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   Summary of Contents for siemens SINAMICS G120D

  • Page 3 ___________________ Converter with control units CU250D-2 Changes in this manual Fundamental safety ___________________ instructions ___________________ Introduction SINAMICS ___________________ Description SINAMICS G120D ___________________ Converter with control units Installation CU250D-2 ___________________ Commissioning Operating Instructions ___________________ Adapt inputs and outputs ___________________ Configuring the fieldbus...
  • Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.
  • Page 5: Changes In This Manual

    Important changes with respect to the Manual, 01/2013 Edition New hardware in Chapter New CU250D-2 PN-F FO Control Units with fieldbus via SINAMICS G120D CU250D-2 Inverter fiber-optic cable (Page 23) Connections and cables (Page 36) New Firmware Functions for V4.7...
  • Page 6 Changes in this manual Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 7: Table Of Contents

    Residual risks of power drive systems ..................19 Introduction ............................21 About this manual ........................21 Guide through this manual ......................22 Description ............................23 SINAMICS G120D CU250D-2 Inverter ..................23 Commissioning tools ........................25 Supported motor series ........................ 27 Installation ............................29 Mechanical Installation ......................... 29 4.1.1...
  • Page 8 Table of contents 5.2.2 Introduction, V/f control, vector control ..................58 5.2.3 Defining additional requirements for the application ..............60 5.2.4 Encoder assignment ........................60 Restoring the factory setting ....................... 62 Basic commissioning with IOP ....................64 Basic commissioning with STARTER ..................68 5.5.1 Generating a STARTER project ....................
  • Page 9 Table of contents Setting functions ..........................111 Overview of the converter functions................... 111 Inverter control ........................... 113 8.2.1 Switching the motor on and off ....................113 8.2.2 Running the motor in jog mode (JOG function) ................. 115 8.2.3 Switching over the inverter control (command data set)............117 Setpoints ............................
  • Page 10 Table of contents 8.6.7.3 Setting the flying referencing..................... 176 8.6.7.4 Set reference point ........................181 8.6.7.5 Absolute encoder adjustment ....................183 8.6.8 Jogging ............................185 8.6.8.1 Jog velocity..........................185 8.6.8.2 Incremental jogging ........................186 8.6.8.3 Setting jogging .......................... 186 8.6.9 Traversing blocks ........................
  • Page 11 Technical data ............................ 325 12.1 Performance ratings Control Unit ....................325 12.2 Performance ratings Power Module................... 327 12.3 SINAMICS G120D specifications ....................328 12.4 Ambient operating conditions ..................... 329 12.5 Current and voltage derating dependent on the installation altitude ......... 330 12.6 Pulse frequency and current reduction ..................
  • Page 12 Table of contents 12.7 Standards (PM250D) ........................ 332 12.8 Electromagnetic Compatibility ....................333 Appendix ............................. 337 New and extended functions ..................... 337 Star-delta motor connection and application examples ............340 Parameter..........................341 Handling STARTER ........................344 A.4.1 Change settings ........................344 A.4.2 Optimize the drive using the trace function ................
  • Page 13: 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 14 Fundamental safety instructions 1.1 General safety instructions WARNING Danger to life when live parts are touched on damaged devices Improper handling of devices can cause damage. For damaged devices, hazardous voltages can be present at the enclosure or at exposed components;...
  • Page 15 Fundamental safety instructions 1.1 General safety instructions 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.
  • Page 16 Fundamental safety instructions 1.1 General safety instructions NOTICE Device damage caused by incorrect voltage/insulation tests Incorrect voltage/insulation tests can damage the device. • Before carrying out a voltage/insulation check of the system/machine, disconnect the devices as all converters and motors have been subject to a high voltage test by the manufacturer, and therefore it is not necessary to perform an additional test within the system/machine.
  • Page 17: Safety Instructions For Electromagnetic Fields (emf)

    Fundamental safety instructions 1.2 Safety instructions for electromagnetic fields (EMF) Safety instructions for electromagnetic fields (EMF) WARNING Danger to life from electromagnetic fields Electromagnetic fields (EMF) are generated by the operation of electrical power equipment such as transformers, converters or motors. People with pacemakers or implants are at a special risk in the immediate vicinity of these devices/systems.
  • Page 18: Industrial Security

    Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept.
  • Page 19: Residual Risks Of Power Drive Systems

    Fundamental safety instructions 1.5 Residual risks of power drive systems Residual risks of power drive systems The control and drive components of a drive system are approved for industrial and commercial use in industrial line supplies. Their use in public line supplies requires a different configuration and/or additional measures.
  • Page 20 Fundamental safety instructions 1.5 Residual risks of power drive systems 3. Hazardous shock voltages caused by, for example, – Component failure – Influence during electrostatic charging – Induction of voltages in moving motors – Operation and/or environmental conditions outside the specification –...
  • Page 21: Introduction

    Introduction About this manual Who requires the operating instructions and what for? These operating instructions primarily address fitters, commissioning engineers and machine operators. The operating instructions describe the devices and device components and enable the target groups being addressed to install, connect-up, set, and commission the converters safely and in the correct manner.
  • Page 22: Guide Through This Manual

    Introduction 2.2 Guide through this manual Guide through this manual ① Inverter components and accessories. Permissible motors. Tools for commissioning. ② Install and wire the inverter and its components. Install the inverter in accordance with EMC. ③ Prepare for commissioning. Restore the inverter to factory settings.
  • Page 23: Description

    SINAMICS G120D CU250D-2 Inverter Overview The SINAMICS G120D is a converter for controlling the position of a drive. The converter consists of two parts, the Control Unit (CU) and the Power Module (PM). Table 3- 1...
  • Page 24 Description 3.1 SINAMICS G120D CU250D-2 Inverter Table 3- 2 PM250D Power Modules Frame Rated output Rated output Order number size power current based on High Overload (HO) 0.75 kW 2.2 A 6SL3525-0PE17-5AA1 1.5 kW 4.1 A 6SL3525-0PE21-5AA1 3.0 kW 7.7 A 6SL3525-0PE23-0AA1 4.0 kW...
  • Page 25: Commissioning Tools

    Description 3.2 Commissioning tools Commissioning tools Figure 3-1 Commissioning tools - PC or IOP Handheld Kit Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 26 Description 3.2 Commissioning tools Table 3- 3 Components and tools for commissioning Component or tool Order number Operator Panel IOP Handheld 6SL3255-0AA00-4HA0 STARTER Commissioning tool (PC You obtain STARTER on a DVD software) (Order number: 6SL3072- 0AA00-0AG0) and it can be downloaded: Download STARTER (http://support.automation.sieme ns.com/WW/view/en/26233208)
  • Page 27: Supported Motor Series

    1LG6, 1LA7, 1LA9 and 1LE1 standard induction 1PH8 induction motors motors Multi-motor drive is permissible, i.e. multiple motors operated on one inverter. See also: Multi- motor drive (http://support.automation.siemens.com/WW/view/ en/84049346). On request: Encoderless permanently excited Motors from other manufacturers synchronous motors SIMOTICS S Standard induction motors...
  • Page 28 Description 3.3 Supported motor series Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 29: Installation

    Installation Mechanical Installation Fitting the Control Unit to the Power Module The inverter is delivered as two separate components - the Power Module (PM) and the Control Unit (CU). The CU must be fitted to the PM prior to any further commissioning taking place.
  • Page 30: Drill Pattern Sinamics G120d

    Installation 4.1 Mechanical Installation 4.1.1 Drill pattern SINAMICS G120D Drill pattern and dimensions The inverter has an identical drill pattern for all frame sizes. The drill pattern, depth and tightening torques are shown in the diagram below. Figure 4-2 SINAMICS G120D drill pattern Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 31 Installation 4.1 Mechanical Installation Mounting orientation Mount the converter on a table or on a wall. The minimum clearance distances are as follows: ● Side-by-side - no clearance distance is required ● Above and below the inverter 150 mm (5.9 inches). Figure 4-3 Mounting orientation: correct (✓), impermissible (X), permissible with restrictions (!) Restrictions due to vertical mounting...
  • Page 32: Electrical Installation

    Installation 4.2 Electrical Installation Electrical Installation NOTICE Material damage from inappropriate supply system V > 1% Operating the converter on an inappropriate supply system can cause damage to the converter and other loads. • Only operate the converter on supply systems with V ≤...
  • Page 33: Electrical Data

    4.40 For more comprehensive information on the standby current, please read the following FAQ: Standby currents for PM250D (http://support.automation.siemens.com/WW/view/en/31764702) Brake voltage The brake voltage of 180 V DC is suitable for brakes which require 400 V AC with rectifier. Remove the rectifier module and connect the brake output of the converter directly to the brake coil.
  • Page 34: Basic Emc Rules

    Installation 4.2 Electrical Installation 4.2.3 Basic EMC Rules Measures to limit Electromagnetic Interference (EMI) Listed below are the necessary measures that must be taken to ensure the correct installation of the Inverter within a system, which will minimize the effect of EMI. Cables ●...
  • Page 35: Overview Of The Interfaces

    Installation 4.2 Electrical Installation 4.2.4 Overview of the interfaces Interfaces of the converter ① ⑧ Digital inputs 0 … 5 with status LED HTL Encoder connection ② ⑨ Fieldbus IN and OUT (PROFINET or SSI Encoder connection PROFIBUS) ③ ⑩ 24 V DC supply IN and OUT Slot for a memory card at rear of the Control Unit...
  • Page 36: Connections And Cables

    Installation 4.2 Electrical Installation 4.2.5 Connections and cables DANGER Danger of electrical shock by touching the pins in the motor terminal box The temperature sensor and motor holding brake connections are at DC link negative potential. Touching the pins in the motor terminal box can lead to death due electrical shock.
  • Page 37 Installation 4.2 Electrical Installation Figure 4-5 G120D CU250D-2 PROFIBUS connectors Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 38 Installation 4.2 Electrical Installation Figure 4-6 G120D CU250D-2 PROFINET connectors Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 39 Installation 4.2 Electrical Installation Figure 4-7 G120D CU250D-2 PROFINET Push-Pull connectors Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 40 Installation 4.2 Electrical Installation Figure 4-8 G120D CU250D-2 PROFINET FO terminal diagram Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 41 The detailed specifications for the cables, connectors and tools required to manufacture the necessary cables for the SINAMICS G120D are listed in the following tables. The connections that are detailed in this section relate to the physical connections that exist on the Inverter.
  • Page 42 6GK1905-0EA00 3RK1902-1BA00 PROFINET Port 1 and Port 2 (M12) 6GK1901-0DB20-6AA0 3RK1902-2DA00 Encoder (M12 ) Via KnorrTec: Knorrtec (http://www.knorrtec.de/index.php/en/company- profile/siemens-solution-partner) Digital input and output (M12 ) 3RK1902-4BA00-5AA0 3RK1902-4DA00-5AA0 Table 4- 5 Push-Pull variant PROFINET and POWER connectors Connector Order number 24 V DC power supply...
  • Page 43 Installation 4.2 Electrical Installation Cable lengths Cable Screening Max. length Motor Screened 15 m (49 ft) Unscreened 30 m (98 ft) Temperature sensor Screened 15 m (49 ft) Unscreened 30 m (98 ft) Motor holding brake Screened 15 m (49 ft) Unscreened 30 m (98 ft) Digital inputs...
  • Page 44: Connecting The Motor Holding Brake

    Installation 4.2 Electrical Installation 4.2.6 Connecting the motor holding brake WARNING Danger to life when live parts are touched in the motor terminal box The temperature sensor and motor holding brake connections are at DC link negative potential. Touching these connections can result in death or severe injury. •...
  • Page 45: Factory Settings Of The Inputs And Outputs

    Installation 4.2 Electrical Installation 4.2.7 Factory settings of the inputs and outputs Factory settings of the inputs and outputs of the CU250D-2 control unit In the factory settings, the fieldbus interface of the inverter is not active. Figure 4-11 Factory settings of the CU250D-2 control units Changing the function of terminals The function of every color-coded terminal can be set.
  • Page 46: Default Settings Of Inputs And Outputs

    Installation 4.2 Electrical Installation 4.2.8 Default settings of inputs and outputs Default settings of inputs and outputs (CU250D-2) Default setting 26: Basic positioner via inputs and outputs; Default setting 27: Basic positioner via fieldbus factory settings The fieldbus interface is not active. PROFIdrive telegram 111 4.2.9 Connecting the PROFINET interface...
  • Page 47: Encoders Examples

    The following SSI encoders have been commissioned successfully in several applications with the CU250D-2: Table 4- 9 SSI encoders Manufacturer Type / order number Details Setting Note SIEMENS 6FX2001-5xS12 Singleturn encoder p0400 = 3081 SIEMENS 1XP80X4-20 / Multiturn encoder p0400 = 3082 6FX2001-5xS24 T&R...
  • Page 48 Installation 4.2 Electrical Installation • Connect the PE terminal on the left-hand side of the converter to the metal frame it is mounted on. • Recommended cable cross section: 10 mm² • Use a short wire connection preferably. • Clean the connection to the steel construction from paint or dirt.
  • Page 49: Cable Protection And Cascading Of The 400 V Supply

    Installation 4.2 Electrical Installation 4.2.12 Cable protection and cascading of the 400 V supply Cable protection for individual inverters If you individually protect an inverter, then you must protect the inverter feeder cable using a fuse. Table 4- 11 Individual fuse protection Rated power Power Module Frame size...
  • Page 50 Installation 4.2 Electrical Installation If no other restrictions apply, then select the power bus fusing according to the following table. Table 4- 12 Maximum fusing of the power bus Rated power of the smallest inverter Maximum permissible fusing Circuit-breaker connected to the power bus 0.75 kW 32 A 3NA3812...
  • Page 51: Cascading Of The 24 V Supply

    Installation 4.2 Electrical Installation 4.2.13 Cascading of the 24 V supply Installation using 24 V bus The following options are available for the 24 V supply of the inverter: 1. A T distributor with integrated power supply unit supplies the 24 V. Advantage: Low installation costs.
  • Page 52: Equipotential Bonding

    Installation 4.2 Electrical Installation 4.2.15 Equipotential bonding Grounding and high-frequency equipotential bonding measures Equipotential bonding within the drive system has to be established by connecting all electrical and mechanical drive components (transformer, motor and driven machine) to the grounding system. These connections are established by means of standard heavy-power PE cables, which do not need to have any special high-frequency properties.
  • Page 53 Figure 4-17 Grounding and high-frequency equipotential bonding measures in the drive system and in the plant For general rules for EMC compliant installation see also: EMC design guidelines (http://support.automation.siemens.com/WW/view/en/60612658/0/en) Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 54 Installation 4.2 Electrical Installation Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 55: Commissioning

    Commissioning Commissioning guidelines Adapting the converter to the drive application The converter must match the motor and the drive application to be able to optimally operate and protect the motor. We recommend a certain procedure when commissioning your converter. Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 56 Commissioning 5.1 Commissioning guidelines Explanation of the commissioning steps: ① Preparing for commissioning (Page 57) ② Restoring the factory setting (Page 62) ③ Basic commissioning with STARTER (Page 68) orOperator Panel (Page 64) ④ Adapt inputs and outputs (Page 79) ⑤...
  • Page 57: Preparing For Commissioning

    Motor ● Which motor is connected to the inverter? If you are using one of the STARTER commissioning tools or Startdrive and a SIEMENS motor, then you only need the order number of the motor. Otherwise, note down the data on the motor rating plate.
  • Page 58: Which Motor Fits The Converter

    Commissioning 5.2 Preparing for commissioning 5.2.1 Which motor fits the converter? Ratio of the motor and inverter rated currents The rated current of the motor must be in the range 13% to 100% of the rated converter current. Example: With an inverter with a rated current of 10.2 A, you can operate motors whose rated currents are within the range of 1.3 A …...
  • Page 59 Commissioning 5.2 Preparing for commissioning Vector control with encoder Sensorless vector control U/f control With the position control, provides the best Limited functionality of the position Not recommended in conjunction results control. with position control. Low accuracy Low accuracy • •...
  • Page 60: Defining Additional Requirements For The Application

    Commissioning 5.2 Preparing for commissioning 5.2.3 Defining additional requirements for the application What speed limits should be set (minimum and maximum speed)? ● Minimum speed - factory setting 0 [rpm] The minimum speed is the lowest speed of the motor independent of the speed setpoint. A minimum speed is, for example, useful for fans or pumps.
  • Page 61 Commissioning 5.2 Preparing for commissioning Position and speed controllers operating with HTL encoder Figure 5-3 HTL encoder on the motor axis for position and speed controllers Advantage: Favorably-priced solution. Disadvantage: Depending on the gear ratio, restrictions regarding the accuracy of the position control.
  • Page 62: Restoring The Factory Setting

    Commissioning 5.3 Restoring the factory setting Restoring the factory setting There are cases where something goes wrong when commissioning a drive system e.g.: ● The line voltage was interrupted during commissioning and you were not able to complete commissioning. ● You got confused during the commissioning and you can no longer understand the individual settings that you made.
  • Page 63 Commissioning 5.3 Restoring the factory setting Proceed as follows to restore the inverter safety functions to the factory settings: 1. p0010 = 30Set Activate reset settings. 2. p9761 = … Enter the password for the safety functions 3. Start restoration using p970 = 5. 4.
  • Page 64: Basic Commissioning With Iop

    Commissioning 5.4 Basic commissioning with IOP Basic commissioning with IOP Basic commissioning wizard The Basic Commissioning wizard detailed below is for Control Units with version 4.4 software or higher. Procedure For performing the basic commissioning of the converter with the IOP operator panel, proceed the following steps: Select "Basic Commissioning..."...
  • Page 65 Commissioning 5.4 Basic commissioning with IOP Select the correct frequency for your Inverter and attached motor. The use of the 87 Hz characteristic allows the motor to operate at 1.73 times of its normal speed. At this stage the wizard will begin to ask for the data relating specifically to the attached motor.
  • Page 66 Commissioning 5.4 Basic commissioning with IOP 11. Input the correct Motor Speed from the motor rating plate. This value is given in RPM. 12. Select to run or disable Motor Data Identification function. This function, if active, will not start until the first run command is given to the Inverter.
  • Page 67 Commissioning 5.4 Basic commissioning with IOP 17. Set the Ramp Up time in seconds. This is the time the Inverter/motor system will take from being given the run command, to reaching the selected motor speed. 18. Set the Ramp Down time in seconds. This is the time the Inverter/motor system will take from being given the OFF1 command, for the motor to reach a standstill.
  • Page 68: Basic Commissioning With Starter

    Basic commissioning with STARTER STARTER and STARTER screen forms STARTER is a PC-based tool to commission Siemens inverters. The graphic user interface of STARTER supports you when commissioning your inverter. Most inverter functions are combined in screen forms in STARTER.
  • Page 69: Generating A Starter Project

    Commissioning 5.5 Basic commissioning with STARTER 5.5.1 Generating a STARTER project Procedure In order to create a new project, proceed as follows: 1. In the STARTER menu, select "Project" → "New…". 2. Specify a name of your choice for the project. You have created a new STARTER project.
  • Page 70 Commissioning 5.5 Basic commissioning with STARTER Setting the USB interface Procedure Proceed as follows to set the USB interface in STARTER: 1. In this case set the "Access point" to "DEVICE (STARTER, Scout)" and the "PG/PC interface" to "S7USB". 2. Press the "Update" button. You have set the USB interface.
  • Page 71: Configuring A Drive

    Commissioning 5.5 Basic commissioning with STARTER 5.5.3 Configuring a drive The basic commissioning of the inverter comprises the following steps: 1. Starting basic commissioning 2. Configuring a drive 3. Loading the configured data into the drive Starting basic commissioning Procedure To start the basic commissioning, proceed as follows: 1.
  • Page 72: Carry-out Basic Commissioning

    Commissioning 5.5 Basic commissioning with STARTER 5.5.4 Carry-out basic commissioning Procedure Proceed as follows to carry out basic commissioning: Select the control mode. See also Section: Introduction, V/f control, vector control (Page 58) Select the pre-assignment of the inverter interfaces. The possible configurations can be found in sections: Factory settings of the inputs and outputs (Page 45) and Default settings of inputs and outputs (Page 46).
  • Page 73 Commissioning 5.5 Basic commissioning with STARTER The converter can evaluate up to two encoders (see also Section: Encoder assignment (Page 60)): 1. An HTL encoder on the motor shaft. The HTL encoder can be used for position sensing as well as for speed measurement for the speed controller.
  • Page 74 Commissioning 5.5 Basic commissioning with STARTER Select the encoder that you use for position sensing. You may skip this screen initially. The settings are explained in the context of commissioning of the basic positioner in the section: Basic positioner and position control (Page 147). Set the check mark for "RAM to ROM (save data in the drive)"...
  • Page 75: Adapting The Encoder Data

    Commissioning 5.5 Basic commissioning with STARTER 5.5.5 Adapting the encoder data Preconditions ● You have selected an encoder type that does not precisely match your encoder, because it is not included in the list of default encoder types. ● You have completely configured the drive. Procedure Proceed as follows to adapt the encoder data: 1.
  • Page 76: Loading The Configured Data Into The Drive

    Commissioning 5.5 Basic commissioning with STARTER 5.5.6 Loading the configured data into the drive Procedure Proceed as follows to load the configured data into the drive: 1. Select your project and go online: 2. STARTER compares your configuration with the real inverter. STARTER signals any differences in the "Online/offline comparison".
  • Page 77 Commissioning 5.5 Basic commissioning with STARTER DANGER Risk of injury or material damage as a result of machine movements when switching on the motor Switching on the motor for identification purposes may result in hazardous machine movements. Secure dangerous machine parts before starting motor data identification: •...
  • Page 78 Commissioning 5.5 Basic commissioning with STARTER Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 79: Adapt Inputs And Outputs

    Adapt inputs and outputs This chapter describes how you adapt the function of individual digital and analog inputs and outputs of the inverter. If you adapt the function of an input or output, you overwrite the settings made during the basic commissioning.
  • Page 80: Digital Inputs

    Adapt inputs and outputs 6.1 Digital inputs Digital inputs Changing the function of a digital input Interconnect the status parameter of the digital input with a binector input of your choice. Binector inputs are marked with "BI" in the parameter list of the List Manual.
  • Page 81: Fail-safe Digital Input

    Adapt inputs and outputs 6.2 Fail-safe digital input Fail-safe digital input This manual describes the STO safety function with control using a fail-safe input. Additional safety functions, additional fail-safe digital inputs, the fail-safe digital output of the converter and the control of the safety functions using PROFIsafe are described in the Safety Integrated Function Manual.
  • Page 82 Adapt inputs and outputs 6.2 Fail-safe digital input Special measures when establishing connections When routing cables over longer distances, e.g. between remote control cabinets, you have the following options to reduce the risk of damaged cables of your plant or machine: ●...
  • Page 83: Digital Outputs

    Adapt inputs and outputs 6.3 Digital outputs Digital outputs Changing the function of a digital output Interconnect the digital output with a binector output of your choice. Binector outputs are marked with "BO" in the parameter list of the List Manual. Table 6- 2 Binector outputs of the inverter (selection) Deactivating digital output...
  • Page 84 Adapt inputs and outputs 6.3 Digital outputs Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 85: Configuring The Fieldbus

    Configuring the fieldbus Fieldbus versions of the Control Unit Fieldbus interfaces of the Control Units There are different versions of the Control Units for communication with a higher-level control system: Fieldbus Profiles S7 communi- Control Unit cation PROFIdrive PROFIsafe PROFI- energy PROFIBUS ✓...
  • Page 86: Communication Via Profinet

    Configuring the fieldbus 7.2 Communication via PROFINET Communication via PROFINET You can either communicate via Ethernet using the inverter, or integrate the inverter in a PROFINET network. ● The inverter as an Ethernet station (Page 371) ● PROFINET IO operation (Page 87) In PROFINET IO operation, the inverter supports the following functions: –...
  • Page 87: What Do You Need For Communication Via Profinet

    – The configuration of the functions is described in the PROFINET system description (http://support.automation.siemens.com/WW/view/en/19292127) manual. This manual describes the control of the inverter using primary control. How to access the inverter as an Ethernet station is described in the Fieldbus function manual (Page 371) in the section "The inverter as an Ethernet station".
  • Page 88: Integrating Converters Into Profinet

    Additional information on this topic is provided in the "Fieldbuses" Function Manual, also see Manuals for your inverter (Page 371). Configuring the communication using a non-Siemens control 1. Import the device file (GSDML) of the inverter into the configuring tool of your control system.
  • Page 89: Select Telegram

    Set p0804 = 12. The inverter writes the GSDML as zipped file (*.zip) into directory /SIEMENS/SINAMICS/DATA/CFG on the memory card. 2. Unzip the GSDML file to a folder on your computer. 3. Import the GSDML into the configuring tool of your control system.
  • Page 90: Activating Diagnostics Via The Control

    Configuring the fieldbus 7.2 Communication via PROFINET Selecting a telegram Procedure Proceed as follows to set a specific telegram in the inverter: Using STARTER or an operator panel, set parameter p0922 to the appropriate value. You have set a specific telegram in the inverter. 7.2.5 Activating diagnostics via the control The converter provides the functionality to transmit fault and alarm messages (diagnostic...
  • Page 91: Communication Via Profibus

    Configuring the fieldbus 7.3 Communication via PROFIBUS Communication via PROFIBUS 7.3.1 What do you need for communication via PROFIBUS? Check the communication settings using the following table. If you answer "Yes" to the questions, you have correctly set the communication settings and can control the converter via the fieldbus.
  • Page 92: Configuring The Communication Using Simatic S7 Control

    ● If the inverter is not listed in the hardware library, you can either install the newest STARTER version or install the GSD of the inverter through "Extras/GSD-Install file" in HW-Config. See also GSD (http://support.automation.siemens.com/WW/view/en/22339653/133100). When you have installed the GSD, configure the communication in the SIMATIC control. 7.3.4...
  • Page 93: Select Telegram

    350: SIEMENS telegram 350, PZD-4/4 352: SIEMENS telegram 352, PZD-6/6 353: SIEMENS telegram 353, PZD-2/2, PKW-4/4 354: SIEMENS telegram 354, PZD-6/6, PKW-4/4 999: Extend telegrams and change signal interconnection (Page 109) The following values apply if you have enabled the "Basic positioner" function in the inverter:...
  • Page 94: Profidrive Profile For Profibus And Profinet

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET PROFIdrive profile for PROFIBUS and PROFINET 7.4.1 Cyclic communication 7.4.1.1 Positioner: Cyclic communication The send and receive telegrams of the inverter for cyclic communication are structured as follows: Figure 7-1 Telegrams for cyclic communication - Position control Table 7- 1 Explanation of the abbreviations...
  • Page 95 Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET Abbreviation Explanation MSGW Status word for messages See Status word messages (Page 108) NIST_B Actual speed value (32 bits) Not assigned Freely interconnectable MDI_VELOCITY MDI velocity MDI_ACC MDI acceleration MDI_DEC MDI deceleration MDI_MOD Selects the positioning mode in the case of direct setpoint...
  • Page 96 Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET Figure 7-3 Interconnection of the receive words If you require an individual telegram for your application, you can adapt one of the pre- defined telegrams using the parameters p0922 and p2079. For details, please refer to the List Manual, function diagrams 2420 and 2472.
  • Page 97: Control And Status Word 1

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.2 Control and status word 1 Control word 1 (STW1) Table 7- 2 Control word 1 for active basic positioner Meaning Comments P No. 0 = OFF1 The motor brakes with the ramp-down time p1121 of the p0840[0] = ramp-function generator.
  • Page 98 Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET Status word 1 (ZSW1) Table 7- 3 Status word 1 when the basic positioner is active Bit Meaning Comments P No. Telegram 110 Telegram 111 1 = Ready to start Power supply is switched on;...
  • Page 99: Control And Status Word 2

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.3 Control and status word 2 Control word 2 (STW2) Table 7- 4 Control word 2 and interconnection in the converter Meaning Comments Interconnection Telegram 9 Telegrams 110, 111 Drive data set selection DDS, bit 0 p0820[0] = p0820[0] = r2092.0...
  • Page 100: Control And Status Word For The Positioner

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.4 Control and status word for the positioner Positioning control word (POS_STW) Table 7- 6 POS_STW and interconnection with parameters in the inverter Meaning Comments P No. 1 = Follow-up mode The inverter continuously corrects the position setpoint to p2655[0] = follow the position actual value.
  • Page 101 Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET Positioning status word (POS_ZSW) Table 7- 7 POS_ZSW and interconnection with parameters in the inverter Bit Meaning Comments P No. 1 = Follow-up mode active The inverter is in the follow-up mode. p2084[0] = r2683.0 1 = Velocity limiting is active...
  • Page 102: Control And Status Word 1 For The Positioner

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.5 Control and status word 1 for the positioner Positioning control word 1 (POS_STW1) Table 7- 8 POS_STW1 and interconnection in the converter Meaning Comments P No. Traversing block selection, bit 0 Selecting the traversing block p2625 = r2091.0 Traversing block selection, bit 1...
  • Page 103 Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET Positioning status word 1 (POS_ZSW1) Table 7- 9 POS_ZSW1 and interconnection in the converter Bit Meaning Comments P No. Active traversing block bit 0 (2 Number of the currently selected traversing block. p2083[0] = r2670[0] Active traversing block bit 1 (2...
  • Page 104: Control And Status Word 2 For The Positioner

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.6 Control and status word 2 for the positioner Positioning control word 2 (POS_STW2) Table 7- 10 POS_STW2 and interconnection with parameters in the converter Bit Meaning Comments P No. 1 = Activate follow-up mode The converter continuously corrects the position setpoint to p2655[0] =...
  • Page 105 Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET Positioning status word 2 (POS_ZSW2) Table 7- 11 POS_ZSW2 and interconnection with parameters in the converter Bit Meaning Comments P No. 1 = Follow-up mode active The converter is in the follow-up mode. p2084[0] = r2683.0 1 = Velocity limiting is active...
  • Page 106: Control Word Block Selection

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.7 Control word block selection Block selection Table 7- 12 Block selection and interconnection in the converter Meaning Comments P No. Block selection, bit 0 Example for selecting p2625 = r2091.0 traversing block number 5: Block selection, bit 1 p2626 = r2091.1...
  • Page 107: Control Word Mdi Mode

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.8 Control word MDI mode MDI mode Table 7- 14 Selection of the MDI mode and interconnection with parameters in the converter Meaning Comments P No. 0 = Relative positioning is selected The converter interprets the position setpoint as the p2648 = r2094.0 position setpoint relative to the start position.
  • Page 108: Status Word Messages

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET 7.4.1.9 Status word messages Status word messages (MELDW) Table 7- 15 Status word for messages and interconnection with parameters in the converter Meaning Description P No. 0 = Ramp-function generator active The motor is presently p2082[0] = r2199.5 accelerating or braking...
  • Page 109: Function Block Fb283

    Set the suitable telegram: Standard telegram 7, PZD-2/2 Standard telegram 9, PZD-10/5 110: SIEMENS telegram 110, PZD-12/7 111: SIEMENS telegram 111, PZD-12/12 Now you can extend the telegram by interconnecting the PZD send words and PZD receive words with signals of your choice.
  • Page 110: Slave-to-slave Communication

    Configuring the fieldbus 7.4 PROFIdrive profile for PROFIBUS and PROFINET Change the signal interconnection of the telegram If you want to change the signal interconnection or extend telegrams, you have to do the following: Table 7- 17 Procedure Parameter Description p0922 = 999 PROFIdrive telegram selection 999:...
  • Page 111: Setting Functions

    Setting functions Overview of the converter functions Figure 8-1 Overview of inverter functions Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 112 Setting functions 8.1 Overview of the converter functions Functions, which you need to set in any application with Functions, which you only require in special applications or position control which you must adapt The functions that you must set in every application with The functions whose parameters you only need to adapt position control are shown in a dark color in the function when actually required are shown in white in the function...
  • Page 113: Inverter Control

    Setting functions 8.2 Inverter control Inverter control 8.2.1 Switching the motor on and off After switching the supply voltage on, the converter normally goes into the "ready to start" state. In this state, the converter waits for the command to switch-on the motor: •...
  • Page 114 Setting functions 8.2 Inverter control The abbreviations S1 … S5b to identify the converter states are defined in the PROFIdrive profile. Converter Explanation status In this state, the converter does not respond to the ON command. The converter goes into this state under the following conditions: ON was active when switching on the converter.
  • Page 115: Running The Motor In Jog Mode (jog Function)

    Setting functions 8.2 Inverter control 8.2.2 Running the motor in jog mode (JOG function) The "Jog" function is typically used to slowly move a machine part, e.g. a conveyor belt. With the "Jog" function, you switch the motor on and off using a digital input. When the motor is switched on, it accelerates to the jogging setpoint.
  • Page 116 Setting functions 8.2 Inverter control Jog settings Parameter Description p1058 Jogging 1 speed setpoint (factory setting 150 rpm) p1059 Jogging 2 speed setpoint (factory setting -150 rpm) p1082 Maximum speed (factory setting 1500 rpm) p1110 Inhibit negative direction =0: Negative direction of rotation is enabled =1: Negative direction of rotation is inhibited p1111...
  • Page 117: Switching Over The Inverter Control (command Data Set)

    Setting functions 8.2 Inverter control 8.2.3 Switching over the inverter control (command data set) In several applications, the inverter must be able to be operated from different, higher-level control systems. Example: You control the motor either from a central control system, via fieldbus or from a local control panel.
  • Page 118 Setting functions 8.2 Inverter control In the above example, use digital input 3 to switch from one control system of the converter via digital inputs to a control system via the fieldbus. An overview of all the parameters that belong to the command data sets is provided in the List Manual.
  • Page 119: Setpoints

    Setting functions 8.3 Setpoints Setpoints 8.3.1 Overview You only have to set the setpoint source if you operate the converter without basic positioner, i.e. you only operate it in the speed-controlled mode. If you operate the converter in the speed-controlled mode, you must set the source for the main setpoint of the motor speed.
  • Page 120: Specifying The Setpoint Via The Fieldbus

    Setting functions 8.3 Setpoints 8.3.2 Specifying the setpoint via the fieldbus Interconnecting the fieldbus with the main setpoint Figure 8-7 Fieldbus as setpoint source Most standard telegrams receive the speed setpoint as a second process data PZD2. Table 8- 1 Setting the fieldbus as setpoint source Parameter Remark...
  • Page 121 Setting functions 8.3 Setpoints Table 8- 3 Setting the MOP as setpoint source Parameter Remark p1070 = 1050 Main setpoint Interconnecting the main setpoint with MOP. p1035 Motorized potentiometer, setpoint higher Interconnect these commands with signals of your choice. p1036 Motorized potentiometer, setpoint lower Adapting the behavior of the motorized potentiometer Figure 8-9...
  • Page 122 Setting functions 8.3 Setpoints Table 8- 4 Extended setup of motorized potentiometer Parameter Description p1030 MOP configuration (factory setting: 00110 bin) Parameter value with five independently adjustable bits 00 … 04 Bit 00: Save setpoint after switching off motor 0: After the motor is switched on, p1040 is specified as the setpoint 1: Setpoint is saved after the motor is switched off and set to the saved value once it is switched on Bit 01: Configure ramp-function generator in automatic mode (1-signal via BI: p1041)
  • Page 123: Fixed Speed As Setpoint Source

    Setting functions 8.3 Setpoints 8.3.4 Fixed speed as setpoint source In many applications after switching on the motor, all that is needed is to run the motor at a constant speed or to switch between different speeds. Example: After it has been switched on, a conveyor belt only runs with two different velocities.
  • Page 124 Setting functions 8.3 Setpoints Select direct or binary fixed setpoint The converter distinguishes between two methods for selecting the fixed setpoints: 1. Direct selection: You set 4 different fixed setpoints. By adding one or more of the four fixed setpoints, up to 16 different resulting setpoints are obtained.
  • Page 125 Setting functions 8.3 Setpoints Parameter for setting the fixed setpoints Parameter Description p1001 Fixed speed setpoint 1 (factory setting: 0 rpm) p1002 Fixed speed setpoint 2 (factory setting: 0 rpm) p1015 Fixed speed setpoint 15 (factory setting: 0 rpm) p1016 Fixed speed setpoint mode (factory setting: 1) Direct Binary...
  • Page 126: Setpoint Calculation

    Setting functions 8.4 Setpoint calculation Setpoint calculation 8.4.1 Overview of setpoint preparation You only have to set the setpoint processing if you operate the converter without basic positioner, i.e. you only operate it in the speed-controlled mode. The setpoint can be modified as follows using the setpoint processing: ●...
  • Page 127: Invert Setpoint

    Setting functions 8.4 Setpoint calculation 8.4.2 Invert setpoint The inverter provides an option to invert the setpoint sign using a bit. As an example, the setpoint inversion is shown through a digital input. In order to invert the setpoint through the digital input DI 1, connect the parameter p1113 with a binary signal, e.g.
  • Page 128: Inhibit Direction Of Rotation

    Setting functions 8.4 Setpoint calculation 8.4.3 Inhibit direction of rotation In the factory setting of the inverter, both motor directions of rotation are enabled. Set the corresponding parameter to a value = 1 to permanently block directions of rotation. Table 8- 9 Examples of settings to inhibit the direction of rotation Parameter Remark...
  • Page 129: Skip Frequency Bands And Minimum Speed

    Setting functions 8.4 Setpoint calculation 8.4.4 Skip frequency bands and minimum speed Skip frequency bands The converter has four skip frequency bands that prevent continuous motor operation within a specific speed range. You can find additional information in function diagram 3050 of the List Manual, see also: Manuals for your inverter (Page 371).
  • Page 130: Speed Limitation

    Setting functions 8.4 Setpoint calculation 8.4.5 Speed limitation The maximum speed limits the speed setpoint range for both directions of rotation. The converter generates a message (fault or alarm) when the maximum speed is exceeded. If you must limit the speed depending on the direction of rotation, then you can define speed limits for each direction.
  • Page 131: Ramp-function Generator

    Setting functions 8.4 Setpoint calculation 8.4.6 Ramp-function generator The ramp-function generator in the setpoint channel limits the rate that the speed setpoint changes. As a consequence the motor accelerates and brakes more softly, reducing the stress on the mechanical system of the driven machine. You can select between two different ramp-function generator types: ●...
  • Page 132 Setting functions 8.4 Setpoint calculation Table 8- 12 Additional parameters to set the extended ramp-function generator Parameter Description p1115 Ramp-function generator selection (factory setting: 1) Select ramp-function generator: 0: Basic ramp-function generator 1: Extended ramp-function generator p1120 Ramp-function generator, ramp-up time (factory setting: 10 s) Accelerating time in seconds from zero speed up to the maximum speed p1082 p1121 Ramp-function generator, ramp-down time (factory setting: 10 s)
  • Page 133 Setting functions 8.4 Setpoint calculation Setting the extended ramp-function generator Procedure Proceed as follows to set the extended ramp-function generator: 1. Enter the highest possible speed setpoint. 2. Switch on the motor. 3. Evaluate your drive response. – If the motor accelerates too slowly, then reduce the ramp-up time. An excessively short ramp-up time means that the motor will reach its current limiting when accelerating, and will temporarily not be able to follow the speed setpoint.
  • Page 134 Setting functions 8.4 Setpoint calculation Basic ramp-function generator When compared to the extended ramp- function generator, the basic ramp- function generator has no rounding times. Table 8- 13 Parameters for setting the ramp-function generator Parameter Description p1115 = 0 Ramp-function generator selection (factory setting: 1) Select ramp-function generator: 0: Basic ramp-function generator 1: Extended ramp-function generator...
  • Page 135 Setting functions 8.4 Setpoint calculation Table 8- 14 Parameters for setting the scaling Parameter Description p1138 Up ramp scaling (factory setting: 1) Signal source for scaling the up ramp. p1139 Down ramp scaling (factory setting: 1) Signal source for scaling the down ramp. Example In the following example, the higher-level control sets the ramp-up and ramp-down times of the inverter via PROFIBUS.
  • Page 136: Motor Control

    Setting functions 8.5 Motor control Motor control We recommend that you use vector control with encoder for a position-controlled axis. See also section: Introduction, V/f control, vector control (Page 58). 8.5.1 V/f control U/f control sets the voltage at the motor terminals on the basis of the specified speed setpoint.
  • Page 137: Characteristics Of U/f Control

    Setting functions 8.5 Motor control 8.5.1.1 Characteristics of U/f control The inverter has several U/f characteristics. Based on the characteristic, as the inverter increases in frequency the motor voltage rises. ① The voltage boost of the characteristic improves motor behavior at low speeds. The voltage boost is effective when frequencies <...
  • Page 138: Selecting The U/f Characteristic

    Setting functions 8.5 Motor control 8.5.1.2 Selecting the U/f characteristic Table 8- 15 U/f characteristics Requirement Application examples Remark Characteristic Parameter The required Conveyor belts, roller Linear p1300 = 0 torque is conveyors, chain The inverter equalizes the voltage drops Linear with Flux p1300 = 1 independent of the...
  • Page 139 Setting functions 8.5 Motor control 5. Accelerate the motor to the maximum speed with maximum load and check as to whether the motor follows the setpoint. 6. If, when accelerating, the motor stalls, increase the voltage boost p1311 until the motor accelerates to the maximum speed without any problems.
  • Page 140: Vector Control

    Setting functions 8.5 Motor control 8.5.2 Vector control Sensorless vector control Using a motor model, the vector control calculates the load and the motor slip. As a result of this calculation, the converter controls its output voltage and frequency so that the motor speed follows the setpoint, independent of the motor load.
  • Page 141: Checking The Encoder Signal

    Setting functions 8.5 Motor control 8.5.2.1 Checking the encoder signal If you use an encoder to measure the speed, you should check the encoder signal before the encoder feedback is active. Procedure Proceed as follows to check the encoder signal using STARTER: 1.
  • Page 142: Optimizing The Speed Controller

    Setting functions 8.5 Motor control 8.5.2.3 Optimizing the speed controller Optimum control response - post optimization not required You do not have to manually adapt the speed controller if, after the speed controller self optimization, the motor manifests the following acceleration response: Optimum control response for applications that do not permit any overshoot.
  • Page 143 Setting functions 8.5 Motor control Optimizing the speed controller Procedure To optimize the speed controller, proceed as follows: 1. Temporarily set the times of the ramp-function generator p1120 = 0 and p1121 = 0. 2. Temporarily set the pre-control of the speed controller p1496 = 0. 3.
  • Page 144: Advanced Settings

    Setting functions 8.5 Motor control 8.5.2.4 Advanced settings - and T adaptation The K - and T adaptation suppresses possible speed controller oscillations. During basic commissioning, the inverter optimizes the speed controller using the "rotating measurement" function. If you have performed the rotating measurement, then the K - and T adaptation has been set.
  • Page 145: Operating The Converter Without Position Controller

    Setting functions 8.5 Motor control 8.5.3 Operating the converter without position controller Converter factory setting In the factory setting of the converter, the basic positioner supplies the setpoint for the speed controller. Although other sources for the setpoint are available in the converter, they are however locked.
  • Page 146 Setting functions 8.5 Motor control Table 8- 16 Parameters to changeover from position controller to speed controller Parameter Meaning p1142 Enable setpoint/inhibit setpoint (factory setting: 0) p2502 Encoder assignment (factory setting: 1) p2550 Position controller enable 2 (factory setting: 1) Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 147: Basic Positioner And Position Control

    Setting functions 8.6 Basic positioner and position control Basic positioner and position control 8.6.1 Basic positioner and position control Overview Position control means controlling the position of an axis. An "axis" is a machine or system component that comprises the converter with active position control and the driven mechanical system.
  • Page 148: Commissioning Sequence

    8.6 Basic positioner and position control 8.6.2 Commissioning sequence We recommend that you commission the basic positioner using the "STARTER" tool. Downloading: STARTER (http://support.automation.siemens.com/WW/view/en/10804985/133200). ① Assign encoders to the axes (Page 72) ② Set the communication via the fieldbus (Page 85) ③...
  • Page 149: Normalizing The Encoder Signal

    Setting functions 8.6 Basic positioner and position control 8.6.3 Normalizing the encoder signal 8.6.3.1 Define the resolution Distance unit (LU): the resolution of the position actual value in the inverter The inverter calculates the position actual value of the axis using the neutral position unit LU (Length Unit).
  • Page 150 Setting functions 8.6 Basic positioner and position control 4. Check the maximum resolution based on your encoder data. 5. Calculate: Value = 360 ° / required resolution, e.g. 360 °/ 0.1 ° = 3600. Enter this value into STARTER. You have normalized the encoder signal. Parameter Meaning p2502...
  • Page 151: Modulo Range Setting

    Setting functions 8.6 Basic positioner and position control 8.6.3.2 Modulo range setting Description Linear axis A linear axis is an axis whose traversing range is limited in both motor directions of rotation by the mechanical system of the machine, e.g.: •...
  • Page 152 Setting functions 8.6 Basic positioner and position control Setting the modulo range Preconditions ● You are online with the STARTER . ● You have selected the "Mechanical system" screen. Procedure To set the modulo range, proceed as follows: 1. Enable the modulo correction. 2.
  • Page 153: Checking The Actual Position Value

    Setting functions 8.6 Basic positioner and position control 8.6.3.3 Checking the actual position value After normalization of the encoder signal you should check the actual position value. Preconditions ● You are online with the STARTER . ● You have selected the screen for "Actual value processing". Procedure To ensure that the converter calculates the actual position value correctly, you must check the following:...
  • Page 154: Setting The Backlash

    Setting functions 8.6 Basic positioner and position control 8.6.3.4 Setting the backlash Description Backlash (also called play, dead travel on reversing etc.) is the distance or the angle that a motor must travel through when the direction of rotation reverses until the axis actually moves in the other direction.
  • Page 155 Setting functions 8.6 Basic positioner and position control Correcting backlash Precondition You have selected the "Mechanical system" screen. Procedure To correct the measured backlash, set the following: ● If the axis has not traveled far enough, then set a positive backlash. ●...
  • Page 156: Limiting The Positioning Range

    Setting functions 8.6 Basic positioner and position control 8.6.4 Limiting the positioning range Description Positioning range for linear axes The converter limits the positioning range of a linear axis using a software limit switch. The converter only accepts position setpoints that lie within the software limit switches. Figure 8-20 Limiting the positioning range of a linear axis In addition, using its digital inputs, the converter evaluates signals from stop cams.
  • Page 157 Setting functions 8.6 Basic positioner and position control 3. Move the axis to the negative limit position in your machine. Set the position of the software limit switches to the actual position value. 4. Enable the STOP cams. 5. Interconnect the signal of the STOP cam minus with the corresponding signal of your machine.
  • Page 158: Setting The Position Controller

    Setting functions 8.6 Basic positioner and position control 8.6.5 Setting the position controller 8.6.5.1 Precontrol and gain Preconditions and constraints Before you optimize the position controller, the closed-loop drive speed control must be optimally set. Dynamic response and accuracy of the closed-loop position control depend heavily on the lower-level closed-loop or open-loop control or the motor speed: ●...
  • Page 159: Optimizing The Position Controller

    Setting functions 8.6 Basic positioner and position control 8.6.5.2 Optimizing the position controller To optimize the position controller, you must move the axis with the position control and assess the control performance. How you move an axis using the STARTER is described below.
  • Page 160 Setting functions 8.6 Basic positioner and position control 5. Adjust the integral time. Start with an integral time of 100 ms, and test your setting by traversing the axis with the active position controller using the "jog" function. Lower integral times increase the control dynamics but can, however, result in unstable controller characteristics.
  • Page 161 Setting functions 8.6 Basic positioner and position control 6. Following controller optimization, set the precontrol of the position controller to 100%. 7. Check the controller characteristics again. You have optimized the position controller. Parameter Meaning p2534 Speed precontrol factor p2538 Proportional gain / Kp p2539 Integral time / Tn...
  • Page 162: Limiting The Traversing Profile

    Setting functions 8.6 Basic positioner and position control 8.6.5.3 Limiting the traversing profile Description The converter calculates the traversing profile when positioning from specified values for velocity, acceleration and jerk (= acceleration change with respect to time). Figure 8-22 Example: Effect of jerk limiting If the axis must traverse more slowly or must accelerate at a lower rate or "softly", then you must set the relevant limits to lower values.
  • Page 163 Setting functions 8.6 Basic positioner and position control 4. Reduce the maximum jerk, if you require softer acceleration and braking. 5. For permanent jerk limiting, set this signal to 1. You have now set the limitation of the traversing profile. Parameter Meaning p2571...
  • Page 164: Setting The Monitoring Functions

    Setting functions 8.6 Basic positioner and position control 8.6.6 Setting the monitoring functions 8.6.6.1 Standstill and positioning monitoring Description As soon as the setpoint for the position within a positioning operation no longer changes, then the converter sets the "Setpoint stationary" signal to 1. With this signal, the converter starts to monitor the position actual value: ●...
  • Page 165 Setting functions 8.6 Basic positioner and position control Setting standstill monitoring and positioning monitoring Precondition You have selected the "Monitoring" screen and the "Position monitoring" tab. Procedure To set the standstill and positioning monitoring, proceed as follows: 1. Set the required positioning accuracy. 2.
  • Page 166: Following Error Monitoring

    Setting functions 8.6 Basic positioner and position control 8.6.6.2 Following error monitoring Description The following error is the deviation between the position setpoint and the position actual value while the converter is positioning the axis. Figure 8-24 Monitoring the following error The converter reports fault F07452 if the following error is too high.
  • Page 167 Setting functions 8.6 Basic positioner and position control Setting following error monitoring Precondition You have selected the "Monitoring" screen and the "Following error monitoring" tab. Procedure To set the monitoring of the following error, proceed as follows: 1. Set the monitoring window. Start with the factory setting value.
  • Page 168: Cam Sequencer

    Setting functions 8.6 Basic positioner and position control 8.6.6.3 Cam sequencer Description The converter compares the position actual value with two different positions and therefore simulates two independent cam switching signals. If you need this function, set the cam switching position to match your particular application and appropriately interconnect the cam switching signal.
  • Page 169: Referencing

    Setting functions 8.6 Basic positioner and position control 8.6.7 Referencing 8.6.7.1 Referencing methods Overview If you are using an incremental encoder for the position actual value, after the supply voltage is switched off, the converter loses its valid position actual value. After the supply voltage is switched on again, the converter no longer knows the reference of the axis position to the machine.
  • Page 170: Setting The Reference Point Approach

    Setting functions 8.6 Basic positioner and position control 8.6.7.2 Setting the reference point approach Description A reference point approach generally consists of the following three steps: 1. Travel to reference cam. When it receives a signal, the axis searches in a specified direction for the reference cam.
  • Page 171 Setting functions 8.6 Basic positioner and position control Step 2: Travel to zero mark The behavior of the axis in step 2 depends on whether a reference cam is available: When the converter reaches the reference cam, the • Reference cam available: in the opposite direction to the start axis accelerates direction...
  • Page 172 Setting functions 8.6 Basic positioner and position control Step 3: Travel to reference point After the converter has detected a zero mark, the axis moves with the "approach velocity reference point" to the reference point coordinate. Figure 8-29 Step 3: Travel to reference point After the load has reached the reference point coordinate, the converter sets its position setpoint and actual value to this value.
  • Page 173 Setting functions 8.6 Basic positioner and position control 6. Specify the reference point coordinate. 7. Specify the reference point offset. 8. Specify the max. permissible distance to the reference cam in step 1 of active referencing. 9. If a reference cam is available: Define the maximum permitted distance to the zero mark. 10.If no reference cam is available: Define the tolerance for travel to the zero mark.
  • Page 174 Setting functions 8.6 Basic positioner and position control Defining the digital signals for controlling referencing Procedure To define the digital signals for controlling, proceed as follows: 1. This signal starts the reference point approach. 2. This signal must be 0 for the reference point approach. 3.
  • Page 175 Setting functions 8.6 Basic positioner and position control Parameter Meaning p2595 Start referencing p2598 Reference point coordinate, signal source p2599 Reference point coordinate value p2600 Reference point approach, reference point offset p2604 Reference point approach, start direction p2605 Reference point approach, approach velocity, reference cam p2606 Reference point approach reference cam, maximum distance p2607...
  • Page 176: Setting The Flying Referencing

    Setting functions 8.6 Basic positioner and position control 8.6.7.3 Setting the flying referencing Description During motion, the load passes a reference cam. The converter evaluates the reference cam signal via a suitable fast digital input, and corrects its calculated position during travel. The fast digital inputs of the converter used for flying referencing are also called probe inputs.
  • Page 177 Setting functions 8.6 Basic positioner and position control Procedure To set the flying referencing, proceed as follows: 1. Set with which edge of the reference cam signal the converter references its position actual value: 0: Rising edge 1: Falling edge 2.
  • Page 178 Setting functions 8.6 Basic positioner and position control 1000 LU. The converter corrects the reference point during travel by 2 LU, however, moves to the old target position 1500 LU. 8. Set the reference point coordinate p2599 via the expert list in the STARTER. 9.
  • Page 179 Setting functions 8.6 Basic positioner and position control Defining the digital signals for controlling referencing Procedure To define the digital signals for controlling, proceed as follows: 1. This signal starts flying referencing. 2. For flying referencing, this signal must be 1. The other signals are of no significance for flying referencing.
  • Page 180 Setting functions 8.6 Basic positioner and position control Parameter Meaning p2595 Start referencing p2598 Reference point coordinate, signal source p2599 Reference point coordinate value p2601 Flying referencing, inner window p2602 Flying referencing, outer window p2603 Flying referencing, relative positioning mode p2612 Reference point approach, reference cam r2684.11...
  • Page 181: Set Reference Point

    Setting functions 8.6 Basic positioner and position control 8.6.7.4 Set reference point Description Position the load, e.g. using the "jog" function, at the reference position in the machine. Figure 8-32 Set reference point Activate 'set home position' Precondition You have selected the "Homing" screen. Procedure To activate 'set home position', proceed as follows: 1.
  • Page 182 Setting functions 8.6 Basic positioner and position control Parameter Meaning p2596 Set reference point p2598 Reference point coordinate, signal source p2599 Reference point coordinate value r2684.11 Reference point set Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 183: Absolute Encoder Adjustment

    Setting functions 8.6 Basic positioner and position control 8.6.7.5 Absolute encoder adjustment Absolute encoder adjustment Precondition 1. You have positioned the axis (e.g. using the "jog" function) to the reference position in the machine. 2. You have selected the "Homing" screen. 3.
  • Page 184 Setting functions 8.6 Basic positioner and position control Parameter Meaning p2598 Reference point coordinate, signal source p2599 Reference point coordinate value p2507 Absolute encoder adjustment status Error has occurred in the adjustment Absolute encoder was not adjusted Absolute encoder was not adjusted and encoder adjustment was initiated Absolute encoder adjusted Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 185: Jogging

    Setting functions 8.6 Basic positioner and position control 8.6.8 Jogging 8.6.8.1 Jog velocity Description Only input a setpoint velocity for the converter for velocity jog. With the signal "Jogging 1" or "Jogging 2", the converter accelerates the axis to the relevant setpoint velocity. The converter stops the axis when the respective "Jog"...
  • Page 186: Incremental Jogging

    Setting functions 8.6 Basic positioner and position control 8.6.8.2 Incremental jogging Description In the case of incremental jogging, input a relative traversing distance and a velocity setpoint into the converter. With the signals "Jogging 1" or "Jogging 2" the converter positions the axis by the respective travel path.
  • Page 187 Setting functions 8.6 Basic positioner and position control 7. If you use the incremental jog, set the relative position setpoint for the "jogging 1" function. This value has no significance for velocity jogging. 8. If you use the incremental jog, set the relative position setpoint for the "jogging 2" function.
  • Page 188: Traversing Blocks

    Setting functions 8.6 Basic positioner and position control 8.6.9 Traversing blocks Description A traversing block describes a positioning instruction for the drive. The converter saves 16 different traversing blocks, which it normally executes one after the other. However, you can also directly select a specific traversing block or skip traversing blocks.
  • Page 189 Setting functions 8.6 Basic positioner and position control Job and parameters Table 8- 18 Job and parameters Parameter Meaning Positioning Axis absolute or relative positioning. • Rotary axis with modulo correction in a • positive or negative direction, absolute positioning. Travel to fixed Force [N] or torque [0.01 Nm] Traverse axis to a fixed stop:...
  • Page 190 Setting functions 8.6 Basic positioner and position control Conditions for advance Table 8- 19 Advance: Jump condition to the next traversing block Condition Meaning Traversing block CONTINUE If the axis has reached the setpoint position and has come WITH STOP to a standstill, the converter executes the next traversing block.
  • Page 191 Setting functions 8.6 Basic positioner and position control Programming traversing blocks Precondition 1. You have selected the "Traversing blocks" screen. 2. You select the "Program traversing blocks" button. Procedure To program the traversing blocks, proceed as follows: 1. Assign a unique number for each traversing block. 2.
  • Page 192 Setting functions 8.6 Basic positioner and position control Define digital signals for controlling Procedure To define the digital signals for controlling the traversing blocks, proceed as follows: 1. Define the signal for the start of the traversing block. The signal change 0 → 1 starts the currently selected traversing block. 2.
  • Page 193 Setting functions 8.6 Basic positioner and position control Define analog signals for controlling Procedure To define the analog signals for controlling the traversing blocks, proceed as follows: 1. Change the signal source for the velocity override, if required. The velocity override refers to the velocity values you have set in the screen for programming the traversing blocks.
  • Page 194 Setting functions 8.6 Basic positioner and position control 5. Specify the edge with which the inverter jumps to the next traversing block: 0: Rising edge 1: Falling edge You have now defined an external signal for the block change. Parameter Meaning p0488 Probe 1, input terminal...
  • Page 195 Setting functions 8.6 Basic positioner and position control Parameter Meaning p2623[0…n] Traversing block, job mode Value = 0000 cccc bbbb aaaa cccc = 0000 Positioning Absolute mode cccc = 0001 Relative cccc = 0010 Absolute positive (only for rotary axis with modulo correction) cccc = 0011 Absolute negative (only for rotary axis with modulo...
  • Page 196: Travel To Fixed Stop

    Setting functions 8.6 Basic positioner and position control 8.6.9.1 Travel to fixed stop Preconditions The "Travel to fixed stop" function is only possible with the control type vector control with encoder (VC): "Travel to fixed stop" is not possible with the following types of control: ●...
  • Page 197 Setting functions 8.6 Basic positioner and position control Fixed stop has been reached You have two options to define when the fixed stop is reached: 1. Fixed stop via an external sensor: At the fixed stop, the load actuates an external sensor. The sensor signals the converter that the fixed stop has been reached.
  • Page 198 Setting functions 8.6 Basic positioner and position control Set travel to fixed stop Precondition 1. You have programmed "Travel to fixed stop" as traversing block. See also section: Traversing blocks (Page 188). 2. If you select the "Programming traversing blocks" button, the "Configuration of fixed stop" button appears.
  • Page 199 Setting functions 8.6 Basic positioner and position control Procedure: Fixed stop using an external signal To set "Travel to fixed stop" using an external signal, proceed as follows: 1. Select "Fixed stop using an external signal". 2. Interconnect the sensor that signals when the fixed stop is reached with this signal. 3.
  • Page 200 Setting functions 8.6 Basic positioner and position control Procedure: Fixed stop using maximum following error To set "Travel to fixed stop" using maximum following error, proceed as follows: 1. Select "Fixed stop using maximum following error": 2. Set the following error that the inverter uses to detect the fixed stop. 3.
  • Page 201: Examples

    Setting functions 8.6 Basic positioner and position control 8.6.9.2 Examples 1. Example Table 8- 21 Traversing blocks Ind. Par. Mode Advance POSITIONING RELATIVE 10000 5000 CONTINUE WITH STOP POSITIONING ABSOLUTE 5000 Figure 8-36 Positioning an axis using traversing blocks Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 202 Setting functions 8.6 Basic positioner and position control 2. Example Table 8- 22 Traversing blocks Ind. Par. Mode Advance POSITIONING RELATIVE 10000 2000 CONTINUE EXTERNAL ALARM POSITIONING RELATIVE 10000 5000 CONTINUE EXTERNAL ALARM POSITIONING ABSOLUTE 5000 The converter only goes to the next traversing block for the 0 → 1 change of the "External block selection"...
  • Page 203: Direct Setpoint Input (mdi)

    Setting functions 8.6 Basic positioner and position control 8.6.10 Direct setpoint input (MDI) Description For direct setpoint input (MDI, Manual Data Input), a higher-level control provides the converter with the position setpoint and traversing profile. Example 1 The higher-level control specifies the value of the setpoint either as a relative or an absolute position setpoint: Figure 8-38 Axis with direct setpoint input (MDI) positioning...
  • Page 204 Setting functions 8.6 Basic positioner and position control Defining the digital signals for controlling direct setpoint input Precondition You have selected the "Direct setpoint input (MDI)" screen. Procedure Interconnect the signals to control the direct setpoint input using the appropriate signals from your machine control.
  • Page 205 Setting functions 8.6 Basic positioner and position control ⑤ Positioning mode: These signals are only effective if, in the ⑨ ⑥ 0: Relative (see also bit interface for analog signals, the value 1: Absolute (the axis must be referenced). not interconnected. See also the table below.
  • Page 206 Setting functions 8.6 Basic positioner and position control Defining the analog signals for controlling direct setpoint input Precondition You have selected the "Direct setpoint input (MDI)" screen. Procedure Interconnect the signals to control the direct setpoint input using the appropriate signals from your machine control: ①...
  • Page 207 Setting functions 8.6 Basic positioner and position control Set fixed setpoint In some applications it is sufficient if the inverter moves the axis for each task in the same way, absolute or relative to the position setpoint. This approach can be achieved with fixed setpoints.
  • Page 208 Setting functions 8.6 Basic positioner and position control Parameter Meaning p2640 Intermediate stop (0 signal) p2641 Reject traversing job (0 signal) p2642 Direct setpoint input/MDI, position setpoint p2643 Direct setpoint input/MDI, velocity setpoint p2644 Direct setpoint input/MDI, acceleration override p2645 Direct setpoint input/MDI, deceleration override p2646 Velocity override...
  • Page 209: Protection And Monitoring Functions

    Setting functions 8.7 Protection and monitoring functions Protection and monitoring functions The frequency inverter offers protective functions against overtemperature and overcurrent for both the frequency inverter as well as the motor. Further, the frequency inverter protects itself against an excessively high DC link voltage when the motor is regenerating. 8.7.1 Inverter temperature monitoring The inverter temperature is essentially defined by the following effects:...
  • Page 210 Setting functions 8.7 Protection and monitoring functions Overload response for p0290 = 0 The inverter responds depending on the control mode that has been set: ● In vector control, the inverter reduces the output current. ● In U/f control, the inverter reduces the speed. Once the overload condition has been removed, the inverter re-enables the output current or speed.
  • Page 211 Setting functions 8.7 Protection and monitoring functions Overload response for p0290 = 3 If you operate the inverter with increased pulse frequency, then the inverter reduces its pulse frequency starting at the pulse frequency setpoint p1800. In spite of the temporarily reduced pulse frequency, the maximum output current remains unchanged at the value that is assigned to the pulse frequency setpoint.
  • Page 212: Motor Temperature Monitoring Using A Temperature Sensor

    Setting functions 8.7 Protection and monitoring functions 8.7.2 Motor temperature monitoring using a temperature sensor You can use one of the following sensors to protect the motor against overtemperature: ● Temperature switch (e. g. bi-metal switch) ● PTC sensor ● KTY 84 sensor Connect the motor's temperature sensor through the motor output cable on the Power Module.
  • Page 213 Setting functions 8.7 Protection and monitoring functions PTC sensor The converter interprets a resistance > 1650 Ω as being an overtemperature and responds according to the setting for p0610. The converter interprets a resistance < 20 Ω as being a short-circuit and responds with alarm A07015.
  • Page 214 Setting functions 8.7 Protection and monitoring functions Setting parameters for the temperature monitoring Parameter Description p0335 Specify the motor cooling 0: Natural cooling - with fan on the motor shaft (factory setting) 1: Forced ventilation - with a separately driven fan 2: Liquid cooling 128: No fan p0601...
  • Page 215: Protecting The Motor By Calculating The Motor Temperature

    Setting functions 8.7 Protection and monitoring functions 8.7.3 Protecting the motor by calculating the motor temperature The converter calculates the motor temperature based on a thermal motor model. Use the parameters below to set further variables for the temperature calculation of the motor. Table 8- 23 Parameters for temperature acquisition without using a temperature sensor Parameter...
  • Page 216 Setting functions 8.7 Protection and monitoring functions Parameter Description p0622 Motor excitation time for Rs_ident on switching on again The converter sets the parameter value to the corresponding result of the motor data identification. p0625 Motor ambient temperature during commissioning (factory setting: 20 °C) Motor ambient temperature given in °C at the time of motor data identification.
  • Page 217: Overcurrent Protection

    Setting functions 8.7 Protection and monitoring functions 8.7.4 Overcurrent protection The vector control ensures that the motor current remains within the set torque limits. If you use U/f control, you cannot set any torque limits. The U/f control prevents too high a motor current by influencing the output frequency and the motor voltage (I-max controller).
  • Page 218: Application-specific Functions

    Setting functions 8.8 Application-specific functions Application-specific functions 8.8.1 Functions that match the application The inverter offers a series of functions that you can use depending on your particular application: ● Unit changeover (Page 219) ● Braking functions – Electrically braking the motor (Page 224) –...
  • Page 219: Unit Changeover

    Setting functions 8.8 Application-specific functions 8.8.2 Unit changeover Description With the unit changeover function, you can adapt the inverter to the line supply (50/60 Hz) and also select US units or SI units as base units. Independent of this, you can define the units for process variables or change over to percentage values.
  • Page 220: Changing Over The Motor Standard

    Setting functions 8.8 Application-specific functions 8.8.2.1 Changing over the motor standard You change over the motor standard using p0100. The following applies: ● p0100 = 0: IEC motor (50 Hz, SI units) ● p0100 = 1: NEMA motor (60 Hz, US units) ●...
  • Page 221: Changing Over The Unit System

    Setting functions 8.8 Application-specific functions 8.8.2.2 Changing over the unit system You change over the unit system using p0505. The following selection options are available: ● p0505 = 1: SI units (factory setting) ● p0505 = 2: SI units or % relative to SI units ●...
  • Page 222: Switching Units With Starter

    Setting functions 8.8 Application-specific functions 8.8.2.3 Switching units with STARTER Precondition The inverter must be in the offline mode in order to change over the units. STARTER shows whether you change settings online in the inverter or change offline in the PC ( You switch over the mode using the adjacent buttons in the menu bar.
  • Page 223 Setting functions 8.8 Application-specific functions 6. Save your settings. 7. Go online. The inverter signals that offline, other units and process variables are set than in the inverter itself. 8. Accept these settings in the inverter. You have changed over the units. Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 224: Electrically Braking The Motor

    Setting functions 8.8 Application-specific functions 8.8.3 Electrically braking the motor Regenerative power If a motor electrically brakes the connected load and the mechanical power exceeds the electrical losses, then it works as a generator. The motor converts mechanical power by generating electrical power.
  • Page 225 Setting functions 8.8 Application-specific functions DC braking when falling below a start speed DC braking when a fault occurs Precondition: p1230 = 1 and p1231 = 14 Precondition: Fault number and fault response are assigned using p2100 and p2101 DC braking initiated using a control command DC braking when switching off the motor Precondition: p1231 = 4 and p1230 = control Precondition: p1231 = 5 or p1230 = 1 and p1231...
  • Page 226 Setting functions 8.8 Application-specific functions DC braking when the motor is switched off 1. The higher-level control switches off the motor (OFF1 or OFF3). 2. The motor brakes along the down ramp to the speed for the start of DC braking. 3.
  • Page 227: Braking With Regenerative Feedback To The Line

    Setting functions 8.8 Application-specific functions 8.8.3.2 Braking with regenerative feedback to the line Typical applications for braking with energy recovery (regenerative feedback into the line supply): ● Hoist drives ● Centrifuges ● Unwinders For these applications, the motor must brake for longer periods of time. The inverter can feed back up to 100% of its power into the line supply (referred to "High Overload"...
  • Page 228: Motor Holding Brake

    Setting functions 8.8 Application-specific functions 8.8.4 Motor holding brake The motor holding brake prevents the motor turning when it is switched off. The converter has internal logic to optimally control a motor holding brake. Function after OFF1 and OFF3 command The inverter controls the motor holding brake in the following way: ●...
  • Page 229 Setting functions 8.8 Application-specific functions Function after OFF2 The brake closing time is not taken into account after an OFF2 command: After an OFF2, the inverter issues the signal to immediately close the motor holding brake, independent of the motor speed. Figure 8-43 Controlling the motor holding brake after OFF2 Commissioning a motor holding brake...
  • Page 230 Setting functions 8.8 Application-specific functions Procedure Proceed as follows to commission the "Motor holding brake" function using an operator panel. 1. Set p1215 = 1. The "Motor holding brake" function" is enabled. 2. Check the magnetizing time p0346; the magnetizing time is pre-assigned during commissioning and must be greater than zero.
  • Page 231 Setting functions 8.8 Application-specific functions Table 8- 27 Setting the control logic of the motor holding brake Parameter Description p1215 = 1 Enable motor holding brake 0 Motor holding brake locked (factory setting) 1 Motor holding brake just like the sequence control 2: Motor holding brake permanently open 3: Motor holding brake just like the sequential control, connected via BICO p1216...
  • Page 232: Monitoring The Load Torque (system Protection)

    Setting functions 8.8 Application-specific functions 8.8.5 Monitoring the load torque (system protection) In many applications, it is advisable to monitor the motor torque: ● Applications where the load speed can be indirectly monitored by means of the load torque. For example, in fans and conveyor belts with too low a torque indicates that the drive belt is torn.
  • Page 233 Setting functions 8.8 Application-specific functions Parameter Description No-load monitoring p2179 Current limit for no-load detection If the inverter current is below this value, the message "no load" is output. p2180 Delay time for the "no load" message Blocking protection p2177 Delay time for the "motor locked"...
  • Page 234: Load Failure Monitoring

    Setting functions 8.8 Application-specific functions 8.8.6 Load failure monitoring Load failure Using this function, the inverter monitors the speed or velocity of a machine component. The inverter evaluates whether an encoder signal is present. If the encoder signal fails for a time that can be adjusted, then the inverter signals a fault.
  • Page 235: Speed Deviation Monitoring

    Setting functions 8.8 Application-specific functions 8.8.7 Speed deviation monitoring Speed deviation Using this function, the inverter calculates and monitors the speed or velocity of a machine component. The inverter analyzes an encoder signal, calculates a speed from the signal, compares it to the motor speed and reports any excessive deviation between the encoder signal and the motor speed.
  • Page 236 Setting functions 8.8 Application-specific functions Parameter Description p0490 Invert probe (factory setting 0000bin) Using the 3rd bit of the parameter value, invert the input signals of digital input 3 for the probe. p0580 Probe Input terminal (factory setting 0) Connect input of probe with a digital input. p0581 Probe Edge (factory setting 0)
  • Page 237: Safe Torque Off (sto) Safety Function

    Setting functions 8.9 Safe Torque Off (STO) safety function Safe Torque Off (STO) safety function These operating instructions describe the commissioning of the STO safety function when it is controlled via a fail-safe digital input. You will find a detailed description of all safety functions and control using PROFIsafe in the Safety Integrated Function Manual, see Section Manuals for your inverter (Page 371).
  • Page 238 Setting functions 8.9 Safe Torque Off (STO) safety function The STO safety function is standardized The STO function is defined in IEC/EN 61800-5-2: "[…] [The inverter] does not supply any energy to the motor which can generate a torque (or for a linear motor, a force)."...
  • Page 239: Prerequisite For Sto Use

    STARTER 6SL3072-0AA00-0AG0 (http://support.automation.sieme ns.com/WW/view/en/10804985/1 30000) Startdrive Startdrive 6SL3072-4CA02-1XG0 (http://support.automation.sieme ns.com/WW/view/en/68034568) Commissioning the safety functions with STARTER is subsequently described. A tutorial is available for Startdrive: Startdrive tutorial (http://support.automation.siemens.com/WW/view/en/73598459). Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 240: Protection Of The Settings From Unauthorized Changes

    Setting functions 8.9 Safe Torque Off (STO) safety function 8.9.3.2 Protection of the settings from unauthorized changes The safety functions are protected against unauthorized changes by a password. Table 8- 31 Parameter Description p9761 Entering a password (factory setting 0000 hex) Permissible passwords lie in the range 1 …...
  • Page 241: Changing Settings

    Setting functions 8.9 Safe Torque Off (STO) safety function Parameters Description p0010 Drive, commissioning parameter filter Ready Parameter reset p9761 Enter a password (factory setting: 0000 hex) Permissible passwords lie in the range 1 … FFFF FFFF. p9762 New password p9763 Password confirmation Confirming the new Safety Integrated password.
  • Page 242: Interconnecting The "sto Active" Signal

    Setting functions 8.9 Safe Torque Off (STO) safety function 4. Selecting "STO via terminal": You have completed the following commissioning steps: ● You have started to commission the safety functions. ● You have selected the basic functions with control via onboard terminals of the inverter. Table 8- 32 Parameter Parameter...
  • Page 243: Setting The Filter For Safety-related Inputs

    Setting functions 8.9 Safe Torque Off (STO) safety function 8.9.3.6 Setting the filter for safety-related inputs Procedure To set the input filter and simultaneity monitoring of the safety-related input, proceed as follows: 1. Select the advanced settings for STO. 2. Set the debounce time for the F-DI input filter. 3.
  • Page 244 Setting functions 8.9 Safe Torque Off (STO) safety function Figure 8-49 Tolerance regarding discrepancy Filter to suppress short signals The inverter normally responds immediately to signal changes at its safety-related inputs. This is not required in the following cases: ● When you interconnect a safety-related input of the inverter with an electromechanical sensor, contact bounce may result in signal changes occurring, to which the inverter responds.
  • Page 245 Setting functions 8.9 Safe Torque Off (STO) safety function Figure 8-50 Inverter response to a bit pattern test An adjustable signal filter in the inverter suppresses temporary signal changes using bit pattern test or contact bounce. The filter increases the inverter response time. The inverter only selects its safety function after the debounce time has elapsed.
  • Page 246: Setting The Forced Checking Procedure (test Stop)

    Setting functions 8.9 Safe Torque Off (STO) safety function 8.9.3.7 Setting the forced checking procedure (test stop) Procedure To set the forced checking procedure (test stop) of the basic functions, proceed as follows: 1. Select the advanced settings for STO. 2.
  • Page 247: Activate Settings

    Setting functions 8.9 Safe Torque Off (STO) safety function 8.9.3.8 Activate settings Activate settings Procedure To activate the settings for the safety functions, proceed as follows: 1. Press the "Copy parameters" button, to create a redundant image of your inverter settings.
  • Page 248: Checking The Assignment Of The Digital Inputs

    Setting functions 8.9 Safe Torque Off (STO) safety function 8.9.3.9 Checking the assignment of the digital inputs Checking the connection of digital inputs The simultaneous connection of digital inputs with a safety function and a "standard" function may lead to the drive behaving in unexpected ways. If you control the safety functions in the inverter using digital inputs, you must check whether these digital inputs are connected to a "standard"...
  • Page 249 Setting functions 8.9 Safe Torque Off (STO) safety function 3. Remove all digital input interconnections that you use as safety-related input F-DI: 4. If you use the CDS dataset switchover, you must delete the digital input connections for all CDS. Figure 8-54 Removing the DI 4 and DI 5 digital-input connections You have now prevented safety-related inputs in the safety functions controlling "standard"...
  • Page 250: Acceptance - Completion Of Commissioning

    Setting functions 8.9 Safe Torque Off (STO) safety function 8.9.3.10 Acceptance - completion of commissioning What is an acceptance? The machine manufacturer is responsible in ensuring that his plant or machine functions perfectly. As a consequence, after commissioning, the machine manufacturer must check those functions or have them checked by specialist personnel, which represent an increased risk of injury to personnel or material damage.
  • Page 251 Setting functions 8.9 Safe Torque Off (STO) safety function Documentation of the inverter The following must be documented for the inverter: ● The results of the acceptance test. ● The settings of the integrated drive safety functions. The commissioning tool STARTER logs the settings of the integrated drive functions, if necessary.
  • Page 252 Setting functions 8.9 Safe Torque Off (STO) safety function Documents for acceptance The STARTER provides you with a number of documents to be regarded as a recommendation for the acceptance tests of the safety functions. Procedure Proceed as follows to create the acceptance documentation for the drive using STARTER: 1.
  • Page 253 Setting functions 8.9 Safe Torque Off (STO) safety function 3. You load the created reports for archiving and the machine documentation for further processing: 4. Archive the reports and the machine documentation. You have generated the documents to accept the safety functions. The reports and the machine documentation can also be found in the section: Acceptance tests for the safety functions (Page 365).
  • Page 254: Switchover Between Different Settings

    Setting functions 8.10 Switchover between different settings 8.10 Switchover between different settings There are applications that require different inverter settings. Example: You connect different motors to one inverter. Depending on the particular motor, the inverter must operate with the associated motor data and the appropriate ramp-function generator. Drive data sets (DDS) Your can set several inverter functions differently and then switch over between the different settings.
  • Page 255 Setting functions 8.10 Switchover between different settings Table 8- 34 Parameters for switching the drive data sets: Parameter Description p0820[0…n] Drive data set selection DDS bit 0 If you use several command data sets CDS, then you must set this parameter p0821[0…n] Drive data set selection DDS bit 1 for each CDS.
  • Page 256 Setting functions 8.10 Switchover between different settings Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 257: Backing Up Data And Series Commissioning

    Backing up data and series commissioning External data backup After commissioning, your settings are saved in the converter so that they are protected against power failure. We recommend that you additionally back up the settings on a storage medium outside the converter.
  • Page 258: Saving Settings On A Memory Card

    Backing up data and series commissioning 9.1 Saving settings on a memory card Saving settings on a memory card What memory cards do we recommend? You will find the recommended memory cards in Section: Commissioning tools (Page 25). Using memory cards from other manufacturers The inverter only supports memory cards up to 2 GB.
  • Page 259: Saving Settings To The Memory Card

    Backing up data and series commissioning 9.1 Saving settings on a memory card 9.1.1 Saving settings to the memory card We recommend that you insert the memory card before switching on the converter for the first time. If a memory card is inserted, the converter saves every modified parameter value on the card.
  • Page 260: Transferring The Settings From The Memory Card

    Backing up data and series commissioning 9.1 Saving settings on a memory card 9.1.2 Transferring the settings from the memory card Download Procedure Proceed as follows to transfer the parameter settings from a memory card into the converter (download): 1. Switch off the converter power supply. 2.
  • Page 261: Safely Remove The Memory Card

    Backing up data and series commissioning 9.1 Saving settings on a memory card 9.1.3 Safely remove the memory card NOTICE Data loss from improper handling of the memory card If you remove the memory card when the converter is switched on without implementing the "safe removal"...
  • Page 262 Backing up data and series commissioning 9.1 Saving settings on a memory card To safely remove the memory card using STARTER, proceed as follows: 1. In the Drive Navigatorselect the following screen form: 2. Click on the button to safely remove the memory card. 3.
  • Page 263: Backing Up And Transferring Settings Using Starter

    Backing up data and series commissioning 9.2 Backing up and transferring settings using STARTER Backing up and transferring settings using STARTER With the supply voltage switched on, you can transfer the converter settings from the converter to a PG/PC, or the data from a PG/PC to the converter.
  • Page 264 Backing up data and series commissioning 9.2 Backing up and transferring settings using STARTER Procedure with enabled safety functions To load the settings from the PG to the inverter and to activate the safety functions, proceed as follows: 1. Go online with STARTER : 2.
  • Page 265: Saving Settings And Transferring Them Using An Operator Panel

    Backing up data and series commissioning 9.3 Saving settings and transferring them using an operator panel Saving settings and transferring them using an operator panel Precondition When the power supply is switched on, you can transfer the inverter settings to the IOP or vice versa, transfer the IOP data to the inverter.
  • Page 266: Other Ways To Back Up Settings

    On the memory card, you can back up 99 other settings in addition to the default setting. You will find additional information on the Internet at: Memory options (http://support.automation.siemens.com/WW/view/en/43512514). Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 267: Write And Know-how Protection

    Backing up data and series commissioning 9.5 Write and know-how protection Write and know-how protection The inverter offers the option to protect configured settings from being changed or copied. Write protection and know-how protection are available for this purpose. 9.5.1 Write protection Write protection prevents converter settings from being inadvertently changed.
  • Page 268 Backing up data and series commissioning 9.5 Write and know-how protection Points to note about restoring the factory settings If you select "Reset to factory settings" using the button when write protection is active, the following confirmation prompt opens. The confirmation prompt is not issued, if you select another way to restore the factory setting, e.g.
  • Page 269: Know-how Protection

    The know-how protection with copy protection is possible only with the recommended Siemens memory card; also see Section: Commissioning tools (Page 25) Exception list The active know-how protection permits an exception list for parameters to be defined that the customer may access.
  • Page 270 Backing up data and series commissioning 9.5 Write and know-how protection Actions that are possible during active know-how protection ● Restoring factory settings ● Acknowledging messages ● Displaying messages ● Show message history ● Reading out diagnostic buffer ● Switching to the control panel (complete control panel functionality: Fetch master control, all buttons and setting parameters) ●...
  • Page 271: Settings For The Know-how Protection

    ● You are online with STARTER. If you have created a project offline on your computer, you must download it to the inverter and go online. ● You have inserted the recommended Siemens card. See also Section: Commissioning tools (Page 25). Procedure Proceed as follows to activate know-how protection: 1.
  • Page 272 9.5 Write and know-how protection Deactivate know-how protection, delete password Preconditions ● You are online with STARTER. ● You have inserted the recommended Siemens card. See also Section: Commissioning tools (Page 25). Procedure Proceed as follows to deactivate know-how protection: 1.
  • Page 273: Creating An Exception List For The Know-how Protection

    Backing up data and series commissioning 9.5 Write and know-how protection 9.5.2.2 Creating an exception list for the know-how protection Using the exception list, you as a machine manufacturer may make individual adjustable parameters accessible to end customers although know-how protection is active. You may define the exception list via parameters p7763 and p7764 in the expert list.
  • Page 274 Backing up data and series commissioning 9.5 Write and know-how protection Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 275: Corrective Maintenance

    Corrective maintenance 10.1 Spare parts - external fan External fan for Frame Size C Frame Size C is fitted with an external fan to provide additional cooling. Should the fan need replacing the fitting process is shown in the diagram below. The external fan can be ordered under the part number: 6SL3500-0SF01-0AA0.
  • Page 276: Overview Of Replacing Converter Components

    Corrective maintenance 10.2 Overview of replacing converter components 10.2 Overview of replacing converter components Permissible replacement of components In the event of a long-term function fault, you must replace the Power Module or Control Unit. The converter's Power Module and Control Unit can be replaced independently of each other.
  • Page 277 SIMATIC S7 controller with DriveES – using DriveES. Details of the device replacement without removable storage medium can be found in the Profinet system description (http://support.automation.siemens.com/WW/view/en/19292127). Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 278: Replacing A Control Unit With Enabled Safety Function

    Corrective maintenance 10.3 Replacing a Control Unit with enabled safety function 10.3 Replacing a Control Unit with enabled safety function Replacing a Control Unit with data backup on a memory card Precondition You have a memory card with the actual settings of the Control unit to be replaced. If you use a memory card with firmware, after the replacement, you obtain a precise copy (firmware and settings) of the replaced Control Unit.
  • Page 279 Corrective maintenance 10.3 Replacing a Control Unit with enabled safety function Replacing a Control Unit with data backup in the PC Precondition You have backed up the actual settings of the Control Unit to be replaced to a PC using STARTER.
  • Page 280 Corrective maintenance 10.3 Replacing a Control Unit with enabled safety function Replacing the Control Unit with data backup in the operator Panel Precondition You have backed up the actual settings of the Control Unit to be replaced to an operator panel.
  • Page 281 Corrective maintenance 10.3 Replacing a Control Unit with enabled safety function 21.Switch on the inverter power supply again (power on reset). 22.Perform a reduced acceptance test, see the section Reduced acceptance test after component replacement (Page 296). You have replaced the Control Unit and transferred the safety function settings from the operator panel to the new Control Unit.
  • Page 282: Replacing The Control Unit Without The Safety Functions Enabled

    Corrective maintenance 10.4 Replacing the Control Unit without the safety functions enabled 10.4 Replacing the Control Unit without the safety functions enabled Replacing a Control Unit with data backup on a memory card Procedure Proceed as follows to exchange the Control Unit: 1.
  • Page 283 Corrective maintenance 10.4 Replacing the Control Unit without the safety functions enabled Replacing a Control Unit with data backup in the PC Procedure Proceed as follows to exchange the Control Unit: 1. Disconnect the line voltage to the Power Module and (if installed) the external 24 V supply or the voltage for the digital outputs of the Control Unit.
  • Page 284: Replacing The Control Unit Without Data Backup

    Corrective maintenance 10.5 Replacing the Control Unit without data backup 10.5 Replacing the Control Unit without data backup If you do not backup the settings, then you must recommission the drive after replacing the Control Unit. Procedure To replace the Control Unit without backed-up settings, proceed as follows: 1.
  • Page 285: Replacing A Control Unit With Active Know-how Protection

    If know-how protection with copy protection is active, the inverter cannot be replaced as described in "Overview of replacing converter components (Page 276)". However, to allow the inverter to be replaced, you must use a Siemens memory card, and the machine manufacturer must have an identical machine that he uses as sample.
  • Page 286 – copies the encrypted project from the card to his PC – for example, sends it by e-mail to the end customer ● The end customer copies the project to the Siemens memory card that belongs to the machine, inserts it in the inverter and switches on the inverter.
  • Page 287: Replacing A Power Module With Enabled Safety Function

    Corrective maintenance 10.7 Replacing a Power Module with enabled safety function 10.7 Replacing a Power Module with enabled safety function DANGER Danger from touching energized Power Module connections After switching off the mains voltage, it will take up to 5 minutes until the capacitors in the Power Module are sufficiently discharged for the residual voltage to be safe.
  • Page 288: Replacing A Power Module Without The Safety Function Being Enabled

    Corrective maintenance 10.8 Replacing a Power Module without the safety function being enabled 10.8 Replacing a Power Module without the safety function being enabled Procedure Proceed as follows to exchange a Power Module: 1. Switch off the supply voltage to the Power Module. You do not have to switch off an external 24 V power supply for the Control Unit if one is being used.
  • Page 289: Upgrading Firmware

    Corrective maintenance 10.9 Upgrading firmware 10.9 Upgrading firmware When upgrading firmware you replace the inverter's firmware with a newer version. Only update the firmware to a newer version if you require the expanded range of functions of that newer version. Conditions 1.
  • Page 290 Corrective maintenance 10.9 Upgrading firmware 6. At the end of the transfer, the BF LED will slowly flash red (0.5 Hz). Note Damaged firmware if the power supply is interrupted while transferring data If the power supply is interrupted while transferring data, this can damage the inverter's firmware.
  • Page 291 Corrective maintenance 10.9 Upgrading firmware 10.Reconnect all plugs and switch on the 24 V supply. 11.If the firmware upgrade was successful, the Control Unit responds after a few seconds with the RDY LED lighting up green. You have successfully updated the inverter's firmware to a newer version. When there is an upgrade your settings will be stored in the inverter.
  • Page 292: Firmware Downgrade

    Corrective maintenance 10.10 Firmware downgrade 10.10 Firmware downgrade When downgrading firmware you replace the inverter's firmware with an older version. Only update the firmware to an older level if, after replacing an inverter, you require the same firmware in all inverters. Precondition 1.
  • Page 293 Corrective maintenance 10.10 Firmware downgrade 6. At the end of the transfer, the BF LED will slowly flash red (0.5 Hz). Note Damaged firmware if the power supply is interrupted while transferring data If the power supply is interrupted while transferring data, this can damage the inverter's firmware.
  • Page 294 Corrective maintenance 10.10 Firmware downgrade 11.If the firmware downgrade was successful, the Control Unit responds after a few seconds with the RDY LED lighting up green. Following the firmware downgrade the inverter is reset to factory settings. 12.Take your settings over from your data backup to the inverter. See also section: Backing up data and series commissioning (Page 257).
  • Page 295: Correcting A Failed Firmware Upgrade Or Downgrade

    Corrective maintenance 10.11 Correcting a failed firmware upgrade or downgrade 10.11 Correcting a failed firmware upgrade or downgrade How does the inverter report a failed upgrade or downgrade? The inverter signals a failed firmware upgrade or downgrade with a quickly flashing RDY LED and a lit up BF LED.
  • Page 296: Reduced Acceptance Test After Component Replacement

    Corrective maintenance 10.12 Reduced acceptance test after component replacement 10.12 Reduced acceptance test after component replacement After a component has been replaced or the firmware updated, a reduced acceptance test of the safety functions must be performed. Measure Acceptance test Acceptance test Documentation Replacing the Control Unit.
  • Page 297: If The Converter No Longer Responds

    Corrective maintenance 10.13 If the converter no longer responds 10.13 If the converter no longer responds If the inverter no longer responds For example, when loading an incorrect file from the memory card, the inverter can go into a state where it can no longer respond to commands from the operator panel or from a higher- level control system.
  • Page 298 Corrective maintenance 10.13 If the converter no longer responds Case 2 ● The motor is switched off. ● You cannot communicate with the inverter, either via the operator panel or other interfaces. ● The LEDs flash and are dark - this process is continually repeated. Procedure Proceed as follows to restore the inverter factory settings: 1.
  • Page 299: Alarms, Faults And System Messages

    Alarms, faults and system messages 11.1 Alarms Alarms have the following properties: ● They do not have a direct effect in the converter and disappear once the cause has been removed ● They do not need have to be acknowledged ●...
  • Page 300 Alarms, faults and system messages 11.1 Alarms Figure 11-2 Saving the second alarm in the alarm buffer The alarm buffer can contain up to eight alarms. If an additional alarm is received after the eighth alarm - and none of the last eight alarms have been removed - then the next to last alarm is overwritten.
  • Page 301 Alarms, faults and system messages 11.1 Alarms Figure 11-4 Shifting alarms that have been removed into the alarm history Any alarms that have not been removed remain in the alarm buffer. The converter sorts the alarms and closes gaps between the alarms. If the alarm history is filled up to index 63, each time a new alarm is accepted in the alarm history, the oldest alarm is deleted.
  • Page 302 Alarms, faults and system messages 11.1 Alarms Parameters of the alarm buffer and the alarm history Parameter Description r2122 Alarm code Displays the numbers of alarms that have occurred r2123 Alarm time received in milliseconds Displays the time in milliseconds when the alarm occurred r2124 Alarm value Displays additional information about the alarm...
  • Page 303: Faults

    Alarms, faults and system messages 11.2 Faults 11.2 Faults A fault indicates a severe fault during inverter operation. The inverter signals a fault as follows: ● At the operator panel with Fxxxxx ● At the inverter using the red LED RDY ●...
  • Page 304 Alarms, faults and system messages 11.2 Faults Figure 11-7 Complete fault buffer Acknowledgement You have multiple options to acknowledge a fault, e.g.: ● PROFIdrive control word 1, bit 7 (r2090.7) ● Acknowledge via the operator panel ● Switch-off the inverter power supply and switch-on again. Faults detected during the inverter-internal monitoring of hardware and firmware can be acknowledged only by switching the supply voltage off and on again.
  • Page 305 Alarms, faults and system messages 11.2 Faults 1. The inverter accepts all faults from the fault buffer in the first eight memory locations of the fault history (indexes 8 ... 15). 2. The inverter deletes the faults that have been removed from the fault buffer. 3.
  • Page 306 Alarms, faults and system messages 11.2 Faults Parameters of the fault buffer and the fault history Parameter Description r0945 Fault code Displays the numbers of faults that have occurred r0948 Fault time received in milliseconds Displays the time in milliseconds when the fault occurred r0949 Fault value Displays additional information about the fault...
  • Page 307 Alarms, faults and system messages 11.2 Faults Extended settings for faults Parameter Description You can change the fault response of the motor for up to 20 different fault codes: p2100 Setting the fault number for fault response Selection of the faults for which the fault response applies p2101 Setting, fault response Setting the fault response for the selected fault...
  • Page 308: Status Led Overview

    Alarms, faults and system messages 11.3 Status LED overview 11.3 Status LED overview LED status indicators The Control Unit has number of dual-colour LEDs which are designed to indicate the operational state of the Inverter. The LEDs are used to indicate the status of the following states: ●...
  • Page 309 Alarms, faults and system messages 11.3 Status LED overview Explanation of status LEDs An explanation of the various states indicated by the LEDs are given in the tables below. Table 11- 1 Description of general status LEDS Description of function GREEN - On Ready for operation (no active fault) GREEN - flashing slowly...
  • Page 310: Identification & Maintenance Data (i&m)

    Format Example for the Valid for Valid for content PROFINET PROFIBUS Manufacturer-specific u8[10] 00 … 00 hex ✓ MANUFACTURER_ID 42d hex ✓ ✓ (=Siemens) ORDER_ID Visible String „6SL3246-0BA22- ✓ ✓ [20] 1FA0“ SERIAL_NUMBER Visible String „T-R32015957“ ✓ ✓ [16] HARDWARE_REVISION 0001 hex ✓...
  • Page 311: System Runtime

    Alarms, faults and system messages 11.5 System runtime 11.5 System runtime By evaluating the system runtime of the inverter, you can decide whether you must replace components subject to wear such as fans, motors and gear units. Principle of operation The inverter starts the system runtime as soon as the inverter is supplied with power.
  • Page 312: List Of Alarms And Faults

    Alarms, faults and system messages 11.6 List of alarms and faults 11.6 List of alarms and faults Axxxxx Alarm Fyyyyy: Fault Table 11- 6 Faults, which can only be acknowledged by switching the converter off and on again (power on reset) Number Cause Remedy...
  • Page 313 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy p0970 = 5 Reset Start Safety Parameter. The converter sets p0970 = 5 if it has reset the parameters. Then reset the converter to the factory setting again. A01666 Static 1 signal atF-DI for safe F-DI to a logical 0 signal.
  • Page 314 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy A05000 Power Module overtemperature Check the following: A05001 - Is the ambient temperature within the defined limit values? A05002 - Are the load conditions and duty cycle configured accordingly? A05004 - Has the cooling failed? A05006...
  • Page 315 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy F07450 Standstill monitoring has After the standstill monitoring time (p2543) has expired, the drive has left responded the standstill window (p2542). Check whether the following is set correctly: Position actual value inversion (p0410) •...
  • Page 316 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy A07455 Maximum velocity limited The maximum velocity (p2571) is too high to correctly calculate the modulo correction. Remedy: Reduce the maximum velocity (p2571). • Increase the sampling time for positioning (p0115[ 5]). •...
  • Page 317 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy A07465 Traversing block does not have a Parameterize this traversing block with the step enabling condition • subsequent block END. Parameterize additional traversing blocks with a higher block number •...
  • Page 318 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy F07485 Fixed stop is not reached In a traversing block with the FIXED STOP task the end position was reached without detecting a fixed stop. Remedy: Check the traversing block and locate the target position further into •...
  • Page 319 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy A07557 Reference point coordinate not in The received reference point coordinate when adjusting the encoder via A07558 the permissible range connector input CI: p2599 lies outside half of the encoder range and cannot be set as actual axis position.
  • Page 320 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy F07806 Regenerative power limit exceeded Increase deceleration ramp. Reduce driving load. Use power unit with higher energy recovery capability. For vector control, the regenerative power limit in p1531 can be reduced until the fault is no longer activated.
  • Page 321 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy F08501 Setpoint timeout Check the PROFINET connection. • Set the controller to RUN mode. • If the error occurs repeatedly, check the monitoring time set (p2044). •...
  • Page 322 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy F30001 Overcurrent Check the following: Motor data, if required, carry out commissioning • Motor connection method (Υ / Δ) • U/f operation: Assignment of rated currents of motor and Power •...
  • Page 323 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy Check the fan filter elements. • F30036 Overtemperature, inside area Check whether the ambient temperature is in the permissible range. • F30037 Rectifier overtemperature See F30035 and, in addition: Check the motor load.
  • Page 324 Alarms, faults and system messages 11.6 List of alarms and faults Number Cause Remedy A32442 Battery voltage pre-alarm Replace the battery in the encoder. F32905 Parameterizing error Check whether the connected encoder type matches the encoder that • has been parameterized. Correct the parameter specified by the fault value (r0949) and p0187.
  • Page 325: Technical Data

    Update time of all DO: 2 ms Encoder interfaces HTL bipolar, ≤ 2048 pulses, ≤ 100 mA, • e. g. SIEMENS encoders 1XP8001-1, 1XP80X2-1X. SSI interface. See also Encoders examples (Page 47). • Max. cable length: 30 m shielded •...
  • Page 326 Technical data 12.1 Performance ratings Control Unit Feature Specification Fail-safe input DI 4 and DI 5 form the fail-safe digital input. • Maximum input voltage 30 V, 5.5 mA • Response time: • – Typical: 5 ms + debounce time p9651 –...
  • Page 327: Performance Ratings Power Module

    The specification only refers to the total instantaneous regenerative feedback, however not to the total connected power of all of the power modules connected to the same transformer. Further information: FAQ (http://support.automation.siemens.com/WW/view/en/34189181). Output voltage 3 AC 0 V … line volage × 0.87 (max.) Input frequency 47 Hz …...
  • Page 328: Sinamics G120d Specifications

    Technical data 12.3 SINAMICS G120D specifications 12.3 SINAMICS G120D specifications Power Module Specifications Note UL certified Fuses must be used In order that the system is in compliance with UL requirements, UL listed class H, J or K fuses, circuit breakers or self-protected combination motor-controllers must be used.
  • Page 329: Ambient Operating Conditions

    Relative air humidity for the SINAMICS G120D is ≤ 95 % non-condensing. Shock and vibration Do not drop the SINAMICS G120D or expose to sudden shock. Do not install the SINAMICS G120D in an area where it is likely to be exposed to constant vibration.
  • Page 330: Current And Voltage Derating Dependent On The Installation Altitude

    Technical data 12.5 Current and voltage derating dependent on the installation altitude 12.5 Current and voltage derating dependent on the installation altitude Current derating depending on the installation altitude Above 1000 m above sea level you must reduce the inverter output current corresponding to the adjacent curve as a result of the lower cooling power of the air.
  • Page 331: Pulse Frequency And Current Reduction

    Technical data 12.6 Pulse frequency and current reduction 12.6 Pulse frequency and current reduction Pulse frequency and current reduction Table 12- 5 Current reduction depending on pulse frequency Power Frame Inverter Output current at pulse frequency of rating at size current 400 V rating...
  • Page 332: Standards (pm250d)

    EN 60204-1 — Safety of machinery –Electrical equipment of machines European Machinery Directive The SINAMICS G120D-2 inverter series does not fall under the scope of the Machinery Directive. However, the products have been fully evaluated for compliance with the essential Health & Safety requirements of the directive when used in a typical machine application.
  • Page 333: Electromagnetic Compatibility

    Technical data 12.8 Electromagnetic Compatibility 12.8 Electromagnetic Compatibility The SINAMICS G120 drives have been tested in accordance with the EMC Product Standard EN 61800-3:2004. Details see declaration of conformity Note Install all drives in accordance with the manufacturer’s guidelines and in accordance with good EMC practices.
  • Page 334 Technical data 12.8 Electromagnetic Compatibility Table 12- 7 Conducted disturbance voltage and radiated emissions EMC Phenomenon Converter type Level acc. to Remark IEC 61800-3 Conducted emissions All converters with integrated class A filters. Category C2 (disturbance voltage) First Environment - Order number: Professional Use 6SL3525-0PE**-*A**...
  • Page 335 Technical data 12.8 Electromagnetic Compatibility EMC Immunity The SINAMICS G120D drives have been tested in accordance with the immunity requirements of category C3 (industrial) environment: Table 12- 9 EMC Immunity EMC Phenomenon Standard Level Performance Criterion Electrostatic Discharge (ESD) EN 61000-4-2...
  • Page 336 Technical data 12.8 Electromagnetic Compatibility Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 337: Appendix

    Appendix New and extended functions Table A- 1 New functions and function changes in Firmware 4.6 Function SINAMICS G120 G120D Support for the new Power Modules ✓ ✓ ✓ ✓ PM240-2 IP20 FSB … FSC • PM240-2 in through-hole technology FSB ... FSC •...
  • Page 338 Appendix A.1 New and extended functions Table A- 2 New functions and function changes in Firmware 4.6.6 Function SINAMICS G120 G120D Support for the new Power Modules ✓ PM330 IP20 GX • Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 339 Appendix A.1 New and extended functions Table A- 3 New functions and function changes in Firmware 4.7 Function SINAMICS G120 G120D Supporting the identification & maintenance datasets ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ ✓ (I&M1 … 4) Fall in pulse rate with increased drive power required by the ✓...
  • Page 340: Star-delta Motor Connection And Application Examples

    Before you connect the motor, ensure that the motor has the appropriate connection for your application: Motor is connected in the star or delta configuration With SIEMENS motors, you will see a diagram of both connection methods on the inside of the cover of the terminal box: •...
  • Page 341: Parameter

    Appendix A.3 Parameter Parameter Parameters are the interface between the firmware of the converter and the commissioning tool, e.g. an Operator Panel. Adjustable parameters Adjustable parameters are the "adjusting screws" with which you adapt the converter to its particular application. If you change the value of an adjustable parameter, then the converter behavior also changes.
  • Page 342 Appendix A.3 Parameter Table A- 7 How to set the ramp-up and ramp-down Parameter Description p1080 Minimum speed 0.00 [rpm] factory setting p1082 Maximum speed 1500.000 [rpm] factory setting p1120 Ramp-up time 10.00 [s] p1121 Ramp-down time 10.00 [s] Table A- 8 This is how you set the closed-loop type Parameter Description...
  • Page 343 Appendix A.3 Parameter Table A- 10 How to change the inverter pulse frequency Parameter Description p1800 Setting the inverter pulse frequency The pulse frequency depends on the power unit. You can find the setting limits and the factory setting in Section Performance ratings Power Module (Page 327).
  • Page 344: Handling Starter

    Appendix A.4 Handling STARTER Handling STARTER A.4.1 Change settings After the basic commissioning, you can adapt the inverter to your application as described in the Commissioning guidelines (Page 55). STARTER offers two options: ● Change the settings using the appropriate screen forms - our recommendation. ①...
  • Page 345 Appendix A.4 Handling STARTER Saving settings so that they are not lost when the power fails The inverter initially only saves changes temporarily. You must do the following so that the inverter saves your settings securely in the event of a power failure. Procedure Proceed as follows to save your settings in the inverter so that they are not lost when the power fails:...
  • Page 346: Optimize The Drive Using The Trace Function

    Appendix A.4 Handling STARTER A.4.2 Optimize the drive using the trace function Description The trace function is used for inverter diagnostics and helps to optimize the behavior of the drive. Start the function in the navigation bar using "... Control_Unit/Commissioning/Device trace".
  • Page 347 Appendix A.4 Handling STARTER Example of a bit pattern as trigger: You must define the pattern and value of a bit parameter for the trigger. To do so, proceed as follows: Using , select "Trigger to variable - bit pattern" Using , select the bit parameter Using...
  • Page 348 Appendix A.4 Handling STARTER Display options In this area, you can set how the measurement results are displayed. ● Repeating measurements This places the measurements that you wish to perform at different times above one other. ● Arrange the curves in tracks This means you define whether the trace of all measured values is displayed with respect to a common zero line –...
  • Page 349: Interconnecting Signals In The Inverter

    Appendix A.5 Interconnecting signals in the inverter Interconnecting signals in the inverter A.5.1 Fundamentals The following functions are implemented in the converter: ● Open-loop and closed-loop control functions ● Communication functions ● Diagnosis and operating functions Every function comprises one or several blocks that are interconnected with one another. Figure A-3 Example of a block: Motorized potentiometer (MOP) Most of the blocks can be adapted to specific applications using parameters.
  • Page 350 Appendix A.5 Interconnecting signals in the inverter Binectors and connectors Connectors and binectors are used to exchange signals between the individual blocks: ● Connectors are used to interconnect "analog" signals. (e.g. MOP output speed) ● Binectors are used to interconnect "digital" signals. (e.g. 'Enable MOP up' command) Figure A-5 Symbols for binector and connector inputs and outputs Binector/connector outputs (CO/BO) are parameters that combine more than one binector...
  • Page 351: Example

    Appendix A.5 Interconnecting signals in the inverter A.5.2 Example Moving a basic control logic into the inverter A conveyor system is to be configured in such a way that it can only start when two signals are present simultaneously. These could be the following signals, for example: ●...
  • Page 352 Appendix A.5 Interconnecting signals in the inverter Explanation of the example using the ON/OFF1 command Parameter p0840[0] is the input of the "ON/OFF1" block of the inverter. Parameter r20031 is the output of the AND block. To interconnect ON/OFF1 with the output of the AND block, set p0840 = 20031.
  • Page 353: Application Examples

    Appendix A.6 Application Examples Application Examples A.6.1 Setting an absolute encoder Encoder data In the following example, the inverter must evaluate an SSI encoder. The encoder data sheet also includes the following encoder data: Table A- 11 Excerpt from the data sheet of the absolute encoder Feature Value Configuring an...
  • Page 354 Appendix A.6 Application Examples Configuring an encoder When configuring the encoder, you must select an encoder type that has the best possible fit to the real encoder. Precondition You have started to configure the drive. Procedure Proceed as follows to set an absolute encoder in STARTER: 1.
  • Page 355 Appendix A.6 Application Examples Adapting the encoder data After the configuration you may now adapt the encoder data. Preconditions ● You have now configured an absolute encoder. ● You have completely configured the drive. Procedure Proceed as follows to adapt the encoder data: 1.
  • Page 356 Appendix A.6 Application Examples 3. … 10. In the "Encoder data" screen form, adapt the settings corresponding to the data sheet of your encoder. The "Details" tab is used for application-specific settings, e.g. to invert the encoder signal. The fine resolution can be separately set for the process data Gx_XIST1 and Gx_XIST2. 2 bit fine resolution is practical for square wave encoders.
  • Page 357: Go Online With Starter Via Profinet

    Appendix A.6 Application Examples A.6.2 Go online with STARTER via PROFINET A.6.2.1 Adapting the PROFINET interface If you commission the inverter with STARTER via PROFINET, then you must correctly address your PC and allocate STARTER the interface via which it goes online with the inverter.
  • Page 358: Create A Reference For Starters

    Appendix A.6 Application Examples A.6.2.2 Create a reference for STARTERS If you have configured the inverter via GSDML, in STEP 7, you must create a reference of the inverter for STARTER, so that you can call up STARTER from STEP 7. This procedure is described using the example of a SINAMICS G120 with Control Unit CU240B-2 or CU240E-2.
  • Page 359: Call The Starter And Go Online

    Appendix A.6 Application Examples A.6.2.3 Call the STARTER and go online Procedure To call STARTER from STEP 7 and establish an online connection to the inverter, proceed as follows: 1. Highlight the inverter in the SIMATIC manager with the right mouse button. 2.
  • Page 360: Connecting Fail-safe Digital Inputs

    Appendix A.6 Application Examples A.6.4 Connecting fail-safe digital inputs The examples comply with PL d according to EN 13849-1 and SIL2 according to IEC 61508 for the case that all components are installed within one control cabinet. Figure A-8 Connecting a sensor, e.g. Emergency Stop mushroom push-button or limit switch You may connect emergency stop control devices in series because it is not possible for these devices to fail and be actuated at the same time.
  • Page 361: Setting A Non Standard Htl Encoder

    Appendix A.7 Setting a non standard HTL encoder Setting a non standard HTL encoder Proceeding: manually configuring the encoder 1. Set p0010 = 4. This allows the encoder parameters to be accessed. 2. Configure the encoder using the table below. 3.
  • Page 362: Setting A Non Standard Ssi Encoder

    Appendix A.8 Setting a non standard SSI encoder Setting a non standard SSI encoder Proceeding: manually configuring the encoder 1. Set p0010 = 4. This allows the encoder parameters to be accessed. 2. Configure the encoder using the table below. 3.
  • Page 363 Appendix A.8 Setting a non standard SSI encoder Parameter Description p0423[1] Absolute encoder rotary singleturn resolution (factory setting: 8192) Sets the number of measuring steps per revolution for a rotary absolute encoder. The resolution refers to the absolute position. p0425[1] Encoder, rotary zero mark distance (Factory setting: 2048) Sets the distance in pulses between two zero marks.
  • Page 364 Appendix A.8 Setting a non standard SSI encoder Parameter Description p0437[1] Sensor Module configuration extended (Factory setting: 0000 0000 0000 0000 0000 1000 0000 0000 bin) Signal name 1 signal 0 signal Data logger Zero mark edge detection Correction position actual value XIST1 Edge evaluation bit 0 Edge evaluation bit 1 Freeze the speed actual value for dn/dt errors...
  • Page 365: Acceptance Tests For The Safety Functions

    Appendix A.9 Acceptance tests for the safety functions Acceptance tests for the safety functions A.9.1 Recommended acceptance test The following descriptions for the acceptance test are recommendations that illustrate the principle of acceptance. You may deviate from these recommendations if you check the following once you have completed commissioning: ●...
  • Page 366 Appendix A.9 Acceptance tests for the safety functions Figure A-10 Acceptance test for STO (basic functions) Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 367 Appendix A.9 Acceptance tests for the safety functions Procedure To perform an acceptance test of the STO function as part of the basic functions, proceed as follows: Status The inverter is ready The inverter signals neither faults nor alarms of the safety functions (r0945[0…7], •...
  • Page 368: Machine Documentation

    Appendix A.9 Acceptance tests for the safety functions A.9.2 Machine documentation Machine or plant description Designation … Type … Serial number … Manufacturer … End customer … Block diagram of the machine and/or plant: … … … … … … …...
  • Page 369 Appendix A.9 Acceptance tests for the safety functions Acceptance test reports File name of the acceptance reports … … … … Data backup Data Storage medium Holding area Archiving type Designation Date Acceptance test reports … … … … PLC program …...
  • Page 370: Log The Settings For The Basic Functions, Firmware V4.4

    Appendix A.9 Acceptance tests for the safety functions A.9.3 Log the settings for the basic functions, firmware V4.4 ... V4.7 Drive = <pDO-NAME_v> Table A- 14 Firmware version Name Number Value Control Unit firmware version <r18_v> SI version, safety functions integrated in the drive (processor 1) r9770 <r9770_v>...
  • Page 371: Manuals And Technical Support

    Download or order number on depth languages Getting Started Guide Installing and commissioning English, Documentation download the converter. German, (http://support.automation. Italian, siemens.com/WW/view/en/ Operating instructions (this manual) French, 36426537/133300) for the SINAMICS G120 inverter Spanish, SINAMICS Manual with Control Units CU250D-2 Chinese Collection Function Manual for Safety Configuring PROFIsafe.
  • Page 372: Configuring Support

    (www.siemens.en/sinamics-g120) SINAMICS G inverters Italian, French, Spanish Online catalog (Industry Ordering data and technical English, Mall) information for all SIEMENS German products SIZER The overall configuration tool for English, You obtain SIZER on a DVD SINAMICS, MICROMASTER German, (Order number: 6SL3070-0AA00-0AG0)
  • Page 373: Mistakes And Improvements

    If you come across any mistakes when reading this manual or if you have any suggestions for how it can be improved, then please send your suggestions to the following address or by E-mail: Siemens AG Drive Technologies Motion Control Systems...
  • Page 374 Appendix A.11 Mistakes and improvements Converter with control units CU250D-2 Operating Instructions, 04/2014, FW V4.7, A5E34261542B AA...
  • Page 375: Index

    Index 87 Hz characteristic, 340 Cable protection, 49 Cam sequencer, 105, 168 Cam switching position, 101 Catalog, 372 Category C2, 334 Absolute encoder, 183, 354 CDS (Command Data Set), 249 Acceptance test, 250 Centrifuge, 224, 227 Complete, 250 Changing parameters (STARTER), 344 Reduced scope of, 251, 296 Characteristic STO (basic functions), 367...
  • Page 376 Index External fan, 275 Extruder, 211 Data backup, 257, 260, 263, 265, 369 Data set 47 (DS), 110 Data set changeover, 249 Data transfer, 260, 263, 265 DC braking, 225, 226 Factory settings, 62 Default settings, 58 Restoring the, 240 Delta connection (Δ), 340 Factory settings for inputs and outputs, 45 Derating...
  • Page 377 Index Gate/door drive, 151 Know-how protection, 258, 269 Gear ratio, 149 KTY 84 temperature sensor, 212 Getting Started, 371 Grinding machine, 224 GSDML (Generic Station Description Markup Language), 88 License, 258 Limit switch (software), 156 Limit switches, 156 Line supply type, 32 Hardware Installation Manual, 371 Linear axis, 151 Harmonic Currents, 334...
  • Page 378 Index Motor control, 112 POS_ZSW (positioning status word), 101 Motor data, 57 POS_ZSW1 (positioning status word 1), 103 Identify, 142 POS_ZSW2 (positioning status word 2), 105 Motor holding brake, 228, 229 Position actual value, value range, 153 Motor standard, 220 Position control, 112, 147 Motor temperature, 215 Position controller, 158...
  • Page 379 Index Scaling, 135 Series commissioning, 251, 257 Ramp-function generator, 126, 131 Set reference point, 104 Ramp-up, 342 Set up, 102, 103, 147, 204 Rampup time, Setpoint processing, 112, 126 Ramp-up time Setpoint source, 112 Scaling, 135 Selecting, 120, 341 Ready, 114 Shock and vibration, 329 Ready to switch on, 114 Short-circuit monitoring, 213...
  • Page 380 Index STOP cam, 103, 104, 156 Unwinders, 227 Storage medium, 257 Update (firmware), 296 Storage temperature, 327 Upgrading firmware, 289 STW1 (control word 1), 97 Upload, 263, 265 STW2 (control word 2), 99 USB interface, 69 Suggestions for improvement manual, 373 Use for the intended purpose, 23 Support, 372 Switch off...

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