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SINAMICS
SINAMICS V90
SINAMICS V-ASSISTANT Online
Help
Operating Manual
04/2017
A5E36618042-003
___________________
Preface
Fundamental safety
___________________
instructions
___________________
SINAMICS V-ASSISTANT
___________________
User interface
___________________
Task navigation
1
2
3
4

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   Summary of Contents for Siemens SINAMICS V90

  • Page 1 ___________________ Preface Fundamental safety ___________________ instructions ___________________ SINAMICS SINAMICS V-ASSISTANT ___________________ User interface SINAMICS V90 SINAMICS V-ASSISTANT Online ___________________ Help Task navigation Operating Manual 04/2017 A5E36618042-003...
  • Page 2 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 3: Preface

    Country Hotline China +86 400 810 4288 Germany +49 911 895 7222 Italy +39 (02) 24362000 India +91 22 2760 0150 Turkey +90 (216) 4440747 Further service contact information: Support contacts (https://support.industry.siemens.com/cs/ww/en/) SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 4 Preface SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 5: Table Of Contents

    Industrial security ........................10 SINAMICS V-ASSISTANT ........................11 Device combination ......................... 12 2.1.1 Device combination of SINAMICS V90 PN and SIMOTICS S-1FL6 ........12 2.1.2 Device combination of SINAMICS V90 PTI and SIMOTICS S-1FL6 ........15 User interface ............................19 Working modes ........................
  • Page 6 Table of contents Task navigation ............................. 39 Selecting drive........................41 4.1.1 Selecting drive........................42 4.1.2 Selecting motor ........................44 4.1.3 Control mode .......................... 45 4.1.4 Jog ............................47 Setting PROFINET (V90 PN only) ..................48 4.2.1 Selecting telegram ......................... 48 4.2.2 Configuring network .......................
  • Page 7 Table of contents 4.5.2 Tracing signals ........................123 4.5.2.1 Trace configuration ....................... 126 4.5.3 Measuring machine ....................... 127 Communicating with the PLC (V90 PTI only) ............... 132 4.6.1 USS communication ......................132 4.6.2 Modbus communication ......................134 4.6.2.1 Cyclic communication ......................139 4.6.2.2 Acyclic communication......................
  • Page 8 Table of contents SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 9: Fundamental Safety Instructions

    Fundamental safety instructions General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. •...
  • Page 10: Industrial Security

    Siemens’ products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer’s exposure to cyber threats.
  • Page 11: Sinamics V-assistant

    The software runs on a personal computer with Windows operating systems and utilizes graphical user interface to interact with users and communicates with SINAMICS V90 via a USB cable. It can be used to modify parameters and monitor status of SINAMICS V90 drives. Note To ensure the stability of online commissioning, Siemens recommends that you use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.
  • Page 12: Device Combination

    SINAMICS V-ASSISTANT 2.1 Device combination Device combination 2.1.1 Device combination of SINAMICS V90 PN and SIMOTICS S-1FL6 V90 PN 200 V servo system SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 MOTION-CONNECT 300 pre-assembled PN 200 V servo cables drives...
  • Page 13 SINAMICS V-ASSISTANT 2.1 Device combination V90 PN 400 V servo system SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 MOTION-CONNECT 300 pre-assembled connectors PN 400 V servo cables drives Power Brake cable Encoder cable cable Rated Rated Rated...
  • Page 14 12-bit multi-turn Note You can select a SINAMICS V90 PN servo drive for all the SIMOTICS S-1FL6 servo motors whose rated power values are equal to or smaller than that specified as matching with this servo drive in the table above.
  • Page 15: Device Combination Of Sinamics V90 Pti And Simotics S-1fl6

    SINAMICS V-ASSISTANT 2.1 Device combination 2.1.2 Device combination of SINAMICS V90 PTI and SIMOTICS S-1FL6 V90 200 V servo system SIMOTICS S-1FL6 low inertia servo motors SINAMICS V90 MOTION-CONNECT 300 pre-assembled 200 V servo cables drives Power Brake cable Encoder cable...
  • Page 16 SINAMICS V-ASSISTANT 2.1 Device combination V90 400 V servo system SIMOTICS S-1FL6 high inertia servo motors with straight SINAMICS V90 MOTION-CONNECT 300 pre-assembled connectors 400 V servo cables drives Power Brake cable Encoder cable cable Rated Rated Rated Shaft Article number...
  • Page 17 12-bit multi-turn Note You can select a SINAMICS V90 servo drive for all the SIMOTICS S-1FL6 servo motors whose rated power values are equal to or smaller than that specified as matching with this servo drive in the table above.
  • Page 18 SINAMICS V-ASSISTANT 2.1 Device combination SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 19: User Interface

    User interface Working modes When you start SINAMICS V-ASSISTANT, the following window appears for you to select a working mode: The functions of SINAMICS V-ASSISTANT vary with the working modes. Online mode SINAMICS V-ASSISTANT communicates with the target drive, which is connected with PC by a USB cable.
  • Page 20 Note To obtain the firmware version, you can view r29108 on BOP (Basic Operator Panel). For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 21 If you select the second option, you need to select an existing project in the following directory as the current project and enter the main window: ① Default location: xxx/Siemens/V-ASSISTANT/Project xxx: SINAMICS V-ASSISTANT setup root directory ② Only .prj format is available.
  • Page 22 User interface 3.1 Working modes Compare parameters When you switch the working mode from offline to online, the following question appears to remind you to save the current project: You can click to save the project; otherwise, you can click to abort saving.
  • Page 23 User interface 3.1 Working modes If any inconsistency is detected, the following window appears: Click the first button to upload all parameter values of the connected drive to the current project; otherwise, click the second button to upload all parameter values of the current project to the connected drive.
  • Page 24: User Interface - Overview

    User interface 3.2 User interface - overview User interface - overview ① ④ Menu bar Function pane ② ⑤ Toolbar Alarm window ③ Task navigation Note The above screenshot takes the user interface of SINAMICS V-ASSISTANT for V90 PN for example.
  • Page 25 User interface 3.2 User interface - overview Menu bar The menu bar is located at the top of the user interface. You can find various commands and functions for basic operations of SINAMICS V-ASSISTANT. For more information, see Section "Menu bar (Page 26)". Toolbar The toolbar is located below the menu bar and provides direct access to the essential functions of SINAMICS V-ASSISTANT.
  • Page 26: Menu Bar

    User interface 3.3 Menu bar Menu bar 3.3.1 Menu bar - overview The menu bar lists the following menu items for users to manage the projects, switch the user interface language, or view the online help: ● Project menu (Page 26) ●...
  • Page 27: Project -> Open Project

    Project -> Open project When SINAMICS V-ASSISTANT is working in offline mode, you can use this menu command to open an existing project in the following window: ① Default location: xxx/Siemens/V-ASSISTANT/Project xxx: SINAMICS V-ASSISTANT setup root directory ② Only .prj format is available.
  • Page 28: Project -> Save Project

    "Project -> Save project as... (Page 29)". You can specify the file name and directory in the following window: ① Default location: xxx/Siemens/V-ASSISTANT/Project xxx: SINAMICS V-ASSISTANT setup root directory ②...
  • Page 29: Project -> Save Project As

    Online mode/offline mode You can use this menu command to save the current project with a specified file name and directory in the following window: ① Default location: xxx/Siemens/V-ASSISTANT/Project xxx: SINAMICS V-ASSISTANT setup root directory ② Only .prj format is available.
  • Page 30: Project -> Language

    SINAMICS V-ASSISTANT are English and Chinese. For installation packages of additional languages, visit this address (http://www.siemens.com/sinamics-v- assistant). After you download the desired installation package to your PC and run it, you can switch the interface language to the corresponding one.
  • Page 31: Edit -> Copy

    User interface 3.3 Menu bar 3.3.3.2 Edit -> Copy The command copies the selected objects, for example, parameter values, article number or the rated power of the drive or motor, to the clipboard. Alternatively, you can use from the toolbar. Note You can only use this menu command on the following function panes: •...
  • Page 32: Tools Menu

    User interface 3.3 Menu bar 3.3.5 Tools menu This menu contains the following menu commands: ● Tools -> Save parameters to ROM (Page 32) ● Tools -> Restart drive (Page 32) ● Tools -> Reset absolute encoder (Page 33) ● Tools -> Factory default (Page 33) ●...
  • Page 33: Tools -> Reset Absolute Encoder

    User interface 3.3 Menu bar Click and the drive is restarted successfully. 3.3.5.3 Tools -> Reset absolute encoder In online mode, if you have connected SINAMICS V-ASSISTANT to a motor with an absolute encoder, you can use this menu command to set the current position of the absolute encoder as the reference point.
  • Page 34 User interface 3.3 Menu bar ● If you click , then the following information window appears: When the process is finished, this window disappears automatically. ● If you click , this operation can be aborted. Offline Select this menu command and the following reminder appears: ●...
  • Page 35: Tools -> Upload Parameters

    User interface 3.3 Menu bar 3.3.5.5 Tools -> Upload parameters Note This menu command is only available in online mode. You can use this menu command to upload parameters from the drive to SINAMICS V- ASSISTANT. After you select this menu command, the following window appears to show the process: After the process is complete, the values of the same parameters in SINAMICS V- ASSISTANT are overwritten by those in the drive automatically.
  • Page 36: Help -> About Sinamics V-assistant

    User interface 3.4 Toolbar 3.3.6.2 Help -> About SINAMICS V-ASSISTANT... You can use this menu command to display the following information window for SINAMICS V-ASSISTANT. Toolbar The icons of the toolbar provide quick access to the commands in the menu bar or functions from Task navigation (Page 39).
  • Page 37: Alarm Window

    User interface 3.5 Alarm window Upload parameters (Page 35) Viewing all parameters (Page 87) Trace (Page 123) Test motor (Page 107) Help (Page 35) Alarm window Alarm window overview ① ④ Alarm type Alarm value : Fault • : Alarm •...
  • Page 38: Function Keys And Shortcuts

    User interface 3.6 Function keys and shortcuts Function keys and shortcuts SINAMICS V-ASSISTANT provides function keys and shortcuts for frequently called functions. Function keys in SINAMICS V-ASSISTANT [F1] → Calls the context sensitive online help [Ctrl+X] → Edit -> Cut (Page 30) [Ctrl+C] →...
  • Page 39: Task Navigation

    Task navigation Note The above screenshot takes the task navigation mask of SINAMICS V-ASSISTANT for V90 PN for example. SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 40 Task navigation Task Sub-functions SINAMICS V90 PN SINAMICS V90 PTI Selecting drive Selecting drive (Page 42) • (Page 41) Selecting motor (Page 44) • Control mode (Page 45) • Jog (Page 47) • Setting PROFINET Selecting telegram (Page 48) •...
  • Page 41: Selecting Drive

    Task navigation Selecting drive Note The above screenshot takes the task navigation mask of SINAMICS V-ASSISTANT for V90 PN for example. Area Function Description See also ① Drive selection Selects a drive in this field "Selecting drive (Page 42)" ② Motor selection Selects a motor in this field "Selecting motor (Page 44)"...
  • Page 42: Selecting Drive

    Task navigation 4.1.1 Selecting drive Online mode When you choose to work in online mode, a list of connected drive type(s) is displayed for your selection: Select the target drive type, and click to establish communication between SINAMICS V-ASSISTANT and the drive. SINAMICS V-ASSISTANT reads all parameter settings from the connected drive and the main window displays the drive information on the following panel: The following drive information is displayed:...
  • Page 43 Task navigation ● Rated power ● Rated current Note is disabled in online mode. Offline mode When you are working in offline mode, SINAMICS V-ASSISTANT does not communicate with the connected drive(s). You can click to change the drive type in the following window: Select the article number of the target drive.
  • Page 44: Selecting Motor

    Note In the article number, "x" is a wildcard; for more information about "A\G", see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. ● If the connected motor is equipped with an incremental encoder, click and the motor list is displayed.
  • Page 45: Control Mode

    Task navigation Select a motor from the list and click the following button to confirm your selection: Note You can click "name plate" in the above window to see the specific location of the name plate on the motor. Offline mode ●...
  • Page 46 Task navigation Apply a control mode After you select a control mode, the following warning message appears: ● Online mode Click and the following message appears: Click to save all the parameters to ROM and reset the drive. Otherwise, click the following button or directly close the dialog box, and the drive can continue to work in the current control mode.
  • Page 47: Jog

    Task navigation 4.1.4 Jog function is only available in online mode. You can configure this function on the following panel: ● To start the Jog function, enter the Jog speed first. Click , then the following warning appears: Click and run the drive counter-clockwise/clockwise by clicking the following two buttons respectively: Then the actual speed, actual torque, actual current and actual utilization are displayed.
  • Page 48: Setting Profinet (v90 Pn Only)

    Task navigation Setting PROFINET (V90 PN only) You can select the desired telegram and configure the network with this function. 4.2.1 Selecting telegram In this area, you can see the activated control mode and telegram. If you desire to change the telegram, you can click the drop-down list and select the desired telegram.
  • Page 49 = 111 One PZD = one word Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the SIMATICS S7-1500 and the TIA Portal version is V14 or higher. SINAMICS V-ASSISTANT Online Help...
  • Page 50 Task navigation Telegrams used for speed control mode Tele- gram Appl. 1, 4 1, 4 class PZD1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 PZD2 NSOLL NIST_A NSOLL NIST_B NSOLL NIST_B NSOLL NIST_B NSOLL NIST_B NSOLL NIST_ PZD3 PZD4...
  • Page 51: Configuring Network

    Task navigation 4.2.2 Configuring network This function is only available in online mode. You can configure this function on the following panel: ② In online mode, the IP address of the connected drive is displayed in area " " automatically. ①...
  • Page 52: Parameterizing

    Task navigation Parameterizing Note The above screenshot takes the parameterizing panel of SINAMICS V-ASSISTANT for V90 PN for example. Totally, ten sub-functions are available. The sub-function combinations vary with the drive variant and control modes: Sub-function Control mode V90 PN V90 PTI EPOS IPos...
  • Page 53: Setting Electronic Gear Ratio (v90 Pti Only)

    Task navigation Sub-function Control mode V90 PN V90 PTI EPOS IPos Configuring inputs/outputs ✓ ✓ ✓ ✓ ✓ ✓ (Page 75) Configuring referencing ✓ ✓ (Page 78) Setting encoder pulse output ✓ ✓ (V90 PTI only) (Page 85) Backlash compensation ✓...
  • Page 54: Mechanical Structure

    Task navigation Options Description ① When number of setpoint pulses per motor revolution (p29011) is 0, configure electronic gear ratio by setting numerator (p29012) and denominator (p29013). ② When number of setpoint pulses per motor revolution is not 0, enter the number of set- point pulses per motor revolution here.
  • Page 55 Task navigation Mechanical Graphical view Variable setting structure Variable Range Rack and D: Diameter (mm) 0.0001 to pinion 2147000000 N: Load revolutions 1 to 2147000000 M: Motor revolutions 1 to 2147000000 Roll feed D: Diameter (mm) 0.0001 to 2147000000 N: Load revolutions 1 to 2147000000 M: Motor revolutions 1 to 2147000000...
  • Page 56: Setting Mechanism

    Task navigation 4.3.2 Setting mechanism By parameterizing the mechanical system, you can establish the link between the physical moving part and the length unit (LU). Select the mechanical structure and then set the gearbox factor as well as the length unit per revolution of the load on the following panel: The unit of the fixed position setpoint is the Length Unit (LU).
  • Page 57: Position Setpoint

    Task navigation Function Control mode V90 PN V90 PTI EPOS IPos Fixed position setpoint ✓ (Page 57) Speed setpoint ✓ (Page 66) Ramp-function genera- ✓ ✓ ✓ tor (Page 66) Speed reached win- ✓ dow (Page 66) Torque setpoint ✓ (Page 68) EPOS setpoint set- ✓...
  • Page 58 Linear axis or modular axis can be used depending on your actual application. ● The linear axis has a restricted traversing range and it is the factory setting of the SINAMICS V90 servo drive. ● The modular axis has an unrestricted traversing range.
  • Page 59 Task navigation Source for internal position setpoint Eight position setpoints in total are available. Each position setpoint comes from one group of position data: Fixed position setpoint Corresponding parameters Parameter Description Fixed position setpoint 1 p2617[0] Fixed position setpoint 1 (P_pos1) p2618[0] Speed of fixed position setpoint 1 (P_pos_spd1) p2572...
  • Page 60 Task navigation Setting the position setpoint in EPOS control mode Legend Description ① Maximum acceleration in 1000 LU/s (default value: 100) ② Maximum acceleration in 1000 LU/s (default value: 100) ③ Working mode overview for EPOS setpoint settings Three working modes are available for your selection. Whatever mode you select, the actual velocity is affected by the maximum acceleration and deceleration.
  • Page 61 Task navigation A total of 16 position setpoints are available. Each position setpoint comes from one group of position data: Basic position setpoint Corresponding parameters Parameter Description Basic position setpoint 1 p2617[0] EPOS traversing block position p2618[0] EPOS traversing block velocity p2619[0] EPOS traversing block acceleration override p2620[0]...
  • Page 62 Task navigation Basic position setpoint Corresponding parameters Parameter Description Basic position setpoint 6 p2617[5] EPOS traversing block position p2618[5] EPOS traversing block velocity p2619[5] EPOS traversing block acceleration override p2620[5] EPOS traversing deceleration override p2621[5] EPOS traversing block task p2622[5] EPOS traversing block task parameter p2623[5] EPOS traversing block task mode...
  • Page 63 Task navigation Basic position setpoint Corresponding parameters Parameter Description Basic position setpoint 12 p2617[11] EPOS traversing block position p2618[11] EPOS traversing block velocity p2619[11] EPOS traversing block acceleration override p2620[11] EPOS traversing deceleration override p2621[11] EPOS traversing block task p2622[11] EPOS traversing block task parameter p2623[11] EPOS traversing block task mode...
  • Page 64 Task navigation If you desire to configure the task settings of the traversing block, you can click to open the following window: Click to expand the drop-down lists. Select your desired type of 2621, positioning mode, continuation condition as well as IDs and then close the window. ●...
  • Page 65 Task navigation Position setpoint smoothing time setting With the smoothing function, the position characteristics curve from the pulse train input setpoint can be transformed into an S-curve profile with a time constant specified in p2533. Position reached window setting Set parameter p2544 to specify the monitoring window for controller to decide whether the setpoint position is reached on the following panel: For more information about signal INP, see Section "Digital inputs/outputs (DIs/Dos) (Page 94)".
  • Page 66: Speed Setpoint

    Task navigation 4.3.3.2 Speed setpoint Source of speed setpoint Eight sources in total are available for speed setpoint. You can select one of them with the combination of digital input signals SPD1, SPD2 and SPD3: Digital signal Torque limit SPD3 SPD2 SPD1 External analog speed setpoint (analog input 1)
  • Page 67 Task navigation Two types of ramp-function generator are available. You can specify the parameters on the corresponding panels: ● Basic ramp-function generator ● Extended ramp-function generator SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 68: Torque Setpoint

    Task navigation Speed reached window Set parameter p29078 for controller to decide whether the setpoint speed is reached on the following panel: 4.3.3.3 Torque setpoint SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 69: Configuring Ramp Function (v90 Pn Only)

    " from the drop-down list in the above window or set bit 0 of p29108 on the BOP first. Make sure you have properly connected the SINAMICS V90 PN drive with the motor and the encoder works normally; otherwise, the ramp function generator is disabled due to faults (for example, F31117 and F52983, etc.) despite that it is displayed...
  • Page 70 Task navigation Two types of ramp-function generator are available. You can specify the parameters on the corresponding panels: ● Basic ramp-function generator ● Extended ramp-function generator SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 71: Setting Limits

    Task navigation 4.3.5 Setting limits You can configure speed limit, torque limit and software position limit with this function. The sub-functions vary with the selected control mode as follows: Function Control mode V90 PN V90 PTI EPOS IPos Torque limit ✓...
  • Page 72 Task navigation Source of torque limit ● SINAMICS V90 PN Two sources in total are available for torque limit. You can select one of them via the digital input signal TLIM: Digital input (TLIM) Torque limit Internal torque limit 1...
  • Page 73: Speed Limit

    Task navigation Overall torque limit Besides the above sources, an overall torque limit is available in all control modes. The overall torque limit takes effect when an emergency stop (OFF3) happens. In this case, the servo drive brakes with a maximum torque. In T mode, you can set the overall torque limit on the following panel: 4.3.5.2 Speed limit...
  • Page 74 Task navigation Source of speed Limit ● SINAMICS V90 PN Two sources in total are available for speed limit. You can select one of them via the digital input signal SLIM: Digital input (SLIM) Speed limit Internal speed limit 1...
  • Page 75: Configuring Inputs/outputs

    Task navigation 4.3.6 Configuring inputs/outputs Three sub-functions are available as follows: ● Assigning digital inputs (Page 75) ● Assigning digital outputs (Page 76) ● Assigning analog outputs (V90 PTI only) (Page 77) 4.3.6.1 Assigning digital inputs You can assign digital inputs on the following panels: ●...
  • Page 76: Assigning Digital Outputs

    Task navigation You can activate the checkbox in column "Set to 1" to forcely set the signal status to 1. For the signal EMGS, it can be forcely set to 1 when the drive firmware version is V1.04.00 and higher. Note Signal P_TRG in PTI mode is reserved for future use.
  • Page 77: Assigning Analog Outputs (v90 Pti Only)

    Task navigation ● Assigning digital outputs for V90 PTI A total of 14 signals can be freely linked to digital outputs. For more information, see Section "DOs (Page 102)". Click the cells with white background in the table. Select "Assign" to link the digital input with the corresponding signal.
  • Page 78: Configuring Referencing

    Task navigation Seven signals in total can be linked with either analog output. For more information, see Section "Analog outputs (AOs) (Page 106)". By default, analog output 1 and analog output 2 are linked with actual speed and actual torque respectively. You can freely select the target signal in the drop-down list to link with analog outputs.
  • Page 79 Task navigation Parame- Value Referencing mode Illustration External reference cam (signal REF) and encoder zero mark Encoder zero mark only External reference cam (CCWL sig- nal) and encoder zero mark SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 80 Task navigation Parame- Value Referencing mode Illustration External reference cam (CWL signal) and encoder zero mark Taking the second referencing mode as an example, you can configure relevant parameters on the following panel: Assign signals REF and SREF(for more information, see Section "Configuring inputs/outputs (Page 75)").
  • Page 81 Task navigation To stop the referencing process, click the following button: ● Absolute encoder If the motor is equipped with an absolute encoder, the five referencing modes are available. You can implement the referencing process via the Modbus or external DI terminals rather than the V-ASSISTANT.
  • Page 82 Task navigation Setting referencing (in EPOS control mode) You can view the current telegram in the header of this function mask. ● Incremental encoder If the motor is equipped with an incremental encoder, three referencing modes in total are available: Parame- Val- Referencing mode...
  • Page 83 Task navigation Parame- Val- Referencing mode Illustration Encoder zero mark only Taking the second referencing mode as an example, you can configure the relevant parameters on the following panel: Before starting referencing, check the sources of signals REF and SREF in the above illustration respectively.
  • Page 84: Setting Software Position Limit

    Task navigation 4.3.7.2 Setting software position limit Prerequisites ● Referencing is completed successfully. ● Linear axis working mode is selected. Setting software position limit The following two software position limits are available in IPos and EPOS control modes: ● positive position limit ●...
  • Page 85: Setting Encoder Pulse Output (v90 Pti Only)

    Task navigation Click this button to execute servo-on and a warning message appears. Confirm your selection by clicking in the message window. Click this button to rotate the motor clockwisely and set a proper limit position. Obtain the current position by clicking this button. Click this button to rotate the motor counter-clockwisely and set a proper limit position.
  • Page 86 Task navigation Generally, backlash occurs when the mechanical force is transferred between a machine part and its drive. If the mechanical system was to be adjusted/designed so that there was absolutely no backlash, this would result in high wear. Thus, backlash can occur between the machine component and the encoder.
  • Page 87: Viewing All Parameters

    Task navigation 4.3.10 Viewing all parameters You can configure all editable parameters in this field: Note Icons this icon is only available for V90 PTI. A parameter with this icon in the above list • indicates that it is related to Modbus communication. You can click on this icon to call the online help for Modbus communication.
  • Page 88 .html file and use the file for future documentation pur- poses or as an reference for BOP commissioning. Window for saving the changes: ① : Default location: xxx/Siemens/V-ASSISTANT/Project. xxx: SINAMICS V-ASSISTANT setup root directory ② : Only .html format is available.
  • Page 89 Task navigation Field Description Table All parameters are displayed with the following information: Group • Parameter number • Name • Value • Unit • Range • Factory setting • Effect type • Note: In the value relevant column, values with white background are editable. SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 90: Commissioning

    4.4.1.1 I/O simulation When SINAMICS V-ASSISTANT is working in online mode, you can view the I/O status on the following panel for V90 PTI and V90 PN respectively: ● SINAMICS V90 PTI: SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 91 Task navigation ● SINAMICS V90 PN: Area Item Description ① Pulse train input Information about pulse train input: Received number of pulses • Pulse frequency • For more information, see Section "Pulse train inputs (PTIs) (Page 107)". ② SINAMICS V90 PTI...
  • Page 92 Task navigation ⑤ SINAMICS V90 PTI DO1~DO6 Every digital output can be freely linked with either of the 15 internal signals. SINAMICS V90 PN DO1~DO2 Every digital output can be freely linked with either of the ten internal signals. Note: For more information, see Section "Digital inputs/outputs (DIs/Dos) (Page 94)".
  • Page 93 Status of signals You can view the name, description, value and status of individual signals on the following panels for V90 PTI and V90 PN respectively: ● SINAMICS V90 PTI: ● SINAMICS V90 PN: – Status of DI signals: – Status of DO signals:...
  • Page 94: Digital Inputs/outputs (dis/dos)

    Task navigation 4.4.1.2 Digital inputs/outputs (DIs/Dos) DIs/Dos for SINAMICS V90 PN You can assign a maximum of seven internal digital input signals to the SINAMICS V90 PN servo drive. For detailed information about these signals, see the table below: Name Type...
  • Page 95 The digital inputs support both PNP and NPN types of wirings. You can find detailed information from the following diagrams: NPN wiring PNP wiring You can assign a maximum of ten internal digital output signals to the SINAMICS V90 PN servo drive. For detailed information about these signals, see the table below: Name Descriptions...
  • Page 96 Task navigation Name Descriptions Control mode EPOS Motor holding brake ✓ ✓ 1: motor holding brake is closed • 0: motor holding brake is released • Note: MBR is only status signal because the control and the power supply of the motor holding brake is realized with separate terminals.
  • Page 97 NPN wiring PNP wiring DIs/Dos for SINAMICS V90 PTI You can assign a maximum of 28 internal digital input signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below: Name Type...
  • Page 98 Task navigation Name Type Description Control mode IPos P-TRG Level In PTI mode: pulse allowable/inhibit. ✓ ✓ (P-TRG in Edge 0: operation with pulse train setpoint is possible • PTI mode is 0→1 1: inhibit the pulse train setpoint • reserved for In IPos mode: position trigger future use)
  • Page 99 Task navigation Name Type Description Control mode IPos SPD1 Level Select speed mode: fixed speed setpoint. ✓ A combination of the signals SPD1, SPD2 and SPD3 SPD2 Level can select eight speed setpoint sources (one external SPD3 Level speed setpoint, seven fixed speed setpoints). SPD3 : SPD2 : SPD1 0 : 0 : 0: external analog speed setpoint •...
  • Page 100 When working in the torque control mode, the torque setpoint equals to 0 if CWE and CCWE are at the same status. For more information, see the direction and stop relevant section in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Note...
  • Page 101 Task navigation The definition for p29300 is as follows: Bit 6 Bit 5 Bit 4 Bit 3 Bit 2 Bit 1 Bit 0 EMGS TSET SPD1 TLIM1 CCWL For example, if you set p29300 = 1 to force the signal SON to a logical high signal, DI1 can then be assigned to other desired signals.
  • Page 102 Task navigation You can assign a maximum of 15 internal digital output signals to the SINAMICS V90 servo drive. For detailed information about these signals, see the table below: Name Descriptions Control mode IPos Servo ready ✓ ✓ ✓ ✓...
  • Page 103 Task navigation Name Descriptions Control mode IPos Overload level reached ✓ ✓ ✓ ✓ 1: motor has reached the parameterizable output over- • load level (p29080 in % of rated torque, default: 100%, max: 300%) 0: motor has not reached the overload level •...
  • Page 104 Task navigation Assigning warning signals to digital outputs You can assign two groups of warning signals to digital outputs with parameters p29340 (first group of warning signals active) and p29341 (second group of warning signals active). Setting (p29340/p29341) Warning conditions Overload protection: load factor is 85% of or above the motor utilization.
  • Page 105: Analog Inputs (ais)

    Task navigation The digital outputs 4 to 6 support the wiring of both the NPN and PNP types as illustrated below: NPN wiring PNP wiring 4.4.1.3 Analog inputs (AIs) Two analog inputs in total are available: ● AI1: linked with speed related signals. ●...
  • Page 106: Analog Outputs (aos)

    Task navigation 4.4.1.4 Analog outputs (AOs) Two parameters, p29350 (selects signal sources for AO1) and p29351 (selects signal sources for AO2), are used to select the source of analog output: Parame- Value Source Value Source p29350 0 (de- Actual speed (reference Pulse input frequency (reference 100 fault) p29060)
  • Page 107: Pulse Train Inputs (ptis)

    Task navigation 4.4.1.5 Pulse train inputs (PTIs) The SINAMICS V90 servo drive supports two kinds of setpoint pulse train input forms: ● AB track pulse ● Pulse + Direction For both forms, positive logic and negative logic are supported: Pulse train...
  • Page 108: Position Trial Run (v90 Pti Only)

    Task navigation 4.4.2.2 Position trial run (V90 PTI only) In online mode, you can configure this function on the following panel: Note Position trial run is only available in PTI and IPos control modes. Operating sequence Enter the Jog speed. Use this button to enable the Jog function.
  • Page 109: Optimizing Drive

    You can select the desired tuning mode with the tabs on the following panel: Auto-tuning modes SINAMICS V90 PN supplies two auto-tuning modes: one-button auto tuning and real-time auto tuning. The auto tuning function can optimize control parameters with ratio of machine load moment of inertia (p29022) and set suitable current filter parameters to suppress the machine resonance automatically.
  • Page 110: One-button Auto Tuning

    Implement the following steps to use the one-button auto tuning function: Select the dynamic factor in the following area: For more information about selecting the dynamic factor, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Configure the test signal in the following area: Note: The recommended position amplitude (p29027) is 360°.
  • Page 111 Task navigation Set the parameters in the window below: Note: You can set the ratio of machine load moment of inertia (p29022) with the following methods: • Enter it manually if you have known the ratio of machine load moment of inertia •...
  • Page 112 Task navigation After the tuning is completed, the tuning results window appears. Click the button to apply the tuning result; otherwise, click the to abort the tuning result. Copy the tuned parameters from RAM to ROM to save them when the tuning is com- pleted and the drive performance is acceptable.
  • Page 113 Task navigation Resonance suppression with one-button auto tuning (p29021=1, p29023.1=1) The resonance suppression function is used together with the one-button auto tuning function. The function is activated by default. The function can be activated/deactivated with bit 1 of p29023. Before you use the resonance suppression function with one-button auto tuning, make sure the load is mounted as required and the servo motor can rotate freely.
  • Page 114: Real-time Auto Tuning

    Implement the following steps to use the real-time auto tuning function: Select the dynamic factor in the following area: For more information about selecting the dynamic factor, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Click the following button to configure the parameters for the real-time auto tuning func- tion.
  • Page 115 Task navigation Set the parameters in the window below: Note: You can set the ratio of machine load moment of inertia (p29022) with the following methods: • Enter it manually if you have known the ratio of machine load moment of inertia •...
  • Page 116 Task navigation Perform the servo on for the drive with host controller and tuning starts. For example, you can use the following method to run the motor. Implement servo on for the drive with Jog. Enter the speed for the motor and press the direction button to let the motor run. To achieve the desired system performance, you can change the dynamic factors or related configuration parameters during tuning.
  • Page 117: Manual Tuning

    Task navigation 4.4.3.3 Manual tuning When the auto tuning function cannot reach the expected tuning results, you can disable the auto tuning function by setting the parameter p29021 and manually perform tuning: ● p29021=5: auto tuning function is disabled and all control parameters are reset to tuning default values.
  • Page 118 Task navigation ● p29111 ● p29120[0] ● p29121[0] Resonance suppression with manual tuning (p29021=0) When both the resonance suppression with real-time auto tuning and one-button tuning mode cannot reach the suppression effect, you can do the resonance suppression by manually setting the following parameters: Parame- Value range Default...
  • Page 119 Task navigation Switching modes The following two switching modes are only available for V90 PTI: These two switching modes cannot be used at the same time. Once one mode is enabled, the other one becomes disabled. The functions of auto-tuning and gain switching must be disabled so that the function of PI/P switching can be available.
  • Page 120: Low Frequency Vibration Suppression

    Task navigation ● Speed loop PI/P switching Five switching modes in total are available for PI/P switching: – using torque setpoint – using an external digital input signal (G-CHANGE) – using speed setpoint – using acceleration setpoint – using pulse deviation If you select either of the PI/P switching modes (except the second mode), you need to set the conditional threshold as shown in the above screenshot.
  • Page 121 Task navigation Operating sequence Set the drive to servo off status. Set relevant parameters on the "Viewing all parameters (Page 87)" panel. • Select the filter type by setting p31581: – p31581 = 0: rugged – p31581 = 1: sensitive •...
  • Page 122: Diagnostics

    Task navigation Diagnostics 4.5.1 Monitoring status Note This function can only work in online mode. You can monitor the real-time value of motion relevant parameters. The motion data and product information are displayed on the following panel: Note The above screenshot takes the user interface of SINAMICS V-ASSISTANT for V90 PN for example.
  • Page 123: Tracing Signals

    Task navigation 4.5.2 Tracing signals With this function, you can trace the performance of the connected drive in the current control mode on the following panel: Area Item Description ① Trace configu- Opens the window of trace configuration ration For more information, see Section "Trace configuration (Page 126)".
  • Page 124 Task navigation Area Item Description Auxiliary lines Vertical cursor: In the time domain chart, you can click this button to • display coordinates t1 and t2 in the chart. You can move t1 or t2 when the cursor changes to In frequency domain chart, activate this button to •...
  • Page 125 Task navigation Area Item Description Coordinate Y: y1: real-time value of coordinate y1 • y2: real-time value of coordinate y2 • dy: automatically calculated value range • Formula: dy = y2 - y1 Y(T) Coordinate Y(T): y(t1): real-time value at the cross point of coordinate •...
  • Page 126: Trace Configuration

    Task navigation 4.5.2.1 Trace configuration Index Function description ① Click the following button to select the analog signal. Select a trace signal and click to confirm your selection; or otherwise, you can click to abort your selection. Click the color bar to define the display color of the curve for the signal. ②...
  • Page 127: Measuring Machine

    Task navigation Index Function description ③ Recording settings: You can select the factor and define the trace cycle clock, maximum duration and recording duration. If you desire to set the recording duration to the maximum duration, you can click to copy the value as the recording duration. ④...
  • Page 128 Task navigation setpoint is activated by a PRBS signal. The evaluation of the signals is performed in the frequency range. ● Current controller setpoint frequency response(after current setpoint filter) For the reference frequency response on the current controller, the current setpoint is activated by a PRBS signal.
  • Page 129 Task navigation Area Item Description Offset DC component which is superimposed on the test signal The value is normalized in the same way as the amplitude specification. Please note that the offset is subtracted again when the measured values are saved during runtime.
  • Page 130 Task navigation Area Item Description Zoom Zooms in the current curves with a specified scale Zooms out the current curves with a specified scale Restores curves in the chart File operation Opens an existing .trc file for curve display in the chart Saves the current recording of values in the following file formats: .trc: trace curve files •...
  • Page 131 Task navigation Area Item Description Frequency domain chart Frequency Displays real-time frequency value of the horizontal cursor coordinate in the chart Amplitude Displays real-time amplitude value at the cross point of the horizontal cursor coordinate and curve Bode diagram Frequency Displays real-time frequency value of the horizontal cursor coordinate in the dia- gram Amplitude...
  • Page 132: Communicating With The Plc (v90 Pti Only)

    Task navigation Communicating with the PLC (V90 PTI only) The SINAMICS V90 supports communication with the PLC on the RS485 interface. You can parameterize whether the RS485 interface applies USS or Modbus RTU protocol. USS is the default bus setting. A shielded twisted pair cable is recommended for RS485 communication.
  • Page 133 – r0020, r0021, r0026, r0027, r0031, r0032, r0034, r0807, r2556, and r2521 Note The USS protocol communication libraries of S7-200, S7-200 SMART V1.0, and S7-1200 do not support the communication with the SINAMICS V90 servo drive. SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 134: Modbus Communication

    4.6.2 Modbus communication The SINAMICS V90 servo drive can communicate with the PLC through an RS485 cable with the standard Modbus communication protocol. There are two ways of sending a message to a slave. One is unicast mode (addresses 1 to 31), where the master addresses the slave directly;...
  • Page 135 High High High High Mapping table The SINAMICS V90 servo drive supports the following registers. "R", "W", "R/W" in the column access stand for read, write, read/write. Modbus register Description Modbus Unit Scaling factor Range or...
  • Page 136 Task navigation Modbus register Description Modbus Unit Scaling factor Range or Data/parameter number access On/Off text 40205 DO 6 HIGH/LOW r0747.5 40220 AO 1 -100.0 to 100.0 40221 AO 2 -100.0 to 100.0 40240 DI 1 HIGH/LOW r0722.0 40241 DI 2 HIGH/LOW r0722.1 40242...
  • Page 137 Task navigation Modbus register Description Modbus Unit Scaling factor Range or Data/parameter number access On/Off text 40350/40351 Position setpoint -2147482648 to r2556 2147482647 40352/40353 Actual position value -2147482648 to r2521[0] 2147482647 40354 Motor utilization -320.00 to r0034 320.00 40400 Failure number, index 0 R 0 to 65535 40401 Failure number, index 1 R...
  • Page 138 Task navigation Modbus register Description Modbus Unit Scaling factor Range or Data/parameter number access On/Off text 40848/40849 Speed of the fixed posi- 1000 1 to 40000000 p2618[4] tion 5 LU/min 40850/40851 Speed of the fixed posi- 1000 1 to 40000000 p2618[5] tion 6 LU/min...
  • Page 139: Cyclic Communication

    Task navigation Modbus register Description Modbus Unit Scaling factor Range or Data/parameter number access On/Off text 40966/40967 Numerator of electronic 1 to 10000 p29012[2] gear 2 40968/40969 Numerator of electronic 1 to 10000 p29012[3] gear 3 40970/40971 Denominator of the 1 to 10000 p29013 electronic gear...
  • Page 140 Task navigation Configure the PLC parameters. Note: Keep the PLC baud rate the same as the drive setting. Set even parity check for the PLC. Set a way for PLC to send the message to slaves. Note: For broadcast mode, you need to set the slave address to 0 on the PLC side. For unicast mode, you need to set the desired target slave address on the PLC side.
  • Page 141 Task navigation Configure the PLC parameters. Note: Keep the PLC baud rate the same as the drive setting. Set even parity check for the PLC (parity = 2). Set a way for PLC sending message to slaves. Here we use the unicast mode and we only want to send the message to slave 1.
  • Page 142 Task navigation Write the control word you desired via the register 40100. Note: Bit 10 of the register 40100 must be set to 1 to allow the PLC to control the drive. You need to trigger a rise edge for OFF1 to enable SON status for the motor, and OFF2 and OFF3 must be set to 1.
  • Page 143 Task navigation Process data overview Control mode IPos Control 40100 PTI mode control word IPos mode control S mode control word T mode control word data word 40101 Speed setpoint 40102 Position setpoint high word 40103 Position setpoint low word Status 40110 Status word...
  • Page 144 Task navigation PTI control mode IPos control mode Signals Description Signals Description Reserved SREF Start referencing (act as REF for refer- ence mode 0) Reserved Reserved Reserved Reserved S control mode T control mode Signals Description Signals Description SON_OFF1 Rising edge to enable SON (pulses can SON_OFF1 Rising edge to enable SON (pulses can be enabled).
  • Page 145 Task navigation Note The following signals are occupied by Modbus control word when you use the setpoint and control word from Modbus as the Modbus control source (p29008 = 1). They can only be enabled by Modbus control word while cannot be enabled by external DI terminals. •...
  • Page 146 Task navigation DI simulation The digital input signals can be simulated by Modbus with registers 40281 and 40283. Digital input DI10 Register Bit 0 Bit 1 Bit 2 Bit 3 Bit 4 Bit 5 Bit 6 Bit 7 Bit 8 Bit 9 40281 (p0795) Register...
  • Page 147: Acyclic Communication

    Task navigation 4.6.2.2 Acyclic communication The SINAMICS V90 servo drive supports acyclic communication via data set 47. The maximum data length per request is 240 bytes. Note Values in italics Values in italics in the following tables mean that you have to adjust these values for a specific request.
  • Page 148 Task navigation Data block Byte n Bytes n + 1 Values, parameter 1 Format Number of index values or - for a negative 02 hex : Integer8 response - number of error values 03 hex : Integer16 04 hex : Integer32 05 hex : Unsigned8 06 hex...
  • Page 149 Task navigation Data block Byte n Bytes n + 1 Values, parameter 1 Format Number of index values 02 hex: 00 hex ... EA hex Integer 8 03 hex: Integer 16 04 hex: Integer 32 05 hex: Unsigned 8 06 hex: Unsigned 16 07 hex: Unsigned 32...
  • Page 150 A change request for a controller that has been enabled is not possible. (The drive rejects the change request because the motor is switched on. Please observe the "Can be changed" parameter attribute (U, T) as given in the parameter list relevant section in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. 6C hex Unknown unit.
  • Page 151 Task navigation Error Meaning value 1 C9 hex Change request above the currently valid limit (example: a parameter value is too large for the drive power) CC hex Change request not permitted (change is not permitted as the access code is not available) Examples Via FC 16, with one request, up to 122 registers can be written to directly one after the other.
  • Page 152 Task navigation Byte Description User data 0001 h 40601: DS47 Control = 1 (activate request) 2F10 h 9,10 40602: Function 2F h (47), request length 16 bytes (10 h) 8001 h 11,12 40603: Request reference = 80 h, request identifier = 1 h 0202 h 13,14 40604: V90 = 2 h, number of parameters = 2...
  • Page 153 Task navigation Write the PLC command from registers 40601 to 40609: The table below formats a response for unsuccessful read operation (read request still not completed). Byte Description Header 01 h Slave address Number of following data bytes (20 h: 32 bytes ≙ 16 registers) 03 h Function code (read) 20 h...
  • Page 154 Task navigation Byte Description User data 0001 h 40601: ds47=1 (activate request) 2F1A h 9,10 40602: Function 2F h (47), request length 16 bytes (10 h) 8002 h 11,12 40603: Request reference = 80 h, request identifier = 2 h (write) 0202 h 13,14 40604: V90 = 2 h, number of parameters = 2...
  • Page 155 Task navigation Write the PLC command from registers 40601 to 40604: The table below formats a response for unsuccessful write operation (write request still not completed). Byte Description Header 01 h Slave address Number of following data bytes (20 h: 32 bytes ≙ 16 registers) 03 h Function code (read) 20 h...
  • Page 156 Task navigation SINAMICS V-ASSISTANT Online Help Operating Manual, 04/2017, A5E36618042-003...
  • Page 157: Index

    Index Alarm window, 37 Help Analog inputs, 105 About SINAMICS V-ASSISTANT, 36 Analog outputs, 106 View help, 35 Configure inputs/outputs, 75 IO simulation, 90 analog outputs assignment, 77 digital inputs assignment, 75 digital outputs assignment, 76 Configure referencing Mechanical structure, 54 set referencing, 78 set software position limit, 84 Optimize drive...
  • Page 158 Index Pulse train encoder outputs, 107 Pulse train inputs, 107 Select drive Control mode, 45 Drive selection, 42 Jog, 47 Motor selection, 44 Set limits, 71 Set parameter setpoint, 56 Set PROFINET Configure network, 51 Select telegram, 48 Speed limit, 73 Switch Go offline, 31 Go online, 31...

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