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Siemens Sinamics s120 Commissioning Manual

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   Summary of Contents for Siemens Sinamics s120

  • Page 3 ___________________ STARTER Commissioning Manual Preface Fundamental safety ___________________ instructions ___________________ Preparation for SINAMICS commissioning ___________________ Commissioning S120 STARTER Commissioning Manual ___________________ Diagnostics ___________________ Appendix Commissioning Manual Applies to: Firmware Version 4.8 (IH1), 07/2016 6SL3097-4AF00-0BP5...
  • 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: Preface

    Siemens' content, and adapt it for your own machine documentation. Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support (https://support.industry.siemens.com/cs/de/en/ps/faq).
  • Page 6 SINUMERIK 840D sl Type 1B • Equipment for Machine Tools (Catalog NC 62) Installation/assembly SINAMICS S120 Manual for Control Units and Additional System Components • SINAMICS S120 Manual for Booksize Power Units • SINAMICS S120 Manual for Booksize Power Units C/D Type •...
  • Page 7 Preface Usage phase Document/tool Maintenance/servicing SINAMICS S120 Commissioning Manual with STARTER • SINAMICS S120/S150 List Manual • SINAMICS S120 Commissioning Manual with Startdrive • References SINAMICS S120/S150 List Manual • available as of Startdrive V14 release Target group This documentation is intended for machine manufacturers, commissioning engineers, and service personnel who use the SINAMICS drive system.
  • Page 8 Relevant directives and standards You can obtain an up-to-date list of currently certified components on request from your local Siemens office. If you have any questions relating to certifications that have not yet been completed, please ask your Siemens contact person.
  • Page 9: Starter Commissioning Manual Commissioning Manual, (ih1), 07/2016, 6sl3097-4af00-0bp5

    SINAMICS S devices showing the test symbols fulfil the EMC requirements for Australia and New Zealand. Quality systems Siemens AG employs a quality management system that meets the requirements of ISO 9001 and ISO 14001. Not relevant standards China Compulsory Certification SINAMICS S devices do not fall in the area of validity of the China Compulsory Certification (CCC).
  • Page 10 This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products. You can use equivalent products from other manufacturers. Siemens does not accept any warranty for the properties of third-party products. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 11 Preface Ground symbols Table 2 Symbols Symbol Meaning Connection for protective conductor (PE) Ground (e.g. M 24 V) Connection for function potential bonding Notation The following notation and abbreviations are used in this documentation: Notation for faults and alarms (examples): Fault 12345 •...
  • Page 12 Preface STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 13: Table Of Contents

    Contents Preface ..............................5 Fundamental safety instructions ......................19 General safety instructions ..................... 19 Safety instructions for electromagnetic fields (EMF) .............. 24 Handling electrostatic sensitive devices (ESD) ..............25 Industrial security ........................26 Residual risks of power drive systems ..................27 Preparation for commissioning ......................
  • Page 14 Contents DRIVE-CLiQ diagnostics ......................75 Powering-up/powering-down the drive system ..............76 Commissioning ............................. 81 Safety instructions for commissioning ................... 81 Procedure when commissioning .................... 82 STARTER commissioning tool ....................84 3.3.1 General information on STARTER ..................84 3.3.1.1 Calling STARTER ........................84 3.3.1.2 Description of the user interface ....................
  • Page 15 Contents First commissioning servo control AC drive blocksize format ..........160 3.9.1 Task ............................160 3.9.2 Component wiring (example) ....................161 3.9.3 Quick commissioning using the BOP (example) ..............162 3.10 Commissioning of power units connected in parallel ............165 3.11 Learn devices ........................
  • Page 16 Contents 3.21 Temperature sensors for SINAMICS components .............. 282 3.22 Basic Operator Panel 20 (BOP20) ..................292 3.22.1 Operation with BOP20 (Basic Operator Panel 20) .............. 292 3.22.1.1 General information about the BOP20 ................. 292 3.22.1.2 Displays and using the BOP20 .................... 296 3.22.1.3 Fault and alarm displays ......................
  • Page 17 Contents Diagnostics via STARTER ....................341 4.2.1 Function generator ........................ 341 4.2.2 Trace function ........................345 4.2.2.1 Single trace ........................... 345 4.2.2.2 Multiple trace ......................... 348 4.2.2.3 Startup trace ......................... 350 4.2.2.4 Overview of important alarms and faults ................352 4.2.3 Measuring function ........................
  • Page 18 Contents STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 19: 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 20 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 21 Fundamental safety instructions 1.1 General safety instructions NOTICE Material damage due to loose power connections Insufficient tightening torques or vibrations can result in loose electrical connections. This can result in damage due to fire, device defects or malfunctions. • Tighten all power connections with the specified tightening torques, e.g. line supply connection, motor connection, DC link connections.
  • Page 22 Fundamental safety instructions 1.1 General safety instructions WARNING Danger to life due to fire if overheating occurs because of insufficient ventilation clearances Inadequate ventilation clearances can cause overheating of components with subsequent fire and smoke. This can cause severe injury or even death. This can also result in increased downtime and reduced service lives for devices/systems.
  • Page 23 Fundamental safety instructions 1.1 General safety instructions Note Important safety notices for Safety Integrated functions If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals. WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death.
  • Page 24: 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 25: Handling Electrostatic Sensitive Devices (esd)

    Fundamental safety instructions 1.3 Handling electrostatic sensitive devices (ESD) Handling electrostatic sensitive devices (ESD) Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or devices that may be damaged by either electric fields or electrostatic discharge. NOTICE Damage through electric fields or electrostatic discharge Electric fields or electrostatic discharge can cause malfunctions through damaged individual components, integrated circuits, modules or devices.
  • Page 26: 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 27: Residual Risks Of Power Drive Systems

    Fundamental safety instructions 1.5 Residual risks of power drive systems Residual risks of power drive systems When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system: 1.
  • Page 28 Fundamental safety instructions 1.5 Residual risks of power drive systems STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 29: Preparation For Commissioning

    Preparation for commissioning Before commissioning observe the conditions described in this chapter. ● The preconditions for commissioning must be fulfilled (in the next chapter). ● The relevant checklist must have been worked through. ● The bus components required for communication must be wired up. ●...
  • Page 30: Requirements For Commissioning

    The following are necessary for commissioning a SINAMICS S drive system: ● A programming device (PG/PC) ● STARTER commissioning tool ● A communication interface, e.g. PROFIBUS, PROFINET, Ethernet ● Completely wired-up drive line-up (see the SINAMICS S120 Manual) STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 31 Preparation for commissioning 2.1 Requirements for commissioning The following diagram shows a configuration example with booksize and chassis components, as well as with PROFIBUS and PROFINET communication: Image 2-1 Component configuration (example) STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 32: Check Lists To Commission Sinamics S

    Preparation for commissioning 2.2 Check lists to commission SINAMICS S Check lists to commission SINAMICS S Checklist (1) for commissioning booksize power units The following checklist must be carefully observed. Read the safety instructions in the manuals before starting any work. Table 2- 1 Checklist for commissioning (booksize) Check...
  • Page 33 Preparation for commissioning 2.2 Check lists to commission SINAMICS S Activity Is the memory card correctly inserted in the Control Unit? Are all necessary components of the configured drive line-up available, installed and connected? Do the temperature monitoring circuits fulfill the specifications of protective separa- tion? Have the DRIVE-CLiQ topology rules been observed? Have the line-side and motor-side power cables been dimensioned and routed in...
  • Page 34 Preparation for commissioning 2.2 Check lists to commission SINAMICS S Checklist (3) for commissioning blocksize Power Modules The following checklist must be carefully observed. Read the safety instructions in the manuals before starting any work. Table 2- 3 Check list for commissioning blocksize Check Are the environmental conditions in the permissible range? Is the component firmly attached to the fixing points provided?
  • Page 35: Profibus Components

    Preparation for commissioning 2.3 PROFIBUS components PROFIBUS components For communication via PROFIBUS, the following components are necessary. ● A communication module for PG/PC connection via the PROFIBUS interface. – PROFIBUS connection to a PG/PC via USB port (USB V2.0). Structure: USB port (USB V2.0) + adapter with 9-pin SUB-D socket connector to connect to PROFIBUS.
  • Page 36: Profinet Components

    Preparation for commissioning 2.4 PROFINET components PROFINET components For communication via PROFINET, the following components are necessary: ● A communication module for PG/PC connection via the PROFINET interface. Note Cables that can be used for commissioning For commissioning using the STARTER commissioning tool, the onboard Ethernet interface of the Control Unit can be used with a crossover cable from CAT5 and higher.
  • Page 37: System Rules, Sampling Times And Drive-cliq Wiring

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring System rules, sampling times and DRIVE-CLiQ wiring 2.5.1 Overview of system limits and system utilization The number and type of controlled axes, infeeds and Terminal Modules as well as the additionally activated functions can be scaled by configuring the firmware.
  • Page 38: System Rules

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 2.5.2 System rules A maximum of 24 drive objects (DOs) can be connected to one Control Unit. Control Units ● The CU310-2 Control Unit is a single-axis control module for operating the AC/AC Power Modules in the Blocksize (PM240-2 or PM340) and Chassis formats.
  • Page 39 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring The following applies when connecting Motor Modules in parallel: ● A parallel connection is only permitted in the chassis format and only in the vector control or V/f control mode. ●...
  • Page 40: Rules On The Sampling Times

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Terminal Modules Control Unit CU320-2: ● In total a maximum of 16 drive objects of the types TM15 Base, TM31, TM15, TM17, TM41, TM120 or TM150 can be operated concurrently. ●...
  • Page 41 ● The current controller sampling times of the drives and infeeds must be synchronous to the set pulse frequency of the power unit (see also p1800 in the SINAMICS S120/S150 Lists Manual). Any increase in the pulse frequency requires a reduction in the sampling times and increases the derating in the power unit.
  • Page 42: Rules For Isochronous Mode

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Vector control / V/f control ● A current controller sampling time between 125 µs and 500 µs can be set for vector drives (125 µs ≤ p0115[0] ≤ 500 µs). This also applies to operation with V/f control. ●...
  • Page 43 (Page 60)" can be set for vector control. ● The setting rules for the safety actual value acquisition cycle and the safety monitoring cycle must be observed (for details, see SINAMICS S120 Safety Integrated Function Manual): –...
  • Page 44: Default Settings For The Sampling Times

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 2.5.3.3 Default settings for the sampling times The sampling times of the functions are pre-assigned automatically when the drive is configured. These default settings are based on the selected mode (vector/servo control) and the activated functions.
  • Page 45: Setting The Pulse Frequency

    ● Position controller (p0115[4]) ● Positioner (p0115[5]) ● Technology controller (p0115[6]) The performance levels range from xLow to xHigh. Details of how to set the sampling times are given in the SINAMICS S120/S150 List Manual. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 46: Setting Sampling Times

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Setting the pulse frequency using the commissioning tool in online operation Enter the minimum pulse frequency in p0113. For isochronous operation (p0092 = 1), you can only set the parameter so that a resulting current controller cycle with an integer multiple of 125 μs is obtained.
  • Page 47: Overview Of Important Parameters

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 2.5.3.6 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Device commissioning parameter filter • p0009 Isochronous mode, pre-assignment/check • p0092 Select drive object type •...
  • Page 48: Rules For Wiring With Drive-cliq

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 2.5.4 Rules for wiring with DRIVE-CLiQ Rules apply for wiring components with DRIVE-CLiQ. A distinction is made between binding DRIVE-CLiQ rules, which must be unconditionally observed and recommended rules, which should then be maintained so that the topology, generated offline in the commissioning tool, no longer has to be changed.
  • Page 49 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring ● The sampling times (p0115[0] and p4099) of all components that are connected to a DRIVE-CLiQ line must be divisible by one another with an integer result, or all the sampling times set for the components must be an integer multiple of a common "base cycle".
  • Page 50: Recommended Interconnection Rules

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring The following applies for the CU Link and the CX32 and NX10/NX15 Control Units: ● In a topology with CU Link, the SINUMERIK NCU is DRIVE-CLiQ master for the NX and the SIMOTION D4xx is master for the CX32.
  • Page 51 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring ● In servo control Motor Modules should be connected to a DRIVE-CLiQ line together with the Line Module. – Several Motor Modules should be connected in a line. – If there is already a Line Module present, the first Motor Module should be connected in line to socket X201 of the Line Module.
  • Page 52 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Encoder, Sensor Modules ● The motor encoder or Sensor Module should be connected to the associated Motor Module. Connecting the motor encoder via DRIVE-CLiQ: – Single Motor Module Booksize to terminal X202 –...
  • Page 53: Rules For Automatic Configuration

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Terminal Modules ● Terminal Modules should be connected to DRIVE-CLiQ socket X103 of the Control Unit in series. ● The TM54F should not be operated together on the same DRIVE-CLiQ line as Line Modules or Motor Modules.
  • Page 54: Changing The Offline Topology In The Starter Commissioning Tool

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 2.5.4.4 Changing the offline topology in the STARTER commissioning tool The device topology can be changed in the STARTER commissioning tool by shifting the components in the topology tree. Example: Changing the DRIVE-CLiQ topology 1.
  • Page 55: Modular Machine Concept: Offline Correction Of The Reference Topology

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 2.5.4.5 Modular machine concept: Offline correction of the reference topology The topology is based on a modular machine concept. The machine concept is created offline in the STARTER commissioning tool in the maximum version as reference topology. The maximum version is the maximum expansion of a particular machine type.
  • Page 56 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 4. Then execute a "Copy RAM to ROM". Image 2-4 Example of a sub-topology STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 57 "1" to "0". The deactivated components remain inserted, however, they are deactivated. Errors are not displayed from deactivated components. Overview of important parameters (see SINAMICS S120/S150 List Manual) Activating/deactivating drive object • p0105 Drive object active/inactive •...
  • Page 58: Notes On The Number Of Controllable Drives

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring 2.5.5 Notes on the number of controllable drives 2.5.5.1 Number of drives depending on the control mode and cycle times The number of axes that can be operated with a Control Unit depends on the cycle times and the control mode.
  • Page 59 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring The recommended settings are marked with XX in the Table; all other possible settings are marked with X. Table 2- 9 Pulse frequencies and current controller cycles for servo control Pulse fre- Current controller cycle [µs] quency [kHz]...
  • Page 60 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Cycle times for vector control This following table lists the number of axes that can be operated with a Control Unit in the vector control mode. The number of axes is also dependent on the cycle times of the controller: Table 2- 10 Sampling time setting for vector control...
  • Page 61 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Pulse fre- Current controller cycle [µs] quency [kHz] 500.0 375.0 312.5 250.0 218.75 200.0 187.5 175.0 156.25 150.0 137.5 125.0 10.666 10.0 9.142 7.272 6.666 5.714 5.333 4.571 3.636 3.333 2.857 2.666...
  • Page 62 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Cycle times for V/f control The following table lists the number of axes that can be operated with a Control Unit in the V/f control mode. The number of axes is dependent on the current controller clock cycle: Table 2- 12 Sampling time setting for V/f control Cycle times [µs]...
  • Page 63 "SINAMICS/SIMOTION Editor Description DCC" manual. Using EPOS The following table lists the number of axes that can be operated with a SINAMICS S120 when using a "basic positioner" (EPOS) function module. The number of axes is dependent on the current controller clock cycle.
  • Page 64: Cycle Mix For Servo Control And Vector Control

    Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Use of SINAMICS web server The available computation time can be used for SINAMICS web server. The following boundary condition applies here: ● The utilization of the system (r9976) must be less than 90%! ●...
  • Page 65 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Table 2- 17 Examples of cycle mixes for servo control Cycle mix: Current controller cycles [µs] Base cycle for T [µs] Base cycle for T [µs] mapc 250.00 +125.00 187.50 +125.00 150.00...
  • Page 66 Preparation for commissioning 2.5 System rules, sampling times and DRIVE-CLiQ wiring Note The speed controller cycle is assigned automatically when the current controller cycle is set: • Servo control: Speed controller cycle = current controller cycle • Vector control: Speed controller cycle = current controller cycle x 4 The preassignment of the speed controller cycle can be changed to influence T .
  • Page 67: Supported Sample Topologies

    Preparation for commissioning 2.6 Supported sample topologies Supported sample topologies 2.6.1 Topology example: Drives in vector control Example 1 A drive line-up with three Motor Modules in chassis format with identical pulse frequencies or three Motor Modules in booksize format in vector control mode. The Motor Modules chassis format with identical pulse frequencies or the Motor Modules booksize format in vector control mode can be connected to 1 DRIVE-CLiQ interface on the Control Unit.
  • Page 68 Preparation for commissioning 2.6 Supported sample topologies Drive line-up comprising four Motor Modules in the chassis format with different pulse frequencies It is advantageous to connect Motor Modules with different pulse frequencies to different DRIVE-CLiQ sockets of the Control Unit. They may also be connected at the same DRIVE- CLiQ line.
  • Page 69: Topology Example: Parallel Motor Modules In Vector Control

    In the following diagram, two Active Line Modules and two Motor Modules are connected to the X100 or X101 socket. You can find additional notes in Chapter "Parallel connection of power units" in the SINAMICS S120 Function Manual. Note The offline topology automatically generated in the STARTER commissioning tool must be manually modified, if this topology was wired.
  • Page 70: Topology Example: Power Modules

    Preparation for commissioning 2.6 Supported sample topologies 2.6.3 Topology example: Power Modules Blocksize Image 2-8 Drive line-ups with Power Modules blocksize STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 71 Preparation for commissioning 2.6 Supported sample topologies Chassis Image 2-9 Drive line-up of a Power Module chassis STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 72: Example Topologies: Drives In Servo Control

    Preparation for commissioning 2.6 Supported sample topologies 2.6.4 Example topologies: Drives in servo control. 2.6.4.1 Example: Sampling time 125 µs The following diagram shows the maximum number of controllable servo drives and extra components. The sampling times of individual system components are: ●...
  • Page 73: Examples: Sampling Time 62.5 µs And 31.25 µs

    Preparation for commissioning 2.6 Supported sample topologies 2.6.4.2 Examples: Sampling time 62.5 µs and 31.25 µs Examples, CU320-2 with 62.5 µs sampling time: ● Topology 1:1 x ALM (250 µs) + 2 x servo (62.5 µs) + 2 x servo (125 µs) + 3 x TM15 Base (p4099[0] = 2000 µs) + TM54F + 4 x Safety Integrated Extended Functions with encoder SI Motion monitoring clock cycle (p9500) = 12 ms + SI Motion actual value sensing clock cycle (p9511) = 4 ms + 4 x direct measuring systems.
  • Page 74: Topology Example: Drives In U/f Control (vector Control)

    Preparation for commissioning 2.6 Supported sample topologies 2.6.5 Topology example: Drives in U/f control (vector control) The following diagram shows the maximum number of controllable vector V/f drives with additional components. The sampling times of individual system components are: ● Active Line Module: p0115[0] = 250 µs ●...
  • Page 75: Drive-cliq Diagnostics

    As a result of the interconnectability, you can record when data transfer errors occur and correlate them with other events in the drive. Overview of important parameters (see SINAMICS S120/S150 List Manual) DRIVE-CLiQ diagnostics, error counter connection • r9936[0...199] DRIVE-CLiQ diagnostics configuration •...
  • Page 76: Powering-up/powering-down The Drive System

    Preparation for commissioning 2.8 Powering-up/powering-down the drive system Powering-up/powering-down the drive system Powering up the infeed Image 2-12 Powering up the infeed STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 77 Preparation for commissioning 2.8 Powering-up/powering-down the drive system Powering up the drive Image 2-13 Powering up the drive STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 78 – Switching on inhibited is activated. Control and status messages Table 2- 19 Power-on/power-off control Signal name Internal control word Binector input PROFIdrive/Siemens telegram 1 ... 352 0 = OFF1 STWA.00 p0840 ON/OFF1 STW1.0 STWAE.00 0 = OFF2 STWA.01...
  • Page 79 Pulses enabled ZSWA.11 r0899.11 ZSW2.10 only available in Interface Mode p2038 = 0 Function diagrams (see SINAMICS S120/S150 List Manual) Sequence control - control unit • 2610 Sequence control - missing enable signals, line contactor control, logic • 2634 operation Basic Infeed - control unit •...
  • Page 80 Preparation for commissioning 2.8 Powering-up/powering-down the drive system STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 81: Commissioning

    Commissioning Safety instructions for commissioning WARNING Danger to life if the fundamental safety instructions and residual risks are not carefully observed The non-observance of the fundamental safety instructions and residual risks stated in Chapter 1 can result in accidents with severe injuries or death. •...
  • Page 82: Procedure When Commissioning

    POWER ON, the units that depend on the axis type are only updated after a project upload. Note Please observe the installation guidelines and safety instructions in the SINAMICS S120 Equipment Manuals. If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), or for power failure or overload (for SLM/ALM), the Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia.
  • Page 83 Commissioning 3.2 Procedure when commissioning Remedial measures: ● Activating the Vdc_max control: – Vector control: p1240 = 1 (factory setting) – Servo control: p1240 = 1 – U/f control: p1280 = 1 (factory setting) ● Inhibiting the Vdc_max control: – Vector control: p1240 = 0 –...
  • Page 84: Starter Commissioning Tool

    Commissioning 3.3 STARTER commissioning tool STARTER commissioning tool The STARTER commissioning tool is used to parameterize and commission drive units from the SINAMICS product family. The STARTER commissioning tool can be used for the following: ● Commissioning ● Testing (via the control panel) ●...
  • Page 85: Description Of The User Interface

    Commissioning 3.3 STARTER commissioning tool 3.3.1.2 Description of the user interface You can use the STARTER commissioning tool to create the project. The different areas of the user interface are used for different configuration tasks (refer to diagram below): Image 3-1 The different areas of the STARTER user interface Operating area Description...
  • Page 86: Bico Interconnection Procedure In Starter

    Commissioning 3.3 STARTER commissioning tool 3.3.1.3 BICO interconnection procedure in STARTER You can parameterize the drive settings in the OFFLINE mode via STARTER by means of BICO interconnection. Parameterization can be carried out via the following means: ● Expert list ●...
  • Page 87 Commissioning 3.3 STARTER commissioning tool 3. Click the button to interconnect with a parameter. Image 3-3 Interconnectable parameters STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 88 Commissioning 3.3 STARTER commissioning tool A list from which you can select the available r parameters is now displayed. Image 3-4 Selection list 4. Click the plus symbol of parameter r8890:bit0. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 89 Commissioning 3.3 STARTER commissioning tool 5. Double-click r8890: Bit0. In the expert list, you can now see that p0840 has been interconnected with parameter r8890[0]. Image 3-5 Interconnection closed STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 90 Commissioning 3.3 STARTER commissioning tool Graphical screen interface When carrying out BICO interconnection via the graphical screen interface, proceed as follows: For the setpoint velocity, which is a 32-bit data type, you want to interconnect parameter p1155[0] for "Speed setpoint 1" with parameter r8860[1], for example. Image 3-6 Parameters in the expert list STARTER Commissioning Manual...
  • Page 91 Commissioning 3.3 STARTER commissioning tool 1. In the project navigator, double-click the "Setpoint addition" selection under "Drive_1 > Open-loop/closed-loop control". Image 3-7 Setpoint addition STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 92 Commissioning 3.3 STARTER commissioning tool 2. Click the blue field to the left of the field for "Speed setpoint 1" and then click the selection "Further interconnections", which is now displayed. Image 3-8 Display additional interconnections STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 93 Commissioning 3.3 STARTER commissioning tool A list from which you can select the available r parameters is now displayed. Image 3-9 Selection list STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 94 Commissioning 3.3 STARTER commissioning tool 3. Double-click r8860[1]. In the graphic screen interface, you can now see that p1155 has been interconnected with parameter r8860[1] . Image 3-10 Interconnection closed STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 95: Important Functions In The Starter Commissioning Tool

    Commissioning 3.3 STARTER commissioning tool 3.3.2 Important functions in the STARTER commissioning tool The STARTER commissioning tool offers the following functions to support the project handling: ● Restoring the factory settings ● Various operating wizards ● Configuring and parameterizing drives ●...
  • Page 96: Load Project To Target Device

    Click the appropriate buttons to do this. Before data sets are copied, all the wiring needed for both data sets should be completed. For more information about data sets, refer to Chapter "Basics of the drive system" in the SINAMICS S120 Function Manual Drive Functions. 3.3.2.4 Retentively saving data You can use this function to save volatile Control Unit data to the non-volatile memory (memory card).
  • Page 97: Load The Project To The Pg/pc

    2. Double-click the function entry "Safety Integrated". Note Additional information about how to use Safety Integrated functions is provided in the SINAMICS S120 Function Manual Safety Integrated. 3.3.2.7 Activate write protection Write protection prevents settings from being inadvertently changed. No password is required for write protection.
  • Page 98: Activate Know-how Protection

    Commissioning 3.3 STARTER commissioning tool 3.3.2.8 Activate know-how protection Activate know-how protection The "Know-how protection function" prevents, for example, strictly confidential company know-how for configuration and parameter assignment from being read. The know-how protection requires a password. The password must comprise at least 1 and a maximum of 30 characters.
  • Page 99 The text "Know-how protected" then appears instead of the content in all protected parameters of the expert list. Note A detailed description of the know-how protection functions is provided in Chapter "Basics of the drive system" in the SINAMICS S120 Function Manual Drive Functions. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 100: Activating Online Operation: Starter Via Profibus

    Commissioning 3.3 STARTER commissioning tool 3.3.3 Activating online operation: STARTER via PROFIBUS The programming device (PG/PC), on which the STARTER commissioning tool is activated, is connected to PROFIBUS using a PROFIBUS adapter. STARTER via PROFIBUS (example with 2 CU320-2 DP) Image 3-13 Connecting the programming device to the target device via PROFIBUS STARTER Commissioning Manual...
  • Page 101 Commissioning 3.3 STARTER commissioning tool Making the STARTER settings for PROFIBUS The following settings are required in the STARTER commissioning tool for communication via PROFIBUS: 1. Call the menu "Tools > Set PG/PC interface ...". 2. If the interface has still not been installed, click on the "Select" button. 3.
  • Page 102: Activating Online Operation: Starter Via Ethernet

    Commissioning 3.3 STARTER commissioning tool 3.3.4 Activating online operation: STARTER via Ethernet The Control Unit can be commissioned with the PG/PC via the integrated Ethernet interface. This interface is provided for commissioning purposes only and cannot be used to control the drive in operation.
  • Page 103 Commissioning 3.3 STARTER commissioning tool Setting the IP address in Windows 7 Note The following procedure is based on the Windows 7 operating system. Under other operating systems (such as Windows XP), operation may differ slightly. 1. In the PG/PC call the control panel using the "Start > Control Panel" menu item. 2.
  • Page 104 Commissioning 3.3 STARTER commissioning tool Making settings in the STARTER commissioning tool In the STARTER commissioning tool, set the communication via Ethernet as follows (in our example, we are using the Ethernet interface "Belkin F5D 5055"): 1. Call the menu "Tools > Set PG/PC interface ...". 2.
  • Page 105 Commissioning 3.3 STARTER commissioning tool 3. Click the "Select" button. Image 3-17 Setting the interface 4. In the selection list on the left-hand side, select the module that you want to use as the interface. 5. Click the "Install" button. The selected module is then listed in the "Installed"...
  • Page 106 Commissioning 3.3 STARTER commissioning tool 7. Select the drive unit and call the shortcut menu "Target device > Online access ...". 8. Click the "Module addresses" tab. Image 3-18 Setting the online access Assigning the IP address and name Note When assigning names to IO devices (e.g.
  • Page 107 Commissioning 3.3 STARTER commissioning tool 5. Call the menu "Project > Accessible nodes" or click the symbol "Accessible nodes" to search for available nodes in the Ethernet. The SINAMICS drive unit is identified and displayed as bus participant Drive unit_1 with IP address 169.254.11.22.
  • Page 108: Activating Online Operation: Starter Via Profinet Io

    Commissioning 3.3 STARTER commissioning tool 3.3.5 Activating online operation: STARTER via PROFINET IO Online operation with PROFINET IO is implemented using TCP/IP. Preconditions ● STARTER as of version 4.1.5 ● PROFINET-confom CU3xx PN ● CU32x with CBE20 STARTER via PROFINET IO (example) Image 3-19 Connecting the PG/PC to the target device via PROFINET (example) Establishing online operation with PROFINET...
  • Page 109 Commissioning 3.3 STARTER commissioning tool Setting the IP address in Windows 7 Note The following procedure is based on the Windows 7 operating system. Under other operating systems (such as Windows XP), operation may differ slightly. 1. In the PG/PC call the control panel using the "Start > Control Panel" menu item. 2.
  • Page 110 Commissioning 3.3 STARTER commissioning tool Setting the interface in the STARTER commissioning tool In the STARTER commissioning tool, you set communication via PROFINET as follows: 1. Call the menu "Tools > Set PG/PC interface ...". 2. Select the "Access point of the application", and therefore the interface parameter assignment (in the example we use the access point "S7ONLINE (STEP 7)"...
  • Page 111 Commissioning 3.3 STARTER commissioning tool 3. Click the "Select" button. Image 3-22 Setting the interface 4. In the selection list on the left-hand side, select the module that you want to use as the interface. 5. Click the "Install" button. The selected module is then listed in the "Installed"...
  • Page 112 Commissioning 3.3 STARTER commissioning tool 7. Select the drive unit and call the shortcut menu "Target device > Online access ...". 8. Click the "Module addresses" tab. The IP address that you set must be located under "Connect to target station". Image 3-23 Setting online access Assigning an IP address and a name to the drive unit...
  • Page 113 Commissioning 3.3 STARTER commissioning tool 5. Right-click the bus node entry to open the shortcut menu "Edit Ethernet node ...". – In the selection window that opens "Edit Ethernet node" you will also see the MAC address. 6. Under "Set IP configuration", enter the IP address that you selected (e.g. 169.254.11.33) and the subnet mask (e.g.
  • Page 114 Commissioning 3.3 STARTER commissioning tool 12.Close the "Edit Ethernet node" window. 13.Activate the option button in front of the detected drive unit and click the "Accept" button. The SINAMICS drive with CBE20 is transferred as a drive object into the project tree. You can now continue to configure the drive object.
  • Page 115: Creating A Project In The Starter Commissioning Tool

    Commissioning 3.4 Creating a project in the STARTER commissioning tool Creating a project in the STARTER commissioning tool 3.4.1 Creating a project offline PROFIBUS To create a project offline, you need the PROFIBUS address, the device type and the device version, e.g.
  • Page 116 Commissioning 3.4 Creating a project in the STARTER commissioning tool Add a single drive 1. Double-click in the project tree on "Insert single drive unit". The following settings are pre-assigned: – Device type: CU320-2 DP – Device version: 4.5 or higher –...
  • Page 117 Commissioning 3.4 Creating a project in the STARTER commissioning tool PROFINET To create a project offline, you need the PROFINET address, the device type and the device version, e.g. firmware version 4.5 or higher. Create a new project 1. Call the "Project > New ..." menu. The following default settings are displayed: –...
  • Page 118 Commissioning 3.4 Creating a project in the STARTER commissioning tool Add a single drive 1. Double-click in the project tree on "Insert single drive unit". The following settings are pre-assigned: – Device type: CU320-2 PN – Version: 4.5 or higher –...
  • Page 119: Creating A Project Online

    Commissioning 3.4 Creating a project in the STARTER commissioning tool 3.4.2 Creating a project online In order to search online for bus nodes via PROFIBUS or PROFINET, the drive unit must be connected with the PG/PC via PROFIBUS or PROFINET. Example of a commissioning sequence with STARTER Create a new project 1.
  • Page 120 Commissioning 3.4 Creating a project in the STARTER commissioning tool Enter the project data. 1. Enter the following project data: – Project name: Project_1, can be freely selected – Author: Any – Storage location: Any – Comment: Any 2. If necessary, correct the corresponding project data. 3.
  • Page 121 Commissioning 3.4 Creating a project in the STARTER commissioning tool Selecting the access point The target device can be accessed using STARTER or via STEP 7. 1. For step 2, click "Access point". 2. Select the access point for the accessible nodes, and confirm with "OK". Selecting the PG/PC interface In this window, the interface can be selected, set and tested.
  • Page 122 Commissioning 3.4 Creating a project in the STARTER commissioning tool Insert drives The nodes are shown here in the preview. Use the button "Refresh view" to update the preview. 1. Click "Continue >". Summary You have now created the project. The project wizard shows the current settings. 1.
  • Page 123: Commissioning The Servo Control Booksize Format For The First Time

    Commissioning 3.5 Commissioning the servo control booksize format for the first time Commissioning the servo control booksize format for the first time An example provided in this chapter explains all the configuration and parameter settings, as well as tests that are required for initial commissioning. Commissioning is carried out using the STARTER commissioning tool.
  • Page 124 ● Enable signals for drive 2 Standard telegram 3: Speed control, 1 position encoder Note For more information about telegram types, see SINAMICS S120 Function Manual Drive Functions or SINAMICS S120/S150 List Manual. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 125: Component Wiring (example)

    Commissioning 3.5 Commissioning the servo control booksize format for the first time 3.5.2 Component wiring (example) The following diagram shows the structure of the components and the appropriate wiring. The DRIVE-CLiQ wiring is highlighted in bold. Image 3-25 Component wiring (example) Additional information on wiring and connecting the encoder system is provided in the Manual.
  • Page 126: Signal Flow Of The Commissioning Example

    Commissioning 3.5 Commissioning the servo control booksize format for the first time 3.5.3 Signal flow of the commissioning example Image 3-26 Signal flow of the commissioning example - servo control, Part 1 Image 3-27 Signal flow of the commissioning example - servo control, Part 2 STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 127: Commissioning With Starter (example)

    Commissioning 3.5 Commissioning the servo control booksize format for the first time 3.5.4 Commissioning with STARTER (example) The table below describes the steps for commissioning a drive using the STARTER commissioning tool. Table 3- 2 Sequence for commissioning with the STARTER commissioning tool (example) What? How? Comment...
  • Page 128 Commissioning 3.5 Commissioning the servo control booksize format for the first time What? How? Comment Inserting If there is no DRIVE-CLiQ connection to the Control Unit, then If the line environment or an infeed unit you must manually enter the data of the infeed unit using the DC-link components are wizard.
  • Page 129 Commissioning 3.5 Commissioning the servo control booksize format for the first time What? How? Comment Configuring the You must individually configure the drives in the offline mode. The drives wizard displays the data determined automatically from the elec- tronic type plate. For drives connected to the drive unit, which during the automatic configuration do not communicate with the Control Unit via DRIVE-CLiQ, you must manually configure and transfer them into the drive topology.
  • Page 130 Configuring a Additional information: see 1. If you are not using a motor holding brake, click "Continue >" motor holding SINAMICS S120 Function brake Manual Drive Functions. 2. If you are using a motor holding brake, select it in the dialog box and then subsequently configure it.
  • Page 131 Save the parame- Left-click the drive unit 1. Call the "Project" > "Connect to selected target devices" menu ters on the device (SINAMICS S120). (online mode). 2. Call the "Target system > Load > Load CPU/drive unit to tar- get device..." menu.
  • Page 132 1 (STW1) and speed setpoint 1 (NSOLL). For more information about line/DC-link identification, see the SINAMICS S120 Function Manual Drive Functions. Diagnostic functions in the STARTER commissioning tool Under Component > Diagnostics > Control/status words ● Control/status words ●...
  • Page 133: Commissioning U/f Vector Control Booksize Format For The First Time

    Commissioning 3.6 Commissioning U/f vector control booksize format for the first time Commissioning U/f vector control booksize format for the first time An example provided in this chapter explains all the configuration and parameter settings, as well as tests that are required for initial commissioning. Commissioning is carried out using the STARTER commissioning tool.
  • Page 134: Component Wiring (example)

    Commissioning 3.6 Commissioning U/f vector control booksize format for the first time 3.6.2 Component wiring (example) The following diagram shows the structure of the components and the appropriate wiring. The DRIVE-CLiQ wiring is highlighted in bold. Image 3-28 Component wiring (example) For more information on wiring and connecting the encoder system, see the Equipment Manual.
  • Page 135: Signal Flow Of The Commissioning Example

    Commissioning 3.6 Commissioning U/f vector control booksize format for the first time 3.6.3 Signal flow of the commissioning example Image 3-29 Signal flow diagram of the example vector U/f control mode in the booksize format STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 136: Commissioning With Starter (example)

    Commissioning 3.6 Commissioning U/f vector control booksize format for the first time 3.6.4 Commissioning with STARTER (example) The table below describes the steps for commissioning the example using the STARTER commissioning tool. Table 3- 4 Commissioning sequence (example) What? How? Comment Creating a new 1.
  • Page 137 Commissioning 3.6 Commissioning U/f vector control booksize format for the first time What? How? Comment Inserting If there is no DRIVE-CLiQ connection to the Control Unit, then If the line environment or an infeed unit you must manually enter the data of the infeed unit using the DC-link components are wizard.
  • Page 138 Commissioning 3.6 Commissioning U/f vector control booksize format for the first time What? How? Comment Configuring the You must individually configure the drives in the offline mode. drives The wizard displays the data determined automatically from the electronic type plate. For drives connected to the drive unit, which during the automatic configuration do not communicate with the Control Unit via DRIVE-CLiQ, you must manually configure and transfer them into the drive topology.
  • Page 139 For additional information, 1. If you are not using a motor holding brake, click "Continue >". motor holding see SINAMICS S120 Func- brake tion Manual Drive Func- 2. If you are using a motor holding brake, you can select and tions.
  • Page 140 Commissioning 3.6 Commissioning U/f vector control booksize format for the first time What? How? Comment Alternatively, you can use your own encoder. 1. Select Enter data. 2. Click the encoder data. 3. Select the measuring system. 4. Enter the required data and click "OK". 5.
  • Page 141 Commissioning 3.6 Commissioning U/f vector control booksize format for the first time What? How? Comment Enable Motor See function diagram Enable signals for the Motor Module (drive_1) • Module [2501] p0840 = 722.0 ON/OFF1 p0844 = 722.1 1. OFF2 p0845 = 1 2. OFF2 p0848 = 722.2 1.
  • Page 142 • line / DC link / motor data ing motor is carried out, if this is activated. identification, see the SINAMICS S120 Function Manual Drive Functions. Diagnostic functions in the STARTER commissioning tool Under Component > Diagnostics > Control/status words ●...
  • Page 143: Commissioning The Vector Control Chassis Format For The First Time

    Commissioning 3.7 Commissioning the vector control chassis format for the first time Commissioning the vector control chassis format for the first time An example provided in this chapter explains all the configuration and parameter settings, as well as tests that are required for initial commissioning. Commissioning is carried out using the STARTER commissioning tool.
  • Page 144: Task

    Commissioning 3.7 Commissioning the vector control chassis format for the first time 3.7.1 Task A drive in the "chassis" format in vector control with the following components is to be commissioned for the first time: Table 3- 5 Component overview Designation Component Article number...
  • Page 145: Component Wiring (example)

    Commissioning 3.7 Commissioning the vector control chassis format for the first time 3.7.2 Component wiring (example) The following diagram shows the structure of the components and the appropriate wiring. The DRIVE-CLiQ wiring is highlighted in bold. X500 at the Voltage Sensing Module Image 3-30 Component wiring (example) For more information on wiring and connecting the encoder system, see the Equipment...
  • Page 146: Signal Flow Of The Commissioning Example

    Commissioning 3.7 Commissioning the vector control chassis format for the first time 3.7.3 Signal flow of the commissioning example Image 3-31 Signal flow of the commissioning example chassis STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 147: Commissioning With Starter (example)

    Commissioning 3.7 Commissioning the vector control chassis format for the first time 3.7.4 Commissioning with STARTER (example) The table below describes the steps for commissioning a drive using the STARTER commissioning tool. What? How? Comment Creating a new 1. Call the "Project > New..." menu. project 2.
  • Page 148 Commissioning 3.7 Commissioning the vector control chassis format for the first time What? How? Comment Inserting If there is no DRIVE-CLiQ connection to the Control Unit, then If the line environment or an infeed unit you must manually enter the data of the infeed unit using the DC-link components are wizard.
  • Page 149 Commissioning 3.7 Commissioning the vector control chassis format for the first time What? How? Comment Configuring the You must individually configure the drives in the offline mode. drives The wizard displays the data determined automatically from the electronic type plate. For drives connected to the drive unit, which during the automatic configuration do not communicate with the Control Unit via DRIVE-CLiQ, you must manually configure and transfer them into the drive topology.
  • Page 150 For more information, see 1. If you are not using a motor holding brake, click "Continue >". motor brake SINAMICS S120 Function 2. If you are using a motor holding brake, you can select and Manual Drive Functions. configure the brake in this window.
  • Page 151 Commissioning 3.7 Commissioning the vector control chassis format for the first time What? How? Comment Alternatively, you can use your own encoder. 1. Select Enter data. 2. Click the encoder data. 3. Select the measuring system. 4. Enter the required data and click "OK". 5.
  • Page 152 Commissioning 3.7 Commissioning the vector control chassis format for the first time What? How? Comment Enable the Motor See function diagram Enable signals for the Motor Module (drive_1): • Module [2501] p0840 = 722.0 ON/OFF1 p0844 = 722.1 1. OFF2 p0845 = 1 2.
  • Page 153 Commissioning 3.7 Commissioning the vector control chassis format for the first time What? How? Comment Setpoint configura- A setpoint of 0 (0 signal) or Specify setpoint: • tion 40 (1 signal) is defaulted p1001 = 0 Fixed setpoint 1 via digital input 7. This setpoint is then applied to p1002 = 40 Fixed setpoint 2 the main setpoint p1070.
  • Page 154 / DC-link / motor data ing motor (if activated) is carried out. identification, see the SINAMICS S120 Function Manual Drive Functions. Important diagnostic parameters (see the SINAMICS S120/S150 List Manual) Drive operating display • r0002 CO/BO:Missing enables • r0046.0...31 For further information, see Chapter "Diagnostics"...
  • Page 155: First Commissioning Vector Control Ac Drive Blocksize Format

    Commissioning 3.8 First commissioning vector control AC drive blocksize format First commissioning vector control AC drive blocksize format An example provided in this chapter explains all the configuration and parameter settings, as well as tests that are required for initial commissioning. Commissioning is carried out using the STARTER commissioning tool.
  • Page 156: Component Wiring (example)

    Commissioning 3.8 First commissioning vector control AC drive blocksize format 3.8.2 Component wiring (example) The following diagram shows the structure of the components and the appropriate wiring. Image 3-32 Component wiring (example) For more information on wiring, see the Equipment Manual. 3.8.3 Quick commissioning using the BOP (example) WARNING...
  • Page 157 Commissioning 3.8 First commissioning vector control AC drive blocksize format Table 3- 6 Quick commissioning for a VECTOR drive without a DRIVE-CLiQ interface Procedure Description Factory setting Restore the drive to the factory setting: p0009 = 30 Device commissioning parameter filter 0 Ready 1 Device configuration 30 Parameter reset...
  • Page 158 Commissioning 3.8 First commissioning vector control AC drive blocksize format Procedure Description Factory setting p0100 = 0 IEC/NEMA motor standard 0 IEC motor (SI units, e.g. kW) Preset: Rated motor frequency (p0310): 50 Hz Specification of the power factor cos φ (p0308) 1 NEMA motor (US units, e.g.
  • Page 159 These parameters offer more setting options than specified here. For further setting options see the SINAMICS S120/S150 List Manual. [CDS] Parameter depends on command data sets (CDS). Data set 0 is preset. [DDS] Parameter depends on drive data sets (DDS). Data set 0 is preset.
  • Page 160: First Commissioning Servo Control Ac Drive Blocksize Format

    Commissioning 3.9 First commissioning servo control AC drive blocksize format First commissioning servo control AC drive blocksize format An example provided in this chapter explains all the configuration and parameter settings, as well as tests that are required for initial commissioning. Commissioning is carried out using the STARTER commissioning tool.
  • Page 161: Component Wiring (example)

    Commissioning 3.9 First commissioning servo control AC drive blocksize format 3.9.2 Component wiring (example) The following diagram shows the structure of the components and the appropriate wiring. Image 3-33 Component wiring with integrated Sensor Module (example) For more information on wiring and connecting the encoder system, see the Equipment Manual.
  • Page 162: Quick Commissioning Using The Bop (example)

    Commissioning 3.9 First commissioning servo control AC drive blocksize format 3.9.3 Quick commissioning using the BOP (example) Table 3- 7 Quick commissioning for a servo drive with a DRIVE-CLiQ interface Procedure Description Factory setting Note: Before commissioning for the first time, in the drive mode DO = 1, the drive is restored to the factory setting. p0009 = 30 Device commissioning parameter filter 0 Ready...
  • Page 163 Commissioning 3.9 First commissioning servo control AC drive blocksize format Procedure Description Factory setting p0009 = 0 Device commissioning parameter filter 0 Ready 1 Device configuration 30 Parameter reset Note: Wait until the RDY-LED changes from orange to green. To save the setting in the ROM, press the "P" key for approx. 5 seconds until the BOP display flashes, then wait until flashing has stopped.
  • Page 164 31 - and the drive is now ready. 10 is displayed in DO = 1. These parameters offer more setting options than specified here. For further setting options see the SINAMICS S120/S150 List Manual. [CDS] Parameter depends on command data sets (CDS). Data set 0 is preset.
  • Page 165: Commissioning Of Power Units Connected In Parallel

    Commissioning 3.10 Commissioning of power units connected in parallel 3.10 Commissioning of power units connected in parallel During commissioning, power units connected in parallel are treated like a power unit on the line or motor side. With parallel connection, the parameter display for the actual values changes only slightly.
  • Page 166 (for further information, refer to the Chapter "Master/slave function for infeeds" in the SINAMICS S120 Function Manual Drive Functions). The line filter is offered as an option, depending on the infeed. An Active Interface Module (AIM) with integrated line filter is required to operate an "Active Line Module"...
  • Page 167 Commissioning 3.10 Commissioning of power units connected in parallel Parallel connection of Motor Modules in the STARTER commissioning tool Image 3-35 Example of a parallel connection of 3 Motor Modules (chassis format, in vector control) Select the number of Motor Modules connected in parallel in the drop-down list, "Number of parallel modules"...
  • Page 168 Parallel connection is indicated with a "P" in front of the value shown on the parameter value display. Other parameters relevant for the operation and parameterization of power units can be taken from the SINAMICS S120/S150 List Manual from parameter r7002 or from p0125 onwards. STARTER Commissioning Manual...
  • Page 169 Commissioning 3.10 Commissioning of power units connected in parallel Parallel connection with one or two Control Units If an infeed is deactivated, the pre-charging must be able to charge the remaining infeeds in the DC link. For example, the charging time is doubled, if only one of the two infeeds connected in parallel is activated.
  • Page 170 Configuration of power units connected in parallel Information on the hardware configuration and wiring the power units is provided in the SINAMICS S120 Manual Chassis Power Units. You can find information on configuration in "SINAMICS Configuration Manual G130, G150, S120 Chassis, S120 Cabinet Modules, S150". The installation of power units within a control cabinet with Line Connection Modules is also described in this manual.
  • Page 171: Learn Devices

    STARTER commissioning tool that are not included in STARTER version 4.2. You can download SINAMICS Support Packages on the Internet from the PridaNet pages (https://pridanet.automation.siemens.com/PridaWeb/) (Product information and data Net). The existence of new SSPs in Product Support will be announced when a new SINAMICS version is released for delivery.
  • Page 172 Commissioning 3.11 Learn devices Installation All SSPs released for a STARTER version may be installed in any order. The installed SINAMICS Support Packages are displayed in the Info dialog box of STARTER. If a new STARTER version has been created and delivered, this STARTER contains all SSPs released up until the present time, or is compatible with them.
  • Page 173: Selection And Configuration Of Encoders

    Commissioning 3.12 Selection and configuration of encoders 3.12 Selection and configuration of encoders 3.12.1 Encoder selection For a SINAMICS drive system, there are three possibilities of selecting the encoder using the STARTER commissioning tool: ● Evaluating the motor and encoder data via a DRIVE-CLiQ interface. The encoder is identified automatically by setting the parameter p0400 = 10000 or 10100.
  • Page 174: Configuring An Encoder

    Commissioning 3.12 Selection and configuration of encoders Encoder type Encoder code Encoder evaluation procedure Evaluation module Absolute 2151 16000 nm, 1 Vpp, A/B, EnDat, SMC20, SMI20, linear resolution 100 nm SME25 HTL/TTL Incremental 3001 1024 HTL A/B R SMC30 encoders square wave 3002 1024 TTL A/B R...
  • Page 175 Commissioning 3.12 Selection and configuration of encoders Configuration for encoders with DRIVE-CLiQ interface 1. Activate the "Encoder with DRIVE-CLiQ interface" option button with a mouse click. The encoder with DRIVE-CLiQ interface is then automatically identified in the encoder configuration screen. Image 3-37 Identifying DRIVE-CLiQ encoders STARTER Commissioning Manual...
  • Page 176 Image 3-38 Standard encoder option When configuring the drive you can select the standard encoders offered by Siemens from a list under "encoders". When the encoder type is chosen, all necessary parameterizations are simultaneously and automatically transferred into the encoder configuration.
  • Page 177 Commissioning 3.12 Selection and configuration of encoders Configuration using manually determined user data 1. To manually enter user-defined encoder data, use the mouse to activate the "Enter data" option field. In this case, the encoder can be configured using the encoder-specific input screens in the STARTER commissioning tool.
  • Page 178 Commissioning 3.12 Selection and configuration of encoders The following window opens for encoder data: Image 3-40 Rotary encoder types In this window, you can select between "rotary" and "linear" encoders. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 179 Commissioning 3.12 Selection and configuration of encoders 3. Select the encoder type by clicking the appropriate option field. The drop-down list for the "linear" encoder type lists, for example, the following encoders: Image 3-41 Linear encoder types 4. Select the required encoder from the drop-down list. The encoder-specific input screens for rotary and linear encoders are self-explanatory and therefore not explicitly explained here.
  • Page 180: Example: Commissioning And Replacement Of A Drive-cliq Encoder

    Commissioning 3.12 Selection and configuration of encoders 3.12.3 Example: Commissioning and replacement of a DRIVE-CLiQ encoder The following describes commissioning and replacing an encoder using the DRIVE-CLiQ encoder as an example. Support by STARTER The STARTER commissioning tool supports encoders with DRIVE-CLiQ interface. Additional article numbers for the corresponding DRIVE-CLiQ motors are provided in the encoder overview.
  • Page 181 Replacing a SINAMICS Sensor Module Integrated If a defect occurs in a SINAMICS Sensor Module Integrated (SMI) or in a DRIVE-CLiQ Sensor Integrated (DQI), contact your local Siemens office for a repair. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 182: Commissioning Of Simotics L-1fn3 Linear Motors

    Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors 3.13 Commissioning of SIMOTICS L-1FN3 linear motors 3.13.1 Safety instructions for commissioning linear motors WARNING Danger to life as a result of unintended motor movement Unexpected movements of the motor may cause death, serious injury (crushing) and/or property damage.
  • Page 183: Checklists For Commissioning

    (e.g. 1FN3 _ _ _ – _ _ _ _ _ – _ _ _ _) As a minimum, is the following data for the motor known, if it involves a "third-party motor"? (A "third-party motor" is every motor that is not saved as standard in the Siemens commissioning soft- ware.) Rated motor current •...
  • Page 184 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Table 3- 10 Checklist (2) - checking the mechanical system Check Has the motor been correctly installed according to the motor manufacturer's specifications and is it ready to be switched on? Can the axis move freely over the complete travel range? Have all the screws been tightened to the specified torque? Does the air gap between the secondary section track and the primary and section correspond to the motor manufacturer's data?
  • Page 185: General Information For Setting The Commutation

    Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Check Are the digital and analog signals routed using separate cables? Has the distance between the power cables and the signal lines been observed? Is it guaranteed that temperature-sensitive parts (electric cables, electronic components) are not placed on hot surfaces? Have the line-side and motor-side power cables been dimensioned and routed in accordance with the environmental and routing conditions?
  • Page 186: Parameterizing A Motor And Encoder

    Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Saturation-based technique This technique does not require any axis movement and so it can also be used for axes that are locked (e.g. using a brake). Axes movements, however, can occur for axes that are not locked.
  • Page 187 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Configuring data for a third-party motor 1FN3 linear motors are not included in the list if they are customer-specific special motors or new developments. 1. Please take the motor data from the attached motor data sheet and make the following settings: Image 3-43 Screen to configure the motor –...
  • Page 188 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors 2. Enter the following data for a linear permanent-magnet synchronous motor: Image 3-44 Example of motor data that has been entered STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 189 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Image 3-45 Example of optional motor data that has been entered STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 190 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Entering equivalent circuit diagram data Image 3-46 Example of equivalent circuit diagram data that has been entered STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 191 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Calculating controller data After selecting the motor and entering the motor data, completely calculate the controller data. Image 3-47 Screen form for calculating the motor/controller data STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 192 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Configuring the motor holding brake If a motor holding brake is being used, configure it in the following window. Image 3-48 Screen form for configuring a motor holding brake STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 193 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Configuring encoder data 1. Note the data of the encoder manufacturer and the information in Chapter "Selecting and configuring encoders (Page 173)" in this manual. 2. Configure the encoder data for the linear motor using the "Encoder data" screen form. To do this, click the "Encoder data"...
  • Page 194 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Incremental measuring system Example of an incremental sine/cosine encoder with a lattice pitch of 16000 nm and a zero mark: Image 3-50 Screen form for entering the encoder data Note A pole position identification is required for SIMOTICS L-1FN3 linear motors with incremental measuring systems The following techniques are possible to do this: •...
  • Page 195 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Absolute measuring system The encoder is detected by the Control Unit as long as it is a DRIVE-CLiQ encoder. For all other encoder types, you must use the SINAMICS Sensor Module in accordance with the encoder interface in order to transfer the encoder signals to the Control Unit.
  • Page 196 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Definition of the control sense The control sense of an axis is correct if the positive direction of the drive (= clockwise rotating field U, V, W) coincides with the positive counting direction of the measuring system. If the positive direction of the drive and positive counting direction of the measuring system do not match, then you must invert the actual speed value in the "Encoder configuration - details"...
  • Page 197 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Determining the drive direction The direction of the drive rotation is positive if the primary section moves relative to the secondary section in the opposite direction to the cable outlet direction. Image 3-53 Determining the positive direction of the drive Determining the counting direction of the measuring system The counting direction depends on the measuring system and the mounting position.
  • Page 198 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Completing parameterization 1. The selection of the PROFIdrive telegram and the summary closes the parameterization of the drive. Image 3-54 Screen form for selecting the telegram for the process data exchange STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 199 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Image 3-55 Summary of the configuration 2. The created offline project must now be loaded into the drive. In STARTER, go online with the target device. If an absolute measuring system with EnDat protocol was selected, then after establishing an online connection, the encoder serial number is loaded and the corresponding encoder parameters are set.
  • Page 200: Parameterizing And Testing The Temperature Sensors

    The connection of the SME modules is described in the "System integration" chapter in the "SIMOTICS L-1FN3 Linear Motors" Configuration Manual. Information on the SME12x Sensor Module External can be found in the "SINAMICS S120 Equipment Manual for Control Units and Additional System Components" in Chapter "Sensor Module External 120 (SME120)"...
  • Page 201 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Parameter Input p0607 Temperature sensor fault timer Setting the timer for timing the period between output of the alarm and fault when a temperature sensor fault is detected. If a sensor fault has been detected, this timer is started. If the sensor fault persists when the timer has expired, the relevant fault is output.
  • Page 202 PT1000 at 20 °C approx. 1080 Ω KTY 84 at 20 °C approx. 580 Ω PTC for 20 °C 120 Ω...300 Ω The assignment of connector interface X200 can be found in the "SINAMICS S120 Manual Control Units and Additional System Components". Terminal Module TM120 Terminal Module TM120 is a DRIVE-CLiQ component for temperature evaluation with safe isolation, see also "SINAMICS S120 Manual for Control Units and Additional System...
  • Page 203 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Parameterization For a standard configuration with correct pre-assignment of the temperature channels, the Terminal Module TM120 must be located between the Sensor Module and the Motor Module (DRIVE-CLiQ). If this is not the case, you must parameterize all of the required temperature channels in both the Motor Module and Terminal Module TM120.
  • Page 204: Determining The Angular Commutation Offset / Maintaining The Tolerance

    Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Table 3- 14 Parameterization in the expert list of the Terminal Module TM120 Parameter Input p4100[0...3] TM120 temperature evaluation, sensor type Sets the temperature evaluation of Terminal Module TM120. This means that the temperature sensor type is selected and the evaluation is activated. The follow- ing values are possible: 0: Evaluation deactivated 1: PTC thermistor...
  • Page 205: Checking The Commutation Angle Offset With Starter

    Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Making parameter entries / commutation setting Incremental measuring system 1. Activate automatic determination of the commutation angle offset with p1990 = 1. Alarm A07971 is output while the commutation angle offset is being determined. 2.
  • Page 206: Checking The Commutation Angle Offset With An Oscilloscope

    Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Checking the pole position identification You can check the pole position identification with p1983 in the finely-synchronized state. 1. Position the drive at different points in an electrical period (pole pitch) and set parameter p1983 = 1.
  • Page 207 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Recording the phase voltage and the pole position angle using an oscilloscope 1. Switch the drive line-up into a no-current condition. 2. After the DC link has completely discharged, disconnect the motor cables from the converter.
  • Page 208 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Checking phase relation The phase displacement of the individual voltages EMC phase U – EMC phase V – EMC phase W to each other is 120° in the following figure. Image 3-57 Phase sequence, EMF phase U - EMF phase V - EMF phase W Checking the phase relation for parallel-connected motors The phase relations EMC phase U –...
  • Page 209 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Image 3-58 Phase U motor 1 may not lag behind EMF phase U motor 2 by more than 10° Image 3-59 EMF phase U motor 1 may not lead EMF phase U motor 2 by more than 10° STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 210 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Determining the angular commutation offset by making a measurement In the event of a fault and for a parallel connection, you must check the angular commutation offset as follows. 1. The drive with an incremental measuring system must be fine synchronized. To do this, connect the motor and enable the controller for coarse synchronization.
  • Page 211 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors The status of the coarse and fine synchronization can be read out online via parameter r1992: r1992.8 (fine synchronization carried out) and r1992.9 (coarse synchronization carried out). Image 3-61 Ideal characteristic of EMF voltages and the pole position angle of an optimally commutated drive STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 212 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Recording the phase voltage and the pole position angle using the STARTER trace function An oscilloscope is not used for this technique. You do not need to disconnect the motor. However, this technique is less accurate, as the motor voltages are not directly measured, but calculated from the transistor turn-on duration.
  • Page 213 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors 4. The motor must be in closed-loop control and traveled externally. Image 3-63 Example of an optimally commutated drive (recorded using the trace function of the STARTER commissioning tool) STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 214 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Evaluation of the results (applies to both measuring techniques) For a positive drive direction (definition, refer to the diagram "Determining the positive direction of the drive (Page 197)", the sawtooth must increase monotonously between 0° and 360°, refer to the diagram "Ideal characteristic of the EMF voltages and the pole position angle for an optimally commutated drive (Page 211)."...
  • Page 215 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors If the curve is monotonously decreasing, and the phase sequence is EMF phase U – EMF phase W – EMF phase V (i.e. if the phase sequence of V and W is interchanged), then according to the diagram "Determining the positive direction of the drive"...
  • Page 216 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Displaying the commutation angle tolerance For a finely synchronized drive, the difference between EMF phase U and the normalized, electrical pole position angle may be a maximum of 10°. This means that the zero points of the falling edge of the sawtooth and EMF phase U may differ by a maximum of 10°...
  • Page 217 Commissioning 3.13 Commissioning of SIMOTICS L-1FN3 linear motors Commutation angle outside the tolerance Example: The falling edge of the sawtooth voltage (pole position angle) leads the zero crossing of EMF phase U by approx. 18° electrical. Image 3-67 Example of an incorrectly commutated drive Adapt the incorrect commutation shown in the figure above according to Chapter "Checking the commutation angle offset with STARTER (Page 205)".
  • Page 218: Special Case Of A Parallel Connection

    Consequently, select the setting p0340 = 3 for a third-party motor. Detailed information about parameter p0306 is contained in the STARTER commissioning tool help and in the SINAMICS S120/S150 List Manual. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 219: Optimization Of The Closed-loop Control

    Especially the frequency response measurement allows machine-specific natural frequencies that restrict the bandwidth of the closed-loop control to be taken into account. You can ask your local Siemens office regarding optimization of the closed-loop control as a service. STARTER Commissioning Manual...
  • Page 220: Commissioning Induction Motors (asm)

    Commissioning 3.14 Commissioning induction motors (ASM) 3.14 Commissioning induction motors (ASM) Note Induction motors are commissioned in vector control. Equivalent circuit diagram for induction motor and cable Image 3-68 Equivalent circuit diagram for induction motor and cable Induction motors, rotating The following parameters must be entered in the commissioning wizard of STARTER: Table 3- 15 Motor data type plate...
  • Page 221 Commissioning 3.14 Commissioning induction motors (ASM) The following parameters can be optionally entered: Table 3- 16 Optional motor data Parameter Description Comment p0320 Motor rated magnetizing current / short- circuit current p0322 Maximum motor speed p0341 Motor moment of inertia p0342 Moment of inertia ratio between the total and motor...
  • Page 222 Commissioning 3.14 Commissioning induction motors (ASM) Features ● Field weakening up to approx. 1.2 * rated speed (this depends on the drive converter supply voltage and the motor data, also refer to supplementary conditions) ● Flying restart ● Vector closed-loop speed and torque control ●...
  • Page 223: Commissioning Of Synchronous Reluctance Motors 1fp1 Without A Damper Cage

    Unlike induction motors, reluctance motors cannot be operated by entering rating plate data on any drive. For reluctance motors, the characteristic saturation properties must be known and stored in the drive. SIEMENS reluctance motors of the series 1FP1 can be operated in vector control with or without an encoder.
  • Page 224 Commissioning 3.15 Commissioning of synchronous reluctance motors 1FP1 without a damper cage Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor type selection • p0300[0...n] Motor code number selection • p0301[0...n] Motor pole position identification current 1st phase • p0325[0...n] Motor pole position identification current •...
  • Page 225: Commissioning Permanent-magnet Synchronous Motors

    Commissioning 3.16 Commissioning permanent-magnet synchronous motors 3.16 Commissioning permanent-magnet synchronous motors Note Permanent-magnet synchronous motors are commissioned in vector control. Equivalent circuit diagram for synchronous motor and cable Image 3-69 Equivalent circuit diagram for synchronous motor and cable Permanent-magnet synchronous motors, rotating Permanent-magnet synchronous motors with or without encoder are supported.
  • Page 226 Commissioning 3.16 Commissioning permanent-magnet synchronous motors Temperature protection can be implemented using a temperature sensor (KTY/PT1000/PTC). In order to achieve a high torque accuracy, we recommend that a KTY or PT1000 temperature sensor is used. Table 3- 18 Motor data Parameter Description Comment...
  • Page 227 Commissioning 3.16 Commissioning permanent-magnet synchronous motors Table 3- 20 Equivalent circuit diagram for motor data Parameter Description Comment p0350 Motor stator resistance, cold p0356 Motor stator leakage inductance p0357 Motor stator inductance, d axis Features ● Field weakening up to approx. 1.2 * rated speed (this depends on the drive converter supply voltage and the motor data, also refer to supplementary conditions) ●...
  • Page 228 Commissioning 3.16 Commissioning permanent-magnet synchronous motors Supplementary conditions ● Maximum speed or maximum torque depend on the converter output voltage available and the back EMF of the motor (calculation specifications: EMF must not exceed U rated converter). ● Calculating the maximum speed: Image 3-70 Formula vector maximum speed Calculating k...
  • Page 229 Commissioning 3.16 Commissioning permanent-magnet synchronous motors Commissioning WARNING Danger to life as a result of motor movement during motor data identification Motor data identification causes movements of the drive that can result in death, serious injury, or damage to property. •...
  • Page 230: Encoder Adjustment In Operation

    Commissioning 3.16 Commissioning permanent-magnet synchronous motors 3.16.1 Encoder adjustment in operation This function can only be used for permanent-magnet synchronous motors operating in the "vector control" mode. You can use this function to readjust encoders that have been replaced in operation. The encoders can be adjusted within a motor line-up. The adjustment is also possible when coupled to the load.
  • Page 231 Commissioning 3.16 Commissioning permanent-magnet synchronous motors Fine adjustment 1. The fine adjustment is started when the motor rotates with p1905 = 90. The measurement takes approx.1 minute. The actual steps of the fine encoder adjustment are displayed using alarm A07976. During the measurement, the difference between the encoder and the EMF model is determined.
  • Page 232: Automatic Encoder Adjustment

    Commissioning 3.16 Commissioning permanent-magnet synchronous motors 3.16.2 Automatic encoder adjustment The pole wheel-oriented closed-loop control of the synchronous motor requires information about the pole wheel position angle. Automatic encoder adjustment must be used in the following cases: ● The pole wheel position encoders are not mechanically adjusted ●...
  • Page 233 Commissioning 3.16 Commissioning permanent-magnet synchronous motors If possible, pole position identification should be carried out in decoupled state. If there is no large moment of inertia and there is only negligible friction, then the identification can also be carried out in coupled state. If there is negligible friction and high moment of inertia, then the dynamic response for the speed encoder can be adjusted to the moment of inertia by increasing p1999.
  • Page 234: Overview Of The Important Parameters

    Commissioning 3.16 Commissioning permanent-magnet synchronous motors 3.16.4 Overview of the important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor type selection • p0300[0...n] Motor code number selection • p0301[0...n] Rated motor voltage • p0304[0...n] Rated motor current •...
  • Page 235: Commissioning Separately-excited Synchronous Motors

    Commissioning 3.17 Commissioning separately-excited synchronous motors 3.17 Commissioning separately-excited synchronous motors Note Separately excited synchronous motor Please consult Siemens technical support if you wish to commission a separately-excited synchronous motor. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 236: Commissioning Simotics T-1fw6 Built-in Torque Motors

    Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors 3.18.1 Safety instructions for commissioning of built-in torque motors WARNING Danger to life as a result of unintended motor movement Unexpected movements of the motor may cause death, serious injury (crushing) and/or property damage.
  • Page 237: Checklists For Commissioning

    (e.g. 1FW6 _ _ _ – _ _ _ _ _ – _ _ _ _) As a minimum, is the following data for the motor known, if it involves a "third-party motor"? (A "third-party motor" is every motor that is not saved as standard in the Siemens commissioning soft- ware.) Rated motor current •...
  • Page 238 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Table 3- 22 Checklist (2) - checking the mechanical system Check Has the motor been correctly installed according to the motor manufacturer's specifications and is it ready to be switched on? Were the transport locks removed according to the installation chapter of the "SIMOTICS T-1FW6 built- in torque motors"...
  • Page 239: General Information For Setting The Commutation

    Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Check Is the encoder correctly connected? Are the digital and analog signals routed using separate cables? Has the distance between the power cables and the signal lines been observed? Is it guaranteed that temperature-sensitive parts (electric cables, electronic components) are not placed on hot surfaces? Have the line-side and motor-side power cables been dimensioned and routed in accordance with the environmental and routing conditions?
  • Page 240: Parameterizing A Motor And Encoder

    Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Saturation-based technique This technique does not require the rotor to move, which means that it can also be used for axes that are locked (e.g. using a brake). Axes that are not locked can rotate, however. Depending on the actual design, this technique can result in a higher noise level when the axes are powered up during the identification routine.
  • Page 241 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Configuring data for a third-party motor 1FW6 built-in torque motors are not included in the list if they are customer-specific special motors or new developments. 1. Please take the motor data from the attached motor data sheet and make the following settings: Image 3-72 Screen to configure the motor –...
  • Page 242 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors 2. Enter the following data for a rotating permanent-magnet synchronous motor: Image 3-73 Example of motor data that has been entered STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 243 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Image 3-74 Example of optional motor data that has been entered STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 244 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Entering equivalent circuit diagram data Image 3-75 Example of equivalent circuit diagram data that have been entered STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 245 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Calculating controller data After selecting the motor and entering the motor data, completely calculate the controller data. Image 3-76 Screen form for calculating the motor/controller data STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 246 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Configuring the motor holding brake If a motor holding brake is being used, configure it in the following window. Image 3-77 Screen form for configuring a motor holding brake STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 247 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Configuring encoder data 1. Note the data of the encoder manufacturer and the information in Chapter "Selecting and configuring encoders (Page 173)" in this manual. 2. Configure the encoder data for the torque motor using the "Encoder data" screen form. To do this, click the "Encoder data"...
  • Page 248 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Incremental measuring system Example of an incremental sine/cosine encoder with 18,000 pulses per revolution with one zero mark per revolution: Image 3-79 Screen form for entering the encoder data Note Pole position identification is required for SIMOTICS T-1FW6 built-in torque motors with incremental measuring systems.
  • Page 249 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Absolute measuring system The encoder is detected by the Control Unit as long as it is a DRIVE-CLiQ encoder. For all other encoder types, you must use the SINAMICS Sensor Module in accordance with the encoder interface in order to transfer the encoder signals to the Control Unit.
  • Page 250 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Definition of the control sense The control sense of an axis is correct if the positive direction of the drive (= clockwise rotating field U, V, W) coincides with the positive counting direction of the measuring system. If the positive direction of the drive and positive counting direction of the measuring system do not match, then you must invert the actual speed value in the "Encoder configuration - details"...
  • Page 251 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Determining the drive direction The direction of the drive is positive, if when viewing the DE flange, the rotor is rotating clockwise. Image 3-82 Determining the positive direction of the drive Determining the counting direction of the measuring system The counting direction depends on the measuring system and the mounting position.
  • Page 252 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Completing parameterization SIMOTICS T-1FW6 built-in torque motors are feed drives (maximum current limiting). Image 3-83 Screen form to select the application STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 253 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Image 3-84 Summary of the configuration The created offline project must now be loaded into the drive. In STARTER, go online with the target device. If an absolute measuring system with EnDat protocol was selected, then after establishing an online connection, the encoder serial number is loaded and the corresponding encoder parameters are set.
  • Page 254: Parameterizing And Testing The Temperature Sensors

    The connection of the SME modules is described in Chapter "System integration" in the "SIMOTICS T-1FW6 built-in torque motors" Configuration Manual. Information on the SME12x Sensor Module External can be found in the "SINAMICS S120 Equipment Manual for Control Units and Additional System Components" in Chapter "Sensor Module External 120 (SME120)"...
  • Page 255 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Parameter Input p0607 Temperature sensor fault timer Setting the timer for timing the period between output of the alarm and fault when a temperature sensor fault is detected. If a sensor fault has been detected, this timer is started. If the sensor fault persists when the timer has expired, the relevant fault is output.
  • Page 256 PT1000 at 20 °C approx. 1080 Ω KTY 84 at 20 °C approx. 580 Ω PTC for 20 °C 120 Ω...300 Ω The assignment of connector interface X200 can be found in the "SINAMICS S120 Manual Control Units and Additional System Components". Terminal Module TM120 Terminal Module TM120 is a DRIVE-CLiQ component for temperature evaluation with safe isolation, see also "SINAMICS S120 Manual for Control Units and Additional System...
  • Page 257 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors You must always carefully check the temperature shutdown circuits (e.g. by disconnecting the sensors) before commissioning the motor for the first time. Use the expert list to parameterize the drive. Table 3- 25 Parameterization in the drive: Parameter Input...
  • Page 258: Determining The Angular Commutation Offset / Maintaining The Tolerance

    Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Check the temperature sensors in the same way as described for the SME12x Sensor Module External (see section "Checking the temperature sensors for the Sensor Module External SME12x"). Test each individual temperature channel by separating the connection. 3.18.6 Determining the angular commutation offset / maintaining the tolerance NOTICE...
  • Page 259 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Making parameter entries / commutation setting Incremental measuring system 1. Activate automatic determination of the commutation angle offset with p1990 = 1. Alarm A07971 is output while the commutation angle offset is being determined. 2.
  • Page 260: Checking The Commutation Angle Offset With Starter

    Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors 3.18.6.1 Checking the commutation angle offset with STARTER Note Coarse synchronization means that the pole position identification has been carried out, but the drive has not yet been moved over the zero mark. After the drive has been moved over the zero mark, the drive is finely synchronized.
  • Page 261 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Recording the phase voltage and the pole position angle using an oscilloscope 1. Switch the drive line-up into a no-current condition. 2. After the DC link has completely discharged, disconnect the motor cables from the converter.
  • Page 262 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Checking phase relation The phase displacement of the individual voltages EMC phase U – EMC phase V – EMC phase W to each other is 120° in the following figure. Image 3-86 Phase sequence, EMF phase U - EMF phase V - EMF phase W Checking the phase relation for parallel-connected motors The phase relations EMC phase U –...
  • Page 263 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Image 3-87 Phase U motor 1 may not lag behind EMF phase U motor 2 by more than 10° Image 3-88 EMF phase U motor 1 may not lead EMF phase U motor 2 by more than 10° STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 264 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Determining the angular commutation offset by making a measurement In the event of a fault and for a parallel connection, you must check the angular commutation offset as follows. 1. The drive with an incremental measuring system must be fine synchronized. To do this, connect the motor and enable the controller for coarse synchronization.
  • Page 265 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors The status of the coarse and fine synchronization can be read out online via parameter r1992: r1992.8 (fine synchronization carried out) and r1992.9 (coarse synchronization carried out). Image 3-90 Ideal characteristic of EMF voltages and the pole position angle of an optimally commutated drive STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 266 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Recording the phase voltage and the pole position angle using the STARTER trace function An oscilloscope is not used for this technique. You do not need to disconnect the motor. However, this technique is less accurate, as the motor voltages are not directly measured, but calculated from the transistor turn-on duration.
  • Page 267 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors 3. Set p1545 = 1, to activate the travel to fixed stop. 4. The motor must be in closed-loop control and rotated externally. Image 3-92 Example of an optimally commutated drive (recorded using the trace function of the STARTER commissioning tool) STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 268 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Evaluation of the results (applies to both measuring techniques) For a positive drive direction (definition, refer to the "Determining the positive direction of the drive (Page 251)" figure, the sawtooth must increase monotonously between 0° and 360°, refer to the "Ideal characteristic of the EMF voltages and the pole position angle for an optimally commutated drive (Page 265)"...
  • Page 269 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors If the curve is monotonously decreasing, and the phase sequence is EMF phase U – EMF phase W – EMF phase V (i.e. if the phase sequence of V and W is interchanged), then according to the "Determining the positive direction of the drive (Page 251)"...
  • Page 270 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Displaying the commutation angle tolerance For a finely synchronized drive, the difference between EMF phase U and the normalized, electrical pole position angle may be a maximum of 10°. This means that the zero points of the falling edge of the sawtooth and EMF phase U may differ by a maximum of 10°...
  • Page 271 Commissioning 3.18 Commissioning SIMOTICS T-1FW6 built-in torque motors Commutation angle outside the tolerance Example: The falling edge of the sawtooth voltage (pole position angle) leads the zero crossing of EMF phase U by approx. 18° electrical. Image 3-96 Example of an incorrectly commutated drive Adapt the incorrect commutation shown in the figure above according to Chapter "Checking the commutation angle offset with STARTER (Page 260)".
  • Page 272: Special Case Of A Parallel Connection

    Consequently, select the setting p0340 = 3 for a third-party motor. Detailed information about parameter p0306 is contained in the STARTER commissioning tool help and in the SINAMICS S120/S150 List Manual. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 273: Optimization Of The Closed-loop Control

    Especially the frequency response measurement allows machine-specific natural frequencies that restrict the bandwidth of the closed-loop control to be taken into account. You can ask your local Siemens office regarding optimization of the closed-loop control as a service. STARTER Commissioning Manual...
  • Page 274: Commissioning Of Ssi Encoders

    Commissioning 3.19 Commissioning of SSI encoders 3.19 Commissioning of SSI encoders 3.19.1 Notes on commissioning SSI encoders Using error bits The number and position of error bits can vary for SSI (Synchronous Serial Interface) encoders. In the event of faults, error codes may even sometimes be transferred within the position information.
  • Page 275 Commissioning 3.19 Commissioning of SSI encoders Types of encoder that can be connected Encoder Incremental tracks Absolute position Voltage supply for SSI baud rate Remarks evaluation encoder using the module SMC20 sin/cos, 1 Vpp SSI not cyclic 100 kBaud SME25 sin/cos, 1 Vpp SSI not cyclic 100 kBaud...
  • Page 276 Commissioning 3.19 Commissioning of SSI encoders Ramp-up time of the encoder In order to ensure that the correct sensor data is received, the encoder evaluation module checks whether the connected encoder is activated and ready for operation: ● After the power supply is switched on at the encoder, no signals are evaluated for a waiting period of 800 ms.
  • Page 277 Commissioning 3.19 Commissioning of SSI encoders Special settings ● Error bits (special case, several error bits) If an SSI encoder has several error bits, the evaluation is activated in the list of experts as follows using parameter p0434[x]: Value = dcba ba: Position of error bit in protocol (0 ...
  • Page 278: Encoder Identification For Ssi Encoders Without Incremental Tracks

    Commissioning 3.19 Commissioning of SSI encoders Diagnostics Example 1 An SSI encoder without incremental tracks is used. The encoder has a singleturn resolution of 16 bits and a multiturn resolution of 14 bits. The fine resolution p0418[x] and p0419[x] is set to the value 2.
  • Page 279 Commissioning 3.19 Commissioning of SSI encoders Moving the axis by the converter The technique is particularly suitable for large and poorly accessible axes as well as rotary axes with a holding brake. For this technique, the axis must be moved with a defined speed or velocity. The speed for the rotary encoder is 60 rpm or the velocity for the linear encoder is 1.5 m * rpm.
  • Page 280: Overview Of Important Parameters

    0, "No encoder", is entered in parameter p0400. This encoder must then be configured manually. 3.19.3 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Encoder type selection • p0400[0...n] Encoder configuration active •...
  • Page 281: Commissioning Of A 2-pole Resolver As Absolute Encoder

    Commissioning 3.20 Commissioning of a 2-pole resolver as absolute encoder 3.20 Commissioning of a 2-pole resolver as absolute encoder Description You can use 2-pole (1 pole pair) resolvers as singleturn absolute encoders. The absolute encoder position actual value is provided in Gn_XIST2 (r0483[x]). Actual position value format The factory setting for the fine resolution of Gn_XIST1 differs from the fine resolution in Gn_XIST2 (p0418 = 11, p0419 = 9).
  • Page 282: Temperature Sensors For Sinamics Components

    Commissioning 3.21 Temperature sensors for SINAMICS components 3.21 Temperature sensors for SINAMICS components WARNING Danger to life due to electric shock in the event of voltage flashovers on the temperature sensor cable Voltage flashovers to the signal electronics can occur in motors without safe electrical separation of the temperature sensors.
  • Page 283 Commissioning 3.21 Temperature sensors for SINAMICS components Module Interface Signal name Technical specifications TM120 X524 (terminal) -Temp Temperature sensor connection +Temp KTY84-1C130/PTC/PT1000/ bi- metallic switch with NC contact -Temp For linear motor applications, here +Temp the motor temperature sensor -Temp Connect KTY84-1C130/PT1000 +Temp -Temp...
  • Page 284 Commissioning 3.21 Temperature sensors for SINAMICS components Module Interface Signal name Technical specifications Active Line Module Booksize +Temp Active Line Module temperature X21 (terminal) -Temp sensor Temperature switch type: bimetal- Chassis +Temp lic switch with NC contact X41 (terminal) -Temp Smart Line Module Booksize +Temp...
  • Page 285 Commissioning 3.21 Temperature sensors for SINAMICS components The parameterization of the motor temperature evaluation via the sub D socket X520 must be performed in the expert list as follows: ● p0600[0...n]: Selection of the encoder (1, 2 or 3) to which the SMC30 that is used for the temperature evaluation, is assigned (n = motor data set).
  • Page 286 The parameterization of the temperature evaluation via terminal X210 or sub D socket X220 is performed using two temperature channels. p0600 = 11: Temperature sensor via Motor Module For the SINAMICS S120 AC Drive (AC/AC) and if Control Unit Adapter CUA31/CUA32 is used, the temperature sensor connection is on the adapter (X210). TM31 A Terminal Module 31 (TM31) is used when additional digital and analog inputs/outputs are required.
  • Page 287 Commissioning 3.21 Temperature sensors for SINAMICS components TM120 If the temperature sensors in the installed motors do not have protective separation, then you require a Terminal Module 120 (TM120). Up to 4 different temperature sensors can be connected to the TM120. The TM120 senses the temperature values, evaluates them, and sends them via DRIVE-CLiQ to the Control Unit.
  • Page 288 To do this, short-circuit the sensor cable as close as possible to the sensor. The technique is described in the SINAMICS S120/150 List Manual in p4109[0...11]. The measured cable resistance is then taken into account when evaluating the temperature.
  • Page 289 Commissioning 3.21 Temperature sensors for SINAMICS components SME20 The evaluation of KTY, PT1000, or PTC temperature sensors can be parameterized using the STARTER screen (Messages and monitoring > Motor temperature): ● Temperature sensor selection (≙ p0600[0...n]): Selection of the source to which the SME module is assigned (temperature sensor via encoder (1, 2 or 3), temperature sensor via BICO interconnections or temperature sensor via Motor Module).
  • Page 290 Commissioning 3.21 Temperature sensors for SINAMICS components Diagnostic parameters r0458[0...2] Sensor Module properties Index [0...2]: Encoder 1...encoder 3 Parameter r0458 allows the following properties to be queried at the temperature sensor modules: Feature Temperature sensor connection present Connection for PTC for motors with DRIVE-CLiQ also present Module temperature available Evaluation set up across several temperature channels Selection of several temperature channels p4601 ...
  • Page 291 Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - thermal monitoring motor, • 8016 Mot_temp ZSW F/A Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Motor temperature • r0035 Sensor Module properties • r0458[0...2] Motor temperature sensor for monitoring •...
  • Page 292: Basic Operator Panel 20 (bop20)

    Faults can be diagnosed as well as acknowledged. The BOP20 is snapped onto the Control Unit. To do this, the blanking cover must be removed (for additional information on mounting, please refer to the SINAMICS S120 Manual Control Units and Supplementary System Components). STARTER Commissioning Manual...
  • Page 293 Commissioning 3.22 Basic Operator Panel 20 (BOP20) Displays and keys Image 3-99 Overview of displays and keys Information on the displays Table 3- 28 Display Meaning top left The active drive object of the BOP is displayed here. 2 positions The displays and key operations always refer to this drive object.
  • Page 294 Commissioning 3.22 Basic Operator Panel 20 (BOP20) Information on the keys Table 3- 29 Keys Name Meaning Powering up the drives for which the command "ON/OFF1" should come from the BOP. Binector output r0019.0 is set using this key. Powering down the drives for which the commands "ON/OFF1", "OFF2" or "OFF3" should come from the BOP.
  • Page 295 The following applies to the "P" and "FN" keys: When used in a combination with another key, "P" or "FN" must be pressed first and then • the other key. Overview of important parameters (see SINAMICS S120/S150 List Manual) All drive objects BOP status display selection • p0005[0...1] BOP status display mode •...
  • Page 296: Displays And Using The Bop20

    Commissioning 3.22 Basic Operator Panel 20 (BOP20) 3.22.1.2 Displays and using the BOP20 Features ● Status indicator ● Changing the active drive object ● Displaying/changing parameters ● Displaying/acknowledging faults and alarms ● Controlling the drive using the BOP20 Status indicator The operating display for each drive object can be set using p0005 and p0006.
  • Page 297 Commissioning 3.22 Basic Operator Panel 20 (BOP20) Parameter display The parameters are selected in the BOP20 using the number. The parameter display is reached from the operating display by pressing the "P" key. Parameters can be searched for using the arrow keys. The parameter value is displayed by pressing the "P" key again. You can toggle between the drive objects by simultaneously pressing the "FN"...
  • Page 298 Commissioning 3.22 Basic Operator Panel 20 (BOP20) Value display To switch from the parameter display to the value display, press the "P" key. In the value display, the values of the adjustable parameters can be increased and decreased using the arrow.
  • Page 299 Commissioning 3.22 Basic Operator Panel 20 (BOP20) Example: Changing a parameter Precondition: The appropriate access level is set (for this particular example, p0003 = 3). Image 3-102 Example: Changing p0013[4] from 0 to 300 STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 300 Commissioning 3.22 Basic Operator Panel 20 (BOP20) Example: Changing binector and connector input parameters For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected. Image 3-103 Example: Changing indexed binector parameters STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 301: Fault And Alarm Displays

    Commissioning 3.22 Basic Operator Panel 20 (BOP20) 3.22.1.3 Fault and alarm displays Displaying faults Image 3-104 Faults Displaying alarms Image 3-105 Alarms STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 302: Controlling The Drive Using The Bop20

    Commissioning 3.22 Basic Operator Panel 20 (BOP20) 3.22.1.4 Controlling the drive using the BOP20 When commissioning the drive, it can be controlled via the BOP20. A control word is available on the Control Unit drive object (r0019) for this purpose, which can be interconnected with the appropriate binector inputs of e.g.
  • Page 303 Commissioning 3.22 Basic Operator Panel 20 (BOP20) Copy RAM to ROM You can initiate the saving of all parameters to the non-volatile memory (memory card) in the drive object CU: ● Press the P key for 3 seconds, ● p0009 = 0 ●...
  • Page 304 Commissioning 3.22 Basic Operator Panel 20 (BOP20) STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 305: Diagnostics

    Diagnostics This chapter describes the following diagnostic features of the SINAMICS S drive system: ● Diagnostics via LEDs ● Diagnostics via STARTER ● Diagnostic buffer ● Diagnostics of uncommissioned axes ● Fault and alarm messages ● Encoder troubleshooting STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 306: Diagnostics Via Leds

    Diagnostics 4.1 Diagnostics via LEDs Diagnostics via LEDs 4.1.1 Control Units 4.1.1.1 Description of the LED states of a CU320-2 The various states of the Control Units CU320-2 DP and CU320-2 PN during power-up and during operation are displayed using LEDs on the Control Unit. The duration of the individual statuses varies.
  • Page 307 Diagnostics 4.1 Diagnostics via LEDs State Comment FW checked – (no CRC error) Red flashing Red flash- FW checked CRC invalid • light 0.5 Hz ing light 0.5 (CRC error) Table 4- 3 Firmware State Comment Orange Initializing – Alternating Running See the table below Control Unit 320-2 DP in operation...
  • Page 308 Diagnostics 4.1 Diagnostics via LEDs Color State Description, cause Remedy Green/ Flashing Component detection via LED is activated – orange light (p0124[0]). 2 Hz Note: red/ Both options depend on the LED status when orange component recognition is activated via p0124[0] = –...
  • Page 309 Diagnostics 4.1 Diagnostics via LEDs Control Unit 320-2 PN while powering up Table 4- 5 Load software Status Comment Orange Orange Reset Hardware reset RDY LED lights up red, all other LEDs light up orange BIOS loaded – Red flashing BIOS error Error occurred while loading the BIOS •...
  • Page 310 Diagnostics 4.1 Diagnostics via LEDs Control Unit 320-2 PN in operation Table 4- 7 Control Unit CU320-2 PN – Description of the LEDs after booting Color State Description, cause Remedy – The electronics power supply is missing or outside Check power supply (READY) the permissible tolerance range.
  • Page 311: Description Of The Led States Of A Cu310-2

    Diagnostics 4.1 Diagnostics via LEDs Color State Description, cause Remedy Flashing Bus fault, Adapt configuration between light incorrect parameter assignment/configuration. controller and devices 0.5 Hz Flashing Cyclic bus communication has been interrupted or Remove the fault light could not be established. 2 Hz –...
  • Page 312 Diagnostics 4.1 Diagnostics via LEDs Control Unit 310-2 DP while powering up Table 4- 9 Load software State Comment OUT > 5V Orange Orange Orange Orange POWER ON All LEDs light up for approx. 1 s Hardware After pressing the RESET button the reset LEDs light up for approx.
  • Page 313 Diagnostics 4.1 Diagnostics via LEDs Color State Description / cause Remedy Flashing light 2 Writing to the memory card. Flashing light General errors Check parameter 2 Hz assign- ment/configuration Red/green Flashing light The control unit is ready for operation, but there Install the missing 0.5 Hz are no software licenses.
  • Page 314 Diagnostics 4.1 Diagnostics via LEDs Control Unit 310-2 PN while powering up Table 4- 12 Load software State Comment OUT>5V Orange Orange Orange Orange POWER ON All LEDs light up for approx. 1 s Hardware reset After pressing the RESET button the LEDs light up for approx.
  • Page 315 Diagnostics 4.1 Diagnostics via LEDs Color State Description / cause Remedy Flashing light General errors Check parameter 2 Hz assignment/ configuration Red/green Flashing light The control unit is ready for operation, but there Install the missing 0.5 Hz are no software licenses. licenses.
  • Page 316: Power Units

    Diagnostics 4.1 Diagnostics via LEDs 4.1.2 Power units 4.1.2.1 Safety instructions for diagnostic LEDs of the power units WARNING Danger to life if the fundamental safety instructions and residual risks are not carefully observed The non-observance of the fundamental safety instructions and residual risks stated in Chapter 1 can result in accidents with severe injuries or death.
  • Page 317: Basic Line Module Booksize

    Diagnostics 4.1 Diagnostics via LEDs State Description, cause Remedy Ready DC link Green / red – Firmware is being downloaded. – flashing light 0.5 Hz Green / red – Firmware download is complete. Wait for POWER ON. Carry out a POWER ON flashing light 2 Hz Green /...
  • Page 318: Smart Line Modules Booksize 5 Kw And 10 Kw

    Diagnostics 4.1 Diagnostics via LEDs 4.1.2.4 Smart Line Modules booksize 5 kW and 10 kW Table 4- 17 Meaning of the LEDs at the Smart Line Modules 5 kW and 10 kW Color State Description, cause Remedy READY – Electronic power supply is missing or outside permissi- –...
  • Page 319: Single Motor Module / Double Motor Module / Power Module

    Diagnostics 4.1 Diagnostics via LEDs State Description, cause Remedy Ready DC link Green / red – Firmware download is complete. Wait for POWER ON. Carry out a POWER ON flashing light 2 Hz Green / – Component detection via LED is activated (p0124). –...
  • Page 320: Braking Module In Booksize Format

    Diagnostics 4.1 Diagnostics via LEDs 4.1.2.7 Braking Module in booksize format Table 4- 20 Meaning of the LEDs on the Braking Module booksize Color State Description, cause Remedy READY – Electronic power supply is missing or outside permissible – tolerance range. Component deactivated via terminal.
  • Page 321: Motor Module Booksize Compact Format

    Both options depend on the LED status when component red/orange recognition is activated using the parameter. See SINAMICS S120/S150 List Manual for the parameters to activate the recognition of components via LED STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 322: Control Interface Module In The Active Line Module Chassis Format

    DC link voltage < 100 V and voltage at -X9:1/2 less than 12 V. The component is ready for operation. Flashing There is a fault. If the LED continues to flash after you have performed a light POWER ON, please contact your Siemens service center. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 323: Control Interface Module In The Basic Line Module Chassis Format

    DC link voltage < 100 V and voltage at -X9:1/2 less than 12 V. The component is ready for operation. Flashing There is a fault. If the LED continues to flash after you have performed a light POWER ON, please contact your Siemens service center. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 324: Control Interface Module In The Smart Line Module Chassis Format

    DC link voltage < 100 V and voltage at -X9:1/2 less than 12 V. The component is ready for operation. Flashing There is a fault. If the LED continues to flash after you have performed a light POWER ON, please contact your Siemens service center. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 325: Control Interface Module In The Motor Module Chassis Format

    DC link voltage < 100 V and voltage at -X9:1/2 less than 12 V. The component is ready for operation. Flashing There is a fault. If the LED continues to flash after you have performed a light POWER ON, please contact your Siemens service center. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 326: Control Interface Module In The Power Module Chassis Format

    DC link voltage < 100 V and voltage at -X9:1/2 less than 12 V. The component is ready for operation. Flashing There is a fault. If the LED continues to flash after you have performed a light POWER ON, please contact your Siemens service center. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 327: Additional Modules

    Diagnostics 4.1 Diagnostics via LEDs 4.1.3 Additional modules 4.1.3.1 Control Supply Module Table 4- 33 Control Supply Module – description of the LEDs Color State Description, cause Remedy READY – Electronic power supply is missing or outside permissible – tolerance range. Green Continuous Component is ready to operate.
  • Page 328: Sensor Module Cabinet Smc30

    Power supply > 5 V The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual 4.1.3.4 Sensor Module Cabinet SMC40 Table 4- 36 Meaning of the LEDs on the Sensor Module Cabinet-Mounted SMC40...
  • Page 329: Communication Board Cbc10 For Canopen

    Both options depend on the LED status when component Red/ recognition is activated. orange The parameter for activating component recognition can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual Each channel has a multifunction LED. 4.1.3.5 Communication Board CBC10 for CANopen Table 4- 37...
  • Page 330: Communication Board Ethernet Cbe20

    Diagnostics 4.1 Diagnostics via LEDs 4.1.3.6 Communication Board Ethernet CBE20 Meaning of the LEDs on the CBE20 Communication Board Ethernet Table 4- 38 Meaning of the LEDs at ports 1 to 4 of the X1400 interface Color Status Description Link port –...
  • Page 331 Diagnostics 4.1 Diagnostics via LEDs Table 4- 40 Meaning of the OPT LED on the Control Unit Color Status Description, cause Remedy – The electronics power supply is missing or outside the per- – missible tolerance range. CBE20 either defective or not inserted. Green Continu- CBE20 is ready and cyclic communication is taking place.
  • Page 332: Communication Board Ethernet Cbe25

    Diagnostics 4.1 Diagnostics via LEDs 4.1.3.7 Communication Board Ethernet CBE25 Meaning of the LEDs on the Communication Board Ethernet CBE25 Table 4- 41 Meaning of the LEDs on Ethernet ports 1-2 Color State Description Link port – Electronics power supply is missing or outside the permissible tolerance range (link missing or defective).
  • Page 333 Diagnostics 4.1 Diagnostics via LEDs Table 4- 43 Meaning of the OPT LED on the Control Unit Color State Description, cause Remedy – The electronics power supply is missing or outside the per- – missible tolerance range. Communication Board either defective or not inserted. Green Continuous Communication Board is ready and cyclic communication is...
  • Page 334: Voltage Sensing Module Vsm10

    Diagnostics 4.1 Diagnostics via LEDs 4.1.3.8 Voltage Sensing Module VSM10 Table 4- 44 Meanings of the LEDs on the Voltage Sensing Module VSM10 Color Status Description, cause Remedy READY – The electronics power supply is missing or outside the per- –...
  • Page 335: Terminal Module

    Both options depend on the LED status when component recognition is activated. Red/orange The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 336: Terminal Module Tm31

    Red/ orange The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual 4.1.4.3 Terminal Module TM120 Table 4- 48 Meaning of the LEDs on the Terminal Module TM120...
  • Page 337: Terminal Module Tm150

    2 Hz recognition is activated. orange The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual 4.1.4.4 Terminal Module TM150 Table 4- 49 Meaning of the LEDs at the Terminal Module TM150...
  • Page 338: Terminal Module Tm41

    The zero mark is output at each virtual revolution. – light The parameters for activating component recognition using LEDs can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 339: Terminal Module Tm54f

    Diagnostics 4.1 Diagnostics via LEDs 4.1.4.6 Terminal Module TM54F Table 4- 51 Meaning of the LEDs on the Terminal Module TM54F Color Status Description, cause Remedy READY The electronics power supply is missing or outside the – permissible tolerance range. Green Continuous The component is ready for operation, cyclic DRIVE-...
  • Page 340 Both output lines y+ and y- carry no signal – light Inputs x+1 (DI 1+, 3+, .. 19+) can be individually set using a parameter Additional information can be taken from the following reference: Reference: /LH1/ SINAMICS S120/S150 List Manual STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 341: Diagnostics Via Starter

    Diagnostics 4.2 Diagnostics via STARTER Diagnostics via STARTER The diagnostic functions support commissioning and service personnel during commissioning, troubleshooting, diagnostics and service activities. Precondition ● Online operation of the STARTER commissioning tool. Diagnostic functions The following diagnostic functions are available in the STARTER commissioning tool: ●...
  • Page 342 Diagnostics 4.2 Diagnostics via STARTER Properties ● Operating modes of the ramp-function generator for SERVO and VECTOR drive types: – Connector output ● Operating modes of the function generator for a SERVO drive: – Speed setpoint downstream of filter (speed setpoint filter) –...
  • Page 343 Diagnostics 4.2 Diagnostics via STARTER Further signal shapes Additional signal waveforms can be generated. Example: The "triangular" signal form can be parameterized with "upper limitation" to produce a triangle with no peak. Image 4-2 "Triangular" signal without peak Parameterizing and operating the ramp-function generator You operate and parameterize the function generator using the STARTER commissioning tool.
  • Page 344 Diagnostics 4.2 Diagnostics via STARTER Starting/stopping the ramp-function generator NOTICE Damage to property due to unexpected movements while the function generator is active Some monitoring functions are deactivated when the function generator is activated. Incorrect parameterization of the function generator can result in unexpected movements of the motor, which damage the machine.
  • Page 345: Trace Function

    Diagnostics 4.2 Diagnostics via STARTER 4.2.2 Trace function 4.2.2.1 Single trace You can use the trace function to record measured values over a defined period, depending on trigger conditions. Alternatively, the measured values can also be recorded using immediate recording. In the STARTER commissioning tool you can parameterize the trace function by using the "Trace"...
  • Page 346 Diagnostics 4.2 Diagnostics via STARTER Parameterizing and using the trace function Note Detailed information on how to parameterize and operate the trace function is available in the STARTER online help in Chapter "Trace, measuring functions and automatic controller setting". Image 4-5 Trace function The unit cycle time display flashes 3 times at around 1 Hz when the time slice is changed from <...
  • Page 347 When more than 4 channels per single trace are used, the trace's device clock cycle is switched automatically from 0.125 ms (0.250 ms for vector control) to 4 ms. As a consequence, the performance of the SINAMICS S120 is not influenced too strongly by the trace function.
  • Page 348: Multiple Trace

    Diagnostics 4.2 Diagnostics via STARTER 4.2.2.2 Multiple trace A multiple trace consists of individual, completed consecutive traces. Using multiple tracing on a card, it is possible to cyclically record (a specific number) traces with the same trace configuration (number of channels, sample depth, recording cycle,..), and to save these traces persistently on the drive memory card.
  • Page 349 Diagnostics 4.2 Diagnostics via STARTER Activating a multiple trace Note The multiple trace can be activated or set separately for each trace recorder. 1. In STARTER, click the symbol (device trace-function generator). The "Trace" parameterizing screen form is then displayed. Image 4-6 Multiple trace in STARTER 2.
  • Page 350: Startup Trace

    Diagnostics 4.2 Diagnostics via STARTER Sequence of multiple trace 1. A multiple trace is started just like a conventional single trace using the STARTER "Trace" screen form. 2. The multiple trace component saves the measurement result after the trigger condition has occurred and the trace data has been completely recorded.
  • Page 351 Diagnostics 4.2 Diagnostics via STARTER Configure startup trace 1. In STARTER, click the symbol (device trace-function generator). The "Trace" parameterizing screen form is then displayed. Image 4-8 Startup trace in STARTER 2. Activate the "Save the recording in the device" option. 3.
  • Page 352: Overview Of Important Alarms And Faults

    After the drive restarts, a new trace is immediately started (without any additional user action). 4.2.2.4 Overview of important alarms and faults Overview of important alarms and faults (see SINAMICS S120/S150 List Manual) MTrace 1: multiple trace cannot be activated • A02097 MTrace 1: cannot be saved •...
  • Page 353: Measuring Function

    Diagnostics 4.2 Diagnostics via STARTER 4.2.3 Measuring function The measuring function is used for optimizing the drive controller. By parameterizing the measuring function, the impact of superimposed control loops can be suppressed selectively and the dynamic response of the individual drives analyzed. The ramp-function generator and trace function are linked for this purpose.
  • Page 354 Diagnostics 4.2 Diagnostics via STARTER Measuring functions ● Speed controller reference frequency response (downstream of the speed setpoint filter) ● Speed controller path (excitation downstream of current setpoint filter) ● Speed controller interference frequency response (fault downstream of the current setpoint filter) ●...
  • Page 355: Measuring Sockets

    Diagnostics 4.2 Diagnostics via STARTER Parameterization The "Measurement function" parameterizing screen form is selected via the following symbol in the toolbar of the STARTER commissioning tool. 4.2.4 Measuring sockets The 3 measuring sockets are used to output analog signals. Any interconnectable analog signal can be output at each measuring socket on the Control Unit.
  • Page 356 Diagnostics 4.2 Diagnostics via STARTER Parameterizing and using the measuring sockets The measuring sockets are parameterized and operated via the STARTER commissioning tool. You can access the operating window for the measuring sockets in the project window under "Control Unit" > "Inputs/outputs". In the inputs/outputs window, click the "Test sockets" tab.
  • Page 357 Signal chart for measuring sockets The signal characteristic for measuring sockets is shown in function diagram 8134 (see SINAMICS S120/S150 List Manual). Which signal can be output via measuring sockets? The signal to be output via a measuring socket is specified by parameterizing the connector input p0771[0...2].
  • Page 358 Interconnect the connector input (CI) belonging to the measuring socket with the desired connector output (CO): CI: p0771[1] = CO: r0063 3. Parameterize the signal characteristic (scaling, offset, limitation). Function diagrams (see SINAMICS S120/S150 List Manual) Diagnostics - measuring sockets (T0, T1, T2) • 8134 STARTER Commissioning Manual...
  • Page 359 Diagnostics 4.2 Diagnostics via STARTER Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameters CI: Measuring sockets signal source • p0771[0...2] Measuring sockets characteristic value x1 • p0777[0...2] Measuring sockets characteristic value y1 • p0778[0...2] Measuring sockets characteristic value x2 •...
  • Page 360: Diagnostic Buffer

    Diagnostics 4.3 Diagnostic buffer Diagnostic buffer The diagnostic buffer can be used to log important operating events as a logbook. (Restriction: The availability of the diagnostics buffer mechanism is also dependent on the hardware release of the Control Unit). The diagnostic buffer is in the non-volatile memory, so data written to it can be read out for subsequent analysis of a malfunction (including pre-history).
  • Page 361 Diagnostics 4.3 Diagnostic buffer Booting procedures and booting status changes In principle, only start and completion are recorded for booting procedures. Booting status (see r3988) are only recorded when an end status arises that can only be exited by user action (r3988 = 1, 10, 200, 250, 325, 370, 800).
  • Page 362 Diagnostics 4.3 Diagnostic buffer Communication (PROFIBUS, PROFINET, ...) ● PZD <IF1 or IF2> cyclic data exchange started ● PZD <IF1 or IF2> cyclic data exchange completed ● Changeover to UTC time for operating hours count status <Days> <Milliseconds> ● Time correction (correct) by <correction value> seconds Exceptions Exceptions can be taken from the crash diagnostics already available in the new boot run.
  • Page 363: Diagnostics Of Uncommissioned Axes

    For a 400 V unit, for example, the voltage p0210 is always initialized with 400 V. Although it is possible to switch on when connected to all line supplies from 380 V to 480 V, operation is not always optimal and/or alarm messages are displayed (see SINAMICS S120/S150 List Manual).
  • Page 364 A drive is considered to have been commissioned when in every drive data set (DDS) the motor and encoder data sets have been assigned valid data: ● Motor data sets (MDS): p0131, p0300, p0301 etc. (see SINAMICS S120/S150 List Manual) ● Encoder data sets (EDS): p0141, p0142, p0400 etc. (see SINAMICS S120/S150 List Manual) After parameterizing the motor and encoder data via quick commissioning (p0010 = 1 ->0) use p3900 "completion of quick commissioning"...
  • Page 365 Diagnostics 4.4 Diagnostics of uncommissioned axes Example The image below shows a diagram of the diagnostic performance of uncommissioned infeeds and drives. A configuration with one power unit (DO2) and respectively two DDSs, MDSs and EDSs has been assumed. DO1 represents the CU. The unit has already been commissioned.
  • Page 366: Fault And Alarm Messages

    The individual faults and alarms are described in Chapter "Faults and alarms" in the SINAMICS S120/S150 List Manual. Function diagrams for the fault buffer, alarm buffer, fault trigger and fault configuration are also contained in the Section "Function diagrams" - "Faults and alarms".
  • Page 367: Buffer For Faults And Alarms

    Diagnostics 4.5 Fault and alarm messages Acknowledging faults The list of faults and alarms specifies how each fault is acknowledged after the cause has been remedied. ● Acknowledgement of faults by "POWER ON" – Switch the drive on/off (POWER ON) –...
  • Page 368 Diagnostics 4.5 Fault and alarm messages Note The entry in the fault/alarm buffer is made after a delay. For this reason, the fault/alarm buffer should not be read until a change in the buffer is also recognized (r0944, r2121) after "Fault active"/"Alarm active"...
  • Page 369 Diagnostics 4.5 Fault and alarm messages Properties of the fault buffer: ● A new fault incident encompasses one or more faults and is entered in "Current fault incident". ● The entries are arranged in the buffer according to the time at which they occurred. ●...
  • Page 370 Diagnostics 4.5 Fault and alarm messages Alarm buffer, alarm history An alarm in the alarm buffer comprises the alarm code, the alarm value and the alarm time (received, resolved). The alarm history occupies the last indices ([8...63]) of the parameter. Image 4-15 Structure of alarm buffer Alarms that occur are entered in the alarm buffer as follows:...
  • Page 371: Configuring Messages

    Diagnostics 4.5 Fault and alarm messages Properties of the alarm buffer/alarm history: ● The alarms in the alarm buffer are arranged from 7 to 0 according to the time that they occurred. In the alarm history, this is from 8 to 63. ●...
  • Page 372 Diagnostics 4.5 Fault and alarm messages 19 message types per drive object can be changed. Note If BICO interconnections exist between drive objects, all interconnected objects must be configured. Example: The TM31 has BICO interconnections with drive 1 and 2 and F35207 is to be reconfigured as an alarm.
  • Page 373 Diagnostics 4.5 Fault and alarm messages External triggering messages If the appropriate binector input is interconnected with an input signal, fault 1, 2 or 3 or alarm 1, 2 or 3 can be triggered via an external input signal. Once an external fault (1 to 3) has been triggered on the Control Unit drive object, this fault is also present on all associated drive objects.
  • Page 374: Overview Of Important Function Diagrams And Parameters

    Diagnostics 4.5 Fault and alarm messages 4.5.4 Overview of important function diagrams and parameters Overview of important function diagrams (see SINAMICS S120/S150 List Manual) Diagnosis - Overview • 8050 Diagnostics - fault buffer • 8060 Diagnostics - alarm buffer • 8065 Diagnostics - faults/alarms trigger word (r2129) •...
  • Page 375: Propagation Of Faults

    Diagnostics 4.5 Fault and alarm messages 4.5.5 Propagation of faults In the case of faults that are, for example, triggered by the Control Unit or a Terminal Module, central functions of the drive are also often affected. As a result of propagation, faults that are triggered by one drive object are therefore forwarded to other drive objects.
  • Page 376: Alarm Classes

    Information on alarm classes are described in status word ZSW2 at bit positions bit 5/6 (for SINAMICS) or bit 11/12 (SIMODRIVE 611) (see also "ZSW2" in Chapter "Cyclic communication" for PROFIdrive communication in the SINAMICS S120 Function Manual Drive Functions).
  • Page 377 Diagnostics 4.5 Fault and alarm messages Explanations of the alarm classes ● Alarm class A: Drive operation currently not limited – E.g. alarm when measurement systems inactive – No limitation on current movement – Prevent possible switching to the defective measuring system ●...
  • Page 378: Troubleshooting For Encoders

    Diagnostics 4.6 Troubleshooting for encoders Troubleshooting for encoders If an encoder fault is present, it can be acknowledged separately according to encoder channels in a PROFIdrive telegram via the encoder interface (Gn_STW.15) or the drive interface of the appropriate drive object. Configuration example: 2-encoder system ●...
  • Page 379 Diagnostics 4.6 Troubleshooting for encoders Image 4-16 Encoder fault handling Alarm A: The alarm is cancelled immediately, if the encoder fault was able to be acknowledged. Fault F: The fault remains active at the drive object until it is acknowledged via the cyclic interface. STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 380 Diagnostics 4.6 Troubleshooting for encoders Cyclic acknowledgement Acknowledgement using the encoder interface (Gn_STW.15) The following responses are possible: ● The encoder is set to fault-free if a fault is no longer active. The fault bit in the encoder interface is acknowledged. The evaluation modules indicate RDY LED = green after acknowledgement.
  • Page 381: Appendix

    Appendix List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 382 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 383 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 384 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 385 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 386 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 387 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 388 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 389 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 390 Appendix A.1 List of abbreviations STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 391: Documentation Overview

    Appendix A.2 Documentation overview Documentation overview STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 392: Availability Of Hardware Components

    Appendix A.3 Availability of hardware components Availability of hardware components Table A- 1 Hardware components available as of 03.2006 Hardware component Article number Version Revisions AC Drive (CU320, PM340) refer to the Catalog SMC30 6SL3055-0AA00-5CA1 With SSI support DMC20 6SL3055-0AA00-6AA. TM41 6SL3055-0AA00-3PA.
  • Page 393 Appendix A.3 Availability of hardware components Hardware component Article number Version Revisions Motor Modules booksize com- 6SL3420-1TE13-0AA. pact 6SL3420-1TE15-0AA. 6SL3420-1TE21-0AA. 6SL3420-1TE21-8AA. 6SL3420-2TE11-0AA. 6SL3420-2TE13-0AA. 6SL3420-2TE15-0AA. Power Modules blocksize liquid 6SL3215-1SE23-0AA. cooled 6SL3215-1SE26-0AA. 6SL3215-1SE27-5UA. 6SL3215-1SE31-0UA. 6SL3215-1SE31-1UA. 6SL3215-1SE31-8UA. Reinforced DC-link busbars for 6SL3162-2DB00-0AA. 50 mm components Reinforced DC-link busbars for 6SL3162-2DD00-0AA.
  • Page 394 Appendix A.3 Availability of hardware components Table A- 6 Hardware components available as of 04.2011 Hardware component Article number Version Revisions S120 Combi three axes 6SL3111-3VE21-6FA0 Power Module 6SL3111-3VE21-6EA0 6SL3111-3VE22-0HA0 S120 Combi four axes 6SL3111-4VE21-6FA0 Power Module 6SL3111-4VE21-6EA0 6SL3111-4VE22-0HA0 S120 Booksize Compact power 6SL3420-1TE13-0AA0 units 6SL3420-1TE15-0AA0...
  • Page 395 Appendix A.3 Availability of hardware components Table A- 10 Hardware components available as of 04.2014 Hardware component Article number Version Revisions S120 Combi: 6SL3111-4VE21-0EA New power unit Four axis Power Modules with high amperage: 24 A, 12 A, 12 A, 12 A Power Module PM240-2 6SL321.-.P..-..
  • Page 396 Appendix A.3 Availability of hardware components Table A- 13 Hardware components available as of 07.2016 Hardware component Article number Version Changes PM240-2 Power Module 6SL321.-.P..-..FSD, FSE and FSF for 200 V, 400 V and 690 V TM31 Terminal Module 6SL3055-0AA00-3AA1 Revised TM41 Terminal Module...
  • Page 397: Availability Of Sw Functions

    Permanent-magnet synchronous motors can be controlled down to zero speed without having to use an encoder "SINAMICS Link": Direct communication between several SINAMICS S120 Safety Integrated: Control of the Basic Functions via PROFIsafe • SLS without encoder for induction motors •...
  • Page 398 Appendix A.4 Availability of SW functions Table A- 15 New functions, firmware 4.4 SW function SERVO VECTOR HW component Safety Integrated functions SDI (Safe Direction) for induction motors (with and without • encoder), for synchronous motors with encoder. Supplementary condition for Safety without encoder (for induc- •...
  • Page 399 Appendix A.4 Availability of SW functions SW function SERVO VECTOR HW component Expansion of the number of process data words for infeeds up to 10 words for the send and receive directions Safety Integrated functions CU310-2 safety functionality via terminals and PROFIsafe Permanent activation of the speed limit and the safe direction of rotation without PROFIsafe or TM54F Safely Limited Position (SLP)
  • Page 400 Extension of the safe gearbox switchover Execute test stop automatically during ramp-up Safety Integrated Extended Functions with two TTL/HTL encoders for booksize and blocksize Uniform behavior for component replacement SINAMICS S120 hydraulic drive with Safety Integrated STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 401 Appendix A.4 Availability of SW functions Table A- 19 New functions, firmware 4.8 Software function SERVO VECTOR Hardware component Synchronous reluctance motors Moment of inertia precontrol of the moment of inertia estimator Expansion of the thermal motor models Communication via MODBUS TCP PROFINET system redundancy Expansion of SINAMICS Link functionality Optimization of the web server functionality...
  • Page 402 Appendix A.4 Availability of SW functions STARTER Commissioning Manual Commissioning Manual, (IH1), 07/2016, 6SL3097-4AF00-0BP5...
  • Page 403: Index

    Index Torque motors, 237 Torque motors checklist, 237 With STARTER, 84 Commutation angle offset Acknowledgment, 367 Check, 205, 206, 207, 212, 260, 260, 261, 266 Actual position value format Incorrect commutation, 204, 258 2-pole resolver, 281 Measurement results, 214, 268 Alarm buffer, 370 Parameterization, 204, 258 Alarm classes...
  • Page 404 Index DRIVE-CLiQ Hub Module DMC20, 334 Motor Module booksize compact, 321 Fault buffer, 368 Motor Modules, 319 Fault value, 368 Sensor Module Cabinet 10, 327 Faults, 366 Sensor Module Cabinet 20, 327 Acknowledge, 367 Sensor Module Cabinet SMC30, 328 Configuring, 371 Sensor Module Cabinet SMC40, 328 Fault buffer, 368 Smart Line Module Booksize Compact, 320...
  • Page 405 Index Terminal Module TM120, 336 Terminal Module TM15, 335 Parallel connection Terminal Module TM150, 337 Linear motors, 218 Terminal Module TM31, 336 Torque motors, 272 Terminal Module TM41, 338 Parameterizing Terminal Module TM54F, 339 Calculating controller data, 191, 245 Voltage Sensing Module VSM10, 334 Commutation angle offset, 204, 258 Line protection, 33 Complete, 198, 252...
  • Page 406 Index SINAMICS Support Package, 171 Singleturn absolute encoder, 281 User interface, 85 SME12x Sensor Module External, 200, 254 Sockets for measurement, 355 SSI encoder, 274 Encoder identification, 278 Moving the axis by the converter, 279 Vector Moving the axis manually, 278 Permanent-magnet synchronous motors, 225 SSP, 171 STARTER, 84...

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