Commissioning In Torque Control Mode (T) - Siemens SINAMICS V90 Operating Instructions Manual

Commissioning

5.6 Commissioning in torque control mode (T)

5.6 Commissioning in torque control mode (T)
Step
1 Switch off the line supply.
2 Power off the servo drive and connect it to the control-
ler (for example, SIMATIC S7-200 SMART) with the
signal cable.
3 Switch on the 24 VDC power supply.
4 Check the servo motor type.
If the servo motor has an incremental encoder,
•
input motor ID (p29000).
If the servo motor has an absolute encoder, the
•
servo drive can identify the servo motor automati-
cally.
5 Switch to the torque control mode by setting
p29003=3.
6 Save the parameter and restart the servo drive to
apply the setting of the torque control mode.
7 Select torque setpoint by configuring the digital input
signal TSET.
8 If the fixed torque setpoint is used, input your desired
torque setpoint value and offset value into parameter
p29043 and p29042.
9 If the external analog torque setpoint is used, config-
ure the scaling (percentage of the rated torque) for
analog torque setpoint corresponding to 10 V by set-
ting parameter p29041[0].
10 Set the speed limitation.
11 Configure necessary digital input signals by setting the
following parameters:
p29301[3]: DI1
•
p29302[3]: DI2
•
p29303[3]: DI3
•
p29304[3]: DI4
•
p29305[3]: DI5
•
p29306[3]: DI6
•
p29307[3]: DI7
•
p29308[3]: DI8
•
12 Save parameters with the BOP.
13 Switch on the line supply.
14 Clear faults and alarms.
140
Description Remarks
The digital signals CWL, CCWL and EMGS must be kept
at high level (1) to ensure normal operation.
Refer to "Standard application wirings (factory setting)
(Page 104)" and "Connection examples with PLCs
(Page 112)".
Fault F52984 occurs when the servo motor is not identi-
fied.
You can find the motor ID from the motor rating plate. Go
to "Motor components (Page 30)" for detailed descriptions
about motor rating plate.
Refer to "Basic operations (Page 149)" for information
about how to change a parameter with the BOP.
Refer to "Compound controls (Page 161)".
TSET = low level (0): external analog torque setpoint
•
(analog input 2)
TSET = high level (1): fixed torque setpoint
•
Refer to "Torque control with fixed torque setpoint
(Page 209)".
Refer to "Torque control with external analog torque set-
point (Page 208)".
Refer to "Speed limit (Page 209)".
The factory settings are:
p29301[3]: 1 (SON)
•
p29302[3]: 2 (RESET)
•
p29303[3]: 3 (CWL)
•
p29304[3]: 4 (CCWL)
•
p29305[3]: 12 (CWE)
•
p29306[3]: 13 (CCWE)
•
p29307[3]: 18 (TSET)
•
p29308[3]: 19 (SLIM1)
•
Refer to "Digital inputs/outputs (DIs/DOs) (Page 91)".
Refer to "Diagnostics (Page 313)".
Operating Instructions, 09/2015, A5E36037884
SINAMICS V90, SIMOTICS S-1FL6