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Siemens SINAMICS DCM 6RA80 Faq

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FAQ for SINAMICS DCM; 6RA80
Question:
How do I perform diagnostics if a fault occurs?
Answer:
Several different ways of performing diagnostics on the SINAMICS DCM 6RA80 are
described below. You do not have to read the entire text, only the item relevant to your
problem. This permits you to perform the necessary preliminary investigation, which you can
then discuss with Technical Support (for contact address, see the "Preface" Section of the
Operating Instructions).
For further documentation, please go to the following link:
http://support.automation.siemens.com/WW/view/en/38157755/133300
Note: When commissioning a SINAMICS DCM for the first time, work through Section 8 of
the Operating Instructions.
Commissioning is performed with the BOP20 or AOP30 or the STARTER commissioning
software (Version 4.3.3 or higher; USB to Profibus Interface; Order number;
MLFB: 6GK1571-1AA00) starting from the factory setting of the SINAMICS DCM.

WARNING

The units listed here contain dangerous electrical voltages and control rotating mechanical
parts (drives). Failure to follow the relevant Operating Instructions may result in death, serious
injury or considerable material damage.
Only qualified personnel who are familiar with all the safety information contained in the
Operating Instructions, as well as the assembly, operating and maintenance instructions,
should carry out work on these units.
Perfect, safe and reliable operation of the units is conditional upon them having been
professionally transported, stored, mounted, and installed, and having been carefully operated
and maintained.
The output of the power section for the armature and field is not electrically isolated from the
input, which means that dangerous voltages will be present at the output when the supply
voltage is applied to the input. Please also remember that dangerous voltages are also
present on the power interface and field module. Before working with the unit wait for the
discharge time of the TSE capacitors and the capacitors of the power supply to elapse.
The power supply for electronics module CUD and other electronic expansion modules is
however electrically isolated from the line voltage. Their reference ground "M" is at ground
potential.
About this document: Firstly the CUD, memory card and device standards are described,
then interrelationships for controlling and setpoint value specification, followed by diagnostics
in the case of fault codes. You will find basic theory on converters and procedures for
performing measurements further on in the documentation to refresh you knowledge. This
document is rounded off by an introduction to control engineering. Please use the index in
the appendix to find the items you require.
The cross-references apply to the documentation for software 1.4.
DF CS LD 16 / January / 2018
1

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Do you have a question about the SINAMICS DCM 6RA80 and is the answer not in the manual?

Questions and answers

Gulab Singh
February 14, 2025

Siemens dc drive fault code 60167 what this reson

User image 67af66ead6bf7
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1 comments:
Mr. Anderson
February 14, 2025

Fault code 60167 on the Siemens SINAMICS DCM 6RA80 drive indicates a fan fault. This fault occurs when powering off both the armature and field, but it does not appear during normal operation. The direction of the fan is correct (CCW), and parameter 50096 is set to 0 seconds.

This answer is automatically generated

-1

Related Manuals for Siemens SINAMICS DCM 6RA80

Summary of Contents for Siemens SINAMICS DCM 6RA80

  • Page 1 How do I perform diagnostics if a fault occurs? Answer: Several different ways of performing diagnostics on the SINAMICS DCM 6RA80 are described below. You do not have to read the entire text, only the item relevant to your problem. This permits you to perform the necessary preliminary investigation, which you can then discuss with Technical Support (for contact address, see the "Preface"...
  • Page 2 CUD (Control Unit DC): Control unit for the SINAMICS DCM. The CUD is available in two versions: Standard CUD: No connection option for the CBE20 (PROFINET module) and no DRIVE-CLiQ interface. Advanced CUD (G00 option). This is required for operating a CBE20 module and for connecting the following components: TM31, TM15, TM150(From Firmware V1.4) SMC30 (maximum of 3 of the listed components TM31/TM15/TM150 possible per CUD, and one of the SMC30).
  • Page 3 When fault indication at RAM to ROM occur 1. p009 = 30 2. p976 = 200 http://support.automation.siemens.com/WW/view/en/62360205 Saving the parameters to the ROM (non-volatile memory): Any parameter changes are initially only made in the RAM (volatile memory), i.e. the set values are lost once the electronic power supply is switched off.
  • Page 4 Operating mode for the field Note: Always quote MLFB (r50070), r50060[6]: Software version: Ideally, you should send us your entire STARTER project as soon as possible. support.automation@siemens.com Motor-related data: p50100: Rated motor current, armature p50101: Rated motor voltage, armature; for 2Q, maximum line voltage x 1.2;...
  • Page 5 The function block diagrams: These can be found in Section 2 of the List Manual. In the following description, we refer to their sheet numbers, e.g. "2070 E stop sheet". The function block diagrams can be read like an analog circuit diagram and represent the entire controller structure with the parameters, connectors, and binectors used.
  • Page 6 extreme right: bit zero, extreme left: bit 15 or bit 31. Actual speed value: 100% corresponds to p2000 Actual current value: 100% corresponds to p2002 Normalization of the closed-loop controller signals Armature circuit. Actual speed value: 100% corresponds to the pulse encoder evaluation of the set maximum speed in p2000;...
  • Page 7 Drive Control Chart, DCC The DCC software can be used for more complex technological controls, however a license must be purchased in this case. The function blocks are graphically configurable and are subsequently loaded into the drive with STARTER and downloaded to the memory card. In addition to this, the free function blocks can be used.
  • Page 8 Controlling via the binary signals of the converter or via control word 1 (CW1): See Section 10.9.1 of the Operating Instructions for OFF1 Terminal X177.12: ON/OFF1, starting from operating state o7.0, relay contact terminal 109/110 is closed (relay for controlling the main contactor, valid in the case of p51619 with factory setting).
  • Page 9 Priority of control signals Cancellation of the operating enable (terminal X177.13, bit 3 in CW) always causes immediate Alpha W shift irrespective of the other control signals, to current reduction to current = zero with subsequent pulse inhibit when current = zero is reached. Operating state with a higher number (see r50000), e.g.
  • Page 10 A pulse inhibit cannot prevent the current flow (motor torque) in case of a power unit fault. For category 3, two main contactors are to be used in series. http://support.automation.siemens.com/WW/view/en/67191091 Brake control: Control logic has been implemented in the software to control the mechanical motor brake.
  • Page 11 A memory card is needed for saving the file. With p50832 = 1, the file is copied to the memory card. Send your recorded diagnostic file to: support.automation@siemens.com for evaluation. See Section 10.33.1 of the Operating Instructions and Sheet 8052 from Section 2 of the List Manual.
  • Page 12 Diagnostics for some fault/alarm messages Fault in the armature input circuit: F60004 occurs F60004 occurs whenever a device is switched on: Evaluate fault value of F60004 acc. to Operating Instructions to locate the cause. Check the following parameters: p50078[0]: Rated voltage of supply network for the armature circuit (neither output voltage of SINAMICS DCM nor rated motor voltage) p50353: Response threshold of phase failure monitoring as a percentage of p50078[0] p50086: Duration of voltage failure on automatic restart...
  • Page 13 Acknowledge pending faults; set shutdown by opening terminal X177.12 Set p50082 = 1 for field supply Perform trace recording with trigger for fault with error message activated. Set trace recording p50086 = 0. Suppress F60005 with p02118 and p02119 (set to no message) Switch on via terminal X177.12 but do not set operating enable via terminal X177.13 Operating state at r50000 must be between o5 and o1 (check r50000) Operating state o5: Wait for voltage (field)
  • Page 14 If there is a larger deviation between the measured EMF and EMF to be calculated, the motor (field circuit or armature circuit) is faulty. Possibly increase threshold a of monitoring (p50357). For fault value 2 (r0949) exchange input terminal 103 / 104 with analog tacho, for pulse encoder, exchange input for both tracks.
  • Page 15 For an article on this physical effect (conduction-through), see: http://support.automation.siemens.com/WW/view/en/24120447 As a remedy to bad lines and frequent brake operation, the product CCP (Converter Commutation Protector), which is also available, can be implemented.
  • Page 16 Current peaks can also be caused by commutation problems on old motors. On old motors set p50157 = 1 and p50158 = approx. 0.04 seconds. Even a weak network can cause current fluctuations if the undervoltage threshold p50351 is reached when the automatic restart time p50086 is set to a value greater than zero. For test set p50086 = 0.
  • Page 17 It is C98043-A..You will find the order number for spare part orders in spare part list on Spares on Web. www.siemens.com/sow CUD: See block diagram in Section 6.3 of the Operating Instructions.
  • Page 18 Note: Analog inputs are evaluated by means of the differential amplifiers, meaning that the minus input of the amplifiers must be connected to the ground of the respective measured signal. Output reference voltages P10 and N10 Output P24, for controlling the binary inputs. This is a pure output, feeding of external voltages at these terminals is not permitted.
  • Page 19 Power terminals: Field supply. Field current actual value acquisition, shunt resistors and AD conversion Line voltage measurement field infeed, also used for synchronizing the field gating unit. Allocation Board: Part number C98043-A7126, provides the terminal with plug connection to further modules The EEPROM, the non-volatile memory for device data, is located on this module.
  • Page 20 EMF as the actual speed value (p50083 = 3). Sheet 6810, normalization p50115. CO: r52287. The EMF is the calculated induced motor voltage, generated from the measured device output voltage and the voltage dips I*R and L*di/dt of the motor. The precision of this type of control is largely determined by the change in resistance of the armature winding of the motor via the temperature and amounts to approx.
  • Page 21 P50051 = 28. These compensations offload the speed controller and permit a higher speed control dynamic response. Selection of compensation via p50223 = 1, Sheet 6815 Torque calculation: Sheet 6820. Depending on the setting for p50170, the output of the speed controller indicates the torque setpoint or the current setpoint.
  • Page 22 The current controller adjusts the setpoint/actual value difference of the current via its PI characteristic curve by forming the suitable firing angle for the gating unit. Precontrol: The precontrol acts simultaneously with the current controller and ensures the dynamic response of the current control loop both for discontinuous and continuous current. Above all, the precontrol ensures that the firing angle for the existing non-linear control characteristic and the varying firing angle requirement for a change in the actual current value for discontinuous and continuous current is calculated and precontrolled to the correct...
  • Page 23 settings if non-linear smoothing reactors exist in the armature circuit, e.g. two-value reactor in 12-pulse operation or iron-cored reactors on applications for old motors. P50153 = 3 Precontrol assumes EMF zero, this is for applications that do not use EMF and for high inductance loads in field supply or solenoid applications.
  • Page 24 Command stage The command stage controls the torque direction change for 4Q drives. Sheet 6860. The requested torque direction is derived from the polarity of the current setpoint of connector r520119. If the requested torque direction does not correspond to that which is currently active, the torque direction is changed.
  • Page 25 P50081 = 1, p50117 = 1, p50253 = 0. In this case, the precontrol of the EMF control loop is disabled and the field weakening control is only performed by the EMF controller, field characteristic curve recording is then not necessary. If p50081 = 0 no field weakening control is performed and the field current is input as a constant quantity, the EMF control loop is not active.
  • Page 26 After the optimization run, activate field weakening with p50081 = 1. Do field characteristics manually:: http://support.automation.siemens.com/WW/view/en/41165031 p50051 = 29 Optimization run on an mechanically oscillating system (long shaft or belt drive) Manual controller optimization using the square-wave generator Step changes in the setpoint can be defined for the controllers using the square-wave generator, Sheet 3120.
  • Page 27 check e.g. p50480 = 40%. The point of transition from discontinuous to continuous current is influenced by the inductance in the load circuit and is approx. 30 % of the rated motor current (test for any system-related deviations). Perform controller optimization with Kp, p50155 and Tn, p50156 in the continuous current range.
  • Page 28 100% P50236 = 75 % P50226 = p50228 [ms] P50236 = 75 % P50228 = 0 Setpoint step change from 15 % to 18 % n-set n-act P50236 = 30 % i-act P50226 = p50228 [ms] Automatic speed controller optimization where p50236 = 75 % and p50236 = 30 % n-set filtering p50228 equal to reset time p50226 reduces overshooting of n-act...
  • Page 29 Setpoint change from 15% to 18% PI controller, p50224 = 0 Without reference model Blue: actual speed value Green: r52155 reference model output Reference model set so that curves are almost flush Setpoint change from 15% to 18% PI controller, p50224 = 1 With reference model;...
  • Page 30 fixed value connector r52401, its value can be set on the p50401. (set p50601[5] = 0). p50401 = +10% for positive torque direction, M1, set as current setpoint. The polarity of its output, r520119, specifies the torque direction (p50401 = -10% for a negative torque direction, set M2). See also above under Command stage.
  • Page 31 Fundamentals of line-commuted converters Requirements of the supply system The line voltage must be sinusoidal, supply of a line-commuted converter via a DC voltage source is not possible. = Û * sin ( *t), Û: Peak voltage of the supply network Netz = 2 * * f: Angular frequency, f: Frequency of the line voltage, 1 / f = T: Period...
  • Page 32 Converter for armature supply using a fully controlled three-phase bridge connection B6C connection (6RA80..-..S22-0AA0): Operation in one electric current direction and two voltage directions. Fully controlled three-phase bridge connection, 2Q device acc. to catalog. As this is a fully controlled connection, the output voltage can accept negative values by operation in the inverter range (see formula for calculating the output DC voltage of the converter).
  • Page 33 The converter generates a variable direct voltage a function of a variable firing angle by rectification of the line voltage. The firing angle determines the firing time of the thyristor and thus the magnitude of the variable output direct voltage. The figure below shows the system line-to-neutral voltages and the magnitude of the converter output voltage Ud.
  • Page 34 The figure shows the response during converter operation. is the firing angle that determines the firing instant, o: overlap, : protection angle. : voltage during commutation In inverter operation, the firing angle must be limited by so that the following valve can take over the current.
  • Page 35 Uvw: Line-to-line input voltage at converter, at 400 V: Udi = 540 V Variable direct voltage Ud depending on firing angle: Ud = Udi * cos , (in practical applications an additional voltage loss resulting from overlap o also applies here; this is subtracted so that the resulting measured voltage is slightly lower than that calculated) : Firing angle in degrees, cos( ) can be read from the graph below to calculate the output direct voltage.
  • Page 36 Relations between various operating points of the motor: Example 3 Phase Supply: Line voltage: 400 V, 50 Hz; Voltage drop commutating reactor: 4% voltage at SINAMICS DCM input: 384 V Motor: 1GG6208-0NH40-1VV3; 2020 UPM; 183 kW : 420 V, I : 466 A, : 91%, Ra: 43.8 m , La: 0.94 mH Calculation with motor rating data;...
  • Page 37 No smoothing reactor U-Last (Motor) Laststrom Motor armature voltage Load current -100 -200 -300 Time in [ms] Zeit in [ms] Time in [ms] Zeit in [ms] Time in [ms] Without smoothing reactor, current at point of transition from discontinuous to continuous current, i.e.
  • Page 38 In braking operation (voltage and current have different signs), with negative rated motor speed, positive current, discontinuous current operation, without smoothing reactor; Firing angle 143 degrees. Laststrom U-Last (Motor) Motor armature voltage Load current -100 -200 -300 -400 -500 -600 Time in [ms] Zeit in [ms] Time in [ms]...
  • Page 39 The armature converter in the single-phase mode Up to a device nominal current of 125 A, the armature circuit of the SINAMICS DCM can also be operated in one phase. Connection to two phases or one phase with respect to the neutral conductor is possible.
  • Page 40 Current converter for field supply with 2-pulse half-controlled bridge circuit in a B2Hz connection The line connection is either single-phase or two-phase: e.g. 1AC230 V, 2AC400 V. This is an asymmetrical half-controlled bridge circuit B2Hz. In the 6RA80, this circuit is installed for the motor field supply. The bridge circuit comprises two controlled valves (thyristors) and two uncontrolled valves (diodes).
  • Page 41 Output voltage: With B2Hz (1Q): Ud[V]: Ud = Udi * (1 + cos ) / 2 With B2C (2Q): Ud = Udi * cos ; 4 Thyristors instead of 2 Thyristors and 2 Diodes Line power rating / nominal transformer power: P[W] = 1.11 * Udi * Id The factor (1+ cos ) / 2 for calculating the Ud can be taken from the control characteristic.
  • Page 42 Voltage and current characteristic, Circuit B2C: Us = 400 V, 50 Hz, Id = 0,21 A, L = 10 H, R = 1475 , Udc = 310 V bei = 33 Grad Umotor Laststrom Idc 0,25 0,15 Time in [ms] -100 0,05 -200...
  • Page 43 In the case of direct current cos is always equal to 1 (no reactive component, no effective components) Kilo, k is a factor of 1000; 1 kW = 1000 W. Milli, m is a thousandth, 1 mA = 0.001 A Note: Before a measurement can be performed, the measuring device must be set to the required measuring method (voltage, current, resistance) and the measuring range expected for the measurement.
  • Page 44 Measurement at the diode: Perform with measuring range "Diode", approx. 0.5 V voltage drop is displayed in the conducting direction on the diode. Anode diode connected to plus pole, cathode diode connected minus pole of the measuring device: Diode in conducting direction means approx. 0.5 V voltage drop for 1 diode.
  • Page 45 See circuit diagram Section 6.3 of the Operating Instructions. The thyristor number defines the firing sequence when there is a clockwise rotating field in the infeed. Measurements with the Trace-function of STARTER Time slice 2*0.125ms = 0.25 ms for the trace Line to Line voltage armature circuit 1U1/1V1/1W1 Line voltage UV: r52950[0]: Blue, Line voltage VW: r52950[1]: Green, Line voltage WU: r52950[2]: Orange...
  • Page 46 Armature current measurement by two current transformer on input Current transformer I; Iu: r52952[2]; Blue; Current transformer II; Iw: r52952[3], Green For trace record do following settings p50082 = 0; p50433[0] = 0, p50601[4] = 52401, Current reference: p50401[0] = +10 bis +20% Torque direction MI; -10 bis -20% Torque direction MII Number of fired thyristor see operating instructions section 6.4 e.g: X11-5: Torque direction I (MI), Thyristor 3;...
  • Page 47 Testing the current converter without load: The current converter can be tested without a connected motor with variable voltage. Set p50083 = 3, adjust maximum output voltage via p50115. However, this will not work without at least some base load. This is because no control is possible without a slight load current in the thyristors and the output voltage jumps between zero and the maximum possible value.
  • Page 48 Additional components (catalog D23.1) are required for operation of built-in devices 6RA80. The following section seeks to aid checking for correct rating of the additional components in case of a fault. Catalog D23.1: https://www.automation.siemens.com/mcms/infocenter/content/de/Seiten/order_form.aspx?n odeKey=key_9181486 Protection with fuses: Semi-conductor protective fuses are mandatory for protection semi-conductors. Types other...
  • Page 49 2% uk must be implemented in front of the SINAMICS DCM input to prevent overcurrents occurring in the SINAMICS DCM. A calculation of the line-side harmonics can be performed by Siemens advisory services on request. In complex converter installations, the harmonics must be measured on the infeed network.
  • Page 50 : Required apparent power of transformer, Unetwork: Line-to-line network voltage at converter input; Id: Direct Current Converter Commutation Protector, CCP: The additional component CCP is available from Siemens for protection against the effects of conduction-through. http://support.automation.siemens.com/WW/view/en/21688372 This CCP can be used with 6RA80 with a nominal direct current (actual value acc. to r50072[1]) from 300 to 2000 A (if 6RA80 is connected in parallel, use, CCPs in parallel) and nominal line voltages from 400 to 690 V.
  • Page 51 6RA80, as long as the plant operator does not make higher demands than for the old device. Selection of replacement converter see here: http://support.automation.siemens.com/WW/view/en/26117006...
  • Page 52 Stabilizing series windings are frequently to be found in old motors. See under: http://support.automation.siemens.com/WW/view/en/40871945 Armature winding, commutating winding, and compound winding are arranged in series and then led outwards via terminals A1 and A2 for the customer connection. The effective value for resistance Ra and induction La applies to all four windings collectively.
  • Page 53 La * i / t = 0.001 * 500 / 0.01 = 50 V For stationary state of the motor: i = 0, In this case, only the voltage drop due to the resistance of the armature resistor of the motor has an effect.
  • Page 54 The curve depicted in Section 10.19 of the Operating Instructions for p50114 applies to all Siemens direct current motors of type 1G.5/6/7 1H.5/6/7. Please contact the motor manufacturer if non-Siemens motors are to be used.
  • Page 55 Example of a motor power plate / rating plate: Serial number/ Order No.: MLFB Factory serial SIEMENS DC - Motor 1GG6286-0NG40-1VV1-Z No. N R7 1145783 010 001 / 2004 EN 60034 IP23 / IC 06 IM B3 Gew./Wt. 1,56 t Wärmekl./Th.Cl.
  • Page 56 Operation SINAMICS DCM: The SINAMICS DCM must be operated within the specification according to the technical data in the Operating Instructions (line voltage, current, ambient conditions). The maximum ambient temperature is the temperature directly at the air inlet of the heatsink on the SINAMICS DCM and not the room temperature outside the control cabinet.
  • Page 57 DC motor: Maintenance intervals: The direct current motor must be maintained at regular intervals. The maintenance intervals and extent are stated in the operating instructions of the motor. Dirt and contamination: The cooling-air passages to the motor ventilation must be cleaned regularly depending on the extent of contamination.
  • Page 58 This should not be greater than 10 % of the rated current of the motor in the worst case. Siemens technical advisers will support you in calculating the smoothing reactor required in the DC circuit to comply with the above current ripple data. Please state the nominal line voltage and the rating plate data of the motor.
  • Page 59 DC link infeed from pulse-controlled converters through SINAMICS DCM: Possible, if required: A DC smoothing reactor is recommended for this application. Siemens technical advisers will support you with configuration. 2Q: For DC link voltage up to approx. line voltage * 1.2 4Q: Maximum controlled DC link voltage up to line voltage * 1.05 possible.
  • Page 60 A little control engineering (for those who are interested) This summary is no substitute for study the theory of closed-loop control but is intended to provide information on some relationships and help with practical application. Time equation and frequency response Every linear system can be described by one or more coupled linear differential equations.
  • Page 61 f’(0): Value of the first derivation of f(t) at time t = 0 f’’(0): Value of the second derivation of f(t) at time t = 0 With the initial values at t = 0, this results the following Laplace transform: = k * x This yields the transfer function: G(s) = x = k / (1+a...
  • Page 62 Transfer element with dead time If the output variable follows the input variable, resulting in a time offset, this is termed a dead time response. The time constant T is the dead time. You can image the dead-time element as composed of an infinite number of 1st-order lags. If the dead time is sufficiently small, it can be treated like a first-order lag element for calculation purposes.
  • Page 63 Ti: Integral-action time to reach a change in magnitude of the value of Xe. Transfer function: Xe*Kp Xe*Kp Proportional-plus-integral-plus-derivative controller, PID-controller Frequency response: = Kp * (1+ p*Tn) * (1+ p*Tv) / (p*Tn) If there are two larger time constant in the control loop, the greater of the two is compensated by (1 + p*Tn) and the smaller, by (1 + p*Tv).
  • Page 64 Settling of a control loop on a step change in input: settl : The rise time characterized by the first moment the reference input reaches the set rise value. : Settling time, time that elapses before the new settled final state is reached. This is settle deem reached when the controlled variable disappears within the tolerance band x.
  • Page 65 Optimization of the PI controller according to the symmetrical optimum If a controlled system contains not only 1st-order lags, proportional-action elements and dead-time elements, but also elements with an integral character, optimization must be performed by a method other than the absolute value optimum to avoid controller oscillation due to series connection of the integral controller and the integral of the controlled system.
  • Page 66 Comparison of the absolute value optimum and the symmetrical optimum If you attempt to adjust a control loop according to the absolute optimum or the symmetrical optimum, you will not always succeed in sensing the data of the controlled system correctly, especially as some elements in the controlled system are non-linear, i.e.
  • Page 67 The transfer functions of the symmetrical optimum exhibit similar tendencies. As the gain increases, the rise time decreases. An excessively large Kp results in more pronounced hunting, as does an excessively small Tn. If the reset time is too large, this results in a degree of settling, if the Kp is correctly set.
  • Page 68 Avoiding overshooting of the controlled variable in an overdriven controller So far we have assumed that none of the controllers is being overdriven. However, overdrive can be expected in response to large or fast changes in the reference variable. Because the manipulated variable cannot reach the necessary amplitude during the settling process, the controlled variable can only change more slowly.
  • Page 69 Calculation of the controller parameters Optimi- Controller parameters Transfer function on Equivalent zation troll step change in setpoint time constant of Only lag With optimized integral control loop Linear optimum /(4V /(4V /(4V /(4V Absolute value /(2V optimum /(2V /(2V /(2V Only lag /(2V...
  • Page 70 Structure diagram of the entire armature control loop with an example Speed controller with a lower-level current controller and DC motor as the load..MOTOR Kp2, Tn2 Kp, Tn Uctr i-controller Dead n-controller -EMF -nact -Iact n*: speed setpoint, nact: speed actual value, I*: current setpoint, Iact: actual current value; Ust: control voltage, U : armature voltage, EMF: induced motor voltage, : armature current motor, T...
  • Page 71 Current controller optimization according to the absolute value optimum with a PI controller: = 1.76 * 16.3 = 28.7 = 1.66 ms, Tn = T = 34.9 ms Kp = T / (2V ) = 0.0349 / (2 * 28.7 * 0.00166) = 0.37 The rise time of the current controller is 4.7 = 4.7 * 1.66 = 8 ms The settling time of the current controller is 8.4 = 14 ms Equivalent time constant of the lower-level current controller:...
  • Page 72 Structure diagram of the DC motor with elastically coupled flywheel and damping With damping, m = (n –n ) / (pT ) + k * (n – n With k of the gain of the damping element k = d * 2 * N / (60 * M ) and d as the damping.
  • Page 73 DC motors with a common shaft (tandem drive) or if multiple drives are inputting to a common transmission. http://support.automation.siemens.com/WW/view/en/48957735 Load sharing control If drives are coupled via a common web and they are to be controlled to a specific load distribution across the motors, e.g.
  • Page 74 There are several ways of implementing an axial winder in SINAMICS DCM 1) Implementation using the DCC on the CUD; Application available http://support.automation.siemens.com/WW/view/de/47627620 2) Implementation by means of SIMOTION In the majority of cases 1) Implementation using the DCC on the CUD is sufficient as well as being the lowest-cost solution.
  • Page 75 Machine tool drives Main spindle drive A main spindle drive can be implemented using a SINAMICS DCM. Perform current controller optimization, speed controller optimization (possibly, manually re- optimize for the speed controller) and field characteristic recording (p50051 =24, 25, 26, 27). Messages: C-axis mode with main spindle drives For normal main spindle operation, DDS0 is used.
  • Page 76 For more on hoisting gear technology applications, please contact Siemens AG, I DT MC CR. To do so, please contact your local Siemens office. See also: http://support.automation.siemens.com/WW/view/de/47205467 References: 1...See Internet for specific product documentation SINAMICS DCM...
  • Page 77 Index: BO, SO optimization comparison 66 Disturbance variables 69 4Q Device used as 2Q 4 Equivalent time constant of contr. loop 67 12-pulse operation 59 Example: Armature circuit control 70 Access level 3 Optimization overview 68 Active power 35 Overshoots 65, 68 Actual current value of armature 21 Rise time 64 Actual field current value 25...
  • Page 78 Voltage equation 52 Intermittent flow of direct current 22, 37 Windings 52 Intermittent flow of direct current limit 37 Delay angle 35 Introduction to control engineering 60 Delay angle limits 24, 25 Inverter operation 34, 35 Device data 4 Inverter shoot-through 50 Device replacement 17 Jog setpoint 9 Device standards 4...
  • Page 79 Operation Angular synchronous ctrl. 74 SINAMICS DCM / motor 56 Axial winder 73 Operation enable 8 Cross cutter 74 Optimization run 26 Current/torque limiting ctrl. 72 Oszilating mechanical system 26, 70 Droop 73 Output voltage Hoisting gear 74 Armature 35 Load-balanced control 72 Field 40 Machine tools 74...

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