Siemens SIMOTICS S-1FL6 Compact Operating Instructions
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Siemens SIMOTICS S-1FL6 Compact Operating Instructions

Profinet pn interface
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See also: Installation Manual
SINAMICS V90, SIMOTICS S-1FL6
PROFINET (PN) interface
Getting Started
Compact Operating Instructions
Table of contents
1
Fundamental safety instructions .............................................................................................................................. 3
1.1
General safety instructions ...................................................................................................................... 3
1.2
Handling electrostatic sensitive devices (ESD) ....................................................................................... 7
1.3
Industrial security .................................................................................................................................... 7
1.4
Residual risks of power drive systems..................................................................................................... 8
2
General information ................................................................................................................................................ 9
2.1
Deliverables ............................................................................................................................................. 9
2.1.1
Drive components.................................................................................................................................... 9
2.1.2
Motor components ................................................................................................................................. 14
2.2
Device combination ............................................................................................................................... 17
2.3
Accessories ........................................................................................................................................... 20
2.4
Function list ........................................................................................................................................... 22
2.5
Technical data ....................................................................................................................................... 23
2.5.1
Technical data - servo drives ................................................................................................................. 23
2.5.2
Technical data - servo motors ............................................................................................................... 25
2.5.3
Address of CE-authorized manufacturer ............................................................................................... 28
3
Mounting .............................................................................................................................................................. 29
3.1
Mounting the drive ................................................................................................................................. 29
3.2
Mounting the motor................................................................................................................................ 33
4
Connecting ........................................................................................................................................................... 40
4.1
System connection ................................................................................................................................ 40
4.2
Main circuit wiring .................................................................................................................................. 45
4.2.1
Line supply - L1, L2, L3 ......................................................................................................................... 45
4.2.2
Motor power - U, V, W ........................................................................................................................... 46
4.3
Control/Status interface - X8 ................................................................................................................. 48
4.3.1
Interface definition ................................................................................................................................. 48
4.3.2
Standard wiring ..................................................................................................................................... 48
4.4
24 V power supply/STO ......................................................................................................................... 49
4.5
Encoder interface - X9 ........................................................................................................................... 51
4.6
External braking resistor - DCP, R1 ...................................................................................................... 54
4.7
Motor holding brake ............................................................................................................................... 54
4.8
PROFINET interface - X150 .................................................................................................................. 55
5
Commissioning ..................................................................................................................................................... 56
5.1
Introduction to the BOP ......................................................................................................................... 57
5.2
Initial commissioning in JOG mode ....................................................................................................... 62
5.3
Commissioning in basic positioner control mode (EPOS) ..................................................................... 63
© Siemens AG 2016 - 2017. All rights reserved
A5E37208904-003, 04/2017
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Summary of Contents for Siemens SIMOTICS S-1FL6

  • Page 1 PROFINET interface - X150 ........................55 Commissioning ..............................56 Introduction to the BOP ......................... 57 Initial commissioning in JOG mode ....................... 62 Commissioning in basic positioner control mode (EPOS) ..............63 © Siemens AG 2016 - 2017. All rights reserved A5E37208904-003, 04/2017...
  • Page 2 Commissioning in speed control mode (S) .................... 64 Commissioning control functions......................65 5.5.1 Speed limit ............................65 5.5.2 Torque limit ............................66 5.5.3 EJOG ..............................67 PROFINET communication ............................68 Supported telegrams ..........................68 I/O data signals ............................. 70 Control word definition .......................... 71 6.3.1 STW1 control word (for telegrams 1, 2, 3, 5) ..................

  • Page 3: Fundamental Safety Instructions

    Fundamental safety instructions General safety instructions DANGER Danger to life due to live parts and other energy sources Death or serious injury can result when live parts are touched. Only work on electrical devices when you are qualified for this job. •...
  • Page 4 WARNING Danger to life due to electric shock when not grounded For missing or incorrectly implemented protective conductor connection for devices with protection class I, high voltages can be present at open, exposed parts, which when touched, can result in death or severe injury. Ground the device in compliance with the applicable regulations.
  • Page 5 WARNING Danger to life through unexpected movement of machines when using mobile wireless devices or mobile phones Using mobile wireless devices or mobile phones with a transmit power > 1 W closer than approx. 2 m to the components may cause the devices to malfunction, influence the functional safety of machines therefore putting people at risk or causing material damage.
  • Page 6 Note Important safety notices for Safety Integrated functions If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals. WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death.

  • Page 7: Handling Electrostatic Sensitive Devices (Esd)

    Note Industrial security Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks. In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain –...

  • Page 8: Residual Risks Of Power Drive Systems

    Residual risks of power drive systems When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system: 1.

  • Page 9: General Information

    General information The SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN) are available in two variants, 400 V variant and 200 V variant. The 200 V variant is available in three frame sizes: FSB, FSC, and FSD. Frame sizes B, and C are used on the single phase or three phase power network while frame size D is used on the three phase power network only.
  • Page 10 Components in the SINAMICS V90 PN 400 V variant drive package Component Illustration Rated power Outline dimension Frame size Article number (kW) (Width x Height x Depth, mm) SINAMICS V90 PN, 60 x 180 x 200 FSAA 6SL3210-5FE10- three-phase, 400 V 4UF0 0.75/1.0 80 x 180 x 200...
  • Page 11 Drive rating plate (example) ① ⑤ Drive name Article number ② ⑥ Power input MAC address ③ ⑦ Power output Product serial number ④ ⑧ Rated motor power Part number Getting Started A5E37208904-003, 04/2017...
  • Page 12 Article number explanation (example) Getting Started A5E37208904-003, 04/2017...
  • Page 13 Serial number explanation (example) Getting Started A5E37208904-003, 04/2017...

  • Page 14: Motor Components

    2.1.2 Motor components Components in the SIMOTICS S-1FL6 low inertia motor package Component Illustration Rated power (kW) Shaft height (mm) Article number SIMOTICS S-1FL6, 0.05/0.1 1FL6022-2AF21-1❑❑1 low inertia 1FL6024-2AF21-1❑❑1 0.2/0.4 1FL6032-2AF21-1❑❑1 1FL6034-2AF21-1❑❑1 0.75/1.0 1FL6042-2AF21-1❑❑1 1FL6044-2AF21-1❑❑1 1.5/2.0 1FL6052-2AF21-0❑❑1 1FL6054-2AF21-0❑❑1 User documentation...
  • Page 15 Motor rating plate (example) ① ⑦ ⑬ Motor type Rated power Rated current ② ⑧ ⑭ Article number Encoder type and resolution Holding brake ③ ⑨ ⑮ Serial number Thermal class Motor ID ④ ⑩ ⑯ Rated torque Degree of protection Weight ⑤...
  • Page 16 Article number explanation Getting Started A5E37208904-003, 04/2017...

  • Page 17: Device Combination

    Device combination 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 Power Brake cable Encoder cable cable Rated Rated Rated Shaft Article number Article Frame Article...
  • Page 18 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 Shaft Article number Article Frame...
  • Page 19 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 20: Accessories

    Accessories Fuse/Type-E combination motor controller A fuse/type-E combination motor controller/circuit breaker can be used to protect the system. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.
  • Page 21 4DA10 The above types for Type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards. For more information about the accessories, refer to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. WARNING Requirements for United States/Canadian installations (UL/cUL)

  • Page 22: Function List

    Function list Function Description Control mode Basic positioner (EPOS) Positions axes in absolute/relative terms with a motor en- EPOS coder Speed control (S) Flexibly controls motor speed and direction through PROFINET communication port Safe Torque Off (STO) Safely disconnects torque-generating motor power supply EPOS, S to prevent an unintentional motor restart One-button auto tuning...

  • Page 23: Technical Data

    Technical data 2.5.1 Technical data - servo drives General technical data Parameter Description 24 VDC Voltage (V) 24 (-15% to +20%) power Maximum current (A) When using a motor without a brake: 1.5 A supply When using a motor with a brake: 1.5 A + motor holding brake rated current (See Section "Technical data - servo motors (Page 25)".) Overload capability 300%...
  • Page 24 Specific technical data SINAMICS V90 PN 200V variant Article No. 6SL3210-5FB... 10-1UF0 10-2UF0 10-4UF1 10-8UF0 11-0UF1 11-5UF0 12-0UF0 Frame size Rated output current (A) 10.6 11.6 Max. output current (A) 14.1 18.9 31.8 34.8 Max. supported motor power (kW) 0.75 Power loss Main circuit (W) Regenerative resistor...

  • Page 25: Technical Data - Servo Motors

    Article No. 6SL3210-5FE... 4UF0 8UF0 0UF0 5UF0 0UF0 5UF0 0UF0 0UF0 Frame size FSAA Power sup- Voltage/frequency Three phase 380 VAC to 480 VAC, 50/60 Hz Permissible voltage fluc- -15% to +10% tuation Permissible frequency -10% to +10% fluctuation Permissible supply con- TN, TT, IT figuration Rated input current (A)
  • Page 26 Specific technical data SIMOTICS S-1FL6, low inertia servo motor Article No. 1FL60... Rated power [kW] 0.05 0.75 Rated torque [Nm] 0.16 0.32 0.64 1.27 2.39 3.18 4.78 6.37 Maximum torque [Nm] 0.48 0.96 1.91 3.82 9.54 14.3 19.1 Rated speed [rpm]...
  • Page 27 Note The data of rated torque, rated power, maximum torque in the above table allows a tolerance of 10%. SIMOTICS S-1FL6, high inertia servo motor Article No. 1FL60... Rated power [kW] 0.40 0.75 0.75 1.00 1.50 1.75 2.00 Rated torque [Nm] 1.27...

  • Page 28: Address Of Ce-Authorized Manufacturer

    0.88 0.82 0.79 0.75 0.71 4000 0.82 0.77 0.74 0.71 0.67 2.5.3 Address of CE-authorized manufacturer The address of CE-authorized manufacturer is as follows: Siemens AG Digital Factory Motion Control Frauenauracher Straße 80 DE-91056 Erlangen Germany Getting Started A5E37208904-003, 04/2017...

  • Page 29: Mounting

    Mounting Mounting the drive Protection against the spread of fire The device may be operated only in closed housings or in control cabinets with protective covers that are closed, and when all of the protective devices are used. The installation of the device in a metal control cabinet or the protection with another equivalent measure must prevent the spread of fire and emissions outside the control cabinet.
  • Page 30 Note The drive must be derated to 80% when the following conditions are satisfied: The surrounding temperature is 0 °C to 45 °C, and the mounting clearance is less than 10 mm. In this case, the minimum • mounting clearance should not be less than 5 mm. The surrounding temperature is 45 °C to 55 °C.
  • Page 31 SINAMICS V90 PN 400V variant (unit: mm) Getting Started A5E37208904-003, 04/2017...
  • Page 32 Mounting the drive For V90 PN 200 V variant, use two M5 screws to mount the FSB drives and four M5 screws to mount the FSC, and FSD drives. For V90 PN 400 V variant, use two M5 screws to mount the FSAA drive and four M5 screws to mount the FSA, FSB, and FSC drives.

  • Page 33: Mounting The Motor

    Do not exert any shock at the shaft end; otherwise, the encoder may be damaged. For mounting conditions, see Technical data - servo motors (Page 25). Mounting orientation SIMOTICS S-1FL6 supports flange mounting only and three types of constructions, so it can be installed in three orientations as shown in the following figure. Note When configuring the IM V3 type of construction, pay particular attention to the permissible axial force (weight force of the drive elements) and the necessary degree of protection.
  • Page 34 • should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. ② For the low inertia motor with shaft-height of 50 mm, the boundary dimensions of encoder connector−...
  • Page 35 High inertia servo motor with straight connectors, with the incremental encoder High inertia servo motor with angular connectors, with the incremental encoder Type 1FL60... Shaft height 13.5 80 - 0.03 110 - 0.035 114.3 - 0.035 4 - 0.3 6 - 0.3 3 - 0.3 19 - 0.013 22 -0.013...
  • Page 36 −Incremental encoder cable connector, −Brake cable connector. These connectors • should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. ② ③ The boundary dimensions of encoder connector−...
  • Page 37 High inertia servo motor with angular connectors, with the absolute encoder Type 1FL60... Shaft height 13.5 80 - 0.03 110 - 0.035 114.3 - 0.035 4 - 0.3 6 - 0.3 3 - 0.3 19 - 0.013 22 - 0.013 35 - 0.016 M6 x 16 M8 x 16...
  • Page 38 −Brake cable connector. These connectors • should be ordered separately. For more information about the order information of the connectors, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. The shaft height 90 mm motor has two M8 screw holes for eyebolts. •...
  • Page 39 When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. Make sure you use a suitable flange according to Siemens recommended flange sizes.

  • Page 40: Connecting

    Connecting System connection The following illustrations show the examples of the SINAMICS V90 PN servo system connection. Connection diagram for FSB on the single phase power network: Getting Started A5E37208904-003, 04/2017...
  • Page 41 Connection diagram for FSD on the three phase power network: DANGER Danger to life when PE connectors are touched When the equipment is working, hazardous touch current can be present at the PE connectors; if touched, this can result in death or severe personal injury. Do not touch the PE connector during operation or within a certain period since power disconnection.
  • Page 42 Exercise caution when connecting the shielding cable to the PROFINET I/O connector. For more information about the assembly method of the connector, see Section "Assembly of cable terminals on the drive side" in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Note Low Voltage Directive complied Our products comply with EN61800-5-1: 2007 standards and Low Voltage Directive (Low Voltage Directive 2006/95/EC).
  • Page 43 Connecting the cable shields with the shielding plate To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to connect the cable shields. See the following example for steps of connecting cable shields with the shielding plate: DANGER Death or severe personal injury from electrical shock The earth leakage current for the drive can be greater than AC 3.5 mA, which may cause death or severe...
  • Page 44 Adjusting cable directions from the motor side For some low inertia motors and all high inertia motors, you can adjust the direction of the power cable, encoder cable, or brake cable from the motor side to facilitate cable connection. The following illustrations take high inertia motors with the incremental encoder for example to show how to adjust the cable directions.

  • Page 45: Main Circuit Wiring

    Assembling the line supply cable terminals The procedure of assembling a line supply cable terminal is the same as that for a power cable terminal on the drive side. For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Attaching the line supply cable...

  • Page 46: Motor Power - U, V, W

    ● For FSC and FSD 400 V variant ● For FSAA and FSA You can attach the line supply cable with the same method for 200 V variant drives of frame sizes FSC and FSD. ● For FSB and FSC The FSB and FSC servo drives are equipped with barrier terminals for line supply connection.
  • Page 47 Attaching the motor power cable CAUTION Risk of injury due to improper cable connection When attaching the motor power cable to a motor power connector that has not been fixed on the drive, you can injure your fingers. Make sure you first fix the motor power connector on the drive, and then attach the cable to the connector. •...

  • Page 48: Control/Status Interface - X8

    Control/Status interface - X8 4.3.1 Interface definition Signal Description Signal Description Type: 20-pin MDR socket Digital inputs/outputs Digital input 1 DO1+ Digital output 1, positive Digital input 2 DO1- Digital output 1, negative Digital input 3 DO2+ Digital output 2, positive Digital input 4 DO2- Digital output 2, negative...

  • Page 49: V Power Supply/Sto

    Digital inputs, supporting both PNP and NPN types. The pins are used to connect the brake control signals for 200 V variant drive only. Refer to the section "Motor holding brake" in SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions for the detailed connections. 24 V power supply/STO...
  • Page 50 The procedure of assembling a 24 V power cable terminal or an STO cable terminal is the same as that for a power cable terminal on the drive side of the V90 PN 200 V servo drives. For more information, see the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Plugging the 24 V power supply and STO cables...

  • Page 51: Encoder Interface - X9

    Encoder interface - X9 The SINAMICS V90 PN 200V variant servo drive supports two kinds of encoders: ● Incremental encoder TTL 2500 ppr ● Absolute encoder single-turn 21-bit The SINAMICS V90 PN 400V variant servo drive supports two kinds of encoders: ●...
  • Page 52 Encoder connector - motor side Illustration Incremental encoder TTL 2500 ppr Illustration Absolute encoder single-turn 21-bit Signal Description Signal Description Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm P_Supply Power supply 5 V P_Supply Power supply 5 V Power supply 0 V Power supply 0 V Phase A+...
  • Page 53 Wiring Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm Low inertia motor, shaft height: 50 mm High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm Getting Started A5E37208904-003, 04/2017...

  • Page 54: External Braking Resistor - Dcp, R1

    When the internal braking resistor cannot meet the braking requirements (e.g. the alarm A52901 is generated), you can connect an external braking resistor. For more information about how to select a braking resistor, see Section "Accessories" in the SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Note The 200 V variant servo drive with rated power of 0.1 kW (FSB) does not have a built-in resistor.

  • Page 55: Profinet Interface - X150

    PROFINET interface - X150 PROFINET interface PROFINET devices from the SINAMICS family have a PROFINET interface (Ethernet-controller/interface) with two ports (physical connection possibilities). Every PROFINET device on the network is uniquely identified via its PROFINET interface. For this purpose, each PROFINET interface has: ●...

  • Page 56: Commissioning

    SINAMICS V90 PN servo drive with a USB cable (To ensure the stability of online commissioning, Siemens recommends you to use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.). With SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive working states in online mode.

  • Page 57: Introduction To The Bop

    Introduction to the BOP Overview The SINAMICS V90 PN servo drive is designed with a Basic Operator Panel (BOP) on the front panel of the servo drive: You can use the BOP for the following operations: ● Standalone commissioning ● Diagnosis ●...
  • Page 58 You can find detailed information about the status indications in the table below: Status indicator Color Status Description 24 V control board power supply is missing Green Continuously lit The drive is in "servo on" state Continuously lit The drive is in "servo off" state or in the startup state Flash at 1 Hz Alarms or faults occurs Green and...
  • Page 59 Menu structure The overall parameter structure of SINAMICS V90 PN BOP is designed as follows: Getting Started A5E37208904-003, 04/2017...
  • Page 60 BOP displays Display Example Description 8.8.8.8.8.8. Drive is in startup state ------ Drive is busy Fxxxxx Fault code, in the case of a single fault F.xxxxx. Fault code of the first fault, in the case of multiple faults Fxxxxx. Fault code, in the case of multiple faults Axxxxx Alarm code, in the case of a single alarm A.xxxxx.
  • Page 61 Display Example Description Data Read-only parameter group Func Function group JOG function Save Save data in drive defu Restore drive to default settings dr--sd Save data from drive to micro SD card/SD card sd--dr Upload data from micro SD card/SD card to drive Update Update firmware The zero position has not been set...

  • Page 62: Initial Commissioning In Jog Mode

    Initial commissioning in JOG mode Prerequisites ● The servo drive is connected to the servo motor without load ● The servo drive is not in servo on status Operating sequence Note Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to enable the JOG function; otherwise, you cannot access the function related parameter p1058.

  • Page 63: Commissioning In Basic Positioner Control Mode (Epos)

    Step Description Remarks Check the JOG speed. Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to ena- The default JOG speed is 100 rpm. You can change it by ble the JOG function; otherwise, you cannot access setting the parameter p1058.

  • Page 64: Commissioning In Speed Control Mode (S)

    Step Description Remarks Check the servo motor type. Fault F52984 occurs when the servo motor is not identified. If the servo motor has an incremental encoder, input the • motor ID (p29000). You can find the motor ID from the motor rating plate.

  • Page 65: Commissioning Control Functions

    Step Description Remarks Configure necessary digital input signals by setting the fol- The factory settings are: lowing parameters: p29301: 2 (RESET) • p29301: DI1 • p29302: 11 (TLIM) • p29302: DI2 • p29303: 0 • p29303: DI3 • p29304: 0 •...

  • Page 66: Torque Limit

    Note After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 are set to the maximum speed of the motor automatically. 5.5.2 Torque limit Two sources in total are available for the torque limit. You can select one of them via the digital input signal TLIM: Digital input (TLIM) Torque limit Internal torque limit 1...

  • Page 67: Ejog

    5.5.3 EJOG When telegrams 7, 9, 110, and 111 are used, select a jogging channel with the PROFINET control words STW1.8 and STW1.9: Control word Setting Description STW1.8 No jogging channel activated. STW1.9 Jog 1 signal source rising edge activated. Jog 2 signal source rising edge activated.

  • Page 68: Supported Telegrams

    Siemens telegram 111 p0922 = 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. Getting Started...
  • Page 69 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 STW2...

  • Page 70: I/O Data Signals

    I/O data signals Parameters p200x apply as reference variables (telegram contents = 4000 hex or 40000000 hex in the case of double words if the input variable has the value p200x). The following table provides an overview of the I/O data used in the telegram. Signal Description Receive word/send word...

  • Page 71: Control Word Definition

    Signal Description Receive word/send word Data type Scaling user User-defined receive word Receive word (p29150): 0: No function • 1: Additional torque • (0x4000 = p2003) 2: Additional speed • (0x4000 = p2000) user User-defined send word Send word (p29151): 0: No function •...

  • Page 72: Stw2 Control Word (For Telegrams 2, 3, 5)

    Signal Description STW1.11 1 = Setpoint inversion STW1.12 Reserved STW1.13 Reserved STW1.14 Reserved STW1.15 Reserved 6.3.2 STW2 control word (for telegrams 2, 3, 5) Signal Description STW2.0 Reserved STW2.1 Reserved STW2.2 Reserved STW2.3 Reserved STW2.4 Reserved STW2.5 Reserved STW2.6 Reserved STW2.7 Reserved STW2.8...

  • Page 73: Stw2 Control Word (For Telegrams 102, 105)

    Signal Description STW1.6 1 = Enable setpoint 0 = Inhibit setpoint (set the ramp-function generator input to zero) STW1.7 = 1. Acknowledge faults STW1.8 Reserved STW1.9 Reserved STW1.10 1 = Control via PLC STW1.11 1 = Ramp-function generator active STW1.12 1 = Unconditionally open the holding brake STW1.13 Reserved...

  • Page 74: Stw1 Control Word (For Telegrams 7, 9, 110, 111)

    6.3.5 STW1 control word (for telegrams 7, 9, 110, 111) Note STW1.10 must be set to 1 to allow the PLC to control the drive. Signal Description STW1.0 = ON (pulses can be enabled) 0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on) STW1.1 1 = No OFF2 (enable is possible) 0 = OFF2 (immediate pulse suppression and switching on inhibited)

  • Page 75: G1_Stw Encoder 1 Control Word

    Signal Description STW2.14 Master sign-of-life, bit 2 STW2.15 Master sign-of-life, bit 3 6.3.7 G1_STW encoder 1 control word Signal Description G1_STW.0 Selects the function to be activate (with bit value = 1) G1_STW.1 G1_STW.2 G1_STW.3 G1_STW.4 Start/stop/read selected function G1_STW.5 G1_STW.6 G1_STW.7 Mode of the function to be activated...

  • Page 76: Mdi_Mod Control Word

    Signal Description SATZANW.7 Reserved SATZANW.8 Reserved SATZANW.9 Reserved SATZANW.10 Reserved SATZANW.11 Reserved SATZANW.12 Reserved SATZANW.13 Reserved SATZANW.14 Reserved SATZANW.15 1 = Activate MDI 0 = Deactivate MDI 6.3.9 MDI_MOD control word Signal Description MDI_MOD.0 1 = Absolute positioning is selected 0 = Relative positioning is selected MDI_MOD.1 0 = Absolute positioning through the shortest distance...

  • Page 77: Pos_Stw1 Positioning Control Word

    Signal Description POS_STW.8 Reserved POS_STW.9 Reserved POS_STW.10 Reserved POS_STW.11 Reserved POS_STW.12 Reserved POS_STW.13 Reserved POS_STW.14 Reserved POS_STW.15 Reserved Note If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position value. 6.3.11 POS_STW1 positioning control word Signal...

  • Page 78: Status Word Definition

    Signal Description POS_STW2.5 1 = Jogging, incremental active 0 = Jogging, velocity active POS_STW2.6 Reserved POS_STW2.7 Reserved POS_STW2.8 Reserved POS_STW2.9 1 = Start the search for reference in the negative direction 0 = Start the search for reference in the positive direction POS_STW2.10 Reserved POS_STW2.11...

  • Page 79: Zsw1 Status Word (For Telegrams 102, 105)

    Signal Description ZSW2.3 Reserved ZSW2.4 Reserved ZSW2.5 1 = Alarm class bit 0 ZSW2.6 1 = Alarm class bit 1 ZSW2.7 Reserved ZSW2.8 1 = Traverse to fixed endstop ZSW2.9 Reserved ZSW2.10 1 = Pulses enabled ZSW2.11 Reserved ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 ZSW2.14...

  • Page 80: Zsw1 Status Word (For Telegram 7, 9, 110, 111)

    Signal Description ZSW2.11 Reserved ZSW2.12 Slave sign-of-life, bit 0 ZSW2.13 Slave sign-of-life, bit 1 ZSW2.14 Slave sign-of-life, bit 2 ZSW2.15 Slave sign-of-life, bit 3 6.4.5 ZSW1 status word (for telegram 7, 9, 110, 111) Signal Description ZSW1.0 1 = Ready for switching on ZSW1.1 1 = Ready for operation (DC link loaded, pulses blocked) ZSW1.2...

  • Page 81: G1_Zsw Encoder 1 Status Word

    6.4.7 G1_ZSW encoder 1 status word Signal Description G1_ZSW.0 Feedback signal of the active function (1 = function active) G1_ZSW.1 G1_ZSW.2 G1_ZSW.3 G1_ZSW.4 1 = Position actual value from function 1 Generated value in Gn_XIST2 (and can be read) G1_ZSW.5 1 = Position actual value from function 2 G1_ZSW.6 1 = Position actual value from function 3...

  • Page 82: Pos_Zsw1 Positioning Status Word

    1 = Fixed stop clamping torque reached POS_ZSW2.14 1 = Travel to fixed stop active POS_ZSW2.15 1 = Traversing command active For more information about the PROFINET communication, refer to SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions. Getting Started A5E37208904-003, 04/2017...

  • Page 83: Overview

    Parameters Overview The section below lists all the parameters of the SINAMICS V90 PN servo drive. Parameter number Numbers prefixed with an "r" indicate that parameter is a read-only parameter. Numbers prefixed with a "p" indicate that the parameter is an editable parameter. Effective Indicates the conditions for making parameterization effective.

  • Page 84: Parameter List

    2: Standard telegram 2, PZD-4/4 • 3: Standard telegram 3, PZD-5/9 • 5: Standard telegram 5, PZD-9/9 • 102: SIEMENS telegram 102, PZD-6/10 • 105: SIEMENS telegram 105, PZD-10/10 • For basic positioner control mode: 7: Standard telegram 7, PZD-2/2 •...
  • Page 85 Par. No. Name Factory Unit Data Effective Can be Setting type changed p0977 Save all parameters T, U Description: Saves all parameters of the drive system to the non-volatile memory. When saving, only the adjustable parameters intended to be saved are taken into account. Value = 0: Inactive •...
  • Page 86 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1130 Ramp-function generator 0.000 30.000 0.000 Float T, U initial rounding-off time Description: Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
  • Page 87 Par. No. Name Factory Unit Data Effective Can be Setting type changed Dependency: Refer to p1215, p1216, p1217, p1227 Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indices 1 to 31 is overwritten with the parameter value in index 0 when the drive boots. Note: Standstill is identified in the following cases: - The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.
  • Page 88 Par. No. Name Factory Unit Data Effective Can be Setting type changed Dependency: The individual speed setpoint filters are parameterized as of p1415. Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
  • Page 89 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1422 Speed setpoint filter 2 0.00 5000.00 0.00 Float T, U time constant Description: Sets the time constant for the speed setpoint filter 2 (PT1). Dependency: Refer to p1414, p1421 Note: This parameter is only effective if the speed filter is set as a PT1 low pass.
  • Page 90 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1656 * Activates current setpoint 0001 T, U filter Description: Setting for activating/de-activating the current setpoint filter. Bit 0: Activate filter 1 • – Bit 0 = 0: Deactivated –...
  • Page 91 Par. No. Name Factory Unit Data Effective Can be Setting type changed p1668 Current setpoint filter 3 16000.0 1000.0 Float T, U denominator natural fre- quency Description: Sets the denominator natural frequency for current setpoint filter 3 (PT2, general filter). Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ...
  • Page 92 Par. No. Name Factory Unit Data Effective Can be Setting type changed Notice: If various DDS are used with different motor data, then the reference quantities remain the same as these are not changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for trace records).
  • Page 93 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2542 * LR standstill window 214748364 1000 T, U Description: Sets the standstill window for the standstill monitoring function. After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output.
  • Page 94 Par. No. Name Factory Unit Data Effective Can be Setting type changed Note: The maximum velocity is active in all of the operating modes of the basic positioner. The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the speed/velocity controller: p2571[1000 LU/min] = max_speed[rpm] x p29248/p29249 x p29247/1000 p2572 **...
  • Page 95 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2581 EPOS software limit -2147482648 214748264 214748 T, U switch plus 2647 Description: Sets the software limit switch in the positive direction of travel. Dependency: Refer to p2580, p2582 p2582 EPOS software limit U32/Bina...
  • Page 96 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2586 EPOS jog 2 setpoint -40000000 40000000 T, U velocity U/mi Description: Sets the setpoint speed for jog 2. Dependency: Refer to: p2588 p2587 EPOS jog 1 traversing 214748264 1000 T, U...
  • Page 97 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2608 EPOS search for refer- 40000000 T, U ence approach velocity zero mark U/mi Description: Sets the approach velocity after detecting the reference cam to search for the zero mark for the search for reference.
  • Page 98 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2621[0... EPOS traversing block T, U task Description: Sets the required task for the traversing block. 1: POSITIONING • 2: FIXED STOP • 3: ENDLESS_POS • 4: ENDLESS_NEG •...
  • Page 99 Par. No. Name Factory Unit Data Effective Can be Setting type changed p2634 EPOS fixed stop maxi- 214748264 1000 T, U mum following error Description: Sets the following error to detect the "fixed stop reached" state. Dependency: Refer to: p2621 Note: The state "fixed stop reached"...
  • Page 100 Par. No. Name Factory Unit Data Effective Can be Setting type changed p8923[0... PROFIdrive: Subnet T, U mask of station Description: Sets the subnet mask for the onboard PROFINET interface on the Control Unit. The active subnet mask is displayed in r8933. Note: The interface configuration (p8920 and following) is activated with p8925.
  • Page 101 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29020[0.. Tuning: Dynamic factor T, U Description: The dynamic factor of auto tuning. 35 dynamic factors in total are available. Index: [0]: Dynamic factor for one-button auto tuning •...
  • Page 102 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29025 Tuning: Configuration 0x0004 overall Description: Overall configuration of auto tuning, apply for both one-button and real-time auto tuning. Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic perfor- •...
  • Page 103 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29071[0.. Speed limit negative -210000 Float T, U .1] * 210000 Description: Negative speed limit. Two internal speed limits in total are available. You can select the internal parameters as the source of the speed limit with the digital input signals SLIM. p29080 Overload threshold for Float...
  • Page 104 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29230 MDI direction selection Description: MDI direction selection: 0: Absolute positioning through the shortest distance • 1: Absolute positioning in the positive direction • 2: Absolute positioning in the negative direction •...
  • Page 105 Par. No. Name Factory Unit Data Effective Can be Setting type changed p29301 Digital input 1 assignment 0 Description: Defines the function of digital input signal DI1 0: NA • 2: RESET • 3: CWL • 4: CCWL • 11: TLIM •...
  • Page 106 Read-only parameters Par. No. Name Unit Data type r0020 Speed setpoint smoothed Float Description: Displays the currently smoothed speed setpoint at the input of the speed controller or U/f charac- teristic (after the interpolator). Note: Smoothing time constant = 100 ms The signal is not suitable as a process quantity and may only be used as a display quantity.
  • Page 107 • [19]: Cooling unit liquid intake • Dependency: Refer to A01009 Notice: Only for internal Siemens troubleshooting. Note: The value of -200 indicates that there is no measuring signal. r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]). • r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
  • Page 108 Par. No. Name Unit Data type r0333 Rated motor torque Float Description: Displays the rated motor torque. IEC drive: unit Nm NEMA drive: unit lbf ft r0482[0...2 Encoder actual position value Gn_XIST1 Description: Displays the encoder actual position value Gn_XIST1. Index: [0]: Encoder 1 •...
  • Page 109 Note: The buffer parameters are cyclically updated in the background. The structure of the fault buffer and the assignment of the indices is shown in r0945. r0964[0...6 Device identification Description: Displays the device identification. Index: [0]: Company (Siemens = 42) • [1]: Device type • [2]: Firmware version •...
  • Page 110 Par. No. Name Unit Data type r0975[0...1 Drive object identification Description: Displays the identification of the drive object. Index: [0]: Company (Siemens = 42) • [1]: Drive object type • [2]: Firmware version • [3]: Firmware data (year) • [4]: Firmware data (day/month) •...
  • Page 111 Par. No. Name Unit Data type r2043.0...2 PROFIdrive: PZD state Description: Displays the PROFIdrive PZD state. Bit 0: Setpoint failure Value = 1: Yes • Vaule = 0: No • Bit 1: Clock cycle synchronous operation active Vaule = 1: Yes •...
  • Page 112 Par. No. Name Unit Data type r2092 PROFIdrive: PZD3 receive bit-serial Description: Binector output for bit-serial interconnection of PZD3 received from the PROFIdrive controller. r2093.0...1 PROFIdrive: PZD4 receive bit-serial Description: Bit-serial description of PZD4 (normally control word 2) received from the PROFIdrive controller. If the value of the bit equals to 0, it means the function of this bit is deactivated.
  • Page 113 Par. No. Name Unit Data type r8931[0...3 PROFIdrive: Active IP address of station Description: Displays the active IP address for the onboard PROFINET interface on the Control Unit. r8932[0...3 PROFIdrive: Active default gateway of station Description: Displays the active default gateway for the onboard PROFINET interface on the Control Unit. r8933[0...3 PROFIdrive: Active subnet mask of station Description: Displays the active subnet mask for the onboard PROFINET interface on the Control Unit.

  • Page 114: Overview

    Diagnostics Overview General information about faults and alarms The errors and states detected by the individual components of the drive system are indicated by messages. The messages are categorized into faults and alarms. Properties of faults and alarms ● Faults –...
  • Page 115 Type BOP display (example) Status indicator Reaction Acknowledgement NONE: no reaction Alarm Single alarm Slow • Self-acknowledgement flashing in red The first alarm in the case of multiple alarms Non-first alarm in the case of multiple alarms NOTICE Faults have higher display priority than alarms In the case that both faults and alarms occur, only faults are displayed until they have been acknowledged.

  • Page 116: List Of Faults And Alarms

    If you do not eliminate the cause(s) of the fault, it can appear again after no button operation for five seconds. Make sure • that you have eliminated the cause(s) of the fault. You can acknowledge faults using RESET signal. For details of the signal, refer to SINAMICS V90, SIMOTICS S-1FL6 • Operating Instructions.
  • Page 117 Fault Description Fault Description F7011 Motor overtemperature F8501 PROFIdrive: Setpoint timeout F7085 Open-loop/closed-loop control parameters F30001 Power unit: Overcurrent changed F7090 Drive: Upper torque limit less than the low- F30002 DC link voltage, overvoltage er torque limit F7093 Test signal error F30003 DC link voltage, undervoltage F7220...
  • Page 118 A7471 EPOS: Traversing block target position A52902 Emergency missing outside the modulo range A7472 EPOS: Traversing block ABS_POS/ABS_NEG not possible Siemens AG Division Digital Factory Postfach 48 48 90026 NÜRNBERG GERMANY Getting Started Getting Started A5E37208904-003, 04/2017 A5E37208904-003, 04/2017...

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