to STOP A. p9658 = "Value" Transitional period from STOP F to STOP A on Control Unit p9858 = "Value" Transitional period from STOP F to STOP A on Motor Module The parameters are not changed until safety commissioning mode has been exited (i.e.
Page 601 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p0010 = Value not Safety Integrated: exit commissioning mode equal to 95 If at least one safety monitoring function is enabled (p9601 = p9801 ≠ 0), the checksums •...
Page 602: Safety Faults
Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions 9.9.3 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 9- 6 Stop responses for Safety Integrated Basic Functions...
Page 603 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, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 604: Acceptance Test And Certificate
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10 Acceptance test and certificate Note Acceptance test support in STARTER After commissioning the Safety Integrated functions, you can use STARTER to create an acceptance report template containing the parameters to be documented (see STARTER > "Drive unit"...
Page 605: Acceptance Test Structure
• An acceptance report template in electronic format is available at your local Siemens sales office. 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/28556736 Necessity of an acceptance test A complete acceptance test (as described in this section) is required after initial commissioning of Safety Integrated functionality on a machine.
Page 606: Content Of The Complete Acceptance Test
Safety Integrated basic functions 9.10 Acceptance test and certificate Requirements for the acceptance test ● The machine is properly wired. ● All safety equipment such as protective door monitoring devices, light barriers or emergency limit switches are connected and ready for operation. ●...
Page 607: Content Of The Partial Acceptance Test
Safety Integrated basic functions 9.10 Acceptance test and certificate D) Conclusion of the report Report of the commissioning status tested and countersignatures 1. Inspection of SI parameters 2. Logging of checksums (for each drive) 3. Issuing of the Safety password and documenting this process (do not specify the Safety password in the report!) 4.
Page 608 Safety Integrated basic functions 9.10 Acceptance test and certificate 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 Risk through process During this process, all personnel must keep out of the danger area.
Page 609: Test Scope For Specific Measures
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.1.3 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 given in Chapter Content of the partial acceptance test (Page 605). Table 9- 7 Scope of partial acceptance tests for specific measures Measure...
Page 610: Safety Logbook
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.2 Safety logbook Description The "Safety Logbook" function is used to detect changes to safety parameters that affect the associated CRC sums. CRCs are only generated when p9601/p9801 (SI enable, functions integrated in the drive CU/Motor Module) is >...
Page 611 Safety Integrated basic functions 9.10 Acceptance test and certificate Table 9- 9 Values from relevant machine data Parameter FW version Control Unit r0018 = Drive number FW version SI version r9770 = r0128 = r9870 = Parameter r0128 = r9870 = Motor Modules r0128 = r9870 =...
Page 612 Safety Integrated basic functions 9.10 Acceptance test and certificate Table 9- 11 Description of safety equipment Examples: Wiring of STO terminals (protective door, Emergency Off), grouping of STO terminals, holding brake for vertical axis, etc. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 613: Acceptance Tests
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.4 Acceptance tests 9.10.4.1 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 614: Acceptance Test For Safe Stop 1, Time Controlled (Ss1)
Safety Integrated basic functions 9.10 Acceptance test and certificate Description Status The drive coasts to a standstill or is braked and stopped by the mechanical brake. • No Safety faults and alarms (r0945[0...7], r2122[0...7]) • r9772.17 = 1 (STO selection via terminal - DI CU / EP terminal Motor Module); only •...
Page 615 Safety Integrated basic functions 9.10 Acceptance test and certificate Description Status r9774.0 = r9774.1 = 0 (STO deselected and inactive – group); only relevant for grouping • r9774.5 = r9774.6 = 0 (SS1 deselected and inactive – group); only relevant for grouping •...
Page 616: Acceptance Test For "Safe Brake Control" (Sbc)
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.4.4 Acceptance test for "Safe Brake Control" (SBC) Table 9- 14 "Safe Brake Control" function Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals and/or via PROFIsafe. Initial state Drive in the "Ready"...
Page 617: Completion Of Certificate
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.5 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 618 Safety Integrated basic functions 9.10 Acceptance test and certificate 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 619: Overview Of Parameters And Function Diagrams
Safety Integrated basic functions 9.11 Overview of parameters and function diagrams 9.11 Overview of parameters and function diagrams Function diagrams (see SINAMICS S120/S150 List Manual) SI Basic Functions - Parameter manager • 2800 SI Basic functions - Monitoring functions and faults/alarms •...
Page 620 Safety Integrated basic functions 9.11 Overview of parameters and function diagrams Overview of important parameters (see SINAMICS S120/S150 List Manual) Table 9- 15 Parameters for Safety Integrated No. of Control Unit No. of Motor Name Changeable to (CU) Module (MM)
Page 621: Communication
In order to ensure the safe operation of your systems, you must take suitable measures, e.g. industrial security or network segmentation. You can find more information on Industrial Security on the Internet at: www.siemens.de/industrialsecurity Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 622: Communication According To Profidrive
Communication 10.1 Communication according to PROFIdrive 10.1 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 PROFINET for drive technology is standardized and described in the following document: •...
Page 623 Communication 10.1 Communication according to PROFIdrive Properties of the Controller, Supervisor and drive units Table 10- 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 624: Application Classes
Communication 10.1 Communication according to PROFIdrive Interface IF1 and IF2 The CU320-2 Control Unit can communicate via two different interfaces (IF1 and IF2). Table 10- 3 Properties of IF1 and IF2 PROFIdrive Standard telegrams Isochronous mode Drive object types Can be used for PROFINET IO, PROFIBUS DP PROFINET IO, PROFIBUS DP, CANopen...
Page 625 Communication 10.1 Communication according to PROFIdrive Application class 1 (standard drive) In the most basic case, the drive is controlled via a speed setpoint by means of PROFIBUS/PROFINET. In this case, speed control is fully handled in the drive controller. Typical application examples include simple frequency converters for controlling pumps and fans.
Page 626 Communication 10.1 Communication according to PROFIdrive Application class 2 (standard drive with technology function) The total process is subdivided into a number of small subprocesses and distributed among the drives. This means that the automation functions no longer reside exclusively in the central automation device but are also distributed in the drive controllers.
Page 627 Communication 10.1 Communication according to PROFIdrive Application class 3 (positioning drive) In addition to the drive control, the drive also includes a positioning control, which means that it operates as a self-contained single-axis positioning drive while the higher-level technological processes are performed on the controller. Positioning requests are transmitted to the drive controller via PROFIBUS/PROFINET and launched.
Page 628 Communication 10.1 Communication according to PROFIdrive Application class 4 (central motion control) This application class defines a speed setpoint interface with execution of the speed control on the drive and of the positioning control in the controller, such as is required for robotics and machine tool applications with coordinated motions on multiple drives.
Page 629 Communication 10.1 Communication according to PROFIdrive Selection of telegrams as a function of the application class The telegrams listed in the table below (see also Section"Telegrams and process data") can be used in the following application classes: Table 10- 4 Selection of telegrams as a function of the application class Telegram Description...
Page 630: Cyclic Communication
Communication 10.1 Communication according to PROFIdrive Telegram Description Class 1 Class 2 Class 3 Class 4 (p0922 = x) Closed-loop speed / position control with DSC and torque precontrol, 1 position encoder, clamping status, supplementary actual values Speed setpoint, 32-bit for metal industry Speed setpoint, 16-bit, PCS7 Infeed Infeed, metal industry...
Page 631 Communication 10.1 Communication according to PROFIdrive PROFIdrive telegrams ● Standard telegrams The standard telegrams are structured in accordance with the PROFIdrive profile. The internal process data links are set up automatically in accordance with the telegram number setting. The following standard telegrams can be set via p0922: –...
Page 632 Communication 10.1 Communication according to PROFIdrive – 138 DSC with torque precontrol, 2 position encoders (encoder 2 and encoder 3), 4 trace signals – 139 closed-loop speed / position control with/without DSC and torque precontrol, 1 position encoder, clamping status, supplementary actual values Note Telegram 139 is harmonized to WEISS spindle drives.
Page 633 Communication 10.1 Communication according to PROFIdrive SERVO, VECTOR CU_S A_INF, TB30, TM31, ENCODE TM41 B_INF, TM15DI_DO, S_INF TM120, TM150 Receive process data DWORD r2060[0 ... 18] r2060[0 ... 30] r2060[0 ... connector output WORD r2050[0 ... 19] r2050[0 ... 31] r2050[0 ... 19] r2050[0 r2050[0 ...
Page 634 Structure of the telegrams You can find the structure of the telegrams in the SINAMICS S120/S150 List Manual in the following function diagrams: ● 2415: PROFIdrive - Standard telegrams and process data 1 ●...
Page 635 Communication 10.1 Communication according to PROFIdrive Drive object Telegrams (p0922) VECTOR 1, 2, 20, 220, 352, 999 VECTOR (EPOS) 7, 9, 110, 111, 999 81, 82, 83, 999 TM15DI_DO No predefined telegram. TM31 No predefined telegram. TM41 3, 999 TM120 No predefined telegram.
Page 636: Description Of Control Words And Setpoints
When a telegram that specifies the Interface Mode (e.g. p0922 = 102) is changed to a different telegram (e.g. p0922 = 3), the setting in p2038 is retained. Function diagrams (see SINAMICS S120/S150 List Manual) PROFIdrive - PROFIBUS (PB) / PROFINET (PN), addresses and diagnostics •...
Page 637 Communication 10.1 Communication according to PROFIdrive Overview of control words and setpoints Table 10- 5 Overview of control words and setpoints, profile specific, see function diagram [2439] Abbreviation Name Signal Data type Interconnection number parameters STW1 Control word 1 (bit-serial) STW2 Control word 2 (bit-serial)
Page 638 Communication 10.1 Communication according to PROFIdrive Table 10- 6 Overview of control words and setpoints, manufacturer specific, see function diagram [2440] Abbreviation Name Signal Data type Interconnection number parameters MOMRED Torque reduction p1542 M_VST Torque precontrol value p1513 DSC_STW Control word for DSC splines p1194 T_SYMM Symmetrization constant...
Page 639 Communication 10.1 Communication according to PROFIdrive Meaning Remarks BICO OFF3 BI: p0848 No OFF3 Enable possible Quick stop (OFF3) Braking with OFF3 ramp p1135, then pulse suppression and switching on inhibited. Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849. Enable operation Enable operation BI: p0852,...
Page 640 Communication 10.1 Communication according to PROFIdrive Meaning Remarks BICO Motorized potentiometer, setpoint, BI: p1036 Motorized potentiometer, setpoint, lower lower Motorized potentiometer setpoint lower not selected Note: If motorized potentiometer setpoint raise and lower are 0 or 1 simultaneously, the current setpoint is frozen. Reserved STW1 (control word 1), positioning mode, r0108.4 = 1 See function diagram [2475].
Page 641 Parameter No effect Jog 1 Jog 1 ON BI: p2589 See also function diagram 3610 in the SINAMICS S120/S150 List Manual No effect Jog 2 Jog 2 ON BI: p2590 See also function diagram 3610 in the SINAMICS S120/S150 List Manual...
Page 642 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Travel to fixed stop BI: p1545 Select "Travel to fixed stop" (not with telegrams 9, 110) The signal must be set before the fixed stop is reached. Deselect "Travel to fixed stop" The signal must be set before the fixed stop is reached Reserved...
Page 643 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Enable ramp-function generator BI: p1140 Operating condition Ramp-function generator enable possible Inhibit ramp-function generator Set ramp-function generator output to zero Restart ramp-function generator Restart ramp-function generator BI: p1141 Freeze ramp-function generator Note: The ramp-function generator cannot be frozen via p1141 in jog mode (r0046.31 = 1).
Page 644 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Enable droop Set scaling for droop feedback (not applicable p1492 to servo) Enable speed controller Enable the speed controller and the brake. p0856, (incl. brake) Controller enable via r2093.9. Parameter p0856 p2093.9 remains freely interconnectable for "extended brake control".
Page 645 Communication 10.1 Communication according to PROFIdrive NSET_A (speed setpoint A (16-bit)) ● Speed setpoint with a 16-bit resolution with sign bit. ● Bit 15 determines the sign of the setpoint: – Bit = 0 → Positive setpoint – Bit = 1 → Negative setpoint ●...
Page 646 Communication 10.1 Communication according to PROFIdrive XERR (position deviation) The position deviation for dynamic servo control (DSC) is transferred via this setpoint. The format of XERR is identical to the format of G1_XIST1. KPC (position controller gain factor) The position controller gain factor for dynamic servo control (DSC) is transferred via this setpoint.
Page 647: Momred
Communication 10.1 Communication according to PROFIdrive 10.1.2.3 MOMRED MOMRED (torque reduction) This setpoint can be used to reduce the torque limit currently active on the drive. When you use manufacturer-specific PROFIdrive telegrams with the MOMRED control word, the signal flow is automatically interconnected up to the point where the torque limit is scaled.
Page 648 Activate MDI Activate MDI p2647 Deactivate MDI Note: See also: SINAMICS S120/S150 Function Manual, Section "Basic positioner" POS_STW (positioning mode, r0108.4 = 1) See function diagram [2462]. Table 10- 15 Description of POS_STW (positioning mode, r0108.4 = 1) Meaning Remarks...
Page 649 Communication 10.1 Communication according to PROFIdrive POS_STW1 (control word 1, positioning mode, r0108.4 = 1) See function diagram [2463]. Table 10- 16 Description of POS_STW1 (control word 1) Meaning Remarks Parameter EPOS traversing block selection bit 0 Traversing block selection BI: p2625 EPOS traversing block selection bit 1 BI: p2626...
Page 650 Communication 10.1 Communication according to PROFIdrive POS_STW2 (control word 2, positioning mode, r0108.4 = 1) See function diagram [2464] Table 10- 17 Description of POS_STW2 (control word 2, positioning mode, r0108.4 = 1) Meaning Remarks Parameter Tracking mode Activate tracking mode BI: p2655 Tracking mode deactivated Set reference point...
Page 651 Communication 10.1 Communication according to PROFIdrive OVERRIDE (Pos Velocity Override) This process data defines the percentage for the velocity override. Normalization: 4000 hex (16384 dec) = 100 % Range of values: 0 ... 7FFF hex Values outside this range are interpreted as 0%. MDI_TARPOS (MDI position) This process data defines the position for MDI sets.
Page 652 Communication 10.1 Communication according to PROFIdrive MDI_MOD For a detailed table see function diagram [2480]. Table 10- 18 Signal targets for MDI_MOD (positioning mode, r0108.4 = 1) Meaning Interconnection parameter 0 = Relative positioning is selected p2648 = r2094.0 1 = Absolute positioning is selected 0 = Absolute positioning through the shortest distance p2651 = r2094.1 1 = Absolute positioning in the positive direction...
Page 653 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Disable operation Pulse inhibit is present Reserved Inhibit motor operation Inhibit motor operation BI: p3532 Motoring operation as step-up converter is inhibited. Enable motor operation Motoring operation as step-up converter is enabled.
Page 654 Communication 10.1 Communication according to PROFIdrive E_STW1_BM (control word for infeeds, metal industry) See function diagram [2427]. Table 10- 20 Description of E_STW1_BM (control word for infeeds, metal industry) Meaning Remarks Parameter ON/OFF1 BI: p0840 Pulse enable possible OFF1 Reduce DC-link voltage via ramp (p3566), followed by pulse inhibit / line contactor open OFF2 No OFF2...
Page 655: Description Of Status Words And Actual Values
Communication 10.1 Communication according to PROFIdrive M_LIM Torque limit with telegram 220 (metal industry). Not available in V/f control mode. M_VST The summed precontrol value is transferred via this setpoint: ● Dynamic M setpoint + (quasi) steady-state M setpoint 10.1.2.4 Description of status words and actual values Note This section describes the assignment and meaning of the process data in SINAMICS...
Page 656 Communication 10.1 Communication according to PROFIdrive Abbreviation Name Signal Data type Interconnection number parameter G3_XIST1 Encoder 3 actual position value 1 r0482[2] G3_XIST2 Encoder 3 actual position value 2 r0483[2] E_DIGITAL Digital input (16Bit) r2089[2] E_DIGITAL _1 Digital input (16Bit) XIST_A Actual position value A r2521[0]...
Page 657 Communication 10.1 Communication according to PROFIdrive Abbreviation Name Signal Data type Interconnection number parameter MT6_ZS_S Probe 6 time stamp, rising edge r0686[5] MT7_ZS_F Probe 7 time stamp, falling edge r0687[6] MT7_ZS_S Probe 7 time stamp, rising edge r0686[6] MT8_ZS_F Probe 8 time stamp, falling edge r0687[7] MT8_ZS_S Probe 8 time stamp, rising edge...
Page 658 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Operation enabled BO: r0899.2 Operation enabled Enable electronics and pulses, then ramp up to active setpoint. Operation inhibited Fault active Fault active BO: r2139.3 The drive is faulty and, therefore, out of service. The drive switches to "switching on inhibited"...
Page 659 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Note: The message is parameterized as follows: p2141 Threshold value p2142 Hysteresis I, M or P limit reached or exceeded I, M or P limit not reached BO: r1407.7 I, M or P limit reached or exceeded Holding brake open Holding brake opened BO: r0899.12...
Page 660 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter No fault active No active fault in the fault buffer. Coasting down active (OFF2) No OFF2 active BO: r0899.4 Coasting down active (OFF2) An OFF2 command is active. Quick stop active (OFF3) No OFF3 active BO: r0899.5 Quick stop active (OFF3)
Page 661 Communication 10.1 Communication according to PROFIdrive ZSW2 (status word 2) See function diagram [2454]. Table 10- 25 Description of ZSW2 (status word 2) Meaning Remarks Parameter Drive data set DDS active, bit 0 – Drive data set effective (5-bit counter) BO: r0051.0 Drive data set DDS active, bit 1 –...
Page 662 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Not ready for operation Reason: No ON command present Operation enabled Operation enabled BO: r0899.2 Enable electronics and pulses, then ramp up to active setpoint. Operation inhibited Fault active Fault active BO: r2139.3 The drive is faulty and, therefore, out of service.
Page 663 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Note: The message is parameterized as follows: p2141 Threshold value p2142 Hysteresis I, M or P limit reached or exceeded I, M or P limit not reached BO: r1407.7 I, M or P limit reached or exceeded Holding brake open Holding brake opened BO: r0899.12...
Page 664 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Safe Torque Off active Normalized signal according to PROFIdrive on r9773.1 (safe stop) PROFIsafe Controller sign of life Toggle bit communication active r2093.15 toggle bit Toggle bit communication not active ZSW2_ENC (status word 2 encoder) See function diagram [2434].
Page 665 Communication 10.1 Communication according to PROFIdrive NACT_B (Speed setpoint B (32 bit)) ● Actual speed value with 32-bit resolution. ● The speed actual value is normalized in the same way as the setpoint (see NSOLL_B). Gn_ZSW (encoder n status word) Gn_XIST1 (encoder n position actual value 1) Gn_XIST2 (encoder n position actual value 2) This process data belongs to the encoder interface.
Page 666 Communication 10.1 Communication according to PROFIdrive MSOLL_GLATT The torque setpoint smoothed with p0045 is displayed. AIST_GLATT Torque utilization smoothed with p0045 is displayed. MELDW (message word) See function diagram [2456]. Table 10- 29 Description of MELDW (message word) Meaning Remarks Parameter Ramp-up/ramp-down Ramp-up/ramp-down completed.
Page 667 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Application: This message indicates that the motor is overloaded and appropriate measures need to be taken to rectify the situation (e.g. stop the motor or reduce the load). |n_act| < p2161 |n_act| <...
Page 668 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Note: When the motor temperature threshold is exceeded, only an alarm is output initially to warn you of this. The • alarm is canceled automatically when the temperature no longer exceeds the alarm threshold. If the overtemperature is present for longer than the value set via p0606, a fault is output to warn you of this.
Page 669 Communication 10.1 Communication according to PROFIdrive AKTSATZ See function diagram [3650]. Table 10- 30 Description of AKTSATZ (active traversing block/MDI active) Meaning Remarks Parameter Active traversing block, bit 0 – Active traversing block (6-bit counter) BO: r2670.0 Active traversing block, bit 1 –...
Page 670 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter block Direct output 1 not active Direct output 2 via the traversing Direct output 1 active BO: r2683.11 block Direct output 1 not active Fixed stop reached Fixed stop reached BO: r2683.12 Fixed stop is not reached Fixed stop clamping torque Fixed stop clamping torque reached...
Page 671 Communication 10.1 Communication according to PROFIdrive POS_ZSW2 (status word 2, positioning mode, r0108.4 = 1) See function diagram [2467]. Table 10- 33 Description of POS_ZSW2 (status word 2, positioning mode, r0108.4 = 1) Meaning Remarks Parameter Tracking mode active Tracking mode active BO: r2683.0 Tracking mode not active Velocity limiting active...
Page 672 Communication 10.1 Communication according to PROFIdrive SP_ZSW Clamping system, status word SP_XIST_A Clamping system: Position (analog actual value) SP_XIST_D Clamping system: Position (digital measuring information) SP_KONFIG Clamping system: Sensor configuration S_ZSW1B SI Motion Safety Info Channel status word Table 10- 34 Description S_ZSW1B Meaning Remarks Parameter...
Page 673 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter ESR retract requested r9734.14 ESR retract requested ESR retract not requested Safety message effective Safety message effective r9734.15 No Safety message effective S_ZSW2B Safety Info Channel status word 2 Table 10- 35 Description of S_ZSW2B Meaning Remarks Parameter...
Page 674 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Test inactive Brake test result Test successful r10234.4 Test error Brake test completed Test run r10234.5 Test incomplete External brake request Close brake r10234.6 Open brake Current load sign Negative sign r10234.7 Positive sign 8...13...
Page 675 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Operation enabled BO: r0899.2 Operation enabled Vdc = Vdc_set Operation inhibited Fault active Fault active BO: r2139.3 No fault No OFF2 active No OFF2 active BO: r0899.4 OFF2 active Reserved – –...
Page 676 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Operation inhibited Fault active Fault active BO: r2139.3 No fault No OFF2 active No OFF2 active BO: r0899.4 OFF2 active Reserved – – – Switching on inhibited Switching on inhibited BO: r0899.6 Fault active No "switching on inhibited"...
Page 677: Control And Status Words For Encoder
Communication 10.1 Communication according to PROFIdrive 10.1.2.5 Control and status words for encoder The process data for the encoders is available in various telegrams. For example, telegram 3 is provided for speed control with 1 position encoder and transmits the process data of encoder 1.
Page 678 Communication 10.1 Communication according to PROFIdrive Encoder n control word (Gn_STW, n = 1, 2, 3) The encoder control word controls the encoder functions. See function diagram [4720] Table 10- 39 Description of the individual signals in Gn_STW Name Signal status, description Find reference Functions If bit 7 = 0, then find reference mark request applies:...
Page 679 Communication 10.1 Communication according to PROFIdrive Name Signal status, description Request cyclic absolute value Request cyclic transmission of the absolute actual position value in Gn_XIST2. Used for (e.g.): Additional measuring system monitoring • Synchronization during ramp-up • No request Parking encoder Request parking encoder (handshake with Gn_ZSW bit 14) No request Acknowledge encoder error...
Page 680 Communication 10.1 Communication according to PROFIdrive Example 1: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference marks (function 1/function 2) ● Position control with encoder 1 Figure 10-8 Sequence chart for "Find reference mark" Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 681 Communication 10.1 Communication according to PROFIdrive Example 2: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Figure 10-9 Sequence chart for "Flying measurement" Encoder 2 control word (G2_STW) ●...
Page 682 Communication 10.1 Communication according to PROFIdrive Encoder n status word (Gn_ZSW, n = 1, 2) The encoder status word is used to display states, errors and acknowledgements. See function diagram [4730] Table 10- 40 Description of the individual signals in Gn_ZSW Name Signal status, description "Find...
Page 683 Communication 10.1 Communication according to PROFIdrive Name Signal status, description Reserved Transmit absolute value Acknowledgement for Gn_STW.13 (request absolute value cyclically) cyclically Note: Cyclic transmission of the absolute value can be interrupted by a function with higher priority. See Gn_XIST2 •...
Page 684 Communication 10.1 Communication according to PROFIdrive Encoder 1 actual position value 2 (G1_XIST2) Different values are entered in Gx_XIST2 depending on the function. ● Priorities for Gx_XIST2 The following priorities should be considered for values in Gx_XIST2: Figure 10-11 Priorities for functions and Gx_XIST2 Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 685 Communication 10.1 Communication according to PROFIdrive ● Resolution: Encoder pulses ∙ 2n n: fine resolution, no. of bits for internal multiplication Figure 10-12 Subdivision and settings for Gx_XIST2 ● Encoder lines of incremental encoder – For encoders with sin/cos 1Vpp: Encoder lines = no.
Page 686 ● See Gn_XIST1 Encoder 2 actual position value 2 (G2_XIST2) ● See Gn_XIST2 Function diagrams (see SINAMICS S120/S150 List Manual) Encoder evaluation - Encoder interface, receive signals, encoders 1 ... 3 • 4720 Encoder evaluation - Encoder interface, send signals, encoders 1 ... 3 •...
Page 687: Extended Encoder Evaluation
Communication 10.1 Communication according to PROFIdrive Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameter drive, CU_S parameter is marked Fine resolution Gx_XIST1 (in bits) • p0418[0...15] Fine resolution absolute value Gx_XIST2 (in bits) • p0419[0...15] CI: Encoder control word Gn_STW signal source •...
Page 688: Central Control And Status Words
Communication 10.1 Communication according to PROFIdrive 10.1.2.7 Central control and status words Description The central process data exists for different telegrams. For example, telegram 391 is used for transferring measuring times and digital inputs/outputs. The following central process data is available: Receive signals: ●...
Page 689 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Control transferred p3116 The CU has control Once the propagated faults have been acknowledged at all drive objects, the fault is also implicitly acknowledged at drive object 1 (DO1 ≙ CU). External control has control The propagated faults must be acknowledged at all drive objects and must also be explicitly acknowledged at drive object 1...
Page 690 Communication 10.1 Communication according to PROFIdrive A_DIGITAL_1 (digital outputs) This process data can be used to control the Control Unit outputs. See function diagram [2499] Table 10- 45 Description of A_DIGITAL_1 (digital outputs) Meaning Remarks Parameter 0 ... 7 Reserved –...
Page 691 Communication 10.1 Communication according to PROFIdrive CU_ZSW1 (status word of the DO1 telegram (telegrams 39x)) See function diagram [2496]. Table 10- 47 Description of CU_ZSW1 (status word of the CU) Meaning Remarks Parameter Reserved Reserved Reserved Fault active The active faults are stored in the fault buffer. BO: r2139.3 No fault present There are no faults in the fault buffer.
Page 692 Communication 10.1 Communication according to PROFIdrive E_DIGITAL (digital inputs) See function diagram [2498]. Table 10- 48 Description of E_DIGITAL (digital inputs) Meaning Remarks Parameter Digital input/output 8 – DI/DO 8 on the Control Unit must be parameterized as an input BO: p0722.8 (DI/DO = 8) (p0728.8 = 0).
Page 693 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Digital input 20 (DI 20) – Digital input DI 20 on the Control Unit BO: r0722.20 Digital input 21 (DI 21) – Digital input DI 21 on the Control Unit BO: r0722.21 Digital input 22 (DI 22) –...
Page 694 Communication 10.1 Communication according to PROFIdrive Measured values could be lost if more probe edges occur in the DP cycle than can be transferred in the telegram. In MT_DIAG bits 0..7, the corresponding bit "MTx_TELEGRAMM_VOLL" is then set. It indicates a loss of measured values. Reducing the measuring frequency or selecting a telegram block with higher transfer capacity prevents the loss of measured values.
Page 695 Communication 10.1 Communication according to PROFIdrive Probe time stamp For telegram 395, there is no telegram location reference from the time stamp to the probe and edge. The assignment is therefore made for four time stamps using probe references. Table 10- 52 Assignment, probe time stamp reference to time stamp Probe Time stamp reference MT_ZSB1...
Page 696 Communication 10.1 Communication according to PROFIdrive Table 10- 53 Bit assignment of MT_ZSB1 (display r0566[0...3]) Probe Time stamp Parameter reference MT_ZSB1 Reference ZS1 Bits 0 - 2: Bit 3: r0566[0] 0x0: MT_ZS1 from 1: MT_ZS1 rising edge 0x1: MT_ZS1 from 0: MT_ZS1 falling edge 0x2: MT_ZS1 from 0x3: MT_ZS1 from...
Page 697 Communication 10.1 Communication according to PROFIdrive Probe Time stamp Parameter reference 0x5: MT_ZS3 from 0x6: MT_ZS3 from 0x7: MT_ZS3 from Reference ZS4 Bits 12 - 14 Bit 15: r0566[3] 0x0: MT_ZS4 from 1: MT_ZS4 rising edge 0x1: MT_ZS4 from 0: MT_ZS4 falling edge 0x2: MT_ZS4 from 0x3: MT_ZS4 from 0x4: MT_ZS4 from...
Page 698: Motion Control With Profidrive
Communication 10.1 Communication according to PROFIdrive Example, central probe evaluation Assumptions for the example: ● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1 ● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and falling edge of probe 2 ●...
Page 699 Communication 10.1 Communication according to PROFIdrive Properties ● No additional parameters need to be entered in addition to the bus configuration in order to activate this function, the master and slave must only be preset for this function (PROFIBUS). ● The master-side default setting is made via the hardware configuration, e.g. HW Config with SIMATIC S7.
Page 700 Communication 10.1 Communication according to PROFIdrive Overview of closed-loop control ● Sensing of the actual position value on the slave can be performed using: – Indirect measuring system (motor encoder) – Additional direct measuring system ● The encoder interface must be configured in the process data. ●...
Page 701 Communication 10.1 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 702: Diagnostics Channel For Cyclic Communication
Communication 10.1 Communication according to PROFIdrive 10.1.2.9 Diagnostics channel for cyclic communication Alarms and faults can be transferred via two independent diagnostic channels DS0 and DS1. The information transferred is saved in parameters r0945[8] for faults and in r2122[8] for alarms.
Page 703: Parallel Operation Of Communication Interfaces
Communication 10.1 Communication according to PROFIdrive Note Constraint If Shared device is activated, only one of the controllers can receive diagnoses. Data transfer for cyclic communication, the following applies: ● For PROFINET, there is a unique assignment of the drive objects to the slots of the cyclic communication.
Page 704 Communication 10.1 Communication according to PROFIdrive Assignment of communication interfaces to cyclic 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 705 Communication 10.1 Communication according to PROFIdrive Table 10- 55 Implicit assignment of hardware to cyclic interfaces for p8839[0] = p8839[1] = 99 Plugged hardware interface No option, only use Control Unit onboard interface Control Unit onboard (PROFIBUS, PROFINET or USS) CU320-2 DP with CBE20 (optional PROFINET COMM BOARD Control Unit onboard...
Page 706 Communication 10.1 Communication according to PROFIdrive Note Using the HW Config configuration tool, a PROFIBUS/PROFINET slave with two interfaces cannot be shown. In parallel operation, this is the reason that SINAMICS appears twice in the project or in two projects, although physically it is just one device. Interrelationship, isochronous mode, PROFIsafe and SINAMICS Link Table 10- 56 Interrelationship, isochronous mode, PROFIsafe and SINAMICS Link Version...
Page 707 ● If p8839[x] is set to 2, and the COMM BOARD is missing/defective, then the corresponding interface is not automatically supplied from the Control Unit onboard interface. Message A08550 is output instead. Overview of important parameters (see SINAMICS S120/S150 List Manual) IF1 PROFIdrive PZD telegram selection • p0922 List of drive objects •...
Page 708: Acyclic Communication
Communication 10.1 Communication according to PROFIdrive 10.1.4 Acyclic communication 10.1.4.1 General information about acyclic communication With acyclic communication, as opposed to cyclic communication, data transfer takes place only when an explicit request is made (e.g. in order to read and write parameters). The "Read data record"...
Page 709 Communication 10.1 Communication according to PROFIdrive Figure 10-16 Reading and writing data Characteristics of the parameter channel ● One 16-bit address each for parameter number and subindex. ● Concurrent access by several additional PROFIBUS masters (master class 2) or PROFINET IO supervisor (e.g. commissioning tool). ●...
Page 710: Structure Of Orders And Responses
Communication 10.1 Communication according to PROFIdrive 10.1.4.2 Structure of orders and responses Structure of parameter request and parameter response Parameter request Offset Values for Request header Request reference Request ID write access Axis Number of parameters only 1st parameter address Attribute Number of elements Parameter number...
Page 711 Communication 10.1 Communication according to PROFIdrive Description of fields in DPV1 parameter request and response Field Data type Values Remark Request reference Unsigned8 0x01 ... 0xFF Unique identification of the request/response pair for the master. The master changes the request reference with each new request. The slave mirrors the request reference in its response.
Page 712 Communication 10.1 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 713 Communication 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x06 Illegal set operation (only reset Modification access with a value not equal to 0 in a case Subindex allowed) where this is not allowed. 0x07 Description element cannot be Modification access to a description element that cannot be Subindex changed...
Page 714 Communication 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x72 Parameter %s [%s]: Write access – – only in the commissioning state, parameter reset (p0010 = 30). 0x73 Parameter %s [%s]: Write access – – only in the commissioning state, Safety (p0010 = 95).
Page 715: Determining The Drive Object Numbers
Communication 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x83 Parameter %s [%s]: Requested BICO BICO output does not supply float values. The BICO input, – interconnection not possible. however, requires a float value. 0x84 Parameter %s [%s]: Parameter –...
Page 716: Example 1: Read Parameters
Communication 10.1 Communication according to PROFIdrive 10.1.4.4 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 PROFIdrive DPV1. Task description Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object number 2), the active fault codes must be read from the fault buffer r0945[0] ...
Page 717 Communication 10.1 Communication according to PROFIdrive Information about the parameter request: ● Request reference: The value is selected at random from the valid value range. The request reference establishes the relationship between request and response. ● Request ID: 01 hex → This identifier is required for a read request. ●...
Page 718: Example 2: Write Parameters (Multi-Parameter Request)
Communication 10.1 Communication according to PROFIdrive Evaluate the parameter response. Parameter response Offset Response header Request reference mirrored = Response ID = 01 hex 0 + 1 25 hex Axis mirrored = 02 hex Number of parameters = 01 hex 2 + 3 Parameter value Format = 06 hex...
Page 719 Communication 10.1 Communication according to PROFIdrive Task description Jog 1 and 2 are to be set up for drive 2 (also drive object number 2) via the input terminals of the Control Unit. A parameter request is to be used to write the corresponding parameters as follows: Jog bit 0 •...
Page 720 Communication 10.1 Communication according to PROFIdrive 1. 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 2 + 3 1st parameter Attribute = 10 hex Number of elements = 01 hex...
Page 721 Communication 10.1 Communication according to PROFIdrive 1st parameter address ... 4th parameter address ● Attribute: 10 hex → The parameter values are to be written. ● Number of elements 01 hex → One array element is written. ● Parameter number Specifies the number of the parameter to be written (p1055, p1056, p1058, p1059).
Page 722 Communication 10.1 Communication according to PROFIdrive Evaluate 3rd 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 Information about the parameter response: ●...
Page 723: Communication Via Profibus Dp
Communication 10.2 Communication via PROFIBUS DP 10.2 Communication via PROFIBUS DP 10.2.1 General information about PROFIBUS 10.2.1.1 General information about PROFIBUS for SINAMICS 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 724 Communication 10.2 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 Only receive and acknowledge restrictions permitted ●...
Page 725 Communication 10.2 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 online mode in the project navigator under "Drive unit"...
Page 726: Example: Telegram Structure For Cyclic Data Transmission
Communication 10.2 Communication via PROFIBUS DP 10.2.1.2 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 727 Communication 10.2 Communication via PROFIBUS DP Configuration settings (e.g. HW Config for SIMATIC S7) The components are mapped to objects for configuration. Due to the telegram structure shown, the objects in the "DP slave properties" overview must be configured as follows: Telegram 370 •...
Page 728 Communication 10.2 Communication via PROFIBUS DP DP slave properties – details Figure 10-20 Slave properties – details The axis separator separates the objects in the telegram as follows: Object 1 ––> Active Infeed (A_INF) • Slot 4 and 5: Object 2 ––> SERVO 1 •...
Page 729: Commissioning Profibus
Communication 10.2 Communication via PROFIBUS DP 10.2.2 Commissioning PROFIBUS 10.2.2.1 Setting the PROFIBUS interface Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available as standard on the CU320-2 and CU320-2DP Control Units. Figure 10-21 Interfaces and diagnostic LED Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 730 Communication 10.2 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 731 Communication 10.2 Communication via PROFIBUS DP Note The rotary coding switches used to set the PROFIBUS address are located beneath the blanking cover. Note Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1 ... 126. When several Control Units are connected to a PROFIBUS line, you set the addresses differently than for the factory setting.
Page 732: Profibus Interface In Operation
A generic station description file clearly and completely defines the properties of a PROFIBUS slave. The GSD files can be found: ● On the Internet: http://support.automation.siemens.com/WW/llisapi.dll?func=cslib.csinfo2&aktprim=99&lan g=de, then search for GSD files using an index search. ● On the CD of the STARTER commissioning tool Order no.
Page 733 ● Shielding of the PROFIBUS cables The cable shield must be connected in the plug through a large surface area at both ends (see SINAMICS S120 Control Units and Supplementary System Components Manual). Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 734: 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 available in the master (GSD file or Drive ES slave OM). Commissioning steps (example with SIMATIC S7) 1.
Page 735: Simatic Hmi Addressing
Communication 10.2 Communication via PROFIBUS DP 10.2.2.5 SIMATIC HMI addressing You can use a SIMATIC HMI as a PROFIBUS master (master class 2) to access SINAMICS directly. With respect to SIMATIC HMI, SINAMICS behaves like a SIMATIC S7. For accessing drive parameters, the following simple rule applies: ●...
Page 736 Communication 10.2 Communication via PROFIBUS DP Table 10- 60 Variables: "General" tab Field Value Name controller Type Depending on the addressed parameter value, e.g.: INT: for integer 16 DINT: for integer 32 WORD: for unsigned 16 REAL: for float Area Parameter number (data block number) 1 ...
Page 737: Monitoring: Telegram Failure
Communication 10.2 Communication via PROFIBUS DP 10.2.2.6 Monitoring: telegram failure When monitoring 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" and alarm A01920 is output. Binector output r2043.0 can be used for a quick stop, for example.
Page 738 Communication 10.2 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: ●...
Page 739: Motion Control With Profibus
Communication 10.2 Communication via PROFIBUS DP 10.2.3 Motion Control with PROFIBUS Motion control / isochronous drive coupling with PROFIBUS Figure 10-25 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 740 Communication 10.2 Communication via PROFIBUS DP Designations and descriptions for motion control Table 10- 61 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 741 Communication 10.2 Communication via PROFIBUS DP Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. – T > T and T > T is thus large enough to enable communication with all bus nodes. Note After T has been changed on the PROFIBUS master, the drive system must be...
Page 742 Communication 10.2 Communication via PROFIBUS DP User data integrity User data integrity is verified in both transfer directions (master <––> slave) by a sign of life (4-bit counter). The sign-of-life counters are incremented from 1 to 15 and then start again at 1. ●...
Page 743: Slave-To-Slave Communication
Communication 10.2 Communication via PROFIBUS DP 10.2.4 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 744 Communication 10.2 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 745: Setpoint Assignment In The Subscriber
Communication 10.2 Communication via PROFIBUS DP 10.2.4.1 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 746 Communication 10.2 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 10-27 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 747: Commissioning Of The Profibus Slave-To-Slave Communication
Communication 10.2 Communication via PROFIBUS DP 10.2.4.3 Commissioning of the 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 748 1. You have generated a project, e.g. with SIMATIC Manager and HW Config. In the project example, you have defined a CPU 314 controller as master and two SINAMICS S120 Control Units as slaves. For the slaves, one CU320-2 DP is intended as Publisher and one CU310-2 DP as Subscriber.
Page 749 Communication 10.2 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 750 Communication 10.2 Communication via PROFIBUS DP 7. In the first column, select the PROFIBUS DP address of the Publisher, in this example "6". 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 751 Communication 10.2 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 10-33 Slave-to-slave communication - overview After the slave-to-slave communication link has been created, instead of showing "Standard telegram 2"...
Page 752 Communication 10.2 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 10-35 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 753 Communication 10.2 Communication via PROFIBUS DP Commissioning in STARTER Slave-to-slave communication is configured in HWConfig and is simply an extension of an existing telegram. STARTER supports telegram extension. Figure 10-36 Configuring the slave-to-slave communication links in STARTER To complete the configuration of slave-to-slave communication for the drive objects, the telegram portions of the drive objects in STARTER must be matched to those in the HW Config and extended.
Page 754 Communication 10.2 Communication via PROFIBUS DP 3. Then, in the telegram selection, set the telegram portion to the "Standard telegram" (in the example: Standard telegram 2), which results in a split display of the telegram types (standard telegram + telegram extension). The telegram extension represents the telegram portion of slave-to-slave communication.
Page 755 Communication 10.2 Communication via PROFIBUS DP 4. In the project navigator, select "Communication" > "Protocol selection on PROFIBUS" for the "SERVO_01" drive object. You are then provided with the structure of the PROFIBUS telegram in the receive and send direction. The telegram extension as of PZD5 is the part for slave-to-slave communication.
Page 756: Gsd In Operation
PROFIBUS slave-to-slave communication for SINAMICS. The GSD files can be found: ● On the Internet: http://support.automation.siemens.com/WW/llisapi.dll?func=cslib.csinfo2&aktprim=99&lan g=de, then search for GSD files using an index search. ● On the CD of the STARTER commissioning tool Order no.
Page 757 Communication 10.2 Communication via PROFIBUS DP Figure 10-40 Hardware catalog of the generic station description file with slave-to-slave communication functionality Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 758: Diagnosing The Profibus Slave-To-Slave Communication In Starter
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 759: Messages Via Diagnostics Channels
Communication 10.2 Communication via PROFIBUS DP 10.2.5 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 760 Communication 10.2 Communication via PROFIBUS DP The following parameter assignments are possible: Setting Code for parameter assignment Inactive PROFIdrive error classes When establishing the communication between SINAMICS and a master/controller, the activated diagnostics mode of this master/controller is first transferred to the drive. With activated diagnostics, SINAMICS first transfers all pending messages to the master/controller.
Page 761 Communication 10.2 Communication via PROFIBUS DP Actual position/speed value error An illegal signal state was detected while evaluating the encoder signals (track signals, zero marks, absolute values, etc.). Check the encoder / state of the encoder signals. Observe the maximum permissible frequencies. Internal communication faulted The internal communication between the SINAMICS components is faulted or interrupted.
Page 762: Communication Via Profinet Io
Communication 10.3 Communication via PROFINET IO 10.3 Communication via PROFINET IO 10.3.1 General information about PROFINET IO General information PROFINET IO is an open Industrial Ethernet standard for a wide range of production and process automation applications. PROFINET IO is based on Industrial Ethernet and observes TCP/IP and IT standards.
Page 763: Real-Time (Rt) And Isochronous Real-Time (Irt) Communication
Communication 10.3 Communication via PROFINET IO 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 Cyclic communication using PROFINET IO with IRT or using RT is possible on all drive units equipped with a PROFINET interface.
Page 764: Addresses
Communication 10.3 Communication via PROFINET IO PROFINET IO with RT (Real Time) Real time means that a system processes external events over a defined period. Process data and alarms are always transferred in real time (RT) within the PROFINET IO system.
Page 765 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).
Page 766: Data Transfer
Communication 10.3 Communication via PROFINET IO Note You can enter the address data for the internal PROFINET ports X150 P1 and P2 in STARTER in the expert list using parameters p8920, p8921, p8922 and p8923. You can enter the address data for the ports of the optional CBE20 module in STARTER in the expert list using parameters p8940, p8941, p8942 and p8943.
Page 767 Communication 10.3 Communication via PROFINET IO The following drive objects can exchange process data: ● Active Infeed (A_INF) ● Basic Infeed (B_INF) ● Control Unit (CU_S) ● ENC ● Smart Infeed (S_INF) ● SERVO ● Terminal Board 30 (TB30) ● Terminal Module 15 (TM15) ●...
Page 768: Communication Channels For Profinet
Communication 10.3 Communication via PROFINET IO 10.3.1.4 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 769 Communication 10.3 Communication via PROFINET IO Overview of important parameters (see SINAMICS S120/S150 List Manual) Integrated PROFINET interface PN name of station • p8920[0...239] PN IP address of station • p8921[0...3] PN default gateway of station • p8922[0...3] PN subnet mask of station •...
Page 770: Drive Control With Profinet
● For a description of the CBE20 and how you can use it in the drive, please refer to the SINAMICS S120 Control Units Manual. ● The PROFINET interface on the CU310-2 PN unit is described in the SINAMICS S120 AC Drive Manual:...
Page 771 10.3 Communication via PROFINET IO 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 slave within a PROFINET IO network. For a CU310-2 PN/CU320-2 DP/CU320-2 PN with CBE20 module, the following applies: ●...
Page 772 Communication 10.3 Communication via PROFINET IO STEP 7 routing with CBE20 The CBE20 does not support STEP 7 routing between PROFIBUS and PROFINET IO. Connecting a PG/PC with the STARTER commissioning tool To commission a Control Unit with a PG/PC using the STARTER commissioning tool, there are the connection options PROFIBUS, PROFINET or Ethernet.
Page 773: Media Redundancy
Communication 10.3 Communication via PROFINET IO 10.3.2.1 Media redundancy To increase the availability of PROFINET, you can create a ring topology for redundancy purposes. If the ring is interrupted at one point, the data paths between the devices are automatically reconfigured. Following reconfiguration, the devices can once again be accessed in the resulting new topology.
Page 774 Communication 10.3 Communication via PROFINET IO Two options are available with this RT class: ● IRT "high flexibility" ● IRT "high performance" Software preconditions for configuring IRT: ● STEP 7 5.4 SP4 (HW Config) Note For further information about configuring the PROFINET interface for the I/O controller and I/O device, please refer to the following document: SIMOTION SCOUT Communication System Manual.
Page 775 Communication 10.3 Communication via PROFINET IO Modules The following S110/S120 modules support the IRT "high performance": ● S120 CU320 together with the CBE20 ● S120 CU320-2 DP together with the CBE20 ● S120 CU320-2 PN ● S120 CU310 PN ● S120 CU310-2 PN ●...
Page 776 Communication 10.3 Communication via PROFINET IO Set the RT class The RT class is set by means of the properties of the controller interface of the IO controller. If RT class IRT "high performance" is set, it is not possible to operate any IRT "high flexibility"...
Page 777 Communication 10.3 Communication via PROFINET IO Update cycles and send cycles for RT classes Definition of the update time / send cycle: If we take a single IO device in the PROFINET IO system as an example, this device has been supplied with new data (outputs) by the IO controller and has transferred new data (inputs) to the IO controller within the update time.
Page 778 Communication 10.3 Communication via PROFINET IO Explanations for the above table: It is only possible to set send cycles from the "even" range when IO devices with RT class "RT" are assigned to a synchronization domain. Likewise, only the reduction ratios from the "even"...
Page 779: Profinet Gsdml
GSD files for devices which contain IRT as of firmware version V2.5. 10.3.4 PROFINET GSDML To embed a SINAMICS S into a PROFINET network, SINAMICS S120 supports two different PROFINET GSDML versions (generic station description file): ● PROFINET GSDML for compact modules ●...
Page 780 Communication 10.3 Communication via PROFINET IO Table 10- 65 Submodules depending on the particular drive object Module Subslot 1 Subslot 2 Subslot 3 Subslot 4 Max. number PROFIsafe PZD telegram PZD extension of PZD SERVO Telegram Telegrams: 1...220 PZD-2/2, -2/4, -2/6 20/28 30/31/901/902 free PZD-16/16...
Page 781: Motion Control With Profinet
Communication 10.3 Communication via PROFINET IO You will find a detailed description for processing a GSDML file in HW Config in the SIMATIC documentation. 10.3.5 Motion Control with PROFINET Motion Control/Isochronous drive link with PROFINET Figure 10-45 Motion Control/Isochronous drive link with PROFINET, optimized cycle with CACF = 2 Sequence of data transfer to closed-loop control system 1.
Page 782 Communication 10.3 Communication via PROFINET IO Designations and descriptions for motion control Table 10- 66 Time settings and meanings Name Limit value Description Time basis for cycle time T DC_BASE calculation: =T_DC_BASE × 31.25 µs = 4 × 31.25 µs = 125 µs DC_BASE T_DC_MIN ≤...
Page 783 Communication 10.3 Communication via PROFINET IO Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. T is a multiple of SendClock. – T > T and T ≧ T CA_Valid IO_Output is thus large enough to enable communication with all bus nodes.
Page 784: Communication With Cbe20
• r8858[0...39] 10.3.6.1 EtherNet/IP SINAMICS S120 supports the communication with the fieldbus EtherNet Industrial Protocol (EtherNet/IP or also EIP). EtherNet/IP is an open standard based on Ethernet, which is predominantly used in the automation industry. EtherNet/IP is supported by the Open DeviceNet Vendor Association (ODVA).
Page 785: Pn Gate
PN GATE FOR SINAMICS enables control devices with a standard Ethernet interface to be connected isochronously via PROFINET with IRT to SINAMICS S120 and motion control, robotics or CNC applications to be implemented with SINAMICS S120 drives. In addition to the SINAMICS S120, other PROFINET devices (drives, distributed I/O, etc.) can be connected.
Page 786: Functions Transferred From Pn Gate
Communication 10.3 Communication via PROFINET IO 10.3.7.1 Functions transferred from PN Gate Functions transferred from PN Gate 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 787: Preconditions For Pn Gate
Communication 10.3 Communication via PROFINET IO 10.3.7.2 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 (X 132) Recommendation: Ethernet cable with the order number: 6SL3060-4AB00-0AA0 ●...
Page 788 Communication 10.3 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 STEP 7 5.2 SP2 (minimum requirement) general release with STEP 7 5.5 SP2, STARTER 4.3, SINAMICS V4.5, ●...
Page 789: Profinet With 2 Controllers
Note Operation with two controllers is only possible in conjunction with an F-CPU. SINAMICS S120 allows two control systems to be simultaneously connected to a Control Unit via PROFINET, e.g. an automation controller (A-CPU) and a safety controller (F-CPU). SINAMICS S supports, for this communication, standard telegrams 30 and 31, as well as Siemens telegrams 901 and 902 for the safety controller.
Page 790 Communication 10.3 Communication via PROFINET IO Example The following diagram shows a configuration example of a drive with three axes. The A-CPU sends standard telegram 105 for axis 1 and standard telegram 102 for axis 2. The F-CPU sends PROFIsafe telegram 30 for axis 1 and axis 3. Figure 10-48 Example, communication sequence Configuration To configure the connection, proceed as follows:...
Page 791: Configuring Shared Device
Communication 10.3 Communication via PROFINET IO Note When booting, the drive system first requires the configuration data of A-CPU and then establishes a cyclic communication to this CPU taking into account the PROFIsafe telegrams expected. As soon as the drive system has received the configuration data of the F-CPU, then cyclic communication is also established here and PROFIsafe telegrams are taken into consideration.
Page 792 Communication 10.3 Communication via PROFINET IO Example: Two controllers in a common project Start STEP 7: 1. Under S7, create a drive control for the new project, in the example called A-CPU, based on a SIMATIC 300. Figure 10-49 Creating a new S7 project 2.
Page 793 Communication 10.3 Communication via PROFINET IO 3. Click "Station\Save and compile" (Ctrl+S) The previous project is saved. 4. Open the shortcut menu of the S120 drive and click "Open object with STARTER" to configure the drives in STARTER. Figure 10-51 New project transferred from HW Config into STARTER The STARTER window opens automatically The project is displayed in the navigation window.
Page 794 Communication 10.3 Communication via PROFINET IO 2. 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. – Then click under project "Save and recompile all". –...
Page 795 Communication 10.3 Communication via PROFINET IO 4. Transfer your telegram changes to HW Config by clicking "Set up addresses". Figure 10-56 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 796 Communication 10.3 Communication via PROFINET IO Configuring the safety controller: 1. In the HW Config window click the "S120" component. Figure 10-57 Updated project in HW Config 2. Access to all telegrams is set to full. You must enable this in order that the PROFIsafe controller can access telegram 30.
Page 797 Communication 10.3 Communication via PROFINET IO 3. In the following window you lock the access value of the PROFIsafe telegrams for the A- CPU. Figure 10-58 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 drive control under STEP 7.
Page 798 Communication 10.3 Communication via PROFINET IO Configuring the F-CPU in HW Config 1. Different than for a drive control, now select a PROFIsafe-compatible controller, for example, a CPU 317F-2 PN/DP. We have manually renamed the PROFIsafe controller to be "F-CPU". 2.
Page 799 Communication 10.3 Communication via PROFINET IO 8. In the shortcut menu, select "Insert shared". The S120 drive control 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.
Page 800: Overview Of Important Parameters
If there is a checkmark after each telegram type in STARTER, then the Shared Device has been successfully configured. 10.3.8.3 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) PN number of remote controllers • p8929 SI enable functions integrated in the drive (Control Unit) •...
Page 801 PROFIenergy properties of the SINAMICS S120 drive system SINAMICS S120 drive system devices meet the following requirements: ● SINAMICS S120 devices are certified for PROFIenergy ● SINAMICS S120 devices support the PROFIenergy functional unit Class 3 ● SINAMICS S120 devices support the PROFIenergy hibernation 2 PROFIenergy commands Control commands: ●...
Page 802: Function Diagrams And Parameters
Control commands / interrogation commands • 2381 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 803 Communication 10.3 Communication via PROFINET IO Activating the diagnostic function The diagnostics function is activated or deactivated via the parameterization of the relevant configuration tool (HW Config, TIA Portal, etc.). Figure 10-62 Activation of PROFINET The following parameter assignments are possible: Setting Code for parameter assignment Inactive...
Page 804 Communication 10.3 Communication via PROFINET IO Messages The following PROFIdrive error texts are displayed during forwarding via the PROFINET diagnostics channel: Hardware/software fault A hardware or software malfunction was detected. Carry out a POWER ON for the relevant component. If it occurs again, contact the hotline. Line supply fault A line supply fault has occurred (phase failure, voltage level, etc.).
Page 805 Communication 10.3 Communication via PROFINET IO Internal (DRIVE-CLiQ) communication faulted The internal communication between the SINAMICS components is faulted or interrupted. Check the DRIVE-CLiQ wiring. Ensure an EMC-compliant installation. Observe the maximum permissible quantity structures / cycles. Infeed faulted The infeed is faulty or has failed. Check the infeed and the surroundings (line supply, filters, reactors, fuses, etc.).
Page 806: 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 807 Communication 10.4 Communication via SINAMICS Link Send and receive data The SINAMICS Link telegram contains 16 slots (0...15) for the process data (PZD1...16). Each PZD is precisely 1 word long (= 16 bits). Slots that are not required are automatically filled with zeros.
Page 808: Topology
Communication 10.4 Communication via SINAMICS Link 10.4.2 Topology Only a line topology with the following structure is permitted for SINAMICS Link. You must manually set the parameters in the expert lists of the Control Units and drive objects. To do this, use the STARTER commissioning tool.
Page 809 Communication 10.4 Communication via SINAMICS Link 3. Set parameter p2037 of the drive objects to "2" (do not freeze setpoints). 4. Assign the nodes in parameter p8836 to the SINAMICS Link node number. The first Control Unit is always assigned the number 1. Node number 0 means that for this Control Unit SINAMICS Link has been shut down.
Page 810 Communication 10.4 Communication via SINAMICS Link Table 10- 69 Compile send data of drive 2 (DO3) p2051[x] p2061[x] Contents From Slots in the send buffer parameter p8871[x] Index Index ZSW1 r0899 PZD 7 Actual speed value part 1 r0061[0] PZD 8 Actual speed value part 2 PZD 9 Actual torque value part 1...
Page 811 Communication 10.4 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 16 PDA. 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 16 PZD.
Page 812: Example
Communication 10.4 Communication via SINAMICS Link Note For double words, two PZD must be read in succession. Read a 32-bit setpoint that is at PZD 2+PZD 3 of the telegram from node 2, and map this to PZD 2+PZD 3 of node 1: p8872[1] = 2, p8870[1] = 2, p8872[2] = 2, p8870[2] = 3 Activation To activate SINAMICS Link connections, perform a POWER ON for all nodes.
Page 813 Communication 10.4 Communication via SINAMICS Link 8. Define the send data for node 1 – Define the PZD that node 1 should send: p2051[0] = drive1:r0898 (PZD length is 1 word) p2061[1] = drive1:r0079 (PZD length is 2 words) p2061[3] = drive1:r0021 (PZD length is 2 words) –...
Page 814 Communication 10.4 Communication via SINAMICS Link 12. At the two nodes carry-out a "Copy RAM to ROM" to backup the parameterization and the data. 13. For both nodes, perform a POWER ON in order to activate the SINAMICS Link connections. Figure 10-64 SINAMICS Link: Configuration example Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 815: Communication Failure When Booting Or In Cyclic Operation
Communication 10.4 Communication via SINAMICS Link 10.4.5 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 816: Function Diagrams And Parameters
Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) CU_LINK - Data transfer • 2194 Overview of important parameters (see SINAMICS S120/S150 List Manual) IF1 PROFIdrive STW1.10 = 0 mode • p2037 CO: IF1 PROFIdrive PZD receive word •...
Page 817: Applications
Applications 11.1 Infeed switch on by a drive Description Figure 11-1 BICO interconnection Using this BICO interconnection, a drive object (DO) X_INF (= all "Infeed" drive objects; i.e. A_INF, B_INF, S_INF) can be switched on by a "VECTOR" drive object. This switch-on version is mainly used for drive units in the "chassis"...
Page 818 Applications 11.1 Infeed switch on by a drive Individual steps when restarting: ● After the line supply returns and the electronics has booted, the faults that have occurred at the "VECTOR" drive object as a result of its automatic restart are acknowledged depending on the settings in p1210.
Page 819: Description
Applications 11.2 Description 11.2 Description 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 820 Applications 11.2 Description Example of a motor changeover for four motors (encoderless) Requirements ● The first commissioning has been completed. ● 4 motor data sets (MDS), p0130 = 4 ● 4 drive data sets (DDS), p0180 = 4 ● 4 digital outputs to control the auxiliary contactors ●...
Page 821 Applications 11.2 Description Table 11- 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 selection selection are selected.
Page 822 Applications 11.2 Description Example of a star/delta changeover (via speed threshold; encoderless) Requirements ● The first commissioning has been completed. ● 2 motor data sets (MDS), p0130 = 2 ● 2 drive data sets (DDS), p0180 = 2 ● 2 digital outputs to control the auxiliary contactors ●...
Page 823 Note: Using p2140, you can define an additional hysteresis 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 824 Data sets - Encoder Data Sets (EDS) • 8570 Data sets - Motor Data Sets (MDS) • 8575 Overview of important parameters (see SINAMICS S120/S150 List Manual) • r0051[0...4] CO/BO: Drive data set DDS effective Motor data sets (MDS) number • p0130 Encoder data sets (EDS) number •...
Page 825: Application Examples With Dmc20
Applications 11.3 Application examples with DMC20 11.3 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 four 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 826 Applications 11.3 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 using a DMC20, up to five measuring systems can be combined. Figure 11-4 Example, distributed topology using DMC20 Example: Hot-plugging...
Page 827 Applications 11.3 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 828 The following steps must be taken to commission offline: 1. Configure a drive unit offline 2. Right-click Topology -> Insert new object -> DRIVE-CLiQ Hub 3. Configure the topology Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 829: Dcc Axial Winder
● Acceleration-based torque precontrol ● Flexible sensor evaluation (e.g. dancer roll, load cell) Note Documentation for a standard application for the DCC axial winder is available on demand from your responsible SIEMENS distribution partner. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 830 Applications 11.4 DCC axial winder Function blocks Note Detailed information on the function blocks is provided in the "SINAMICS SIMOTION Function Manual DCC Block Description" as well as in the "SINAMICS SIMOTION Programming Manual DCC Editor". The "DCC axial winder" function involves the following DCBs (drive control blocks - function blocks for the drive control): 1.
Page 831 Applications 11.4 DCC axial winder Operating principle To maintain a constant tension of the continuous web, the drive torque is increased linearly as the wound roll diameter increases - or is decreased linearly as the diameter decreases. To protect the material being wound, the tension is reduced according to a characteristic as the wound roll diameter increases.
Page 832 Applications 11.4 DCC axial winder Limitation of the speed controller output with dynamic speed limits r1538 r1534 p1552 p1551 r0899.5 [5060 .7] [5610.3] r1509 [5060 .4] r1535 [5060 .7] p1554 r1539 Figure 11-9 Limitation of the speed controller output with dynamic speed limits (example of SERVO) See 6060 for VECTOR application.
Page 833 • 5620 Servo control - Motoring/generating torque limit • 6031 Vector control - Precontrol balancing reference/acceleration model • 6060 Vector control - Torque setpoint 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 834: Control Units Without Infeed Control
Applications 11.5 Control Units without infeed control 11.5 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 835 The source for the "Infeed operation" signal is a digital input in the example. Figure 11-11 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 CO/BO: Drive coupling status word / control word •...
Page 836: Quick Stop In The Event Of A Power Failure Or Emergency Stop (Servo)
Applications 11.6 Quick stop in the event of a power failure or emergency stop (servo) 11.6 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 837 Applications 11.6 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 838 Applications 11.6 Quick stop in the event of a power failure or emergency stop (servo) Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 839: Basic Information About The Drive System
Basic information about the drive system 12.1 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 840 Basic information about the drive system 12.1 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 841 = 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 842: Data Sets
Basic information about the drive system 12.2 Data sets 12.2 Data sets 12.2.1 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 843: 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 844: Eds: Encoder Data Set
Basic information about the drive system 12.2 Data sets Binector inputs p0820 to p0824 are used to select a drive data set. They represent the number of the drive data set (0 to 31) in binary format (where p0824 is the most significant bit).
Page 845 Basic information about the drive system 12.2 Data sets If encoder 1 (p0187) is changed over via DDS, then an MDS must also be changed over. Note Switching over between several encoders In order to be able to switch between two or several encoders using the EDS switchover function, you must connect these encoders via various Sensor Modules or DRIVE-CLiQ ports.
Page 846: 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 847: Function Diagrams And Parameters
EDS 6 12.2.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) • 8560 Data sets - Command Data Sets (CDS) • 8565 Data sets - Drive Data Sets (DDS) • 8570 Data sets - Encoder Data Sets (EDS) •...
Page 848 Basic information about the drive system 12.2 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 Encoder data sets (EDS) number •...
Page 849: Drive Objects
Basic information about the drive system 12.3 Drive objects 12.3 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 850 A dedicated drive object is responsible for evaluating an optional additional encoder that can be connected. Note Drive object A list of all drive objects is provided in the SINAMICS S120/S150 List Manual in Section Overview of parameters. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 851 Note Each installed drive object is allocated a number between 0 and 63 during first commissioning for unique identification. Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object numbers • p0101 Number of drive objects •...
Page 852: Bico Technology: Interconnecting Signals
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4 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 853: Interconnecting Signals Using Bico Technology
Basic information about the drive system 12.4 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 854: Internal Encoding Of The Binector/Connector Output Parameters
Basic information about the drive system 12.4 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 855: Sample Interconnections
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.4 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 12-7 Interconnection of digital signals (example) Example 2: connection of OC/OFF3 to several drives...
Page 856: Bico Technology
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.5 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 ● r9491[0...15] BI/CI of BICO interconnections to other drives ●...
Page 857: Scaling
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.6 Scaling Signals for the analog outputs Table 12- 5 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 858: Propagation Of Faults
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.7 Propagation of faults Forwarding faults to the Control Unit When faults are triggered on the "Control Unit" drive object, it is always assumed that central functions of the drive are affected. For this reason, these faults are also forwarded to all other drive objects (propagation).
Page 859: 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 860: Digital Inputs/Outputs
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: ● 2120 Digital inputs, isolated (DI 0 ... DI 3) ●...
Page 861 – As a connector output Note Before the digital outputs can function, their own electronics power supply must be connected. Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit CU310-2: ● 2038 – Digital output (DO 16) TB30: ● 9102 Isolated digital outputs (DO 0 to DO 3) TM31: ●...
Page 862 ● Sharing of bidirectional input/output resources by the CU and higher-level controller (see Section "Use of bidirectional inputs/outputs on the CU (Page 861)") Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit CU310-2: ● 2030 Digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9) ●...
Page 863: Use Of Bidirectional Inputs/Outputs On The Cu
Basic information about the drive system 12.5 Inputs/outputs 12.5.2 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 864 Basic information about the drive system 12.5 Inputs/outputs Access priorities ● Reparameterization output controller --> output drive via parameter p0738 ff The drive output has higher priority than a standard controller output using the DO1 telegram, but direct access by the controller to the terminal (bypass) has higher priority than the drive output.
Page 865: Analog Inputs
Basic information about the drive system 12.5 Inputs/outputs 12.5.3 Analog inputs Signal processing using the analog inputs is shown in the function diagrams listed below. Properties ● Hardware input filter set permanently ● Simulation mode parameterizable ● Adjustable offset ● Signal can be inverted via binector input ●...
Page 866 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 867: 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 868: 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 S120/150 List Manual. Note NVRAM data change The data in the NVRAM can only be restored or deleted if the pulse inhibit is set.
Page 869 Basic information about the drive system 12.6 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 to be restored.
Page 870: 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. 12.6.2 Redundant data backup on memory card In conjunction with the "Firmware download via Web server"...
Page 871 ≥ 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...
Page 872: Parameterizing Using The Bop20 (Basic Operator Panel 20)
Faults can be diagnosed as well as acknowledged. The BOP20 is snapped onto the Control Unit. To do this, the blanking cover must be removed (for additional information on mounting, please refer to the SINAMICS S120 Manual Control Units and Supplementary System Components). Displays and keys...
Page 873 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Display Meaning Is lit (bright) if, for a parameter, the value only becomes effective after pressing the P key. Is light (bright) if at least one parameter was changed and the calculation for consistent data management has still not been initiated.
Page 874 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) BOP20 functions Table 12- 9 Functions Name Description Backlighting The backlighting can be set using p0007 in such a way that it switches itself off automatically after the set time if no actions are carried out.
Page 875 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Overview of important parameters (see SINAMICS S120/S150 List Manual) All drive objects BOP status display selection • p0005 BOP status display mode • p0006 BOP user-defined list •...
Page 876: Displays And Using The Bop20
Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.7.2 Displays and using the BOP20 Features ● Status indicator ● Changing the active drive object ● Displaying/changing parameters ● Displaying/acknowledging faults and alarms ● Controlling the drive using the BOP20 Status indicator The operating display for each drive object can be set using p0005 and p0006.
Page 877 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Parameter display The parameters are selected in the BOP20 using the number. The parameter display is reached from the operating display by pressing the "P" key. Parameters can be searched for using the arrow keys.
Page 878 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Value display To switch from the parameter display to the value display, press the "P" key. In the value display, the values of the adjustable parameters can be increased and decreased using the arrow.
Page 879 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Example: Changing a parameter Precondition: The appropriate access level is set (for this particular example, p0003 = 3). Figure 12-12 Example: Changing p0013[4] from 0 to 300 Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 880 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Example: Changing binector and connector input parameters For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected. Figure 12-13 Example: Changing indexed binector parameters Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 881: Fault And Alarm Displays
Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.7.3 Fault and alarm displays Displaying faults Figure 12-14 Faults Displaying alarms Figure 12-15 Alarms Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 882: Controlling The Drive Using The Bop20
Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.7.4 Controlling the drive using the BOP20 When commissioning the drive, it can be controlled via the BOP20. A control word is available on the Control Unit drive object (r0019) for this purpose, which can be interconnected with the appropriate binector inputs of e.g.
Page 883: Examples Of Replacing Components
Basic information about the drive system 12.8 Examples of replacing components 12.8 Examples of replacing components Note To ensure that the entire functionality of a firmware version can be used, it is recommended that all the components in a drive line-up have the same firmware version. Description If the type of comparison is set to the highest setting, the following examples apply.
Page 884 Basic information about the drive system 12.8 Examples of replacing components Example: Replacing a component with a different order number Requirement: ● The replaced component has a different order number Table 12- 11 Example: Replacing a component with a different order number Action Reaction Remark...
Page 885 Basic information about the drive system 12.8 Examples of replacing components Example: (p9909 = 0) Replacing a defective component with an identical order number Requirement: ● The replaced component has an identical order number ● Topology comparison component replacement inactive p9909 = 0. Table 12- 12 Example: Replacing a Motor Module Action Reaction...
Page 886 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. Drive functions...
Page 887: Drive-Cliq Topology
Electronic rating plate The electronic rating plate contains the following data: ● Component type (e.g. SMC20) ● Order number (e.g. 6SL3055-0AA0-5BA0) ● Manufacturer (e.g. SIEMENS) ● Hardware version (e.g. A) ● Serial number (e.g. "T-PD3005049) ● Technical specifications (e.g. rated current) Actual topology The actual topology corresponds to the actual DRIVE-CLiQ wiring harness.
Page 888 Basic information about the drive system 12.9 DRIVE-CLiQ topology Comparison of topologies at Power On Comparing the topologies prevents a component from being controlled/evaluated incorrectly (e.g. drive 1 and 2). When the drive system boots, the Control Unit compares the detected actual topology and the electronic rating plates with the target topology stored on the memory card.
Page 889: Rules For Wiring With Drive-Cliq
DRIVE-CLiQ detailed diagnostics individual connection selection • p9942 DRIVE-CLiQ detailed diagnostics individual connection error counter • r9943 Detailed information on the parameters for DRIVE-CLiQ diagnostics is provided in the SINAMICS S120/S150 List Manual. Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 890: Changing The Offline Topology In The Starter Commissioning Tool
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.1 Changing the offline topology in the STARTER commissioning tool The device topology can be changed in the STARTER commissioning tool by shifting the components in the topology tree. Example: Changing the DRIVE-CLiQ topology 1.
Page 891: Binding Drive-Cliq Rules
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.2 Binding DRIVE-CLiQ rules The wiring rules below apply to standard cycle times (servo control 125 µs, vector control 250 µs). For cycle times that are shorter than the corresponding standard cycle times, additional restrictions apply due to the computing power of the Control Unit (configured using the SIZER engineering tool).
Page 892 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● If a CU link connection is detected, the DRIVE-CLiQ basic clock cycle 0 (r0110[0]) is set to 125 μs and assigned to this DRIVE-CLiQ socket. ● The following applies for booksize format: –...
Page 893 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● Mixed operation of control types: – Mixed operation of servo control and vector control is not permissible. – Mixed operation of servo control and U/f control is permissible. –...
Page 894 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● For current controller clock cycles T < 125 μs, the Motor Modules – also with the same controller clock cycle – must be symmetrically connected to two DRIVE-CLiQ ports. ●...
Page 895 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● Examples, CU320-2 with 62.5 µs sampling time: – Topology 1: 1 x ALM (250 µs) + 2 x servo (62.5 µs) + 2 x servo (125 µs) + 3 x TM15 + TM54F + 4 x Safety Integrated Extended Functions with encoder SI Motion monitoring clock cycle (p9500) = 12 ms + SI Motion actual value sensing clock cycle (p9511) = 4 ms + 4 x dir.
Page 896 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● Connection of the following components is not permissible for a sampling time of = 31.25 μs: – Additional Motor Modules in servo control – Additional Motor Modules in U/f control –...
Page 897: Recommended Drive-Cliq Rules
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.3 Recommended DRIVE-CLiQ rules To enable the function "Automatic configuration" to assign the encoders to the drives, the recommended rules below must also be observed: ● The following applies to all DRIVE-CLiQ components with the exception of the Control Unit: The DRIVE-CLiQ sockets Xx00 are DRIVE-CLiQ inputs, the other DRIVE-CLiQ sockets are outputs.
Page 898 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● The motor encoder should be connected to the associated Motor Module: Connecting the motor encoder via DRIVE-CLiQ: – Single Motor Module Booksize to terminal X202 – Double Motor Module Booksize motor X1 to terminal X202 and motor X2 to terminal X203 –...
Page 899 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● The TM54F should not be operated on the same DRIVE-CLiQ line as Motor Modules. ● The Terminal Modules TM15, TM17 and TM41 have faster sample cycles than the TM31 and TM54F.
Page 900: Topology Example: Drives In Vector Control
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.4 Topology example: Drives in vector control Example 1 A drive line-up with three Motor Modules in chassis format with identical pulse frequencies or three Motor Modules in booksize format in vector control mode. The Motor Modules chassis format with identical pulse frequencies or the Motor Modules booksize format in vector control mode can be connected to one DRIVE-CLiQ interface on the Control Unit.
Page 901 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive line-up comprising four Motor Modules in the chassis format with different pulse frequencies It is advantageous to connect Motor Modules with different pulse frequencies to different DRIVE-CLiQ sockets of the Control Unit. They may also be connected at the same DRIVE- CLiQ line.
Page 902: Topology Example: Parallel Motor Modules In Vector Control
In the following diagram, two Active Line Modules and two Motor Modules are connected to the X100 or X101 socket. You can find additional notes in the chapter "Parallel connection of power units" in the SINAMICS S120 Function Manual. Note The offline topology automatically generated in the STARTER commissioning tool must be manually modified, if this topology was wired.
Page 903: Topology Example: Power Modules
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.6 Topology example: Power Modules Blocksize Figure 12-23 Drive line-ups with Power Modules blocksize Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 904 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Chassis Figure 12-24 Drive line-up of a Power Module chassis Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 905: Topology Example: Drives In Servo Control
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.7 Topology example: Drives in servo control The following diagram shows the maximum number of controllable SERVO drives and extra components. The sampling times of individual system components are: ●...
Page 906: Topology Example: Drives In U/F Control (Vector Control)
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.8 Topology example: Drives in U/f control (vector control) The following diagram shows the maximum number of controllable vector V/f drives with additional components. The sampling times of individual system components are: ●...
Page 907: Emergency Operating Mode For Drive-Cliq Components
Basic information about the drive system 12.11 Emergency operating mode for DRIVE-CLiQ components 12.11 Emergency operating mode for DRIVE-CLiQ components In order to protect the drive system against excessive voltage when the Control Unit or DRIVE-CLiQ communication fails (e.g. while a spindle is rotating), an autonomous emergency operating mode (independent operation) is integrated in DRIVE-CLiQ components for the following functions: ●...
Page 908 Basic information about the drive system 12.11 Emergency operating mode for DRIVE-CLiQ components Communication restart includes a topology detection during emergency operation. Note When the component is running in emergency mode, it cannot be deactivated. Preparation for autonomous time-slice operation The application signals (basic system DRIVE-CLiQ slave components) preparation for autonomous time-slice operation.
Page 909 Basic information about the drive system 12.11 Emergency operating mode for DRIVE-CLiQ components Reconfigurations which must be linked to the DRIVE-CLiQ slave with message "Timing change" are ● Changes to the DRIVE-CLiQ clock cycle for the component. ● Changes to oversampling settings which require internal reconfiguration of the time-slice system.
Page 910: System Sampling Times And Number Of Controllable Drives
Basic information about the drive system 12.12 System sampling times and number of controllable drives 12.12 System sampling times and number of controllable drives The software functions installed in the system are executed cyclically with different sampling times (p0115, p0799, p4099). The sampling times of the functions are automatically pre-assigned when configuring the drive unit.
Page 911 Basic information about the drive system 12.12 System sampling times and number of controllable drives Cycle times for servo control This following table lists the number of axes that can be operated with a Control Unit in the servo control mode. The number of axes is also dependent on the cycle times of the controller: Table 12- 14 Sampling time setting for servo control Cycle times [µs]...
Page 912 Basic information about the drive system 12.12 System sampling times and number of controllable drives Cycle times for vector control This following table lists the number of axes that can be operated with a Control Unit in the vector control mode. The number of axes is also dependent on the cycle times of the controller: Table 12- 15 Sampling time setting for vector control Cycle times [µs]...
Page 913 Basic information about the drive system 12.12 System sampling times and number of controllable drives Mixed operation of servo control and U/f open-loop control In mixed operation with servo control and U/f control, one axis in servo control at 125 µs uses exactly as much computing performance as two axes in U/f control at 500 µs.
Page 914 "SINAMICS/SIMOTION Editor description DCC" manual. Using EPOS The following table lists the number of axes that can be operated with a SINAMICS S120 when using a basic positioning system (EPOS). The number of axes is dependent on the current controller clock cycle.
Page 915: Setting The Sampling Times
● Technology controller (p0115[6]) The performance levels range from xLow to xHigh. Details of how to set the sampling times are given in the SINAMICS S120/S150 List Manual. Setting the pulse frequency in online operation using STARTER Enter the minimum pulse frequency in p0113. For isochronous operation (p0092 = 1), you can only set the parameter so that a resulting current controller cycle with an integer multiple of 125 μs is obtained.
Page 916: Rules For Setting The Sampling Time
Basic information about the drive system 12.12 System sampling times and number of controllable drives Setting the sampling times If sampling times are required which cannot be set using p0112 > 1, then you can directly set the sampling times using p0115. To do so, p0112 must be set to "0" (Expert). If p0115 is changed online, then the values of higher indices are automatically adapted.
Page 917 Basic information about the drive system 12.12 System sampling times and number of controllable drives ● A current controller sampling time between 125.0 µs and 500.0 µs can be set for VECTOR drives (125.0 µs ≤ p0115[0] ≤ 500.0 µs). ●...
Page 918: Default Settings For The Sampling Times
Basic information about the drive system 12.12 System sampling times and number of controllable drives 12.12.4 Default settings for the sampling times When commissioning for the first time, the current controller sampling times (p0115[0]) are automatically pre-set with factory setting values: Table 12- 22 Factory settings Construction type Number...
Page 919: Examples When Changing Sampling Times / Pulse Frequencies
6. When STARTER is in offline mode: Download into the drive. 7. Perform "Copy RAM to ROM" to retentively save the parameter changes (see also the SINAMICS S120 Commissioning Manual). 8. Then start the recalculation of the controller settings (p0340 = 4).
Page 920 The pulse frequency in p1800 is automatically adapted. 9. Perform "Copy RAM to ROM" to retentively save the parameter changes (see also the SINAMICS S120 Commissioning Manual). 10. Then start the recalculation of the controller settings (p0340 = 4). Drive functions...
Page 921: Overview Of Important Parameters
Basic information about the drive system 12.12 System sampling times and number of controllable drives 12.12.6 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Device commissioning parameter filter • p0009 Isochronous mode, pre-assignment/check • p0092 Select drive object type •...
Page 922: Licensing
12.13 Licensing To use the SINAMICS S120 drive system and the activated options, you need to assign the corresponding licenses to the hardware. When doing so, you receive a license key, which electronically links the relevant option with the hardware.
Page 923 Basic information about the drive system 12.13 Licensing Note It is not possible to operate a drive system with an insufficient license for a function module. The drive requires a sufficient license in order for it to operate. System response for an insufficient license for an OA application An insufficient license for an OA application is indicated using the following fault and LED on the Control Unit: ●...
Page 924 12.13 Licensing Creating a license key 1. Call the "WEB License Manager" via the following link: http://www.siemens.com/automation/license 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 925 Basic information about the drive system 12.13 Licensing Entering the license key in STARTER With the STARTER commissioning tool, enter the letters and numbers of the license key directly, as specified in the "WEB License Manager". Always enter upper-case letters in parameter p9920.
Page 926 ASCII code Table 12- 24 Excerpt of ASCII code Character Decimal Character Decimal Blank Overview of important parameters (see SINAMICS S120/S150 List Manual) Licensing, enter license key • p9920[0...99] Licensing, activate license key • p9921 System utilization • r9976[0...7] Drive functions...
Page 927: Write And Know-How Protection
Basic information about the drive system 12.14 Write and know-how protection 12.14 Write and know-how protection In order to protect your own projects against changes, unauthorized viewing or copying, SINAMICS S120 has "write protection" and "know-how protection" functions (KHP). Protection Validity Objective Effect...
Page 928 Basic information about the drive system 12.14 Write and know-how protection 6. Call the shortcut menu "Write protection drive unit > Activate". Figure 12-27 Activating write protection Write protection is now activated. In the expert list you can recognize that write protection is active by the fact that the entry fields of all adjustable parameters are shown with gray shading.
Page 929: Know-How Protection
Certain parameters are excluded from the write protection in order not to restrict the functionality and operability of the drives. The list of these parameters can be found in the SINAMICS S120/150 List Manual in Section "Parameters for write protection and know-how protection", Subsection "Parameters with WRITE_NO_LOCK".
Page 930 Basic information about the drive system 12.14 Write and know-how protection Characteristics when know-how protection is activated ● Except for a small number of system parameters and the parameters specified in an exception list, all other parameters are locked. In the expert list, the value of these parameters cannot be read or changed.
Page 931 In spite of active know-how protection, certain parameters can be changed and read. The list of these parameters can be found in the SINAMICS S120/150 List Manual in the Chapter, Parameters for write protection and know-how protection in the subchapter, Parameters for write protection and know-how protection/parameters with "KHP_WRITE_NO_LOCK".
Page 932: Copy Protection
Note 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. 12.14.2.1 Copy protection Features of the activated copy protection Copy protection prevents project settings from being copied and transferred to other Control Units.
Page 933: Configuring Know-How Protection
Basic information about the drive system 12.14 Write and know-how protection 12.14.2.2 Configuring know-how protection Requirements Before activating know-how protection, the following conditions must be met: ● The drive unit has been fully commissioned. (Configuration, download into the drive unit, complete commissioning. You have then carried out an upload in order to upload the parameters calculated by the drive into the STARTER project.) ●...
Page 934 Basic information about the drive system 12.14 Write and know-how protection Absolute know-how protection By removing parameter p7766 from the exception list of p7764[0] = 0, you prevent any access at all to the data of the Control Unit and your project settings. It is then impossible to read or change the protected data.
Page 935 Basic information about the drive system 12.14 Write and know-how protection The "Know-how Protection for Drive Object - Specify Password" dialog box opens. Figure 12-29 Setting the password 9. In the "New password" field, enter the password (1 to 30 characters). Pay attention to upper- and lower-case.
Page 936 Basic information about the drive system 12.14 Write and know-how protection 6. In the shortcut menu, select "Drive unit know-how protection > Deactivate" The "Deactivate Know-how Protection for Drive Unit" dialog box opens. Figure 12-30 Deactivating 7. Select whether you want to deactivate the know-how protection "Temporarily" or "Permanently"...
Page 937: Loading Know-How Protected Data To The File System
Basic information about the drive system 12.14 Write and know-how protection 5. Call the shortcut menu "Drive unit know-how protection > Change password". The "Change Password" dialog box opens. Figure 12-31 Changing the password 6. Enter your old password in the uppermost text box. 7.
Page 938 Basic information about the drive system 12.14 Write and know-how protection Application example: Control Unit is defective Scenario: The Control Unit of an end user is defective. The machine manufacturer (OEM) has the end user's STARTER project files of the machine. Sequence: 1.
Page 939 Basic information about the drive system 12.14 Write and 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.
Page 940 Basic information about the drive system 12.14 Write and 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 941 Basic information about the drive system 12.14 Write and know-how protection By default, the "Without know-how protection" option is active. If you really want to store the data without protection (not recommended), you can exit the dialog box with "OK" or "Cancel"...
Page 942: Overview Of Important Parameters
Basic information about the drive system 12.14 Write and know-how protection 12.14.3 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 943: Appendix
Appendix Availability of hardware components Table A- 1 Hardware components available as of 03.2006 HW component Order number Version Revisions AC Drive (CU320, PM340) refer to the Catalog SMC30 6SL3055-0AA00-5CA1 with SSI support DMC20 6SL3055-0AA00-6AAx TM41 6SL3055-0AA00-3PAx SME120 6SL3055-0AA00-5JAx SME125 6SL3055-0AA00-5KAx BOP20 6SL3055-0AA00-4BAx...
Page 944 Appendix A.1 Availability of hardware components Table A- 3 Hardware components available as of 10.2008 HW component Order number Version Revisions TM31 6SL3055-0AA00-3AA1 TM41 6SL3055-0AA00-3PA1 DME20 6SL3055-0AA00-6ABx SMC20 (30 mm wide) 6SL3055-0AA00-5BA2 Active Interface Module 6SL3100-0BE21-6ABx booksize 16 kW Active Interface Module 6SL3100-0BE23-6ABx booksize 36 kW Smart Line Modules booksize...
Page 945 Appendix A.1 Availability of hardware components Table A- 6 Hardware components available as of 04.2011 HW component Order number Version Revisions S120 Combi 3 axes 6SL3111-3VE21-6FA0 Power Module 6SL3111-3VE21-6EA0 6SL3111-3VE22-0HA0 S120 Combi 4 axes 6SL3111-4VE21-6FA0 Power Module 6SL3111-4VE21-6EA0 6SL3111-4VE22-0HA0 S120 Combi 6SL3420-1TE13-0AA0 Single Motor Module 6SL3420-1TE15-0AA0...
Page 946: Availability Of Sw Functions
Appendix A.2 Availability of SW functions Availability of SW functions Table A- 10 New functions, firmware 2.2 SW function SERVO VECTOR HW component Technology controller Two command data sets Extended brake control Automatic restart for vector and Smart Line Modules 5/10 kW The ability to mix servo and vector V/f control modes on one CU Regulated V up to 480 V input voltage can be parameterized for...
Page 947 New functions, firmware 2.4 or 2.4 SP1 SW function SERVO VECTOR HW component SINAMICS S120 functionality for AC DRIVE (CU310 DP/PN) Basic positioning Encoder data set changeover (three EDS encoder data sets per drive data set) Two command data sets (CDS)
Page 948 Appendix A.2 Availability of SW functions SW function SERVO VECTOR HW component Drive converter/drive converter, drive converter/line supply (bypass) For chassis drive synchronizing units Voltage Sensing Module (VSM) for Active Line Module Also for booksize drive units Armature short-circuit braking, synchronous motors CANopen extensions (vector, free process data access, profile DS301) PROFINET IO communication with Option Module CBE20...
Page 949 Appendix A.2 Availability of SW functions SW function SERVO VECTOR HW component EPOS function extensions: Traversing blocks / new task: "Travel to fixed stop" • Traversing blocks / new continuation conditions: "External block • relaying" Completion of position tracking for absolute encoder (load gear) •...
Page 950 Appendix A.2 Availability of SW functions SW function SERVO VECTOR HW component Automatic speed controller setting As of FW2.1 Technological pump functions Simultaneous cyclical operation of PROFIBUS and PROFINET on CU320 Automatic restart also with servo As of FW2.2 Operates at 500 μs PROFINET I/O Absolute position information (X_IST2) with resolver DC-link voltage monitoring depending on the line voltage Automatic line frequency detection...
Page 951 Appendix A.2 Availability of SW functions SW function SERVO VECTOR HW component Quick magnetization for induction motors Flux reduction for induction motors Component status display Downgrade lock Parallel connection of motors Parallel connection of Motor Modules Parallel connection of power units Master/slave function for infeeds Thermal motor monitoring I2t model for synchronous motors...
Page 952 Appendix A.2 Availability of SW functions SW function SERVO VECTOR HW component U/f diagnostics (p1317) permitted as regular operating mode Setpoint-based utilization display, instead of the previous actual value- based utilization display A performance license is now required from the 4th axis (for servo/vector) or from the 7th U/f axis, instead of from a utilization of 50 % and higher - which was the case up until now.
Page 953 Appendix A.2 Availability of SW functions Table A- 17 New functions, firmware 4.5 SW function SERVO VECTOR HW component Support of new components CU310-2 Refer to Appendix Support of new components, TM150 Support of new components S120M Support for high-frequency spindles with pulse frequencies up to 32 kHz (a current controller cycle of 31.25 µs) PROFINET: Support of the PROFIenergy profile PROFINET: Improved usability for Shared Device...
Page 954 Appendix A.2 Availability of SW functions Table A- 18 New functions, firmware 4.6 SW function SERVO VECTOR HW component Integrated web server for SINAMICS Project and firmware download via Ethernet on the memory card Protection against power failure while updating via the Web server Replacing a part with know-how protection Encrypted loading into the file system Parameterizable bandstop filters for Active Infeed control, chassis...
Page 955: Functions Of Sinamics S120 Combi
A.3 Functions of SINAMICS S120 Combi Functions of SINAMICS S120 Combi SINAMICS S120 Combi supports the following functions, which are described in this Function Manual. Any function not shown in this list is not available for SINAMICS S120 Combi Table A- 19...
Page 956 Safe Acceleration Monitor (SAM) Communication PROFIBUS DP/PROFINET IO Topology Fixed DRIVE-CLiQ topology rules for SINAMICS S120 Combi. The device must always be connected according to the same principle. System clocks The sampling times are permanently set to 125 μs for the following functions: ●...
Page 957: List Of Abbreviations
Appendix A.4 List of abbreviations List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 958 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 959 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 960 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 961 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 962 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 963 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 964 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 965 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 966 Appendix A.4 List of abbreviations Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 967 Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 968 Appendix Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 969: Index
Index Basic Functions SBC, 582 Absolute encoder SS1, 578 Adjusting, 460 STO, 574 Absolute encoder adjustment, 432 Basic Infeed open-loop control, 47 Acceptance test Basic Line Module SBC (Basic Functions), 614 Vdc_max controller, 49, 197, 266, 508 SS1 (Basic Functions), 612 Basic Line Modules STO (Basic Functions), 611 Parallel connection, 506...
Page 970 Index DC braking after an OFF signal Chassis Activating, 297 Power units, 372 Setting, 297 Chip temperature, 372 DC breaker, 495 Closed-loop position control, 429 DCC axial winder, 827 Combi, 953 DCP flashing, 769 Commissioning DDS changeover Safety Integrated, 593 With load gear position tracking, 438 Communication Defective partition on memory card, 868...
Page 971 Index Setting, 292 External braking resistors Edge evaluation of the zero mark, 328 Example, 292 EDS, 572 Efficiency optimization Vector, 211 Electronic rating plate, 885 Encoder FAULT_CODE, 672 External, 140 Faults and alarms Encoder adjustment, 224 BICO interconnections, 856 Fine adjustment, 224 Forwarding, 856 Encoder dirty signal, 322 Propagation, 856...
Page 972 Index IRT, 772 IRT, 772 Functions IT security, 619 Fixed speed setpoints, 61 Jog, 64 Motorized potentiometer, 62 Servo control, 81 Jerk limitation, 456 Travel to fixed stop, 143 Jog, 64 V/f control for servo control, 109 EPOS, 488 Jog, 64 GSD file, 730 Key files, 404 Creating, 405...
Page 973 Index SME120/125, 542 Temperature sensor evaluation, 554 Length Unit, 429 Terminal Modules, 543 LU example, 430 Thermal motor model 1, 535 Thermal motor model 2, 536 TM120, 545 TM150, 547 TM31, 544 Main/supplementary setpoint, 69 Wire break, short-circuit, 555 Manufacturer-specific telegrams, 629 Motorized potentiometer, 62 Master/slave infeeds Motors...
Page 974 Index Password PIST_GLATT, 654 Changing, 934 Process data, control words PN gate, 783 A_DIGITAL, 627, 635, 687 Development kit, 786 A_DIGITAL_1, 688 Requirements, 785 CU_STW1, 636, 686 Transferred functions, 784 E_STW1, 636, 650 Pole position adaptation, 329 E_STW1_BM, 636 Pole position identification G1_STW, 627, 635 Servo, 127 G2_STW, 627, 635, 679...
Page 975 Index MSOLL_GLATT, 654 Protection against power failure MT_ZSW, 654, 691 When updating the firmware via the Web MT1_ZS_F, 654 server, 368 MT1_ZS_S, 654 Public certificate, 404 MTx_ZS_F, 654 Pulse frequency, 372 MTx_ZS_S, 654, 655 Pulse frequency wobbling, 284 POS_ZSW, 655, 667 Pulse number correction for faults, 329 POS_ZSW1, 655 Pulse/direction interface, 370...
Page 976 Requirements, 804 Acceptance test, 614 Synchronous cycle, 805 Basic Functions, 582 Transmission time, 805 Safe Brake Control, 582 SINAMICS S120 Combi, 953 Secure Socket Layer, 403 Sine-wave filter, 278 Security certificates Singleturn encoder, 342 Importing into the browser, 406 Slave-to-slave communication...
Page 977 Index Speed controller precontrol, 181 Friction characteristic, 311 Speed setpoint filter, 85 Telegram 111 Speed-dependent Kp_n/Tn_n adaptation, 177 POS_ZSW1, 668 Speed limitation POS_ZSW2, 669 Droop, 185 Telegram 220 Speed raw value ZSW2_BM, 661 Freezing, 326 Telegram 371 STW1, 636 Acceptance test (Basic Functions), 612 Telegrams Basic Functions, 578 Free, 629...
Page 978 Index Traceable, 149 Voltage boost Travel to fixed stop, 143 Servo, 111 Traversing blocks, 474 Vector, 257 Traversing task Voltage Sensing Module, 27 Rejecting, 476, 486 Two-channel brake control, 583 Commissioning, 237 Type plate of the CU, 869 Identification via LED, 238 Vector drives, 237 VSM10, 27 Underlicensing, 920...
Page 979 Index Write protection Activating, 925 Deactivating, 927 Overview, 925 Zero mark tolerance, 325 Drive functions Function Manual, (FH1), 01/2013, 6SL3097-4AB00-0BP3...
Page 982 Siemens AG Subject to change without prior notice Industry Sector © Siemens AG 2004 – 2013 Drive Technologies Motion Control Systems Postfach 3180 91050 ERLANGEN GERMANY www.siemens.com/motioncontrol...

Siemens SINAMICS S120 Function Manual

1 Infeed

2 Extended Setpoint Channel

3 Servo Control

4 Vector Control

5 U/F Control (Vector Control)

6 Basic Functions

7 Function Modules

8 Monitoring and Protective Functions

9 Safety Integrated Basic Functions

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Summary of Contents for Siemens SINAMICS S120