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SINAMICS S120
Function Manual · 01/2012
SINAMICS
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   Summary of Contents for Siemens Sinamics S120

  • Page 1 SINAMICS S120 Function Manual · 01/2012 SINAMICS...
  • Page 3 ___________________ Drive functions Foreword ___________________ Infeed ___________________ Extended setpoint channel SINAMICS ___________________ Servo control S120 ___________________ Drive functions Vector control ___________________ U/f control (vector control) Function Manual ___________________ Basic functions ___________________ Function modules Monitoring and protective ___________________ functions Safety Integrated basic ___________________ functions ___________________...
  • 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: Foreword

    Siemens' content, and adapt it for your own machine documentation: http://www.siemens.com/mdm Training Under the following link there is information on SITRAIN - training from Siemens for products, systems and automation engineering solutions: http://www.siemens.com/sitrain FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support: http://support.automation.siemens.com...
  • Page 6 SIZER Configuration Tool • Configuration Manuals, Motors • Deciding/ordering SINAMICS S Catalogs Installation/assembly SINAMICS S120 Equipment Manual for Control Units and • Additional System Components SINAMICS S120 Equipment Manual for Booksize Power • Units SINAMICS S120 Equipment Manual for Chassis Power •...
  • Page 7 The EC Declaration of Conformity for the EMC Directive can be found on the Internet at: http://support.automation.siemens.com There – as a search term – enter the number 15257461 or contact your local Siemens office. Structure The Function Manual is structured as follows:...
  • Page 8 Foreword Advice for beginners: First read Chapter Basic information about the drive system (Page 701), followed by the appropriate chapter depending on the particular requirement. Search guides The following help is available for better orientation: ● Contents ● List of abbreviations ●...
  • Page 9 Foreword ESD Notes CAUTION Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices that can be damaged by electrostatic fields or electrostatic discharges. Regulations for the ESD handling: During the handling of electronic components, pay attention to the grounding of the person, workplace and packaging! Electronic components may be touched by persons only when •...
  • Page 10 Foreword Safety instructions DANGER • Commissioning is absolutely prohibited until it has been completely ensured that the machine, in which the components described here are to be installed, is in full compliance with the provisions of the EC Machinery Directive. •...
  • Page 11 Foreword CAUTION • As part of routine tests, SINAMICS devices with three-phase motors are subject to a voltage test in accordance with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of industrial machines to EN 60204-1, Section 18.4, all connectors of SINAMICS equipment must be disconnected/unplugged to prevent the equipment from being damaged.
  • Page 12 Foreword Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 13: Table Of Contents

    Contents Foreword ..............................3 Infeed ..............................21 Active Infeed ..........................21 1.1.1 Active Infeed closed-loop control booksize..................22 1.1.2 Active Infeed closed-loop control chassis..................24 1.1.3 Function diagrams and parameters .....................25 1.1.4 Line and DC link identification......................26 1.1.5 Active Infeed open-loop control ....................27 1.1.6 Reactive current control .......................30 1.1.7...
  • Page 14 Contents Current setpoint filters ......................... 85 Note about the electronic motor model ..................91 V/f control ............................ 91 3.10 Optimizing the current and speed controller ................95 3.11 Sensorless operation (without an encoder) ................97 3.12 Motor data identification ......................101 3.12.1 Motor data identification induction motor ..................
  • Page 15 Contents 4.18.3 Pole position identification ......................194 4.18.4 Function diagrams and parameters ...................196 4.19 Instructions for commissioning separately-excited synchronous motors ........196 4.20 Flying restart ..........................197 4.21 Synchronization..........................199 4.22 Voltage Sensing Module ......................200 4.23 Simulation mode ........................202 4.23.1 Description ..........................202 4.23.2 Features .............................203 4.23.3 Commissioning...........................203 4.24...
  • Page 16 Contents 6.10.2.3 Activation via OFF command ....................254 6.10.2.4 Activation via a speed threshold ....................255 6.10.3 Configuring the fault response ....................255 6.10.4 Function diagrams and parameters ..................256 6.11 Motor Module as braking module....................257 6.11.1 Features ............................ 257 6.11.2 Configuring the resistors ......................
  • Page 17 Contents 6.22.5 Limit frequencies for TM41 ......................306 6.22.6 Example in the SINAMICS mode....................307 6.22.7 Function diagrams and parameters ...................308 6.23 Upgrade the firmware and project....................309 6.23.1 Firmware/project upgrade using the STARTER ................310 6.23.2 Downgrade lock .........................312 6.24 Pulse/direction interface......................312 6.25 Derating function for chassis units .....................314 Function modules ..........................
  • Page 18 Contents 7.9.6 Function diagrams and parameters ..................398 7.10 Connecting the motors in parallel ..................... 399 7.11 Parallel connection of power units .................... 401 7.11.1 Applications of parallel connections..................403 7.11.1.1 Parallel connection of Basic Line Modules ................405 7.11.1.2 Parallel connection of Smart Line Modules................407 7.11.1.3 Parallel connection of Active Line Modules ................
  • Page 19 Contents 8.5.12 Motor Module/Power Module chassis format................447 8.5.13 CU310-2/CUA31/CUA32 ......................448 8.5.14 Motor with DRIVE-CLiQ ......................449 8.5.15 Temperature sensor evaluation ....................449 8.5.16 Function diagrams and parameters ...................450 Safety Integrated basic functions......................453 Latest information ........................453 General information ........................454 9.2.1 Explanations, standards, and terminology.................454 9.2.2 Supported functions ........................457 9.2.3...
  • Page 20 Contents 10.1.2 Cyclic communication ....................... 509 10.1.2.1 Telegrams and process data ....................509 10.1.2.2 Description of control words and setpoints ................515 10.1.2.3 MOMRED ..........................525 10.1.2.4 Description of status words and actual values................532 10.1.2.5 Control and status words for encoder ..................553 10.1.2.6 Extended encoder evaluation....................
  • Page 21 Contents 10.3.8 PROFINET with 2 controllers.....................652 10.3.8.1 Control Unit settings........................652 10.3.8.2 Configuring Shared Device ......................655 10.3.8.3 Overview of important parameters.....................664 10.3.9 PROFIenergy ..........................664 10.3.9.1 Function diagrams and parameters ...................666 10.4 Communication via SINAMICS Link ..................667 10.4.1 Basic principles of SINAMICS Link....................667 10.4.2 Topology ............................669 10.4.3...
  • Page 22 12.12.3 Rules for setting the sampling time................... 769 12.12.4 Default settings for the sampling times ..................771 12.12.5 Examples when changing sampling times / pulse frequencies..........772 12.12.6 Overview of important parameters (see SINAMICS S120/S150 List Manual)......773 12.13 Licensing ........................... 774 12.14...
  • Page 23: Infeed

    Infeed Active Infeed Features ● Controlled DC link voltage whose level can be adjusted (independent of line voltage fluctuations) ● Regenerative feedback capability ● Specific reactive current setting ● Low line harmonics, sinusoidal line current (cos φ = 1) ● Several Active Line Modules connected in parallel ●...
  • Page 24: Active Infeed Closed-loop Control Booksize

    Infeed 1.1 Active Infeed 1.1.1 Active Infeed closed-loop control booksize Schematic structure Figure 1-1 Schematic structure of Active Infeed booksize Active Infeed closed-loop control for Active Line Modules booksize The Active Line Module can be operated in two different modes depending on the parameterized line supply voltage (p0210): ●...
  • Page 25 Infeed 1.1 Active Infeed Table 1- 1 Presetting the control type and DC link voltage booksize Supply voltage p0210 [V] 380-400 401-415 416-440 Control type p3400.0 "0" = Active Mode "1" = Smart Mode Vdc_setp p3510 [V] 562-594 Voltages specified for the smart mode are derived from the rectified line supply voltage. The DC link voltage setpoint (p3510) has no effect in this control mode.
  • Page 26: Active Infeed Closed-loop Control Chassis

    Infeed 1.1 Active Infeed 1.1.2 Active Infeed closed-loop control chassis Schematic structure Figure 1-2 Schematic structure of Active Infeed chassis Operating mode of Active Infeed closed-loop control for Active Line Modules chassis. Active Line Modules chassis only function in Active Mode. In the Active Mode, the DC link voltage is regulated to a variable setpoint (p3510), which results in a sinusoidal line current (cos φ...
  • Page 27: Function Diagrams And Parameters

    ● 8920 Control word sequence control infeed ● ... ● 8964 Messages and monitoring, supply frequency and Vdc monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046 CO/BO: Missing enable signals ● p0210 Device supply voltage ●...
  • Page 28: Line And Dc Link Identification

    When the identification function is activated, alarm A06400 is output. Identification methods For additional identification methods, see the SINAMICS S120/S150 List Manual. ● p3410 = 4: An identification run for the total inductance and DC link capacitance is initiated when the pulses are next enabled (two measuring routines with different current magnitudes).
  • Page 29: Active Infeed Open-loop Control

    It may be necessary to reset the closed-loop controller to the factory settings if an identification run was unsuccessful, for example. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3410 Infeed identification method ● r3411 Infeed inductance identified ●...
  • Page 30 Infeed 1.1 Active Infeed Switching on the Active Line Module Figure 1-3 Active Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
  • Page 31 Infeed 1.1 Active Infeed Switching off the Active Line Module The Active Line Module is switched off by the same procedure used to switch it on, but in the reverse order. However, there is no pre-charging at switch off. Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This allows the attached drives to be braked in a controlled manner.
  • Page 32: Reactive Current Control

    ● 1774 Overviews - Active Infeed ● 8946 Current pre-control / current controller / gating unit (p3400.0 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3610 Infeed reactive current fixed setpoint ● p3611 CI: Infeed reactive current supplementary setpoint...
  • Page 33: Harmonics Controller

    100 % The phase currents in parameter p0069[0..2] (U, V, W) can be checked using the STARTER trace function. Overview of important parameters (see the SINAMICS S120/150 List Manual) ● p3624[0...1] Infeed harmonics controller order ● p3625[0...1] Infeed harmonics controller scaling ●...
  • Page 34 Infeed 1.2 Smart Infeed Description The firmware for the Smart Line Modules is on the Control Unit assigned to it. The Smart Line Module and Control Unit communicate via DRIVE-CLiQ. Figure 1-4 Schematic structure of Smart Infeed booksize Figure 1-5 Schematic structure of Smart Infeed chassis Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 35 ● 8850 Interface to the Smart Infeed (control signals, actual values) ● 8860 Supply voltage monitoring ● 8864 Power frequency and Vdc monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046 CO/BO: Missing enable signals ●...
  • Page 36: Line Supply And Dc Link Identification Routine For Smart Infeed Booksize

    Chassis type. Identification methods For additional identification methods, see the SINAMICS S120/S150 List Manual. ● p3410 = 4: An identification run for the total inductance and DC link capacitance is initiated when the pulses are next enabled (two measuring routines with different current magnitudes).
  • Page 37: Smart Infeed Open-loop Control

    Infeed 1.2 Smart Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3410 Infeed identification method ● p3421 Infeed inductance ● p3422 Infeed DC link capacitance 1.2.2 Smart Infeed open-loop control The Smart Line Module can be controlled via the BICO interconnection, e.g. using terminals or the fieldbus.
  • Page 38 Infeed 1.2 Smart Infeed Switching on the Smart Line Module Figure 1-6 Smart Infeed power-up Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 39 Infeed 1.2 Smart Infeed Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Switching off the Smart Line Module The Smart Line Module is switched off by the same procedure used to switch it on, but in the reverse order.
  • Page 40: Basic Infeed

    Infeed 1.3 Basic Infeed Basic Infeed Features ● For Basic Line Modules chassis and booksize ● Unregulated DC link voltage ● Intregrated control of external braking resistors with 20 kW and 40 kW Basic Line Modules (with temperature monitoring) Description The Basic Infeed open-loop control can be used to switch on/off the Basic Line Module.
  • Page 41 Infeed 1.3 Basic Infeed Figure 1-8 Schematic structure of Basic Infeed chassis Commissioning The rated line voltage (p0210) must be parameterized during commissioning. For the 20 kW and 40 kW Basic Line Modules booksize, the temperature switch of the external braking resistor must be connected to X21 on the Basic Line Module. If a braking resistor has not been connected for 20 kW and 40 kW Basic Line Modules booksize, the braking chopper must be deactivated via p3680 = 1.
  • Page 42: Function Diagrams And Parameters

    ● 8750 Interface to the Basic Infeed power unit (control signals, actual values) ● 8760 Signals and monitoring functions (p3400.0 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046 CO/BO: Missing enable signals ●...
  • Page 43: Basic Infeed Open-loop Control

    Infeed 1.3 Basic Infeed ● p0844 BI: 1. OFF2 ● r0898 CO/BO: Control word sequence control infeed ● r0899 CO/BO: Status word sequence control infeed ● p1240[0...n] Vdc controller or Vdc monitoring configuration ● p1280[0...n] Vdc controller or Vdc monitoring configuration (U/f) ●...
  • Page 44 Infeed 1.3 Basic Infeed Switching on the Basic Line Module Figure 1-9 Basic Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
  • Page 45 Infeed 1.3 Basic Infeed Switching off the Basic Line Module For switching off, carry out the steps for switching on in the reverse order. However, there is no pre-charging at switch off. Control and status messages Table 1- 7 Basic Infeed open-loop control Signal name Internal Binector input...
  • Page 46: Line Contactor Control

    Infeed 1.4 Line contactor control Line contactor control Description This function can be used to control an external line contactor. Opening and closing the line contactor can be monitored by evaluating the feedback contact in the line contactor. The line contactor can be controlled using the following drive objects: ●...
  • Page 47 ● Enter the monitoring time for the line contactor (100 ms) in p0861. Function diagrams (see SINAMICS S120/S150 List Manual) ● 8934 Missing enables, line contactor control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0860 BI: Line contactor, feedback signal ● r0863.1 CO/BO: Drive coupling status word/control word...
  • Page 48: Pre-charging And Bypass Contactor Chassis

    Infeed 1.5 Pre-charging and bypass contactor chassis Pre-charging and bypass contactor chassis Description Pre-charging is the procedure for charging the DC link capacitors via resistors. Pre-charging is normally carried out from the feeding supply network, although it can also be carried out from a pre-charged DC link.
  • Page 49 Infeed 1.5 Pre-charging and bypass contactor chassis Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 50 Infeed 1.5 Pre-charging and bypass contactor chassis Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 51: Extended Setpoint Channel

    You can check the current configuration in parameter r0108.8. Once you have set the configuration, you have to download it to the Control Unit where it is stored in a non-volatile memory (see the SINAMICS S120 Commissioning Manual). Note When the "extended setpoint channel" function module for servo is activated, under certain circumstances, the number of drives in the multi-axis group that can be controlled from a Control Unit is reduced.
  • Page 52: Description

    Extended setpoint channel 2.2 Description Description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control. The setpoint for the motor control can also originate from the technology controller, see Chapter Technology controller (Page 317) Figure 2-1 Extended setpoint channel Properties of the extended setpoint channel...
  • Page 53: Fixed Speed Setpoints

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Overviews - setpoint channel ● 3010 Fixed speed setpoints Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1001[0...n] CO: Fixed speed setpoint 1 ● ... ● p1015[0...n] CO: Fixed speed setpoint 15 ●...
  • Page 54: Motorized Potentiometer

    Extended setpoint channel 2.4 Motorized potentiometer ● r1024 CO: Fixed speed setpoint effective ● r1197 Fixed speed setpoint current number Parameterization with STARTER In the STARTER commissioning tool, the "Fixed setpoints" parameter screen in the project navigator under the relevant drive is called by double-clicking on Setpoint channel → Fixed setpoints.
  • Page 55 ● 1550 Setpoint channel ● 2501 Control word sequence control ● 3020 Motorized potentiometer Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1030[0...n] Motorized potentiometer configuration ● p1035[0...n] BI: Motorized potentiometer, setpoint, raise ● p1036[0...n] BI: Motorized potentiometer, setpoint, lower ●...
  • Page 56 Extended setpoint channel 2.5 Jog Parameterization with STARTER In the STARTER commissioning tool, the "Motorized potentiometer" parameter screen in the project navigator under the relevant drive is activated by double-clicking Setpoint channel → Motorized potentiometer . Description This function can be selected via digital inputs or via a field bus (e.g. PROFIBUS). This means that the setpoint is specified via p1058[0...n] and p1059[0...n].
  • Page 57 Extended setpoint channel 2.5 Jog Figure 2-3 Function chart: jog 1 and jog 2 Jog properties ● If both jog signals are issued at the same time, the current speed is maintained (constant speed phase). ● Jog setpoints are approached and exited via the ramp-function generator. ●...
  • Page 58 Extended setpoint channel 2.5 Jog Jog sequence Figure 2-4 Jog sequence Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 59 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2610 Execution control - processor ● 3030 Setpoint channel - Main/additional setpoint, setpoint scaling, jogging Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1055[0...n] BI: Jog bit 0 ● p1056[0...n] BI: Jog bit 1 ●...
  • Page 60: Main/supplementary Setpoint And Setpoint Modification

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Setpoint channel ● 3030 Main/supplementary setpoint, setpoint scaling, jog Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1070[C] CI: Main setpoint ● p1071[C] CI: Main setpoint scaling Drive functions...
  • Page 61: Direction Of Rotation Limiting And Direction Of Rotation Changeover

    Extended setpoint channel 2.7 Direction of rotation limiting and direction of rotation changeover ● r1073[C] CO: Main setpoint effective ● p1075[C] CI: Supplementary setpoint ● p1076[C] CI: Supplementary setpoint scaling ● r1077[C] CO: Supplementary setpoint effective ● r1078[C] CO: Total setpoint effective Parameterization with STARTER The "speed setpoint"...
  • Page 62 Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Setpoint channel ● 3040 Direction limitation and direction reversal Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1110[C] BI: Block negative direction ● p1111[C] BI: Block positive direction ● p1113[C] BI: Setpoint inversion Parameterization with STARTER The "speed setpoint"...
  • Page 63: Suppression Bandwidths And Setpoint Limits

    Extended setpoint channel 2.8 Suppression bandwidths and setpoint limits Suppression bandwidths and setpoint limits Description In the range 0 U/min to setpoint speed, a drive train (e.g. motor, coupling, shaft, machine) can have one or more points of resonance, which can result in vibrations. The suppression bandwidths can be used to prevent operation in the resonance frequency range.
  • Page 64 2.8 Suppression bandwidths and setpoint limits Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Setpoint channel ● 3050 Suppression bandwidth and speed limiting Overview of important parameters (see SINAMICS S120/S150 List Manual) Setpoint limitation ● p1080[D] Minimum speed ● p1082[D] Maximum speed ●...
  • Page 65: Ramp-function Generator

    Extended setpoint channel 2.9 Ramp-function generator Ramp-function generator Description The ramp-function generator is used to limit acceleration in the event of abrupt setpoint changes, which helps prevent load surges throughout the complete drive train. The ramp-up time p1120[0...n] and ramp-down time p1121[0...n] can be used to set mutually independent up and down ramps.
  • Page 66 Extended setpoint channel 2.9 Ramp-function generator ● OFF 3 down ramp: – OFF 3 ramp-down time p1135[0...n] ● Set ramp-function generator: – Setting value ramp-function generator p1144[0...n] – Signal, set ramp-function generator p1143[0...n] ● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 1) Properties of the extended ramp-function generator Figure 2-13 Extended ramp-function generator...
  • Page 67 Extended setpoint channel 2.9 Ramp-function generator ● Select ramp-function generator rounding type p1134[0...n] – p1134 = "0": continuous smoothing; rounding is always active. Overshoots can occur. If the setpoint changes, final rounding is carried out and then the direction of the new setpoint is adopted.
  • Page 68 ● Control signal STW1.5 Start/stop ramp-function generator ● Control signal STW1.6 Enable setpoint ● Control signal STW2.1 Bypass ramp-function generator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0893 ESR speed ● p1051 [0...n] CI: Speed limit in RFG, positive direction of rotation...
  • Page 69 Extended setpoint channel 2.9 Ramp-function generator ● p1052 [0...n] CI: Speed limit RFG, negative direction of rotation ● p1083[0...n] CO: Speed limit in positive direction of rotation ● p1115 Ramp-function generator selection ● r1119 CO: Ramp-function generator setpoint at the input ●...
  • Page 70 Extended setpoint channel 2.9 Ramp-function generator Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 71: Servo Control

    Servo control This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls.
  • Page 72 Servo control Subject Servo control Vector control Sampling time, current controller / Booksize: Booksize: • • sampling time, speed controller / 31.25 μs / 31.25 μs / ≥ 8 kHz 250 μs / 1000 μs / ≥ 2 kHz pulse frequency (factory setting, 8 kHz) (factory setting 4 kHz) 500 μs / 2000 μs / ≥...
  • Page 73 Servo control Subject Servo control Vector control Maximum output frequency with 1300 Hz with 62.5 μs / 8 kHz 300 Hz with 250 μs / 4 kHz • • closed-loop control or with 400 μs / 5 kHz 650 Hz with 125 μs / 4 kHz •...
  • Page 74: Speed Controller

    Servo control 3.1 Speed controller Speed controller The speed controller controls the motor speed using the actual values from the encoder (operation with encoder) or from the calculated actual speed values (operation without encoder). Properties ● Speed setpoint filter ● Speed controller adaptation Note Speed and torque cannot be controlled simultaneously.
  • Page 75: Speed Setpoint Filter

    Filter overview for speed setpoint filters Function diagrams (see SINAMICS S120/S150 List Manual) ● 5020 Speed setpoint filter and speed pre-control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1414[D] Speed setpoint filter activation ● p1415[D] Speed setpoint filter 1 type ●...
  • Page 76: Speed Controller Adaptation

    Servo control 3.3 Speed controller adaptation Parameterization with STARTER The "speed setpoint filter" parameterization screen form is selected via the following symbol in the toolbar of the STARTER commissioning tool: Figure 3-3 STARTER symbol for "speed setpoint filter" Speed controller adaptation Description There are two types of adaptation available: The free Kp_n adaptation and the speed- dependent Kp_n/Tn_n adaptation.
  • Page 77 Speed controller Kp_n/Tn_n adaptation Function diagrams (see SINAMICS S120/S150 List Manual) ● 5050 Kp_n and Tn_n adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) Free Kp_n adaptation ● p1455[0...n] CI: Speed controller P gain adaptation signal ● p1456[0...n] Speed controller P gain adaptation lower starting point ●...
  • Page 78: Torque-controlled Operation

    Servo control 3.4 Torque-controlled operation ● p1463[0...n] Speed controller Tn adaptation speed upper scaling ● p1464[0...n] Speed controller lower adaptation speed ● p1465[0...n] Speed controller upper adaptation speed ● p1466[0...n] CI: Speed controller P gain scaling Parameterization with STARTER The "speed controller" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-6 STARTER icon for "speed controller"...
  • Page 79 Servo control 3.4 Torque-controlled operation 2. Specify torque setpoint – Select source (p1511) – Scale setpoint (p1512) – Select supplementary setpoint (1513) Figure 3-7 Torque setpoint 3. Activate enable signals OFF responses ● OFF1 and p1300 = 23 – Reaction as for OFF2 ●...
  • Page 80: Torque Setpoint Limitation

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 5060 Torque setpoint, control type switchover ● 5610 Torque limiting/reduction/interpolator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1300 Open-loop/closed-loop control operating mode ● r1406.12 Torque control active ● p1501[C] BI: Change over between closed-loop speed/torque control ●...
  • Page 81 Servo control 3.5 Torque setpoint limitation 2. Generate torque limits The torque setpoint can be limited to a maximum permissible value in all four quadrants. Different limits can be parameterized for motor and regenerative modes. Figure 3-9 Current/torque setpoint limiting Note This function is effective immediately without any settings.
  • Page 82 Servo control 3.5 Torque setpoint limitation ● Offset of the setting values also possible (see "Example: Torque limits with or without offset"). ● The following torque limits are displayed via parameters: – Lowest of all upper torque limits with and without offset –...
  • Page 83 Negative values at r1534 or positive values at r1535 represent a minimum torque for the other torque directions and can cause the drives to rotate if no counteractive load torque is generated (see function diagram 5630 in the SINAMICS S120/S150 List Manual). Example: Torque limits with or without offset The signals selected via p1522 and p1523 include the torque limits parameterized via p1520 and p1521.
  • Page 84: Current Controller

    Servo control 3.6 Current controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0640[0...n] Current limit ● p1400[0...n] Speed control configuration ● r1508 CO: Torque setpoint before supplementary torque ● r1509 CO: Torque setpoint before torque limiting ● r1515 Supplementary torque total ●...
  • Page 85 The parameters for the flux controller are initialized when the system is commissioned for the first time and do not usually need to be adjusted. Function diagrams (see SINAMICS S120/S150 List Manual) ● 5710 Current setpoint filters ● 5714 Iq and Id controller ●...
  • Page 86 Servo control 3.6 Current controller Overview of important parameters (see SINAMICS S120/S150 List Manual) Closed-loop current control ● p1701[0...n] Current controller reference model dead time ● p1715[0...n] Current controller P gain ● p1717[0...n] Current controller integral time Current and torque limitation ●...
  • Page 87: Current Setpoint Filters

    Servo control 3.7 Current setpoint filters ● p1590[0...n] Flux controller P gain ● p1592[0...n] Flux controller integral time Commissioning with STARTER The "current controller" parameterizing screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-13 STARTER icon for "current controller"...
  • Page 88 Servo control 3.7 Current setpoint filters Figure 3-14 Current setpoint filter Transfer function: Denominator natural frequency f Denominator damping D Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 89 Servo control 3.7 Current setpoint filters Table 3- 3 Example of a PT2 filter STARTER filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency f 500 Hz Damping D 0.7 dB Band-stop with infinite notch depth Table 3- 4 Example of band-stop with infinite notch depth STARTER filter parameters Amplitude log frequency curve...
  • Page 90 Servo control 3.7 Current setpoint filters Band-stop with defined notch depth Table 3- 5 Example of band-stop with defined notch depth STARTER filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency f = 500 Hz Bandwidth f = 500 Hz Notch depth K = -20 dB Reduction Abs = 0 dB Simplified conversion to parameters for general order filters:...
  • Page 91 Servo control 3.7 Current setpoint filters ● Numerator natural frequency: ω π ● Numerator damping: ⎛ ⎞ ⎜ ⎟ • • ⎜ − ⎟ ⎜ ⎜ ⎟ ⎟ • ⎝ ⎠ ● Denominator natural frequency: ● Denominator damping: General low-pass with reduction Table 3- 7 Example of general low-pass with reduction STARTER filter parameters...
  • Page 92 = 0.15 dB Function diagrams (see SINAMICS S120/S150 List Manual) ● 5710 Current setpoint filters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1656[0...n] Current setpoint filter activation ● p1657[0...n] Current setpoint filter 1 type ● p1658[0...n] Current setpoint filter 1 denominator natural frequency ●...
  • Page 93: Note About The Electronic Motor Model

    Servo control 3.8 Note about the electronic motor model Parameterization with STARTER The "current setpoint filter" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-15 STARTER icon for "current setpoint filter" Note about the electronic motor model A model change takes place within the speed range p1752*(100%-p1756) and p1752.
  • Page 94 Servo control 3.9 V/f control Note The operation of synchronous motors with V/f control is allowed only at up to 25 % of the rated motor speed. Structure of V/f control Figure 3-16 Structure of V/f control Prerequisites for V/f control ●...
  • Page 95 Servo control 3.9 V/f control Note With synchronous motors, V/f mode is normally only stable at low speeds. Higher speeds can induce vibrations. Oscillation damping is activated on the basis of suitable default parameter values and does not require further parameterization in most applications. If you become aware of interference caused by a transient response, you have the option of gradually increasing the value of p1338 and evaluating how this affects your system.
  • Page 96 Function diagrams (see SINAMICS S120/S150 List Manual) ● 5300 V/f control ● 5650 Vdc_max controller and Vdc_min controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0304[0...n] Rated motor voltage ● p0310[0...n] Rated motor frequency ● p0311[0...n] Rated motor speed ●...
  • Page 97: Optimizing The Current And Speed Controller

    Servo control 3.10 Optimizing the current and speed controller 3.10 Optimizing the current and speed controller General information CAUTION Controller optimization may only be performed by skilled personnel with a knowledge of control engineering. The following tools are available for optimizing the controllers: ●...
  • Page 98 Servo control 3.10 Optimizing the current and speed controller Figure 3-18 STARTER symbol for "automatic controller setting" Example of measuring the speed controller frequency response By measuring the speed controller frequency response and the control system, critical resonance frequencies can, if necessary, be determined at the stability limit of the speed control loop and dampened using one or more current setpoint filters.
  • Page 99: Sensorless Operation (without An Encoder)

    Servo control 3.11 Sensorless operation (without an encoder) 3.11 Sensorless operation (without an encoder) NOTICE The operation of synchronous motors without an encoder must be verified in a test application. Stable operation in this mode cannot be guaranteed for every application. Therefore, the user will be solely responsible for the use of this operating mode.
  • Page 100 Servo control 3.11 Sensorless operation (without an encoder) To accept a high load torque even in the open-loop controlled range, the motor current can be increased via p1612. To do so, the drive torque (e.g. friction torque) must be known or estimated.
  • Page 101 Servo control 3.11 Sensorless operation (without an encoder) To prevent encoder evaluation alarms in encoderless operation, set p1402.1 = 1 to park the encoder evaluation. Reading in the motor temperature via the encoder evaluation remains active. Operation without an encoder is displayed in parameter r1407.1. Figure 3-20 Area switchover Note...
  • Page 102 ● 5060 Torque setpoint, control type switchover ● 5210 Speed controller without encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0341[0...n] Motor moment of inertia ● p0342[0...n] Ratio between the total moment of inertia and that of the motor ●...
  • Page 103: Motor Data Identification

    Servo control 3.12 Motor data identification 3.12 Motor data identification Description The motor data identification (MotID) is used as tool to determine the motor data, e.g. of third-party motors and can help to improve the torque accuracy (k estimator). The drive system must have been commissioned for the first time as basis for using motor data identification.
  • Page 104 Servo control 3.12 Motor data identification The enable signals OFF1, OFF2, OFF3 and "enable operation" remain effective and can be interrupt the motor identification routine. If there is an extended setpoint channel (r0108.08 = 1), parameters p1959.14 = 0 and p1959.15 = 0 and direction limiting (p1110 or p1111) is active there, then this is observed at the instant of the start via p1960.
  • Page 105 Servo control 3.12 Motor data identification Motor data Motor data input requires the following parameters: Table 3- 9 Motor data Induction motor Permanent-magnet synchronous motor • p0304 Rated motor voltage p0305 Rated motor current • p0305 Rated motor current p0311 Rated motor speed •...
  • Page 106: Motor Data Identification Induction Motor

    Servo control 3.12 Motor data identification Parameters to control the motor data identification The following parameters influence the motor data identification: Table 3- 11 Parameters for control Static measurement (motor data identification) Rotating measurement • p0640 current limit • p0640 current limit p1215 Motor holding brake configuration p1082 Maximum speed •...
  • Page 107 Servo control 3.12 Motor data identification Determined data (gamma) Data that are accepted (p1910 = 1) r1936 magnetizing inductance identified r0382 motor main inductance, transformed (gamma) p0360 motor main inductance p1590 flux controller P gain p1592 flux controller integral action time r1973 encoder pulse number identified Note: The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and is only suitable for...
  • Page 108: Motor Data Identification Synchronous Motor

    Servo control 3.12 Motor data identification 3.12.2 Motor data identification synchronous motor Table 3- 14 Data determined using p1910 for synchronous motors (stationary measurement) Determined data Data that are accepted (p1910 = 1) r1912 stator resistance identified p0350 motor stator resistance, cold + p0352 cable resistance r1925 threshold voltage identified r1932 d inductance...
  • Page 109 Servo control 3.12 Motor data identification Determined data Data that are accepted (p1960 = 1) r1973 Encoder pulse number identified Note: The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and is only suitable for making rough checks.
  • Page 110: Pole Position Identification

    ● Start the one-off pole position identification by setting p1990 = 1, the value in p1982 is not taken into consideration. For Siemens 1FN1, 1FN3 and 1FN6 linear motors, p1990 is automatically set to 1 after commissioning or after an encoder has been replaced.
  • Page 111 Note Siemens standard motors When using standard Siemens motors, the automatically pre-selected setting should be kept. Notes regarding pole position identification The relevant technique can be selected using parameter P1980. The following techniques are available for pole position identification: ●...
  • Page 112 Before using the pole position identification routine, the control sense of the speed control loop must be corrected (p0410.0). For linear motors, see SINAMICS S120 Commissioning Manual (IH1). For rotating motors, in encoderless operation with a small positive speed setpoint (e.g. 10 rpm), the speed actual value (r0061) and the speed setpoint (r1438) must have the same sign.
  • Page 113 Servo control 3.13 Pole position identification Selecting the reference mark for fine synchronization for determining the pole position using zero marks A precondition for determining the pole position using zero marks is that the zero mark distance of the encoder is a multiple integer of the pole pitch/pole pair width of the motor. For example, for linear motors with measuring systems where this is not available, SINAMICS S permits the zero mark, which is used for the reference point approach, to be used for fine synchronization.
  • Page 114 Servo control 3.13 Pole position identification Saturation-based Motion-based Elasticity-based r1986 r1987 p1990 r1992 p1993 p1994 p1995 p1996 p1997 p3090 p3091 p3092 p3093 p3094 p3095 p3096 r3097 Angular commutation offset commissioning support (p1990) The function for determining the commutation angle offset is activated via p1990=1. The commutation angle offset is entered in p0431.
  • Page 115 When fault F07414 occurs, p1990 is automatically started; if p1980 ≠ 99 and p0301 does not refer to a catalog motor with an encoder that is adjusted in the factory. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0325[0...n] Motor pole position identification current 1st phase ●...
  • Page 116: Vdc Control

    Servo control 3.14 Vdc control ● r1986 PolID saturation curve 2 ● r1987 PolID trigger curve ● p1990 Determine encoder adjustment commutation angle offset ● p1991[0...n] Motor changeover commutation angle correction ● r1992 Pole ID diagnostics ● p1993[0...n] Pole ID current, motion based ●...
  • Page 117 Servo control 3.14 Vdc control The Vdc controller is a P controller that influences the torque limits. It only intervenes when the DC link voltage approaches the "upper threshold" (p1244) or "lower threshold" (p1248) and the corresponding controller is activated with p1240. The recommended setting for the P gain is p1250 = 0.5 x DC link capacitance [mF].
  • Page 118 Servo control 3.14 Vdc control In the event of a power failure, the Line Module can no longer supply the DC link voltage, particularly if the Motor Modules in the DC link line-up are drawing active power. To maintain the DC link voltage in the event of a power failure (e.g. for a controlled emergency retraction), the Vdc_min controller can be activated for one or more drives.
  • Page 119 ● 5650 Vdc_max controller and Vdc_min controller ● 5300 V/f control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0056.14 CO/BO: Status word, closed loop control: Vdc_max controller active ● r0056.15 CO/BO: Status word, closed loop control: Vdc_min controller active ●...
  • Page 120: Dynamic Servo Control (dsc)

    (telegrams 6, 106, 116, 118, 136 and 138 or free telegrams). The following PROFIdrive telegrams support DSC: ● Standard telegrams 5 and 6 ● SIEMENS telegrams 105, 106, 116, 118, 125, 126, 136, 138, 139 Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 121 ● Five drives with a current controller cycle of 125 µs ● Two drives with a current controller cycle of 62.5 µs. Operating states The following operating states are possible for DSC (for details, see SINAMICS S120/S150 List Manual, function diagram 3090): Operating state for DSC...
  • Page 122 Servo control 3.15 Dynamic Servo Control (DSC) Activation If the preconditions for dynamic servo control are fulfilled, then the DSC structure is activated using a logical interconnection of the following parameters via a selected PROFIdrive telegram: ● p1190 "DSC position deviation XERR" ●...
  • Page 123 ● On the control side, DSC is not active, which causes the value of KPC = 0 to be transmitted to p1191. Function diagrams (see SINAMICS S120/S150 List Manual) ● 2420 PROFIdrive - standard telegrams and process data ● 2422 PROFIdrive - Manufacturer-specific telegrams and process data 1 ●...
  • Page 124: Travel To Fixed Stop

    Servo control 3.16 Travel to fixed stop Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1160 CI: Speed controller, speed setpoint 2 ● p1190 CI: DSC position deviation XERR ● p1191 CI: DSC position controller gain KPC ● p1192[D]: DSC encoder selection ●...
  • Page 125 Servo control 3.16 Travel to fixed stop Signals When PROFIBUS telegrams 2 to 6 are used, the following are automatically interconnected: ● Control word 2, bit 8 ● Status word 2, bit 8 Also with PROFIdrive telegrams 102 to 106: ●...
  • Page 126 Servo control 3.16 Travel to fixed stop Signal chart Figure 3-26 Signal chart for "Travel to fixed stop" Commissioning for PROFIdrive telegrams 2 to 6 1. Activate travel to fixed stop. Set p1545 = "1". 2. Set the required torque limit. Example: p1400.4 = 0 →...
  • Page 127 ● 5620 Motor/generator torque limit ● 5630 Upper/lower torque limit ● 8012 Torque messages, motor blocked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1400[0...n] Speed control configuration ● r1407.7 CO/BO: Status word speed controller; torque limit reached ●...
  • Page 128: Vertical Axes

    ● 5060 Torque setpoint, control type switchover ● 5620 Motor/generator torque limit ● 5630 Upper/lower torque limit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0031 Actual torque smoothed ● p1513[0...n] CI: Supplementary torque 2 ● p1520[0...n] CO: Torque limit, upper/motoring ●...
  • Page 129: Variable Signaling Function

    Servo control 3.18 Variable signaling function 3.18 Variable signaling function Using the "Variable signaling" function, BICO interconnections and parameters, which have the attribute traceable, can be monitored. Note Attribute "traceable" A parameter, whose value can be acquired using the trace function of STARTER or SCOUT, is allocated the "traceable"...
  • Page 130 Variable signaling function Function diagrams (see SINAMICS S120/S150 List Manual) ● 5301 Servo control - variable signaling function Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3290 Variable signaling function start ● p3291 CI: Variable signaling function signal source ●...
  • Page 131: Central Probe Evaluation

    From the sampling values of the position signals of the various axes, the control interpolates the times of the position actual values at the probe instant. Three evaluation techniques are implemented in SINAMICS S120 for this purpose: ● With handshake ●...
  • Page 132 Servo control 3.19 Central probe evaluation 2. Signal source, synchronization signal in p0681. 3. Signal source, control word probe p0682. 4. Transfer with the communication interface PROFIdrive. 5. Synchronizing and monitoring isochronous PROFIdrive 6. Prerequisite for measurements is the synchronization between the control and drive. 7.
  • Page 133 Servo control 3.19 Central probe evaluation 3. If the measurement is activated, in data bus cycle (e.g. PROFIBUS cycle: DP cycle) a check is made as to whether a measured value is available. 4. If a measured value is available, then the time stamp is entered into either p0686 or p0687.
  • Page 134 Servo control 3.19 Central probe evaluation 3. The cyclic measurement is activated with a 0/1 transition of the control bit for the signal edges in the probe control word. 4. After activating the measurement, the measured value buffer is emptied once for initialization.
  • Page 135 Servo control 3.19 Central probe evaluation Table 3- 21 Assignment, probe time stamp reference to time stamp Probe time stamp reference Probe time stamp Bits MT_ZSB1 Reference ZS1 Bits 0...3 Reference ZS2 Bits 4..7 Reference ZS3 Bits 8..11 Reference ZS4 Bits 12..15 MT_ZSB2 Reference ZS5...
  • Page 136: Central Probe Evaluation Examples

    Servo control 3.19 Central probe evaluation Reference time stamp Probe bit, binary values Edge selection bit Reference MT_ZS4 Bits 12...14 Bit 15 000: MT_ZS4 from MT1 0: MT_ZS4 falling edge 001: MT_ZS4 from MT2 1: MT_ZS4 rising edge 110: MT_ZS4 from MT7 111: MT_ZS4 from MT8 Examples for determining the reference values of the probe evaluation in hex: 0000 = 0H = time stamp from probe 1, falling edge...
  • Page 137 Servo control 3.19 Central probe evaluation Example 1 MT_STW = 100H: a search is only made for rising edges, probe 1 Figure 3-28 a search is made for rising edges for probe 1 In the DP cycle, all time stamps for rising edges are transferred corresponding to their sequence in time for probe 1.
  • Page 138 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2424 PROFIdrive, manufacturer-specific/free telegrams and process data ● 4740 Encoder evaluation - probe evaluation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0565[0...15] CO: Probe time stamp ● p0566[0...3] CO: Probe time stamp reference ●...
  • Page 139 Servo control 3.19 Central probe evaluation ● r0899.0...15 CO/BO: Drive object status word ● p0922 IF1 PROFIdrive telegram selection ● p0925 PROFIdrive isochronous sign of life tolerance Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 140 Servo control 3.19 Central probe evaluation Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 141: Vector Control

    Vector control Compared with vector V/f control, vector control offers the following benefits: ● Stability vis-à-vis load and setpoint changes ● Short rise times for setpoint changes (→ better control behavior) ● Short settling times for load changes (→ better response to disturbances) ●...
  • Page 142 Vector control Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls. Table 4- 1 Comparison of servo control and vector control Subject Servo control Vector control Typical applications Drives with highly dynamic motion Speed and torque-controlled drives with •...
  • Page 143 Vector control Subject Servo control Vector control Sampling time, current controller / Booksize: Booksize: • • sampling time, speed controller / 31.25 μs / 31.25 μs / ≥ 8 kHz 250 μs / 1000 μs / ≥ 2 kHz pulse frequency (factory setting, 8 kHz) (factory setting 4 kHz) 500 μs / 2000 μs / ≥...
  • Page 144: Sensorless Vector Control (slvc)

    Vector control 4.1 Sensorless vector control (SLVC) Subject Servo control Vector control Maximum output frequency with 1300 Hz with 62.5 μs / 8 kHz 300 Hz with 250 μs / 4 kHz • • closed-loop control or with 400 μs / 5 kHz 650 Hz with 125 μs / 4 kHz •...
  • Page 145 Vector control 4.1 Sensorless vector control (SLVC) Three-phase induction motor The changeover between closed-loop/open-loop control is controlled by means of the time and frequency conditions (p1755, p1756, p1758). If the setpoint frequency at the ramp- function generator input and the actual frequency are below p1755 * (1 - (p1756/100 %)) simultaneously, then the system does not wait for the time condition.
  • Page 146 Vector control 4.1 Sensorless vector control (SLVC) ● Reversing without the need to change into the open-loop controlled mode is possible, if the range of the changeover speed p1755 is passed through in a shorter time than the changeover delay time set in p1758, and the speed setpoint in front of the ramp-function generator lies outside the open-loop controlled speed range of p1755.
  • Page 147 Vector control 4.1 Sensorless vector control (SLVC) Passive loads In the closed-loop controlled mode, for passive loads, induction motors can be operated under steady-state conditions down to 0 Hz (standstill) without changing over into the open- loop controlled mode. To implement this set 1.
  • Page 148 Vector control 4.1 Sensorless vector control (SLVC) Figure 4-3 Vector control without an encoder Blocking drives If the load torque is higher than the torque limiting of the sensorless vector control, the drive is braked to zero speed (standstill). In order that the open-loop controlled mode is not selected after the time p1758, p1750.6 can be set to 1.
  • Page 149 The actual rotor position can be continuously determined down to 0 Hz (standstill). With Siemens 1FW4 and 1PH8 torque motors, the load can be maintained at standstill or, from standstill, the motor can accelerate any load up to rated torque.
  • Page 150 Only open-loop controlled operation is permitted when using a sine-wave filter. Note 1FW4 torque motors Siemens 1FW4 torque motors can be started from standstill and operated in the closed-loop torque controlled mode. The function is activated with parameter p1750.5 = 1. Third-party motors must be checked on a case-for-case basis.
  • Page 151 ● 6730 Interface to Motor Module (ASM, p0300 = 1) ● 6731 Interface to the Motor Module (PEM, p0300 = 2) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0305[0...n] Rated motor current ● r0331[0...n] Actual motor magnetizing current/short-circuit current ●...
  • Page 152: Vector Control With Encoder

    Vector control 4.2 Vector control with encoder Vector control with encoder Benefits of vector control with an encoder: ● The speed can be controlled right down to 0 Hz (standstill) ● Constant torque in the rated speed range ● Compared with speed control without an encoder, the dynamic response of drives with an encoder is significantly better because the speed is measured directly and integrated in the model created for the current components.
  • Page 153 Vector control 4.3 Speed controller Speed controller The speed controller receives its setpoint (r0062) from the setpoint channel and its actual value (r0063) either directly from the speed sensor (control with sensor (VC)) or indirectly via the motor model (control without sensor (SLVC)). The system deviation is increased by the PI controller and, in conjunction with the pre-control, results in the torque setpoint.
  • Page 154 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6040 Speed controller with/without encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0062 CO: Speed setpoint after the filter ● r0063[0...1] CO: Speed actual value ●...
  • Page 155: Speed Controller Adaptation

    Vector control 4.4 Speed controller adaptation Speed controller adaptation Description With the speed controller adaptation, any speed controller oscillation can be suppressed. The speed-dependent Kp_n/Tn_n adaptation is activated in the factory setting. The required values are automatically calculated when commissioning and for the rotating measurement. If, in spite of this, speed oscillations do occur, then in addition the Kp_n component can be optimized using the free Kp_n adaptation.
  • Page 156 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6050 Vector control - Kp_n/Tn_n adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1400.0 Speed control configuration: Automatic Kp/Tn adaptation active ● p1400.5 speed control configuration: Kp/Tn adaptation active ●...
  • Page 157 Vector control 4.4 Speed controller adaptation ● p1470 Speed controller encoderless operation P-gain ● p1472 Speed controller encoderless operation integral-action time Free Tn adaptation ● p1455[0...n] CI: Speed controller P gain adaptation signal ● p1456[0...n] Speed controller P gain adaptation lower starting point ●...
  • Page 158: Speed Controller Pre-control And Reference Model

    Vector control 4.5 Speed controller pre-control and reference model Speed controller pre-control and reference model The command behavior of the speed control loop can be improved by calculating the accelerating torque from the speed setpoint and connecting it on the line side of the speed controller.
  • Page 159 Vector control 4.5 Speed controller pre-control and reference model If the speed controller has been correctly adjusted, it only has to compensate for disturbance variables in its own control loop, which can be achieved by means of a relatively small change to the correcting variables.
  • Page 160 Vector control 4.5 Speed controller pre-control and reference model Reference model Figure 4-11 Reference model The reference model is activated with p1400.3 = 1. The reference model is used to emulate the path of the speed control loop with a P speed controller.
  • Page 161 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6031 Pre-control balancing for reference/acceleration model ● 6040 Speed controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0311[0...n] Rated motor speed ● r0333[0...n] Rated motor torque ● p0341[0...n] Motor moment of inertia ●...
  • Page 162: Droop

    Vector control 4.6 Droop Droop Droop (enabled via p1492) ensures that the speed setpoint is reduced proportionally as the load torque increases. Figure 4-12 Speed controller with droop The droop has a torque limiting effect on a drive that is mechanically coupled to a different speed (e.g.
  • Page 163: Open Actual Speed Value

    ● Only one (1) common ramp-function generator may be used for mechanically coupled drives. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6030 Speed setpoint, droop Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0079 CO: Torque setpoint ● p1488[0...n] Droop input source ● p1489[0...n] Droop feedback scaling ●...
  • Page 164 ● FP 6040 Vector control – Speed controller with/without encoder ● FP 8012 Signals and monitoring function – Torque messages, motor locked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0063[0...2] Speed actual value ● p1440 CI: Speed controller actual speed value ●...
  • Page 165: Torque Control

    Vector control 4.8 Torque control ● r2169 CO: Actual speed value smoothed messages ● r2199.7 Speed deviation of model / external in tolerance ● p3236 Speed threshold value 7 ● p3237 Hysteresis speed 7 ● p3238 Switch-off delay n_act_motor model= n_act_external Torque control With sensorless speed control SLVC (p1300 = 20) or speed control with sensor VC (p1300 = 21), a changeover can be made to torque control (slave drive) via BICO parameter p1501.
  • Page 166 Vector control 4.8 Torque control The total of the two torque setpoints is limited in the same way as the speed control torque setpoint. Above the maximum speed (p1082), a speed limiting controller reduces the torque limits in order to prevent the drive from accelerating any further. A "real"...
  • Page 167: Torque Limiting

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 6060 Torque setpoint Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0341 motor moment of inertia ● p0342 Ratio between the total moment of inertia and that of the motor ●...
  • Page 168 Motor Module, this is indicated via the following diagnostic parameters: ● r1407.8 Upper torque limit active ● r1407.9 Lower torque limit active indicated. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6060 Torque setpoint ● 6630 Upper/lower torque limit ● 6640 Current/power/torque limits...
  • Page 169: Vdc Control

    Vector control 4.10 Vdc control 4.10 Vdc control Description The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. ● Overvoltage in the DC link – Typical cause The drive is operating in regenerative mode and is supplying too much energy to the DC link.
  • Page 170 Vector control 4.10 Vdc control ● Vdc_min control (kinetic buffering) – With this function, the kinetic energy of the motor is used for buffering the DC link voltage in the event of a momentary power failure, thereby delaying the drive. Description of Vdc_min control Figure 4-16 Switching Vdc_min control on/off (kinetic buffering)
  • Page 171 Vector control 4.10 Vdc control Description of Vdc_max control Figure 4-17 Switching Vdc_max control on/off The switch-in level for Vdc_max control (r1242) is calculated as follows: ● When the function for automatically detecting the switch-in level is switched off (p1254 = r1242 = 1.15 * p0210 (device connection voltage, DC link).
  • Page 172 – U/f control: p1280 = 4 or 6 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6220 Vdc_max controller and Vdc_min controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1240[0...n] Vdc controller or Vdc monitoring configuration ● r1242 Vdc_max controller switch-in level ●...
  • Page 173: Current Setpoint Filter

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 6710 Current setpoint filters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1655[0...n] CI: Current setpoint filter natural frequency tuning ● p1656[0...n] Current setpoint filter activation ●...
  • Page 174: Speed Actual Value Filter

    ● 4715 Encoder evaluation - Actual speed value and pole position sensing, motor encoder ASM/SM (encoder1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1655[0...4] CI: Speed actual value filter 5 natural frequency tuning ● p1656[0...n].4 speed actual value filter 5 activation ●...
  • Page 175: Current Controller Adaptation

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 6710 Current setpoint filters ● 6714 Iq and Id controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0391 Current controller adaptation starting point KP ● p0392 Current controller adaptation starting point KP adapted ●...
  • Page 176: Motor Data Identification And Rotating Measurement

    Vector control 4.14 Motor data identification and rotating measurement 4.14 Motor data identification and rotating measurement Description There are two motor data identification options, which are based on each other: ● Motor data identification with p1910 (standstill measurement) ● Rotating measurement with p1960 Note For both types of motor data identification the following applies: If there is a motor brake, then this must be open (p1215 = 2).
  • Page 177 Vector control 4.14 Motor data identification and rotating measurement DANGER During motor data identification, the drive may cause the motor to move. The Emergency Off functions must be fully operational during commissioning. To protect the machines and personnel, the relevant safety regulations must be observed. Motor data identification (p1910) Motor data identification with p1910 is used for determining the motor parameters at standstill (see also p1960: speed controller optimization):...
  • Page 178 Vector control 4.14 Motor data identification and rotating measurement Entering the cable resistance improves the accuracy of thermal resistance adaptation, particularly when long supply cables are used. This governs behavior at low speeds, particularly during encoderless vector control. Figure 4-20 Equivalent circuit diagram for induction motor and cable If an output filter (see p0230) or series inductance (p0353) is used, the data for this must also be entered before the standstill measurement is carried out.
  • Page 179 Vector control 4.14 Motor data identification and rotating measurement In addition to the equivalent circuit diagram data, motor data identification (p1910 = 3) can be used for induction motors to determine the magnetization characteristic of the motor. Due to the higher accuracy, the magnetization characteristic should, if possible, be determined during the rotating measurement (without encoder: p1960 = 1, 3;...
  • Page 180 Vector control 4.14 Motor data identification and rotating measurement Motor data identification sequence ● Enter p1910 > 0. Alarm A07991 is displayed. ● Motor data identification starts the next time that the motor is switched on. ● p1910 resets itself to "0" (successful identification) or fault F07990 is output. ●...
  • Page 181 Vector control 4.14 Motor data identification and rotating measurement Rotating measurement (p1960 > 0): Sequence The following measurements are carried out when the enable signals are set and a switch- on command is issued in accordance with the settings in p1959 and p1960. ●...
  • Page 182 Vector control 4.14 Motor data identification and rotating measurement Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0047 motor data identification routine and speed controller optimization ● p1300[0...n] Open-loop/closed-loop control operating mode ● p1900 Motor data identification and rotating measurement ●...
  • Page 183: Efficiency Optimization

    ● 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) ● 6723 Field weakening controller, flux controller for induction motor (p0300 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0077 CO: Current setpoints, torque-generating ● r0331 Motor magnetizing current/short-circuit current (actual) ●...
  • Page 184: Quick Magnetization For Induction Motors

    Vector control 4.16 Quick magnetization for induction motors 4.16 Quick magnetization for induction motors Description Application example for the "quick magnetization for induction motors" function: For crane applications, frequently a frequency converter is switched alternately to different motors. After being switched to a different motor, a new data set must be loaded in the frequency converter and the motor magnetized.
  • Page 185 Vector control 4.16 Quick magnetization for induction motors Figure 4-23 Quick magnetization characteristics Notes When quick magnetization is selected (p1401.6 = 1), smooth starting is deactivated internally and alarm A07416 displayed. When the stator resistance identification function is active (see p0621 "Identification of stator resistance after restart") is active, quick magnetization is deactivated internally and alarm A07416 displayed.
  • Page 186 Vector control 4.16 Quick magnetization for induction motors The flux control configuration (p1401) settings are inconsistent. Fault codes: 1 = quick magnetization (p1401.6) and smooth starting (p1401.0) 2 = quick magnetization (p1401.6) and flux build-up control (p1401.2) 3 = quick magnetization (p1401.6) and Rs identification (stator resistance identification) after restart (p0621 = 2) Remedy: ●...
  • Page 187: Instructions For Commissioning Induction Motors (asm)

    ● 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) ● 6723 Field weakening controller, flux controller (ASM, p0300 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0320 [0...n] Motor rated magnetizing current/short-circuit current ● p0346 Motor excitation build-up time ●...
  • Page 188 Vector control 4.17 Instructions for commissioning induction motors (ASM) Induction motors, rotating The following parameters can be entered in STARTER during the commissioning phase: Table 4- 3 Motor data rating plate Parameter Description Remark p0304 Rated motor voltage If this value is not known, a "0" can also be entered.
  • Page 189 Vector control 4.17 Instructions for 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 ●...
  • Page 190: Instructions For Commissioning Permanent-magnet Synchronous Motors

    Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors 4.18 Instructions for commissioning permanent-magnet synchronous motors Equivalent circuit diagram for synchronous motor and cable Figure 4-25 Equivalent circuit diagram for synchronous motor and cable Permanent-magnet synchronous motors, rotating Permanent-magnet synchronous motors with or without encoder are supported. The following encoder types are supported: ●...
  • Page 191 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Parameter Description Remark p0310 Rated motor frequency p0311 Rated motor speed If the torque constant k is not stamped on the rating plate or specified in the data sheet, you can calculate this value from the rated motor data (index n) or from the stall current I stall torque M as follows: π...
  • Page 192 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors 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 (for operation without encoder, only possible with additional VSM) ●...
  • Page 193: Encoder Adjustment In Operation

    Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors ● Depending on the terminal voltage and load cycle, the maximum torque can be taken from the motor data sheets / project design instructions. Commissioning We recommend the following points when commissioning: ●...
  • Page 194 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Figure 4-27 Encoder adjustment sequence Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 195: Automatic Encoder Adjustment

    1FW4 permanent-magnet synchronous motors 1FW4 motors have been optimized for operation with this function. When commissioning with the STARTER commissioning tool, all of the required data are automatically transferred to the Control Unit. (see also SINAMICS S120 Commissioning Manual) 4.18.2 Automatic encoder adjustment...
  • Page 196: Pole Position Identification

    The measurement causes the motor to rotate. The motor turns through a minimum of one complete revolution. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0404.15 Encoder configuration active, commutation with zero mark ● p0431[0...n] commutation angle offset ●...
  • Page 197 The measurement can electrically trigger a rotation or movement of the motor, by up to a half rotation. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0325 Motor pole position identification current 1st phase ● p0329 Motor pole position identification current ●...
  • Page 198: Function Diagrams And Parameters

    ● p1990 determine encoder adjustment commutation angle offset 4.19 Instructions for 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. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 199: Flying Restart

    25%. A Voltage Sensing Module (VSM) is required for permanent-magnet synchronous motors (for additional information, refer to document: SINAMICS S120 Manual Control Units). When operated with an encoder (speed actual value is sensed), the search phase is eliminated.
  • Page 200 Vector control 4.20 Flying restart Figure 4-29 Flying restart, example of induction motor with encoder WARNING When the flying restart (p1200) function is active, the drive may still be accelerated by the detection current despite the fact that it is at standstill and the setpoint is 0! For this reason, entering the area around the drive when it is in this condition can cause death, serious injury, or considerable material damage.
  • Page 201: Synchronization

    Vector control 4.21 Synchronization Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0352[0...n] Cable resistance ● p1082[0...n] Maximum speed ● p1200[0...n] Flying restart operating mode ● p1202[0...n] Flying restart search current ● p1203[0...n] Flying restart search rate factor ●...
  • Page 202: Voltage Sensing Module

    Vector control 4.22 Voltage Sensing Module Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3800[0...n] Sync-line-drive activation ● p3801[0...n] Sync-line-drive, drive object number ● p3802[0...n] BI: Sync-line-drive enable ● r3803 CO/BO: Sync-line-drive control word ● r3804 CO: Sync-line-drive target frequency ●...
  • Page 203 4.22 Voltage Sensing Module Topology view The VSM is used on the encoder side for SINAMICS S120 drives. The VSM is only used at the VECTOR drive object in sensorless operating modes. The VSM is integrated into the topology at the position of the motor encoder.
  • Page 204: Simulation Mode

    Vector control 4.23 Simulation mode Drive object A_INF ● p0140 VSM number of data sets ● p0141[0...n] VSM component number ● p0144[0...n] Voltage Sensing Module identification via LED ● p0145[0...n] Activate/deactivate Voltage Sensing Module ● r0146[0...n] Voltage Sensing Module active/inactive ●...
  • Page 205: Features

    Vector control 4.24 Redundance operation power units 4.23.2 Features ● Automatic deactivation with a DC link voltage greater than 40 V (measurement tolerance ± 4 V) with fault F07826 and immediate pulse inhibit (OFF2) ● Can be activated via parameter p1272 ●...
  • Page 206: Bypass

    ● DRIVE-CLiQ star topology (possibly a DMC20 or a DME20, refer to the GH1 manual) ● Motor with one single-winding system (p7003 = 0) ● No Safe Torque Off (STO) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0125 Activate/deactivate power unit component ● r0126 Power unit component active/inactive ●...
  • Page 207: Bypass With Synchronization With Overlap

    Vector control 4.25 Bypass ● When the drive is started up again after POWER ON, the status of the bypass contactors is evaluated. After powering up, the converter can thereby change straight into "Ready to start and bypass" status. This is only possible if the bypass is activated via a control signal, the control signal (p1266) is still present once the system has been ramped up, and the automatic restart function (p1200 = 4) is active.
  • Page 208 Vector control 4.25 Bypass Figure 4-30 Circuit example: Bypass with synchronization with overlap Activation The bypass function with synchronization with overlap (p1260 = 1) can only be activated using a control signal. It cannot be activated using a speed threshold or a fault. Example The following parameters must be set after the bypass function with synchronization with overlap (p1260 = 1) has been activated.
  • Page 209 Vector control 4.25 Bypass Figure 4-31 Signal diagram, bypass with synchronization with overlap The motor is transferred to the line supply (the drive converter controls contactors K1 and K2): ● The initial state is as follows: Contactor K1 is closed, contactor K2 is open and the motor is fed from the drive converter.
  • Page 210: Bypass With Synchronization Without Overlap

    Vector control 4.25 Bypass ● Pulses are enabled. Since "Synchronize" is set before "Pulse enable", the converter interprets this as a command to retrieve a motor from the supply and to take it over. ● After the motor has been synchronized to the line frequency, line voltage and line phase, the synchronizing algorithm reports this status.
  • Page 211: Bypass Without Synchronization

    Vector control 4.25 Bypass Figure 4-32 Circuit example, bypass with synchronization without overlap Activation The bypass function with synchronization without overlap (p1260 = 2) can only be activated using a control signal. Activation using a speed threshold or a fault is not possible. Example The following parameters must be set after the bypass function with synchronization without overlap (p1260 = 2) has been activated.
  • Page 212 Vector control 4.25 Bypass When the motor is switched on in a non-synchronized manner, an equalizing current flows that must be taken into account when the protective equipment is designed. When the converter retrieves the motor from the line supply, initially contactor K2 is opened, and after the excitation time has expired, contactor K1 is closed.
  • Page 213 = r1261.2 Synchronizer activation is triggered by the bypass function. Function diagrams (see SINAMICS S120/S150 List Manual) ● 7020 Synchronization Overview of important parameters (see SINAMICS S120/S150 List Manual) Bypass function ● p1260 Bypass configuration ● r1261.0...9 CO/BO: Bypass control/status word ●...
  • Page 214: Asynchronous Pulse Frequency

    Vector control 4.26 Asynchronous pulse frequency Synchronization ● p3800[0...n] activate sync-line-drive ● p3801[0...n] sync-line-drive, drive object number ● p3802[0...n] BI: Sync-line-drive enable ● r3803.0 CO/BO: Sync-line-drive control word ● r3804 CO: Sync-line-drive target frequency ● r3805 CO: Sync-line-drive frequency difference ●...
  • Page 215: Boundary Conditions For Asynchronous Pulse Frequency

    Vector control 4.26 Asynchronous pulse frequency Activating the function ● You can activate the function with p1810.12 = 1 ● Set the pulse frequency with p1800 in 50 Hz increments to the desired pulse frequency. The maximum pulse frequency that can be set is twice the current controller clock cycle. ●...
  • Page 216 5. The motor data identification must be performed with current controller cycles of 250 µs or 500 µs with 2 kHz. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0115[0...6] Sampling times for internal control loops ● p1810 modulator configuration ●...
  • Page 217: U/f Control (vector Control)

    U/f control (vector control) The U/f control characteristic is the simplest way to control an induction motor. When configuring the drive using the STARTER commissioning tool, U/f control is activated in the "Closed-loop control structure" screen (also see p1300). The stator voltage of the induction motor is set proportional to the stator frequency. This technique is used for many standard applications where the dynamic performance requirements are low, for example: ●...
  • Page 218 U/f control (vector control) Several variations of the U/f characteristic exist, which are shown in the following table: Table 5- 1 U/f characteristic (p1300) Parameter Meaning Application / property values Linear characteristic Standard (w/o voltage boost) Linear characteristic Characteristic that compensates for with flux current control voltage losses in the stator resistance (FCC)
  • Page 219 U/f control (vector control) Parameter Meaning Application / property values Programmable Characteristic that takes into account characteristic motor/machine torque curve (e.g. synchronous motor). Linear characteristic Characteristic, see parameter 0 and Eco mode at a constant operating point. and ECO In the Eco mode, the efficiency at a constant operating point is optimized. •...
  • Page 220: Voltage Boost

    U/f control (vector control) 5.1 Voltage boost Function diagram ● FP 6300 U/f characteristic and voltage boost Parameter ● p1300[0...n] Open-loop/closed-loop control operating mode Voltage boost According to the U/f characteristic, at an output frequency of 0 Hz, the control supplies an output voltage of 0 V.
  • Page 221 U/f control (vector control) 5.1 Voltage boost Figure 5-2 Voltage boost total Note The voltage boost affects all V/f characteristics (p1300). NOTICE If the voltage boost value is too high, this can result in a thermal overload of the motor winding.
  • Page 222 U/f control (vector control) 5.1 Voltage boost Voltage boost, permanent Figure 5-3 Permanent voltage boost (example: p1300 = 0 and p1310 > 0) Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 223 Voltage boost at acceleration (example: p1300 = 0 and p1311 > 0) Function diagrams (see SINAMICS S120/S150 List Manual) ● 6300 V/f characteristic and voltage boost Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0304[0...n] Rated motor voltage ● p0305[0...n] Rated motor current ●...
  • Page 224: Slip Compensation

    A parameter setting of p1351 > 0 automatically activates the slip compensation (p1335 = 100%). Figure 5-5 Slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1334[0...n] V/f control, slip compensation start frequency ● r0330[0...n] Rated motor slip ● p1335[0...n] Slip compensation –...
  • Page 225: Resonance Damping

    45 Hz. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6310 Resonance damping and slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0066 CO: Output frequency ● r0078 CO: Torque-generating current actual value ●...
  • Page 226: Vdc Control

    U/f control (vector control) 5.4 Vdc control Vdc control Description The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. Figure 5-7 Vdc control V/f 1. Undervoltage in the DC link Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 227 U/f control (vector control) 5.4 Vdc control – Typical cause: Failure of the supply voltage or supply for the DC link. – Remedy: Specify a regenerative torque for the rotating drive to compensate the existing losses, thereby stabilizing the voltage in the DC link (kinetic buffering). 2.
  • Page 228 U/f control (vector control) 5.4 Vdc control Description of Vdc_min control Figure 5-8 Switching Vdc_min control on/off (kinetic buffering) In the event of a power failure, Vdc_min control is activated when the Vdc_min switch-in level is undershot. This controls the DC link voltage and maintains it at a constant level. The motor speed is reduced.
  • Page 229 U/f control (vector control) 5.4 Vdc control Description of Vdc_max control Figure 5-9 Switching Vdc_max control on/off The switch-in level for Vdc_max control (r1282) is calculated as follows: p1294 (automatic detection of the Switch-on level of the Comment ON level (U/f)) Vdc_max control (r1282) Value Meaning...
  • Page 230 U/f control (vector control) 5.4 Vdc control p1294 (automatic detection of the Switch-on level of the Comment ON level (U/f)) Vdc_max control (r1282) Value Meaning DANGER Vdc control with Basic Line Modules If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), the Vdc_max control may only be activated for that Motor Module whose drive has the nominal highest moment of inertia of all connected drives.
  • Page 231 5.4 Vdc control Function diagrams (see SINAMICS S120/S150 List Manual) ● 6320 Vdc_max controller and Vdc_min controller U/f open-loop control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1280[0...n] Vdc controller configuration (V/f) ● r1282 Vdc_max controller switch-in level (V/f) ●...
  • Page 232 U/f control (vector control) 5.4 Vdc control Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 233: Basic Functions

    Every parameter that can be changed over is assigned to a units group, that, depending on the group, can be changed over within certain limits. This assignment and the unit groups can be read for each parameter in the parameter list in the SINAMICS S120/S150 List Manual. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 234: Reference Parameters/normalizations

    6.2 Reference parameters/normalizations The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and p0595). Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0010 Commissioning parameter filter ● p0100 Motor Standard IEC/NEMA ● p0349 Selecting the system of units, motor equivalent circuit diagram data ●...
  • Page 235 Basic functions 6.2 Reference parameters/normalizations Figure 6-1 Illustration of conversion with reference values Note If a referenced form is selected and the reference parameters (e.g. p2000) are changed retrospectively, the referenced values of some of the control parameters are also adjusted to ensure that the control behavior is unaffected.
  • Page 236 Basic functions 6.2 Reference parameters/normalizations Note Operation of motors in the field-weakening range If the motors are to be operated in the field-weakening range > 2:1, the value of parameter p2000 must be set ≤ 1/2 x maximum speed of the drive object. Scaling for the SERVO drive object Table 6- 2 Scaling for the SERVO drive object...
  • Page 237 Basic functions 6.2 Reference parameters/normalizations Scaling for the A_INF drive object Table 6- 3 Scaling for the A_INF drive object Size Scaling parameter Default when commissioning for the first time Reference frequency 100 % = p2000 p2000 = p0211 Reference voltage 100 % = p2001 p2001 = p0210 Reference current...
  • Page 238: Modular Machine Concept

    Basic functions 6.3 Modular machine concept Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0206[0...4] Rated power unit power ● p0210 Device supply voltage ● p0340 Automatic calculation of motor/control parameters ● p0573 Disable automatic calculation of reference values ●...
  • Page 239 Basic functions 6.3 Modular machine concept ● Download the project by choosing "Load to drive object". ● Copy from RAM to ROM. Figure 6-2 Example of a sub-topology Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 240: Sinusoidal Filter

    Remedy: Remove this drive from the group before you deactivate it. See also: /FH1/ SINAMICS S120 Function Manual, Chapter Safety Integrated Basic Functions. Overview of important parameters (see SINAMICS S120/S150 List Manual) ●...
  • Page 241 ● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis power units – SINAMICS S120 Liquid Cooled Chassis power units Note If a filter cannot be parameterized (p0230 < 3), this means that a filter has not been provided for the component.
  • Page 242: Dv/dt Filter Plus Vpl

    ● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis power units – SINAMICS S120 Liquid Cooled Chassis power units WARNING When a dv/dt filter with Voltage Peak Limiter is used, the maximum permissible pulse frequency of the Power Module or Motor Module is 4 kHz (chassis power units up to 250 kW at 400 V) or 2.5 kHz (chassis power units from 315 kW to 800 kW at 400 V...
  • Page 243: Dv/dt Filter Compact Plus Voltage Peak Limiter

    Basic functions 6.6 dv/dt filter compact plus Voltage Peak Limiter dv/dt filter compact plus Voltage Peak Limiter Description The dv/dt filter compact plus Voltage Peak Limiter comprises two components, the dv/dt reactor and the voltage limiting network (Voltage Peak Limiter, VPL). A VPL cuts off the voltage peaks and feeds the energy back into the DC link.
  • Page 244 ● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis power units – SINAMICS S120 Liquid Cooled Chassis power units Commissioning During commissioning, you must activate the dv/dt filter with p0230 = 2. Drive functions...
  • Page 245: Pulse Frequency Wobbling

    (1000/p0115[0]). These conditions apply to all indices. Note If pulse frequency wobbling is deactivated, parameter p1811 is set to "0" in all of the indices. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1810 modulator configuration ● p1811[0...n] pulse frequency wobbling amplitude...
  • Page 246: Direction Reversal Without Changing The Setpoint

    Basic functions 6.8 Direction reversal without changing the setpoint Direction reversal without changing the setpoint Features ● Not change to the speed setpoint and actual value, the torque setpoint and actual value and the relative position change. ● Only possible when the pulses are inhibited CAUTION If direction reversal is configured in the data set configurations (e.g.
  • Page 247: Automatic Restart (vector, Servo, Infeed)

    Basic functions 6.9 Automatic restart (vector, servo, infeed) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0069 Phase current, actual value ● r0089 Actual phase voltage ● p1820 Direction of rotation reversal of the output phases (vector) ● p1821 Rotational direction ●...
  • Page 248 Basic functions 6.9 Automatic restart (vector, servo, infeed) Automatic restart mode Table 6- 7 Automatic restart mode p1210 Mode Meaning Disables automatic restart Automatic restart inactive Acknowledges all faults without Any faults that are present, are acknowledged restarting automatically once the cause has been rectified. If further faults occur after faults have been acknowledged, then these are also again automatically acknowledged.
  • Page 249 Basic functions 6.9 Automatic restart (vector, servo, infeed) Note A start attempt immediately starts when the fault occurs. The faults are automatically acknowledged in intervals of half the waiting time p1212. After successfully acknowledgment and the voltage returns, then the system is automatically powered-up again.
  • Page 250: Armature Short-circuit Braking, Dc Braking

    Basic functions 6.10 Armature short-circuit braking, DC braking Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0863 CO/BO: Drive coupling status word/control word ● p1206[0...9] faults without automatic restart ● p1207 BI: Automatic restart (AR) - connection to the following drive object ●...
  • Page 251: Armature Short-circuit Braking For Permanent-magnet Synchronous Motors

    Basic functions 6.10 Armature short-circuit braking, DC braking ● it is not possible to ramp-down the drive in a controlled fashion ● an infeed unit is used that is not capable of energy recovery ● no braking resistor is used 6.10.1 Armature short-circuit braking for permanent-magnet synchronous motors Preconditions...
  • Page 252: External Armature Short-circuit Braking

    Basic functions 6.10 Armature short-circuit braking, DC braking 6.10.1.2 External armature short-circuit braking This function controls an external contactor via output terminals that then short-circuits the motor windings through resistors. Setting The external armature short-circuit braking is activated via p1231 = 1 with contactor feedback signal or via p1231 = 2 without contactor feedback signal.
  • Page 253 Basic functions 6.10 Armature short-circuit braking, DC braking Calculating the external braking resistors To achieve the highest braking effect, calculate the values of the resistors using the following formula: = 5.2882 × 10 × p0314 × p0356 × n - p0350 = maximum speed used Parameter assignment You can parameterize the Motor Module and the Control Unit using the STARTER...
  • Page 254 Basic functions 6.10 Armature short-circuit braking, DC braking ● DI 14 is defined as the input for the feedback signal of the short-circuit contactor. In the event of power failure or wire break, the motor should be operated in a safe state. The feedback signal of DI 14 is inverted via p0723.14 for this purpose.
  • Page 255: Dc Braking

    Basic functions 6.10 Armature short-circuit braking, DC braking 6.10.2 DC braking Preconditions ● This function has been released for Motor Modules in the booksize, blocksize and chassis formats. ● An induction motor must be used. With the function "DC braking", after a demagnetization time, a DC current is injected in the stator windings of the induction motor.
  • Page 256: Activation Via Fault Response

    Basic functions 6.10 Armature short-circuit braking, DC braking Deactivation If DC braking is deactivated by setting the signal source of p1230 to "0" and the ON command is still active, then the drive returns to its selected operating mode. The following is applicable: ●...
  • Page 257: Activation Via A Speed Threshold

    Basic functions 6.10 Armature short-circuit braking, DC braking Activation using OFF1/OFF3 DC braking is activated with OFF1 or OFF3. ● If the motor speed ≥ p1234, the motor is braked down to p1234. As soon as the motor speed is < p1234, the pulses are disabled and the motor is demagnetized. ●...
  • Page 258: Function Diagrams And Parameters

    ● 7014 External Armature Short-Circuit (EASC, p0300 = 2xx or 4xx) ● 7016 Internal Armature Short-Circuit (IASC, p0300 = 2xx or 4xx) ● 7017 DC brake (p0300 = 1xx) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0046.0...31 CO/BO: Missing enable signals ● p0300[0...n] motor type selection ●...
  • Page 259: Motor Module As Braking Module

    • SINAMICS S120 Motor Modules Chassis (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (500 V - 690 V) 6.11.1...
  • Page 260: Configuring The Resistors

    Basic functions 6.11 Motor Module as braking module 6.11.2 Configuring the resistors 1. Under no circumstances may the resistance values for the peak braking power, which are listed in this table, be fallen below! 2. The resistance values apply for each of the 3 resistors in a star connection in the cold state.
  • Page 261 Basic functions 6.11 Motor Module as braking module Table 6- 9 Resistance table 500 - 690 V line supply voltage Peak Resistance Resistance Motor Rated Rated Braking Continuou DC link Module voltage current current chopper s braking braking at the continuous at the peak frame size threshold...
  • Page 262 Basic functions 6.11 Motor Module as braking module Motor Rated Rated Braking Continuou Peak Resistance Resistance DC link Module voltage current current chopper s braking braking at the continuous at the peak frame size threshold power power braking power braking power [kW] [kW] [Ω]...
  • Page 263 Basic functions 6.11 Motor Module as braking module Connecting braking resistors Preferably connect the braking resistors in a star configuration Figure 6-5 Braking resistors Setting the braking module activation threshold The braking module activation threshold is handled by the Basic Line Module (table below). The value of the braking module activation threshold p1362[0] and the hysteresis p1362[1] can be adjusted.
  • Page 264: Activating The Function

    6.11.3 Activating the function You have opened the STARTER commissioning tool and created a new project. 1. Configure the Control Unit and the infeed module as usual (see SINAMICS S120 Commissioning Manual). 2. Select the type "VECTOR" as drive object.
  • Page 265: Protective Equipment

    Basic functions 6.11 Motor Module as braking module Figure 6-6 Parallel connection of Motor Modules as braking module To carry out further checks, double-click on ".../Drives/Drive_1 > Configuration" in the navigation list. A dialog opens allowing you to check the current configuration. The "Current power unit operating values"...
  • Page 266: Function Diagrams And Parameters

    6.11.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● None Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0207[0…4] Power unit rated current ● r0949[0...63] Fault value ● p1300[0...n] Open-loop/closed-loop control operating mode ● p1330[0...n] CI: U/f control independent of voltage setpoint ●...
  • Page 267: Off3 Torque Limits

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 5620 Motor/generator torque limits ● 5630 Upper/lower torque limit ● 6630 Upper/lower torque limit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1520 Torque limit, upper/motoring ● p1521 Torque limit, lower/regenerative 6.13...
  • Page 268 Function diagrams (see SINAMICS S120/S150 List Manual) ● 5610 Torque limiting/reduction/interpolator ● 6710 Current setpoint filters ● 7010 Friction characteristic curve Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3820 Friction characteristic curve value n0 ● ... ● p3839 Friction characteristic curve value M9 ●...
  • Page 269: Simple Brake Control

    The Motor Module then performs the action and activates the output for the holding brake. The exact sequence control is shown in the SINAMICS S120/S150 List Manual (function diagram 2701 and 2704). The operating principle of the holding brake can be configured via parameter p1215.
  • Page 270 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2701 Simple brake control (r0108.14 = 0) ● 2704 Extended brake control (r0108.14 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0056.4 Magnetizing complete ● r0060 CO: Speed setpoint before the setpoint filter ●...
  • Page 271: Runtime (operating Hours Counter)

    Basic functions 6.15 Runtime (operating hours counter) ● r0899.12 BO: Holding brake open ● r0899.13 BO: Command, close holding brake ● p1215 Motor holding brake configuration ● p1216 Holding brake release time ● p1217 Holding brake application time ● p1226 Threshold for zero speed detection ●...
  • Page 272: Energy-saving Display

    Using the SINAMICS S120 system enables control of the flow rate or the pressure by changing the speed of the continuous-flow machine. As a consequence, the plant or system is controlled close to its maximum efficiency over the complete operating range.
  • Page 273 Basic functions 6.16 Energy-saving display Solution to optimize the system When using a speed controller, the process-specific flow rate of the continuous-flow machine is controlled by varying the speed. The flow rate changes proportionally with the speed of the continuous-flow machine. Any throttles or valves remain completely open. The entire plant/system characteristic is shifted by the speed controller to achieve the required flow rate.
  • Page 274 Basic functions 6.16 Energy-saving display Figure 6-8 Energy-saving potential Legend for top characteristic: H[%]: Delivery height, P[%]: Delivery pressure, Q[%]: Delivery rate, V[%]: Flow rate Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 275 Basic functions 6.16 Energy-saving display Legend for bottom characteristic: P[%]: Power drawn by the conveyor machine, n[%]: Speed of the conveyor machine Interpolation points p3320 ... p3329 for the system characteristic with n = 100%: P1 ... P5: Power drawn, n1 ... n5: Speed corresponding to a closed-loop speed control machine Energy-saving function This function determines the amount of energy used and compares it with the interpolated...
  • Page 276: Encoder Diagnostics

    ● Displaying the last written BIN file ● Number of still possible write operations (from 10000 downwards). Note BIN files can only be evaluated by Siemens. Alarm A3x930 is output while diagnostics data is being actively recorded. Do not switch off the system during this time.
  • Page 277: Encoder Dirty Signal

    The input is automatically set to a high level if a wire is broken: As a consequence, for a broken wire, the encoder is considered to be "good". Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0437[0...n] Sensor Module configuration extended 6.18...
  • Page 278: Encoder Track Monitoring

    Basic functions 6.18 Tolerant encoder monitoring Some of these supplementary functions can be combined with one another. Terminology Quadrant , Encoder pulse , ¼ encoder pulse , Signal period Increment Negative / falling Track A edge Track B Positive / Rising edge Track R,...
  • Page 279: Zero Mark Tolerance

    If you selected your encoder from the list of parameter p0400, then the values above are pre-selected and cannot be changed (also refer to the information on p0400 in the SINAMICS S120/S150 List Manual). Deactivating track monitoring If encoder track monitoring is activated, you can deactivate the function by setting p0437.26 = 1.
  • Page 280: Freezing The Speed Raw Value

    Basic functions 6.18 Tolerant encoder monitoring Principle of operation The function runs as follows: ● The "zero mark tolerance" function starts to become effective after the 2nd zero mark has been detected. ● After this, if the number of track pulses between two zero marks does not match the configured number of pulses once, then alarms A3x400 (alarm threshold, zero mark distance error) or A3x401...
  • Page 281: Edge Evaluation Of The Zero Mark

    Basic functions 6.18 Tolerant encoder monitoring Parameterization ● In parameter p0438 (squarewave encoder filter time) enter the filter time in the range from 0 to 100 μs. The hardware filter only supports values 0 (no filtering), 0.04 μs, 0.64 μs, 2.56 μs, 10.24 μs and 20.48 μs If a value is set that does not match one of the discrete values specified above, the firmware automatically sets the next closest discrete value.
  • Page 282: Pole Position Adaptation

    Basic functions 6.18 Tolerant encoder monitoring Commissioning ● Set parameter p0437.1 = 1 to activate the "edge evaluation of the zero mark" function. The factory setting p0437.1 = 0 keeps the operation at the known zero mark detection. Parameterization ● Under unfavorable conditions, if the drive oscillates around the zero mark for one revolution, a zero mark error can occur with the rough order of magnitude of the zero mark width.
  • Page 283: Pulse Number Correction For Faults

    Basic functions 6.18 Tolerant encoder monitoring 6.18.7 Pulse number correction for faults Interference currents or other EMC faults can falsify encoder evaluation. However, it is possible to correct the measured signals using the zero marks. Commissioning ● Set p0437.2 = 1 to activate "Pulse number correction for faults". ●...
  • Page 284: Tolerance Band Pulse Number" Monitoring

    Basic functions 6.18 Tolerant encoder monitoring 6.18.8 "Tolerance band pulse number" monitoring This function monitors the number of encoder pulses between two zero marks. An alarm is output if the number lies outside a tolerance band that can be selected. Commissioning ●...
  • Page 285: Signal Edge Evaluation (1x, 4x)

    Basic functions 6.18 Tolerant encoder monitoring 6.18.9 Signal edge evaluation (1x, 4x) The "signal edge evaluation" function allows squarewave encoders with higher production tolerances or older encoders to be used. Using this function, a "steadier" speed actual value is calculated for encoders with an uneven pulse duty factor of the encoder signals. As a consequence, you can keep the old motors together with the encoders - for example when modernizing plants.
  • Page 286: Setting The Measuring Time To Evaluate Speed "0

    Basic functions 6.18 Tolerant encoder monitoring 6.18.10 Setting the measuring time to evaluate speed "0" This function is only necessary for slow-speed drives (up to 40 rpm rated speed) in order to be able to output actual speeds correctly close to 0. For a stationary drive, this prevents that the I component of the speed controller slowly increases and the drive unnecessarily establishes a torque.
  • Page 287: Troubleshooting

    Basic functions 6.18 Tolerant encoder monitoring 6.18.12 Troubleshooting Table 6- 12 Fault profiles and their possible causes Fault profile Fault description Remedy No fault – F3x101 (zero mark Check that the connection failed) assignment is correct (A interchanged with –A or B interchanged with –B) F3x100 (Zero mark Check whether the...
  • Page 288 Basic functions 6.18 Tolerant encoder monitoring Fault profile Fault description Remedy Zero mark too wide Use edge evaluation of the zero mark EMC faults Use an adjustable hardware filter Zero mark too early/late For faults, use pole position adaptation or (interference pulse or pulse number correction pulse loss on the A/B...
  • Page 289: Tolerance Window And Correction

    Basic functions 6.18 Tolerant encoder monitoring 6.18.13 Tolerance window and correction Reference mark (or zero mark) Correction step per Correction step per zero mark = -1 zero mark = +1 quadrant quadrant Tolerance window zero mark negative Tolerance window zero mark positive Rotor position adaptation (p0430.22 = 1): -30°el.
  • Page 290 Basic functions 6.18 Tolerant encoder monitoring Parameter Functionality These functions can be freely combined with one These functions another build on one another from left to right, and can be combined with the adjacent ones Indices p0405.2 Track monitoring p0430.20 Speed calculation mode p0430.21 Zero mark tolerance...
  • Page 291: Overview Of Important Parameters

    Number of pulses square-wave encoder outside tolerance 6.18.15 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0404[0...n] Encoder configuration active ● p0405[0...n] Squarewave encoder track A/B / squarewave encoder A/B ● p0408[0...n] Rotary encoder pulse number ●...
  • Page 292: Parking Axis And Parking Encoder

    Basic functions 6.19 Parking axis and parking encoder 6.19 Parking axis and parking encoder The parking function is used in two ways: ● "Parking axis" – Monitoring of all encoders and Motor Modules assigned to the "Motor control" application of a drive are suppressed. –...
  • Page 293 Basic functions 6.19 Parking axis and parking encoder Parking an encoder When an encoder is parked, the encoder being addressed is switched to inactive (r0146 = ● Control is carried out via the encoder control/status words of the cyclic telegram (Gn_STW.14 and Gn_ZSW.14).
  • Page 294 In the following example, a motor encoder is parked. To activate motor encoder parking, the drive must be stopped (e.g. via STW1.0 (OFF1). Figure 6-12 Function chart: parking encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ● p0125 Activate power unit component ●...
  • Page 295: Position Tracking

    Basic functions 6.20 Position tracking 6.20 Position tracking 6.20.1 General Information Terminology ● Encoder range The encoder range is the position area that can itself represent the absolute encoder. ● Singleturn encoder A singleturn encoder is a rotating absolute encoder, which provides an absolute image of the position within one encoder revolution.
  • Page 296: Measuring Gear

    Basic functions 6.20 Position tracking ● Encoder pulses per revolution (p0408) ● Fine resolution per revolution (p0419) ● Number of resolvable revolutions of the rotary absolute encoder (p0421), this value is fixed at "1" for singleturn encoders. When position tracking (p0411.0 = 1) is activated, the encoder position actual value r0483 is composed as follows: ●...
  • Page 297 Basic functions 6.20 Position tracking In order to determine the position at the motor/load, in addition to the position actual value of the absolute encoder, it is also necessary to have the number of overflows of the absolute encoder. If the power supply of the control module must be powered-down, then the number of overflows must be saved in a non-volatile memory so that after powering-up the position of the load can be uniquely and clearly determined.
  • Page 298 Basic functions 6.20 Position tracking Measuring gear configuration (p0411) The following points can be set by configuring this parameter: ● p0411.0: Activation of position tracking ● p0411.1: Setting the axis type (linear axis or rotary axis) Here, a rotary axis refers to a modulo axis (modulo offset can be activated through higher-level control or EPOS).
  • Page 299 Basic functions 6.20 Position tracking Tolerance window (p0413) After switching on, the difference between the stored position and the actual position is ascertained and, depending on the result, the following is initiated: ● Difference within the tolerance window → the position is reproduced based on the actual encoder value.
  • Page 300: Encoder As Drive Object

    6.21 ENCODER as drive object Function diagrams (see SINAMICS S120/S150 List Manual) ● 4704 Position and temperature sensing, encoders 1 ... 3 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0402 Gear type selection ● p0411 Measuring gear configuration ●...
  • Page 301: Creating An Encoder Drive Object With Starter, Offline

    Basic functions 6.21 ENCODER as drive object ● Up to 4 DRIVE-CLiQ HUBs (DMC20 or DME20) can be used to establish a star-shaped wiring of the ENCODER drive objects. This means that a maximum of 19 possible ENCODER drive objects can be connected to one Control Unit. (This means that the number of possible ENCODER drive objects is restricted so that a total maximum of 24 drive objects can be connected to one Control Unit.) ●...
  • Page 302: Terminal Module 41

    Basic functions 6.22 Terminal Module 41 6.22 Terminal Module 41 General features ● Pulse encoder emulation, TTL signals according to the RS422 standard (X520) ● 1 analog input ● 4 digital inputs ● 4 bidirectional digital inputs/outputs Terminal Module 41 (TM41) emulates incremental encoder signals (TTL) – and outputs them via interface X520.
  • Page 303: Sinamics Mode

    Basic functions 6.22 Terminal Module 41 Figure 6-18 Function diagram encoder emulation Special features ● PROFIdrive telegram 3 ● Own control word (r0898) ● Own status word (r0899) ● Sequence control (refer to function diagram 9682) ● Settable zero mark position (p4426) ●...
  • Page 304: Zero Mark Emulation

    Basic functions 6.22 Terminal Module 41 The zero mark signal for the TM41 is generated from the zero position of the leading encoder. Parameters p0493, p0494 and p0495 apply to the generation of the zero position of the leading encoder. Special features ●...
  • Page 305 Basic functions 6.22 Terminal Module 41 ● Referencing to an external zero mark connected via an input terminal (CU - parameter p0495) ● The position of the zero mark that is output is synchronized to the zero position of the original encoder.
  • Page 306 Basic functions 6.22 Terminal Module 41 Example of a pulse number step-up ratio with three zero positions The leading encoder outputs three pulses and one zero mark per revolution. However, the application requires 8 pulses and 3 zero marks per revolution. By setting p4408 and p4418, the required 8 pulses and the additional 3 zero marks per revolution are available at X520 of the TM41.
  • Page 307: Zero Mark Synchronization

    Basic functions 6.22 Terminal Module 41 Enabling the zero mark output of the TM41 For p4401.1 = 1, the zero mark from the leading encoder is also output from the TM41. For p4401.1 = 0, TM41 outputs the zero pulse at the position at which the TM41 was located when switching on.
  • Page 308: Limit Frequencies For Tm41

    Basic functions 6.22 Terminal Module 41 ● After the SINAMICS system has been powered up, the TM41 drive object requests the zero position of the leading encoder via the encoder interface. The encoder emulation follows the movements of the leading encoder and outputs the track signals A/B. At this point in time, no zero mark is output.
  • Page 309: Example In The Sinamics Mode

    Basic functions 6.22 Terminal Module 41 Following error monitoring If the actual position can no longer follow the entered position setpoint characteristic, then fault F35220 is output. In the SINAMICS mode the frequency setpoint is limited to the maximum output frequency. The maximum output frequency from the TM41 is transferred to the Control Unit.
  • Page 310: Function Diagrams And Parameters

    ● 9676 Incremental encoder emulation (p4400 = 1) ● 9678 Control word sequence control ● 9680 Execution control status word ● 9682 Processor Overview of important parameters (see SINAMICS S120/S150 List Manual) General ● r0002 TM41 operating display ● p0408 TM41 encoder emulation pulse number ●...
  • Page 311: Upgrade The Firmware And Project

    Basic functions 6.23 Upgrade the firmware and project ● p0840 BI: ON/OFF1 ● r0898 CO/BO: Control word, sequence control ● r0899 CO/BO: Status word, sequence control ● p1155 CI: Incremental encoder emulation speed setpoint 1 ● p4426 Incremental encoder emulation, pulses for zero mark Incremental encoder emulation using the encoder actual position (p4400 = 1) ●...
  • Page 312: Firmware/project Upgrade Using The Starter

    Basic functions 6.23 Upgrade the firmware and project The update has been completed if the RDY-LED on the Control Unit stops to flash in a 0.5Hz rhythm. Once the update process has been completed, the RDY-LED of the respective component goes into a steady light condition, for which the upgrade has been completed and the new firmware has been activated.
  • Page 313 – In the project navigator, right-click on <Drive unit > -> Target device -> Device version / Upgrade device type – Select the required firmware version, e.g. version "SINAMICS S120 firmware version 4.x" -> Change version 4. Transfer the project into the new hardware –...
  • Page 314: Downgrade Lock

    Thanks to the pulse/direction interface, in the SERVO and VECTOR control modes, SINAMICS S120 can be used for simple positioning tasks on a controller. ● The encoder interface of the SMC30 (connector X521) is used to connect the controller to the CU320-2.
  • Page 315 Basic functions 6.24 Pulse/direction interface Pulse number = (max. clock frequency • 60)/max. speed Example: If the controller has a maximum clock frequency of 100 kHz and the motor being used is to run at its maximum rated speed of 3000 rpm, the resulting pulse number will be 2000.
  • Page 316: Derating Function For Chassis Units

    Basic functions 6.25 Derating function for chassis units Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0010 Drive commissioning parameter filter ● r0061 CO: Actual speed value unsmoothed ● p0400[0...n] Encoder type selection ● p0404[0...n] Encoder configuration active ●...
  • Page 317 Basic functions 6.25 Derating function for chassis units The following quantities can result in a response to thermal overload: ● Heat sink temperature via r0037.[0] ● Chip temperature via r0037.[1] ● Power unit overload after I2t calculation via r0036 Possible measures to avoid thermal overload: ●...
  • Page 318 Basic functions 6.25 Derating function for chassis units Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 319: Technology Controller

    (CU). The READY LED on the main component of the drive object can be made to flash using parameter p0124. Overview of important parameters (see the SINAMICS S120/150 List Manual) ● p0108[0..23] drive objects function module ● p0124[0...23] main component detection via LED Technology controller Simple closed-loop control functions can be implemented with the technology controller, e.g.:...
  • Page 320 Function modules 7.1 Technology controller ● Simple closed-loop controls without higher-level controller ● Tension control The technology controller features: ● Two scalable setpoints ● Scalable output signal ● Separate fixed values ● Integrated motorized potentiometer ● The output limits can be activated and deactivated via the ramp-function generator. ●...
  • Page 321 Function modules 7.1 Technology controller This is carried out by means of a variable-speed pump in conjunction with a sensor for measuring the level. The level is determined via an analog input (e.g. AI0 on TB30) and sent to the technology controller.
  • Page 322 ● 7954 Motorized potentiometer (r0108.16 = 1) ● 7958 Closed-loop control (r0108.16 = 1) ● 7960 Controller DC-link voltage (r0108.16 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) Fixed setpoints ● p2201[0...n] CO: Technology controller fixed value 1 ●...
  • Page 323: Extended Monitoring Functions

    Function modules 7.2 Extended monitoring functions ● p2258 Technology controller ramp-down time ● p2261 Technology controller setpoint filter time constant ● p2263 Technology controller type ● p2264[0...n] CI: Technology controller actual value ● p2265 Technology controller actual value filter time constant ●...
  • Page 324 Function diagrams (see SINAMICS S120/S150 List Manual) ● 8010 Speed messages 1 ● 8011 Speed messages 2 ● 8013 Load monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) Load monitoring ● p2181[D] Load monitoring response ● p2182[D] Load monitoring speed threshold 1 ●...
  • Page 325: Extended Brake Control

    Function modules 7.3 Extended Brake Control Speed setpoint monitoring ● p2150[D] Hysteresis speed 3 ● p2151[C] CI: Speed setpoint ● p2161[D] Speed threshold value 3 ● r2198.4 BO: ZSW monitoring 2, |n_setp| ≤ p2161 ● r2198.5 BO: ZSW monitoring 2, n_setp < 0 Extended Brake Control Features ●...
  • Page 326 Function modules 7.3 Extended Brake Control Commissioning The extended brake control function can be activated while the commissioning wizard is running. Activation can be checked in parameter r0108.14. Unless you change the default settings, the extended brake control function behaves in exactly the same way as the simple brake control function.
  • Page 327 Function modules 7.3 Extended Brake Control Operating brake for crane drives For hoisting gear with a manual control, it is important that the drive immediately responds when the control lever is moved (master switch). The drive is switched on with an ON command (p0840) (the pulses are enabled).
  • Page 328 ● 2704 Zero speed detection (r0108.14 = 1) ● 2707 Release and apply brake (r0108.14 = 1) ● 2711 Signal outputs (r0108.14 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.14 extended brake control ● r0899 CO/BO: Status word, sequence control...
  • Page 329 Function modules 7.3 Extended Brake Control Standstill (zero-speed) monitoring ● r0060 CO: Speed setpoint before the setpoint filter ● r0063 CO: Actual speed smoothed (servo) ● r0063[0...2] CO: Actual speed value (vector) ● p1224[0...3] BI: Close motor holding brake at standstill ●...
  • Page 330: Braking Module

    Function modules 7.4 Braking Module Braking Module Features ● Braking the motor without any possibility of regenerating into the line supply (e.g. power failure) ● Fast DC link discharge (booksize format) ● The Braking Module terminals are controlled via the drive object infeed (booksize and chassis format) ●...
  • Page 331: Cooling Unit

    A fast DC link discharge requires the use of a line contactor with feedback signal (p0860) that is controlled via r0863.1. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.26 Drive object function module - Braking Module external ●...
  • Page 332 ● 9794 Cooling unit, control and feedback signals ● 9795 Cooling unit sequence control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0046.29 Missing enable signals - cooling unit ready missing ● r0108.28 drive object function module cooling unit ●...
  • Page 333: Extended Torque Control (kt Estimator, Servo)

    Function modules 7.6 Extended torque control (kT estimator, servo) Extended torque control (kT estimator, servo) Features ● k estimator (only for synchronous motors) ● Compensation of the voltage emulation error of the drive converter (p1952, p1953) ● Configuration via p1780 Description The "extended torque control"...
  • Page 334 Function diagrams (see SINAMICS S120/S150 List Manual) ● 7008 kT estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.1 drive objects function module - extended torque control ● p1780.3 selects motor model PEM k adaptation ●...
  • Page 335: Closed-loop Position Control

    Function modules 7.7 Closed-loop position control Closed-loop position control 7.7.1 General features The position controller essentially comprises the following parts: ● Position actual value conditioning (including the lower-level measuring probe evaluation and reference mark search) ● Position controller (including limits, adaptation and the pre-control calculation) ●...
  • Page 336 Function modules 7.7 Closed-loop position control The following interconnections are automatically established after the assignment has been made. ● p0480[0] (G1_STW) = encoder control word r2520[0] ● p0480[1] (G2_STW) = encoder control word r2520[1] ● p0480[2] (G3_STW) = encoder control word r2520[2] Figure 7-6 Position actual value sensing with rotary encoders The link between the physical variables and the neutral length unit LU is established via...
  • Page 337 Function modules 7.7 Closed-loop position control Figure 7-7 Position actual value sensing with linear encoders For linear encoders, the interrelationship between the physical quantity and the neutral length unit LU is configured using parameter p2503 (LU/10 mm). Example: Linear encoder, 10 mm should have a resolution of 1 µm (i.e. 1 LU = 1 µm). ->...
  • Page 338: Indexed Actual Value Acquisition

    Function modules 7.7 Closed-loop position control Using the connector input p2515 (position setting value) and a "1" signal at binector input p2514 (set position actual value), a position setting value can be entered. WARNING When the actual position value is set (p2514 = "1" signal), the actual position value of the position controller is kept at the value of connector p2515 as standard.
  • Page 339: Load Gear Position Tracking

    Function modules 7.7 Closed-loop position control Description The indexed position actual value acquisition permits e.g. length measurements on parts as well as the detection of axis positions by a higher-level controller (e.g. SIMATIC S7) in addition to the position control e.g. of a belt conveyor. Two more encoders can be operated in parallel with the encoders for actual value preprocessing and position control in order to collect actual values and measured data.
  • Page 340 Function modules 7.7 Closed-loop position control Description Position tracking enables reproduction of the position of the load when gears are used. It can also be used to extend the position area. Position tracking for load gear functions in the same way as position tracking for the measuring gear (see "Position tracking/Measuring gear").
  • Page 341 Function modules 7.7 Closed-loop position control Figure 7-9 Position tracking (p2721 = 24), setting p2504 = p2505 =1 (gear factor = 1) In this example, this means: ● Without position tracking, the position for +/- 4 encoder revolutions about r2521 = 0 LU can be reproduced.
  • Page 342 Function modules 7.7 Closed-loop position control Note If position tracking of the load gear is activated with parameter p2720[0] = 1 (position gear load tracking) after the encoder is adjusted (p2507 = 3), the adjustment will be reset. If the encoder is adjusted again when load position tracking is active, the load gear position will be reset (overflows).
  • Page 343 Function modules 7.7 Closed-loop position control Tolerance window (p2722) After switching on, the difference between the stored position and the actual position is ascertained and, depending on the result, the following is initiated: Difference within the tolerance window -> the position is reproduced based on the current actual encoder value.
  • Page 344 Function modules 7.7 Closed-loop position control Restrictions ● Position tracking cannot be activated for an encoder data set which is used in different drive data sets as encoder1 for different gears. If an attempt is still made to activate position tracking, fault "F07555 (Drive encoder: Configuration position tracking" will be displayed with fault value 03 hex.
  • Page 345 Function modules 7.7 Closed-loop position control p0186 p0187 p0188 p0189 Encoder for Mechan. Position Changeover position ratios tracking response (MDS) (encoder_1) (encoder_2) (encoder_3) control p2504/ Load gear p2502 p2505/ p2506/ p2503 EDS0 EDS1 EDS2 encoder_2 Activated Position tracking for EDS0 is continued and the referencing bit is reset.
  • Page 346 Function modules 7.7 Closed-loop position control p0186 p0187 p0188 p0189 Encoder for Mechan. Position Changeover position ratios tracking response (MDS) (encoder_1) (encoder_2) (encoder_3) control p2504/ Load gear p2502 p2505/ p2506/ p2503 EDS0 EDS1 EDS2 encoder_1 deactivated Pulse inhibit/operation: Referencing bit is reset.
  • Page 347: Commissioning Position Tracking Load Gear Using Starter

    Function modules 7.7 Closed-loop position control The referencing bit (r2684.11) is reset for a DDS changeover. If, in the new DDS, the EDS already has an adjusted encoder, then the referencing bit is set again. Definitions: Position tracking is continued ●...
  • Page 348: Function Diagrams And Parameters

    ● 4704 position and temperature sensing, encoders 1...3 ● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2502[0...n] LR encoder assignment ● p2503[0...n] LR length unit LU per 10 mm ●...
  • Page 349 (factor, speed pre-control) can be disabled via the value 0. Function diagrams (see SINAMICS S120/S150 List Manual) ● 4015 Position controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2533[0...n] LR position setpoint filter time constant ● p2534[0...n] LR speed precontrol factor ●...
  • Page 350: Monitoring Functions

    Function modules 7.7 Closed-loop position control 7.7.4 Monitoring functions Features ● Standstill monitoring (p2542, p2543) ● Positioning monitoring (p2544, p2545) ● Dynamic following error monitoring (p2546, r2563) ● Cam controllers (p2547, p2548, p2683.8, p2683.9) Description Figure 7-10 Zero-speed monitoring, positioning window The position controller monitors the standstill, positioning and following error.
  • Page 351 Function diagrams (see SINAMICS S120/S150 List Manual) ● 4020 Zero-speed / positioning monitoring ● 4025 Dynamic following error monitoring, cam controllers Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2530 CI: LR position setpoint ● p2532 CI: LR actual position value ●...
  • Page 352: Measuring Probe Evaluation And Reference Mark Search

    Function modules 7.7 Closed-loop position control ● p2551 BI: LR setpoint message present ● p2554 BI: LR travel command message active ● r2563 CO: LR latest following error ● r2683.8 Actual position value <= cam switching position 1 ● r2683.9 Actual position value <= cam switching position 2 ●...
  • Page 353: Commissioning

    ● 4720 Encoder interface, receive signals, encoder 1 ... 3 ● 4730 Encoder interface, send signals, encoder 1 ... 3 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2508 BI: LR activate reference mark search ● p2509 BI: LR activate measuring probe evaluation ●...
  • Page 354: Basic Positioner

    ● 4015 Position controller ● 4020 Zero-speed / positioning monitoring ● 4025 Dynamic following error monitoring, cam controllers Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108 drive objects, function module ● p1160[0...n] CI: Speed controller, speed setpoint 2 ●...
  • Page 355 Function modules 7.8 Basic positioner This means that the following functions are available for the position control: ● Standstill (zero-speed) monitoring ● Position monitoring ● Dynamic following error monitoring ● Cam controllers ● Modulo function ● Probe evaluation For further details, see the section "Position control". In addition, the following functions can be carried out using the basic positioner: ●...
  • Page 356 Function modules 7.8 Basic positioner ● Traversing blocks operating mode – Positioning using traversing blocks that can be saved in the drive unit including block change enable conditions and specific tasks for an axis that was previously referenced – Traversing block editor using STARTER –...
  • Page 357: Mechanical System

    Function modules 7.8 Basic positioner 7.8.1 Mechanical system Features ● Backlash compensation (p2583) ● Modulo offset (p2577) Description Figure 7-13 Backlash compensation When mechanical force is transferred between a machine part and its drive, generally backlash occurs. If the mechanical system was to be adjusted/designed so that there was absolutely no play, this would result in high wear.
  • Page 358 ● 6. Direct encoder with position tracking for the measuring gear: v = p0412 × p2506 / p2576 With position tracking it is recommended to change p0412 or p2721. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3635 Interpolator ● 4010 Position actual value conditioning...
  • Page 359: Limits

    Function modules 7.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2576 EPOS modulo offset, modulo range ● p2577 BI: EPOS modulo offset activation ● p2583 EPOS backlash compensation ● r2684 CO/BO: EPOS status word 2 ●...
  • Page 360 Function modules 7.8 Basic positioner This limit is only effective in the positioning mode for: ● Jog mode ● Processing traversing blocks ● Direct setpoint input/MDI for positioning/setting-up ● Reference point approach Maximum acceleration/deceleration Parameter p2572 (maximum acceleration) and p2573 (maximum deceleration) define the maximum acceleration and the maximum deceleration.
  • Page 361 Function modules 7.8 Basic positioner STOP cam A traversing range can, on one hand, be limited per software using the software limit switches and on the other hand, the traversing range can be limited per hardware. In this case, the functionality of the STOP cam (hardware limit switch) is used. The function of the STOP cams is activated by the 1 signal on the binector input p2568 (activation of STOP cams).
  • Page 362 F07490 being output. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3630 Traversing range limits Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2571 EPOS maximum velocity ● p2572 EPOS maximum acceleration...
  • Page 363: Epos And Safe Setpoint Velocity Limitation

    Further information can be found in the SINAMICS S120 Safety Integrated Function Manual. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 364: Referencing

    Function modules 7.8 Basic positioner 7.8.4 Referencing Features ● Reference point offset (p2600) ● Reversing cams (p2613, p2614) ● Reference cam (p2612) ● Binector input start (p2595) ● Binector input setting (p2596) ● Velocity override (p2646) ● Reference point coordinate (p2598, p2599) ●...
  • Page 365 Function modules 7.8 Basic positioner Set reference point The reference point can be set using a 0/1 edge at binector input p2596 (set reference point) if no traversing commands are active and the actual position value is valid (p2658 = 1 signal).
  • Page 366 Further information on commissioning DRIVE-CLiQ encoders is provided in the SINAMICS S120 Commissioning Manual. Reference point approach for incremental measurement systems With the reference point approach (in the case of an incremental measuring system), the drive is moved to its reference point.
  • Page 367 Function modules 7.8 Basic positioner The velocity override set is only effective during the search for the reference cam (step 1). This ensures that the "cam end" and "zero mark" positions are always overrun at the same speed. If signal propagation delays arise during switching processes, this ensures that the offset caused during establishment of position is the same in each referencing process.
  • Page 368 Function modules 7.8 Basic positioner If the axis is already located at the cam, when referencing is started, then traversing to the reference cam is not executed, but synchronization to the reference zero mark is immediately started (refer to step 2). Note The velocity override is effective during the search for the cam.
  • Page 369 Function modules 7.8 Basic positioner ● Encoder zero mark available (p0494 = 0 or p0495 = 0) , no reference cams (p2607 = 0): Synchronization to the reference zero mark begins as soon as the signal at binector input p2595 (start referencing) is detected. The drive accelerates to the velocity, specified in parameter p2608 (zero mark approach velocity) in the direction specified by the signal of binector input p2604 (reference point approach start direction).
  • Page 370 Function modules 7.8 Basic positioner Flying referencing Inaccuracies in the actual value acquisition are compensated with flying referencing. This increases the load-side positioning accuracy. The mode "flying referencing" (also known as post-referencing, positioning monitoring), which is selected using a "1" signal at binector input p2597 (select referencing type), can be used in every mode (jog, traversing block and direct setpoint input for positioning/setting-up) and is superimposed on the currently active mode.
  • Page 371 Function modules 7.8 Basic positioner ● If the drive has already been homed and the position difference is more than the outer window (p2602), alarm A07489 (reference point offset outside window 2) is output and the status bit r2684.3 (pressure mark outside window 2) set. No offset to the actual position value is undertaken.
  • Page 372 For incremental encoders r2684.11 ("Reference point set") is reset, and for absolute encoders the status of adjustment (p2507) is not reset in addition, because the encoder data set is different from the original. xxx, yyy, zzz: different mechanical conditions Function diagrams (see SINAMICS S120/S150 List Manual) ● 3612 Referencing ● 3614 Flying referencing...
  • Page 373: Referencing With Several Zero Marks Per Revolution

    Function modules 7.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0494[0...n] equivalent zero mark input terminal ● p0495 equivalent zero mark input terminal ● p2596 BI: EPOS set reference point ● p2597 BI: EPOS referencing type selection ●...
  • Page 374 Function modules 7.8 Basic positioner The higher-level control/position control when referencing requires a unique reference between the encoder zero mark and the machine axis (load/spindle). This is the reason that the "correct" zero mark is selected using a BERO signal. Example with a measuring gear PROFIdrive encoder interface...
  • Page 375 BERO signal ↔ zero mark. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0488 Probe 1 input terminal ● p0489 Probe 2 input terminal ●...
  • Page 376: Safely Referencing Under Epos

    Function modules 7.8 Basic positioner ● p0680 Central probe input terminal ● p2517 LR direct probe 1 ● p2518 LR direct probe 2 7.8.6 Safely referencing under EPOS Basic positioning with safe referencing Some safety functions (e.g. SLP, SP) require safe referencing. If EPOS is active at a drive, when referencing using EPOS, then the absolute position is also automatically transferred to the Safety Integrated functions.
  • Page 377 Function modules 7.8 Basic positioner Gear unit Motor Encoder Figure 7-21 Example 2: EPOS and safe referencing_linear Safety Integrated Extended function uses the rotating motor encoder. The gearbox is parameterized using p9521/p9522. The spindle pitch is parameterized in p9520. To calculate the load-side absolute position, EPOS directly uses the load-side linear scale.
  • Page 378: Traversing Blocks

    Function modules 7.8 Basic positioner Flying referencing using Safety Integrated Extended functions Flying referencing is frequently used to compensate for any inaccuracies in the actual value sensing, and therefore to optimize positioning accuracy on the load side. The Safety Integrated Extended functions have lower accuracy requirements than the control. For Safety Integrated Extended functions, cyclic adjustment is not necessary.
  • Page 379 Function modules 7.8 Basic positioner ● Task mode (p2623[0...63]) The execution of a traversing task can be influenced by parameter p2623 (task mode). This is automatically written by programming the traversing blocks in STARTER. Value = 0000 cccc bbbb aaaa –...
  • Page 380 Function modules 7.8 Basic positioner ● Task parameter (command-dependent significance) (p2622[0...63]) Intermediate stop and reject traversing task The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes with the parameterized deceleration value (p2620 or p2645). The current traversing task can be canceled by a 0 signal at p2641.
  • Page 381 Function modules 7.8 Basic positioner ENDLESS POS, ENDLESS NEG Using these tasks, the axis is accelerated to the specified velocity and is moved, until: ● A software limit switch is reached. ● A STOP cam signal has been issued. ● The traversing range limit is reached. ●...
  • Page 382 Function modules 7.8 Basic positioner The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator clock cycles p0115[5]. The minimum delay time is one interpolation clock cycle; this means that if a delay time is parameterized, which is less than an interpolation clock cycle, then the system waits for one interpolation clock cycle.
  • Page 383: Travel To Fixed Stop

    POSITION and WAIT order can be started. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3616 Traversing blocks operating mode Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2616 EPOS traversing block, block number ● p2617 EPOS traversing block, position ●...
  • Page 384 Function modules 7.8 Basic positioner Fixed stop is reached As soon as the axis comes into contact with the mechanical fixed stop, the closedloop control in the drive raises the torque so that the axis can move on. The torque increases up to the value specified in the task and then remains constant.
  • Page 385 Function modules 7.8 Basic positioner Fixed stop is not reached If the brake application point is reached without the "fixed stop reached" status being detected, then the fault F07485 "Fixed stop is not reached" is output with fault reaction OFF1, the torque limit is canceled and the drive cancels the traversing block. Note •...
  • Page 386: Direct Setpoint Input (mdi)

    ● 3617 Travel to fixed stop (r0108.4 = 1) ● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1528 CI: Torque limit, upper/motoring, scaling ● p1529 CI: Torque limit, lower/regenerative scaling ●...
  • Page 387 Function modules 7.8 Basic positioner ● Connector inputs – CI: MDI position setpoint (p2642) – CI: MDI velocity setpoint (p2643) – CI: MDI acceleration override (p2644) – CI: MDI deceleration override (p2645) – CI: Velocity override (p2646) ● Accept (p2649, p2650) Description The direct setpoint input function allows for positioning (absolute, relative) and setup (endless position-controlled) by means of direct setpoint input (e.g.
  • Page 388 ● 3618 EPOS - direct setpoint input mode/MDI, dynamic values ● 3620 EPOS - direct setpoint input mode/MDI Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2577 BI: EPOS modulo offset activation ● p2642 CI: EPOS direct setpoint input/MDI, position setpoint ●...
  • Page 389 SINAMICS S120/S150 List Manual). Function diagrams (see SINAMICS S120/S150 List Manual) ● 3610 EPOS - jog mode Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2585 EPOS jog 1 setpoint velocity ● p2586 EPOS jog 2 setpoint velocity ●...
  • Page 390: Status Signals

    Function modules 7.8 Basic positioner 7.8.11 Status signals The status signals relevant to positioning mode are described below. Tracking mode active (r2683.0) The "Follow-up active mode" status signal shows that follow-up mode has been activated which can be done by binector input p2655 (follow-up mode) or by a fault. In this status, the position setpoint follows the actual position value, i.e.
  • Page 391 Function modules 7.8 Basic positioner Cam switching signal 1 (r2683.8) Cam switching signal 2 (r2683.9) The electronic cam function can be implemented using these signals. Cam switching signal 1 is 0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if the actual position is greater than p2548 - otherwise 1.
  • Page 392: Master/slave For Active Infeed

    Function modules 7.9 Master/slave for Active Infeed Velocity limiting active (r2683.1) If the actual setpoint velocity exceeds the maximum velocity p2571 - taking into account the velocity override - it is limited and the control signal is set. Master/slave for Active Infeed 7.9.1 Operating principle This function allows drives to be operated with a redundant infeed.
  • Page 393: Basic Structure

    Function modules 7.9 Master/slave for Active Infeed 7.9.2 Basic structure Description DRIVE-CLiQ can be used to connect an Active Line Module (ALM) to a Control Unit (CU) and Voltage Sensing Module (VSM) to create an infeed train. A Motor Module together with a Sensor Module Cabinet (SMC) or Sensor Module External (SME) forms a drive train.
  • Page 394 Function modules 7.9 Master/slave for Active Infeed Topology Figure 7-23 Topology structure and communications network based on PROFIBUS for master/slave operation with redundant infeeds (4 infeed trains) Master/slave operation can be implemented for a maximum of 4 Active Line Modules. Electrical isolation of infeeds To successfully implement the structure, a means of electrically isolating the infeeds from the line supply is required in addition to the SINAMICS components.
  • Page 395: Types Of Communication

    Function modules 7.9 Master/slave for Active Infeed Two solutions are possible for the electrical isolation: ● Using an isolating transformer for each slave infeed train. The primary side of the transformer is to be connected to the grounded or ungrounded line transformer. The secondary side must never be grounded.
  • Page 396: Description Of Functions

    Function modules 7.9 Master/slave for Active Infeed Communication using an analog setpoint The analog setpoint between the CUs with Terminal Module 31 (TM31) can also be used as an alternative to bus communication. The factory setting for the sampling time of analog inputs and/or outputs is 4 ms (TM31 inputs/outputs sampling time p4099[1/2]).
  • Page 397 Structogram of master/slave operation, 3 identical Active Line Modules (ALMs) of identical output rating, PROFIBUS communication system Function diagrams The function of the "Master/slave infeeds" function module is shown in function diagrams 8940 and 8948 (see SINAMICS S120/S150 List Manual). Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 398 Function modules 7.9 Master/slave for Active Infeed Explanations for the function diagrams ● Current setpoint interconnection Parameter p3570 is used to connect the setpoint for the closed-loop current control (active current setpoint from the master). Using parameter p3513, which can be changed in the "ready for operation"...
  • Page 399: Commissioning

    Function modules 7.9 Master/slave for Active Infeed 7.9.5 Commissioning Line supply and DC link identification routine Before the option "Master/slave" operation is enabled in STARTER, the line supply and DC link identification runs (see corresponding section in this function manual) must be executed during commissioning for each infeed train.
  • Page 400: Function Diagrams And Parameters

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 8940 Controller control factor reserve/controller DC link voltage ● 8948 Master/slave (r0108.19 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3513 BI: Disable voltage-controlled operation ● p3516 infeed current distribution factor ●...
  • Page 401: Connecting The Motors In Parallel

    Function modules 7.10 Connecting the motors in parallel 7.10 Connecting the motors in parallel For simple commissioning of group drives (a number of identical motors operating on one power unit) in control modes servo and vector, the number of parallel-connected motors can be entered in STARTER or in the parameter list (p0306) An equivalent motor is computed internally depending on the number of motors specified.
  • Page 402 Function modules 7.10 Connecting the motors in parallel Figure 7-25 Selection of motors for parallel connection Motors with integrated DRIVE-CLiQ interface (SINAMICS Sensor Module Integrated) can also be connected in parallel. The first motor is connected to DRIVE-CLiQ via the encoder. The additional motors must be identical) Using parameter p0306 and the encoder information obtained via DRIVE-CLiQ, it is possible to determine all the necessary motor data.
  • Page 403: Parallel Connection Of Power Units

    7.11 Parallel connection of power units In order to extend the power range, SINAMICS S120 supports the parallel connection of identical power units such as Line Modules and/or Motor Modules. The prerequisites for connecting power units in parallel are as follows: ●...
  • Page 404 (p7003 = 0) is possible. CAUTION Additional information and instructions in the Manual SINAMICS S120 Chassis Power Units must be carefully taken into consideration. ● Parallel connection of up to four power units on the infeed side (closed/open loop).
  • Page 405: Applications Of Parallel Connections

    The reduction of the rated current (derating) of a power unit for parallel connection is: ● 7.5% for parallel connections of SINAMICS S120 Basic Line Modules and SINAMICS S120 Smart Line Modules when neither module is equipped with a current compensation control.
  • Page 406 Function modules 7.11 Parallel connection of power units Figure 7-26 Parallel connection of power units - overview Note For further information about parallel connection of power units, especially instructions on how to configure them, see "SINAMICS Configuration Manual for G130, G150, S120 Chassis, S120 Cabinet Modules, S150".
  • Page 407: Parallel Connection Of Basic Line Modules

    Function modules 7.11 Parallel connection of power units 12-pulse infeed For a 12-pulse infeed, the two redundant infeeds with the same power rating are supplied from a line supply via a three-winding transformer. Depending on the transformer design, the line-side voltages of the two infeeds will include minor tolerances of between about 0.5 % to 1 %.
  • Page 408 Function modules 7.11 Parallel connection of power units ● With multiple infeeds, power must be supplied to the systems from a common infeed point (i.e. the modules cannot be operated on different line supplies). ● A current reduction (derating) of 7.5 % must be taken into consideration, regardless of the number of modules connected in parallel.
  • Page 409: Parallel Connection Of Smart Line Modules

    Function modules 7.11 Parallel connection of power units DANGER Vdc control with Basic Line Modules If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), the Vdc_max control may only be activated for that Motor Module whose drive has the nominal highest moment of inertia of all connected drives.
  • Page 410: Parallel Connection Of Active Line Modules

    Function modules 7.11 Parallel connection of power units ● With multiple infeeds, power must be supplied to the systems from a common infeed point (i.e. the modules cannot be operated on different line supplies). ● A derating factor of 7.5 % must be taken into consideration, regardless of the number of modules connected in parallel.
  • Page 411 Function modules 7.11 Parallel connection of power units Active Line Modules are available for the following voltages and power ratings: Table 7- 9 Active Line Modules Line supply voltage Rated power 380 to 480 V AC, 3-phase 132 ... 900 kW 500 to 690 V AC, 3-phase 560 ...
  • Page 412: Parallel Connection Of Motor Modules

    Function modules 7.11 Parallel connection of power units 7.11.1.4 Parallel connection of Motor Modules Up to four Motor Modules operating in parallel can supply a single motor in vector control. The motor can have electrically isolated winding systems or a common winding system. The type of winding system defines the following requirements: ●...
  • Page 413 Function modules 7.11 Parallel connection of power units Parallel connection of two Motor Modules to one motor with double winding system Motors in the power range from about 1 MW to 4 MW, for which power units connected in parallel are generally used, frequently have several parallel windings. If these parallel windings are separately routed to the terminal box of the motor, a motor is obtained with winding systems that can be separately accessed.
  • Page 414: Commissioning

    For further detailed information about commissioning, restrictions regarding operation and parameterization options, please refer to the following references ● SINAMICS S120 Commissioning Manual ● SINAMICS S120/S150 List Manual Parameters r7002 ff. 7.11.3 Additional drive in addition to the parallel connection Frequently, a controlled auxiliary drive is required in addition to the main drives, e.g.
  • Page 415 Function modules 7.11 Parallel connection of power units For drive units with power units connected in parallel (Line Modules, Motor Modules) an additional drive can be supplied as an auxiliary drive. This drive object is supplied via a separate Motor Module from the common DC link and controlled from the CU320-2 via a dedicated DRIVE-CLiQ socket.
  • Page 416 7.11 Parallel connection of power units Figure 7-28 Topology with 3 basic Line Modules, 2 Motor Modules and 1 auxiliary drive Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p0120 Power unit data sets (PDS) number ● p0121 Power unit component number ●...
  • Page 417: Extended Stop And Retract

    If extended stop and retract are to activated simultaneously with Safety Integrated Functions, the following conditions must also be satisfied. Further information can be found in the SINAMICS S120 Safety Integrated Function Manual. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 418: Preconditions For Extended Stop And Retract

    Function modules 7.12 Extended stop and retract Example For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and various feed drives for a tool. In the case of a fault, it is not permissible that the tool remains inserted in the workpiece.
  • Page 419: Valid Sources For Triggering The Esr Functions

    Function modules 7.12 Extended stop and retract 7.12.3 Valid sources for triggering the ESR functions Axis-related trigger sources Conditions for triggering the function: ● ESR function has been configured in the drive with p0888, e.g. stopping or retraction. ● ESR function has been enabled in the drive with p0889 = 1. ●...
  • Page 420: Invalid Sources

    Function modules 7.12 Extended stop and retract 7.12.4 Invalid sources The following DRIVE-CLiQ communication failures do not produce an ESR trigger: 1. Pulse suppression of the Motor Modules is pending – The drive performs an OFF2 and coasts to a standstill. 2.
  • Page 421: Extended Retract

    Function modules 7.12 Extended stop and retract 7.12.5.2 Extended retract In the case of a fault, the objective is to approach a retraction position. The retraction method is used as long as the drive is still capable of functioning. The function is parameterized and operates on an axis-specific basis.
  • Page 422: Regenerative Operation

    Function modules 7.12 Extended stop and retract 7.12.5.3 Regenerative operation In the case of a fault, the objective is to buffer the DC link until all of the drives connected to the DC link and enabled by ESR have reached their configured final position. To achieve this, a suitable drive in the drive line-up, for example a spindle drive, is braked in generator operation.
  • Page 423: Profidrive Telegram For Esr

    = r0887.12 7.12.8 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 2443 Signal targets for STW1 in interface mode SIMODRIVE 611 universal (p2038 = 1) ● 2456 Signal sources for MELDW ● 2495 Signal targets for CU_STW1 ●...
  • Page 424: Moment Of Inertia Estimator

    Function modules 7.13 Moment of inertia estimator ● p0889 BI: Enable ESR response ● p0890 BI: ESR trigger ● p0891 ESR OFF ramp ● p0892 ESR timer ● p0893 ESR velocity / ESR speed ● p1051 [0...n] CI: Speed limit in RFG, positive direction of rotation ●...
  • Page 425 Function modules 7.13 Moment of inertia estimator Description If an unknown load is present during the speed change, then the moment of inertia cannot be determined. The complete actual motor torque is known. It is not known what percentage is used to accelerate the motor and what is used to accelerate the load. This is the reason that acceleration or deceleration (using the speed setpoint) must be without load.
  • Page 426 Function modules 7.13 Moment of inertia estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0108[0...23] drive objects, the function module ● p0341[0...n] Motor moment of inertia ● p1400[0...n] Speed control configuration ● p1402[0...n] Closed-loop current control and motor model configuration ●...
  • Page 427 Function modules 7.13 Moment of inertia estimator Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 428 Function modules 7.13 Moment of inertia estimator Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
  • Page 429: Monitoring And Protective Functions

    Monitoring and protective functions Power unit protection, general SINAMICS power units offer comprehensive functions for protecting power components. Table 8- 1 General protection for power units Protection against: Precautions Responses Overcurrent Monitoring with two thresholds: A30031, A30032, A30033 First threshold exceeded •...
  • Page 430 Monitoring and protective functions 8.2 Thermal monitoring and overload responses The following thermal monitoring options are available: ● I t monitoring - A07805 - F30005 t monitoring is used to protect components that have a high thermal time constant compared with semi-conductors. An overload with regard to I t is present when the converter load r0036 is greater than 100% (load in % in relation to rated operation).
  • Page 431 Control Unit. Function diagrams (see SINAMICS S120/S150 List Manual) ● 8014 Thermal monitoring, power unit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0036 CO: Power unit overload I2t ● r0037 CO: Power unit temperatures ●...
  • Page 432: Block Protection

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 8012 Signals and monitoring functions - Torque messages, motor blocked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2144 BI: Blocked motor monitoring enable (negated) ● p2175 Motor blocked speed threshold ●...
  • Page 433: Stall Protection (only For Vector Control)

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 6730 Current control ● 8012 Torque messages, motor blocked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r1408 CO/BO: Control status word 3 ● p1744 Motor model speed threshold stall detection ●...
  • Page 434: Thermal Motor Protection

    Monitoring and protective functions 8.5 Thermal motor protection Thermal motor protection The thermal motor protection monitors the motor temperature and responds to overtemperature conditions with alarms or faults. The motor temperature is either measured with sensors in the motor, or is calculated without sensors, using a temperature model from the operating data of the motor.
  • Page 435: Thermal Motor Model 1

    Monitoring and protective functions 8.5 Thermal motor protection Depending on the particular model, the temperature rise is either assigned different motor parts (stator, rotor), or is calculated from the motor current and the thermal time constant. A combination of motor temperature model with additional temperature sensors can also be used.
  • Page 436: Thermal Motor Model 3

    Monitoring and protective functions 8.5 Thermal motor protection ● p0627 = overtemperature, stator winding ● p0628 = rotor winding temperature rise Motor temperature rises are calculated on the basis of motor measured values. The calculated temperature rises are indicated in the parameters: ●...
  • Page 437 Function diagrams (see SINAMICS S120/S150 List Manual) ● 8016 Thermal motor monitoring ● 8017 Thermal motor models (only for synchronous motor, p0300 = xxx) Overview of important parameters (see SINAMICS S120/S150 List Manual) Thermal motor model 1 ● r0034 CO: Motor utilization ●...
  • Page 438: Motor Temperature Sensing

    The temperature sensor is connected to the Sensor Module at the appropriate terminals (- Temp) and (+Temp) (see the relevant section in the Manual SINAMICS S120 Control Units and Supplementary System Components). The threshold value for switching over to an alarm or fault is 1650 Ω.
  • Page 439: Sensor Modules

    Monitoring and protective functions 8.5 Thermal motor protection Function of the bimetallic NC contact A bimetallic switch at a certain nominal response temperature actuates a switch. The tripping resistance is <100 Ohm. Not every sensor input is bimetal NC contact-capable. ●...
  • Page 440: Sensor Module External

    Monitoring and protective functions 8.5 Thermal motor protection 8.5.5 Sensor Module External A Sensor Module External (SME) is required if the sensor interface is to be installed close to the motor sensor outside a control cabinet. The SME has an IP67 degree of protection. 8.5.6 Sensor Module SME 20/25 Sensor Module External 20/25...
  • Page 441 Monitoring and protective functions 8.5 Thermal motor protection Temperature measurement ● p0600 = 1/2/3 selects the additional motor temperature measurement via channels 2 to 4. ● p0601 = 10 activates the evaluation via several temperature channels SME12x. KTY84 ● p4601[0...n] to p4603[0...n] = 20 sets temperature sensor type KTY. ●...
  • Page 442: Terminal Modules

    Monitoring and protective functions 8.5 Thermal motor protection 8.5.8 Terminal Modules Terminal Modules provided the drive system with additional analog and digital data inputs and outputs. They are intended for use in control cabinets. The Terminal Modules are connected via DRIVE-CLiQ with the drive system. Terminal Modules TM31, TM120 and TM150 provide inputs for temperature sensors.
  • Page 443: Terminal Module 120

    -48 °C up to 251°C. Temperature sensors are connected at the TM120 at terminal strip X521 according to the table above. You will find additional information on this topic in the SINAMICS S120 Control Units and Additional Components Manual.
  • Page 444 Monitoring and protective functions 8.5 Thermal motor protection ● p0609[0...3] allocates the temperature channels for the motor temperatures to signal source 3. ● p4100[0...n] = 0 deactivates temperature evaluation. ● r4101[0...3] indicates the actual resistance value of the respective temperature sensor. The maximum measurable resistance is 2170 Ω.
  • Page 445: Terminal Module 150

    The TM150 temperature inputs are not electrically isolated. You can find additional information in the function diagrams 9625, 9626 and 9627 in the SINAMICS S120/S150 List Manual. Selecting the sensor types ● p4100[0...11] sets the sensor type for the respective temperature channel.
  • Page 446: Measurement With Up To 6 Channels

    With p4108[0...5] = 3, you evaluate a sensor in a 4-wire system at a 4-wire connection at terminals 3 and 4. The measuring cable is connected to terminals 1 and 2. You can find additional information in function diagram 9626 in the SINAMICS S120/S150 List Manual.
  • Page 447: Measurement With Up To 12 Channels

    1 and 2. The second sensor (number = first sensor + 6) is connected at terminals 3 and 4. You can find additional information in function diagram 9627 in the SINAMICS S120/S150 List Manual. When connecting two 2-wire sensors to terminal X531, the first sensor is assigned to temperature channel 1 and the second sensor is assigned to channel 7 (1+6).
  • Page 448: Evaluating Temperature Channels

    Monitoring and protective functions 8.5 Thermal motor protection The calculated values from group 1 are available in the following parameters for interconnection: ● r4112[1] = maximum ● r4113[1] = minimum ● r4114[1] = average value NOTICE Forming groups of temperature channels Only form groups of continuously measuring temperature sensors.
  • Page 449: Motor Module/power Module Chassis Format

    Monitoring and protective functions 8.5 Thermal motor protection 8.5.12 Motor Module/Power Module chassis format Motor Modules have a direct connection for a motor temperature sensor. You can evaluate PTC, KTY84, PT100 or bimetallic NC contact temperature sensors. The terminals of the temperature sensors at a Motor Module depend on their design.
  • Page 450: Cu310-2/cua31/cua32

    Monitoring and protective functions 8.5 Thermal motor protection 8.5.13 CU310-2/CUA31/CUA32 The Control Unit Adapter CUA31 and CUA32 have one temperature channel. The terminal strip in the CUA31 has an interface for a motor temperature sensor. The temperature sensor can be alternatively connected at the CUA32 via the encoder interface. The Control Unit CU310-2 DP/PN has two independent temperature channels.
  • Page 451: Motor With Drive-cliq

    Monitoring and protective functions 8.5 Thermal motor protection 8.5.14 Motor with DRIVE-CLiQ The motor and encoder data are saved as an electronic type plate in a motor equipped with a DRIVE-CLiQ connection. This data is transferred to the Control Unit when commissioning. As a consequence, when commissioning this motor type, all of the necessary parameters are pre-assigned and set automatically.
  • Page 452: Function Diagrams And Parameters

    ● 9626 Terminal Module 150 - temperature evaluation 1x2, 3, 4-wire (channel 0...5) ● 9627 Terminal Module 150 - temperature evaluation 2x2 conductor (channel 6...11) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0034 CO: Motor utilization ● r0035 CO: Motor temperature ●...
  • Page 453 Monitoring and protective functions 8.5 Thermal motor protection ● p0607[0...n] temperature sensor fault timer stage ● p0608[0...3] CI: Motor temperature, signal source 2 ● p0609[0...3] CI: Motor temperature, signal source 3 ● p0610[0...n] motor overtemperature reaction ● p0624[0...n] motor temperature offset PT100 ●...
  • Page 454 Monitoring and protective functions 8.5 Thermal motor protection ● p4109[0...11] TM150 cable resistance measurement ● p4110[0...11] TM150 cable resistance value ● p4111[0...2] TM150 group, channel assignment ● r4112[0...2] CO: TM150 group temperature actual value ,maximum ● r4113[0...2] CO: TM150 group temperature actual value, minimum ●...
  • Page 455: Safety Integrated Basic Functions

    Go into the Internet under: http://automation.siemens.com To subscribe to the newsletter, please proceed as follows: 1. Select the desired language for the webpage.
  • Page 456: General Information

    General information Note This manual describes the Safety Integrated Basic Functions. The Safety Integrated Extended Functions are described in the following documentation: References: /FHS/ SINAMICS S120 Function Manual Safety Integrated. 9.2.1 Explanations, standards, and terminology Safety Integrated The "Safety Integrated" functions enable the implementation of highly effective application- oriented functions for man and machine protection.
  • Page 457 Adjustable-speed electrical power drive systems Part 5-2: Safety requirements - Functional Note In conjunction with certified components, the safety functions of the SINAMICS S120 drive system fulfill the following requirements: • Category 3 to EN 954-1/ ISO 13849-1. • Safety integrity level 2 (SIL 2) to IEC 61508.
  • Page 458 A cyclic cross-check of the safety-related data in the two monitoring channels is carried out. If any data are inconsistent, a stop response is triggered with any Safety function. Overview of parameters (see SINAMICS S120/S150 List Manual) ● r9780 SI Monitoring clock cycle (Control Unit) ●...
  • Page 459: Supported Functions

    In addition, most of the safety functions of the SINAMICS S have been certified by independent institutes. A list of currently certified components is available on request from your local Siemens office. The following Safety Integrated functions (SI functions) are available: ●...
  • Page 460: Controlling The Safety Integrated Functions

    – Safe referencing – Transferring safe position values (SP) The Safety Integrated Extended Functions are described in the following documentation: References: /FHS/ SINAMICS S120 Safety Integrated Function Manual 9.2.3 Controlling the Safety Integrated functions The following options for controlling Safety Integrated functions are available:...
  • Page 461: Parameter, Checksum, Version, Password

    Safety Integrated basic functions 9.2 General information NOTICE PROFIsafe or TM54F Using a Control Unit, control is possible either via PROFIsafe or TM54F. Mixed operation is not permissible. 9.2.4 Parameter, Checksum, Version, Password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ●...
  • Page 462 Safety Integrated basic functions 9.2 General information ● r9898 SI actual checksum SI parameters (Motor Module) ● p9899 SI reference checksum SI parameters (Motor Module) During each ramp-up procedure, the actual checksum is calculated via the Safety parameters and then compared with the reference checksum. If the actual and reference checksums differ, fault F01650/F30650 or F01680/F30680 is output and an acceptance test requested.
  • Page 463: Forced Dormant Error Detection

    2. Recommission the drive unit and drives. 3. Recommission Safety Integrated. Or contact your regional Siemens office and ask for the password to be deleted (complete drive project must be made available). Overview of important parameters for "Password" (see SINAMICS S120/S150 List Manual) ●...
  • Page 464: Safety Instructions

    Safety Integrated basic functions 9.3 Safety instructions Safety instructions Safety instructions WARNING After hardware and/or software components have been modified or replaced, it is only permissible for the system to run up and the drives to be activated with the protective devices closed.
  • Page 465: Safe Torque Off (sto)

    Safety Integrated basic functions 9.4 Safe Torque Off (STO) CAUTION The "automatic restart" function may not be used together with the safety functions STO/SBC and SS1. The reason for this is that EN 60204 Part 1 (1998) in chapter 9.2.5.4.2 does not permit this (merely de-selecting a safety shutdown function must not cause the machine to restart).
  • Page 466 Safety Integrated basic functions 9.4 Safe Torque Off (STO) WARNING Appropriate measures must be taken to ensure that the motor does not undesirably move once the energy feed has been disconnected, e.g. against coasting down or for a hanging/suspended axis, the "Safe Brake Control" (SBC) function should be enabled, also refer to Chapter "Safe Brake Control".
  • Page 467 Safety Integrated basic functions 9.4 Safe Torque Off (STO) ● Any pending STOP F or STOP A commands are canceled (see r9772 / r9872). ● The messages in the fault memory must be additionally reset using the general acknowledgement mechanism. Note If "Safe Torque Off"...
  • Page 468: Safe Stop 1 (ss1, Time Controlled)

    Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9601 SI enable, functions integrated in the drive (Control Unit) ● r9772 CO/BO: SI Status (Control Unit) ● r9872 CO/BO: SI Status (Motor Module) ●...
  • Page 469: Ss1 (time Controlled) Without Off3

    Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) ● When SS1 is selected, the drive is braked along the OFF3 ramp (p1135) and STO/SBC is automatically initiated after the delay time has expired (p9652/p9852). After the function has been selected, the delay timer runs down – even if the function is deselected during this time.
  • Page 470: Function Diagrams And Parameters

    Function diagrams (see SINAMICS S120/S150 List Manual) ● 2810 STO (Safe Torque Off), SS1 (Safe Stop 1) ● 2811 STO (Safe Torque Off), safe pulse cancellation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p1217 Holding brake closing time ●...
  • Page 471 Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) ● p9801 SI enable, functions integrated in the drive (Motor Module) ● p9850 SI SGE changeover tolerance time (Motor Module) ● p9851 SI STO/SBC/SS1 debounce time (Control Unit) ● p9852 SI Safe Stop 1 delay time (Motor Module) ●...
  • Page 472: Safe Brake Control (sbc)

    Safety Integrated basic functions 9.6 Safe Brake Control (SBC) Safe Brake Control (SBC) The "Safe Brake Control" function (SBC) is used to control holding brakes that function according to the closed-circuit principle (e.g. motor holding brake). The command for releasing or applying the brake is transmitted to the Motor Module/Power Module via DRIVE-CLiQ.
  • Page 473 Safety Integrated basic functions 9.6 Safe Brake Control (SBC) Two-channel brake control Note Connecting the brake The brake cannot be directly applied at the Motor Module of chassis format. The connection terminals are only designed for 24 V DC with 150 mA; the Safe Brake Adapter is required for larger currents and voltages.
  • Page 474: Response Times

    Safety Integrated basic functions 9.7 Response times Response times The Basic Functions are executed in the monitoring clock cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 × r9780). Note You can only see the actual value of the monitoring clock cycle (r9780), if you are connected ONLINE with the drive.
  • Page 475: Control Via Terminals On The Control Unit And Motor/power Module

    Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module Control of the Basic Functions via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 9- 3 Response times when controlling via PROFIsafe Function...
  • Page 476 9.8 Control via terminals on the Control Unit and Motor/Power Module Overview of the safety function terminals for SINAMICS S120 The different power unit formats of SINAMICS S120 have different terminal designations for the inputs of the safety functions. These are shown in the following table.
  • Page 477 Safety