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SINAMICS S120
SINAMICS S120 Drive functions
Function Manual · 10/2008
SINAMICS
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   Summary of Contents for Siemens SINAMICS S120

  • Page 1 SINAMICS S120 SINAMICS S120 Drive functions Function Manual · 10/2008 SINAMICS...
  • Page 3 Foreword ______________ Infeed ______________ Extended setpoint channel SINAMICS ______________ Servo control S120 ______________ Drive functions Vector control Vector V/f control (r0108.2 = ______________ Function Manual ______________ Basic functions ______________ Function modules Monitoring and protective ______________ functions Safety Integrated basic ______________ functions Communication PROFIBUS ______________...
  • 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

    Configuration Manuals, Motors • Decision/ordering SINAMICS S Catalogs SINAMICS S110 Equipment Manual 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 Booksize Compact •...
  • Page 6: Extended Setpoint Channel

    SINAMICS S drive system. Benefits The Function Manual describes all the procedures and operational instructions required for the commissioning of functions and servicing of SINAMICS S120. The Function Manual is structured as follows: Chapter 1...
  • Page 7 Technical Support In case of questions, please contact us through the following hotline: Europe/Africa Phone +49 180 5050 - 222 +49 180 5050 - 223 Internet http://www.siemens.de/automation/support-request America Phone +1 423 262 2522 +1 423 262 2200 E-mail mailto:techsupport.sea@siemens.com Asia/Pacific...
  • Page 8 ● Internet http://www.ad.siemens.de/csinfo Product/Order no: 15257461 ● Branch offices For the responsible regional offices of the A&D MC business division of Siemens AG. Notation The following notation and abbreviations are used in this documentation: Notation for parameters (examples): ● p0918 Adjustable parameter 918 ●...
  • Page 9 Foreword ● p0099[0...3] Adjustable parameter 99 indices 0 to 3 ● r0945[2](3) Display parameter 945 index 2 of drive object 3 ● p0795.4 Adjustable parameter 795 bit 4 Notation for faults and alarms (examples): ● F12345 Fault 12345 ● A67890 Alarm 67890 ESD Notes CAUTION Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices...
  • Page 10 Foreword Safety instructions DANGER • Commissioning must not start until you have ensured that the machine in which the components described here are to be installed complies with Directive 98/37/EC. • SINAMICS devices and AC motors must only be commissioned by suitably qualified personnel.
  • Page 11 Foreword CAUTION • As part of routine tests, SINAMICS devices with AC motors undergo a voltage test in accordance with EN 50178. Before the voltage test is performed on the electrical equipment of industrial machines to EN 60204-1, Section 19.4, all connectors of SINAMICS equipment must be disconnected/unplugged to prevent the equipment from being damaged.
  • Page 13: Table Of Contents

    Contents Foreword ..............................5 Infeed ..............................21 Active Infeed ..........................21 1.1.1 Introduction ..........................21 1.1.2 Active Infeed closed-loop control Booksize .................22 1.1.3 Active Infeed closed-loop control Chassis ...................24 1.1.4 Integration ............................25 1.1.5 Line and DC link identification......................26 1.1.6 Active Infeed open-loop control ....................27 1.1.7 Reactive current control .......................29 1.1.8...
  • Page 14 Contents Current setpoint filters ......................... 82 Note about the electronic motor model ..................87 V/f control for diagnostics......................87 3.10 Optimizing the current and speed controller ................90 3.11 Sensorless operation (without an encoder) ................91 3.12 Motor data identification ......................95 3.12.1 Motor data identification - induction motor ..................
  • Page 15 Contents 4.20.2 Features .............................172 4.20.3 Commissioning...........................172 4.21 Redundance operation power units ...................173 4.22 Bypass ............................174 4.22.1 Bypass with synchronization with overlap (p1260 = 1)..............175 4.22.2 Bypass with synchronization, without overlap (p1260 = 2)............177 4.22.3 Bypass without synchronization (p1260 = 3) ................179 Vector V/f control (r0108.2 = 0)......................
  • Page 16 Contents Extended monitoring functions....................254 Extended brake control ......................256 Braking Module ......................... 261 Cooling unit ..........................262 Extended torque control (kT estimator, Servo) ................. 265 Closed-loop position control...................... 267 7.8.1 General features ........................267 7.8.2 Position actual value conditioning..................... 267 7.8.2.1 Features ............................
  • Page 17 Contents Safety Integrated basic functions......................357 General information ........................357 9.1.1 Explanations, standards, and terminology.................357 9.1.2 Supported functions ........................359 9.1.3 Parameter, Checksum, Version, Password ................362 9.1.4 Forced checking procedure .......................365 Safety instructions........................366 Safe Torque Off (STO).......................368 Safe Stop 1 (SS1, time controlled) ....................371 Safe Brake Control (SBC)......................373 Response times .........................376 Control signals by way of terminals on the Control Unit and Motor/Power Module....377...
  • Page 18 Contents 10.2.1.2 Example: telegram structure for cyclic data transmission............488 10.2.2 Commissioning PROFIBUS ...................... 491 10.2.2.1 General information about commissioning................491 10.2.2.2 Commissioning procedure ......................494 10.2.2.3 Diagnostics options ........................494 10.2.2.4 SIMATIC HMI addressing ......................495 10.2.2.5 Monitoring: telegram failure....................... 496 10.2.3 Motion Control with PROFIBUS....................
  • Page 19 12.13.3 Rules for setting the sampling time....................632 12.13.4 Default settings for the sampling times..................635 12.13.5 Examples when changing sampling times / pulse frequencies ..........636 12.13.6 Overview of important parameters (see SINAMICS S120/S150 List Manual) ......637 12.14 Licensing ............................638 Appendix..............................641 Availability of hardware components ..................641...
  • Page 21: Infeed

    Infeed Active Infeed 1.1.1 Introduction 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 (cosφ = 1) Description Active Infeed closed-loop control works in conjunction with the line reactor and the Active Line Module as a step-up converter.
  • Page 22: Active Infeed Closed-loop Control Booksize

    Infeed 1.1 Active Infeed 1.1.2 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 23 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 24: Active Infeed Closed-loop Control Chassis

    Infeed 1.1 Active Infeed 1.1.3 Active Infeed closed-loop control Chassis Schematic structure Figure 1-2 Schematic structure of Active Infeed Operating mode of Active Infeed closed-loop control for Chassis Active Line Modules. Active Line Modules Chassis only function in Active Mode. In Active Mode, the DC link voltage is regulated to a variable setpoint (p3510), which results in a sinusoidal line current (cosφ...
  • Page 25: Integration

    ● 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: Infeed missing enable signals ● p0210 Device supply voltage ●...
  • Page 26: 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 27: Active Infeed Open-loop Control

    Infeed 1.1 Active Infeed 1.1.6 Active Infeed open-loop control Description The Active Line Module can be controlled via the BICO interconnection by means of terminals or the field bus. The operating status is indicated on the operating display r0002. The missing enable signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable pulses) must be connected in accordance with the Equipment Manual.
  • Page 28 Infeed 1.1 Active 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 Active Line Module The Active Line Module is switched off by the same procedure used to switch it on, but in the reverse order.
  • Page 29: Reactive Current Control

    Infeed 1.1 Active Infeed Signal name Internal status Parameter PROFIdrive telegram 370 word Alarm present ZSWAE.7 r2139.7 A_ZSW1.7 Master control by PLC ZSWAE.9 r0899.9 A_ZSW1.9 Pre-charging completed ZSWAE.11 r0899.11 A_ZSW1.11 Line contactor energized feedback ZSWAE.12 r0899.12 A_ZSW1.12 1.1.7 Reactive current control A reactive current setpoint can be set to compensate the reactive current or to stabilize the line voltage in infeed mode.
  • Page 30: Harmonics Controller

    Infeed 1.2 Smart Infeed 1.1.8 Harmonics controller Description Harmonics in the line voltage cause harmonics in the line currents. Current harmonics can be reduced by activating the harmonics controller. Example: setting the harmonics controller The 5th and 7th harmonics are to be compensated: Table 1- 4 Example parameters for the harmonics controller Index...
  • Page 31 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 Terminal diagram for Smart Infeed booksize Figure 1-5 Connection diagram Smart Infeed chassis Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 32 ● 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: Infeed missing enable signals ●...
  • Page 33: 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 34: Smart Infeed Open-loop Control

    Infeed 1.2 Smart Infeed 1.2.3 Smart Infeed open-loop control Description The Smart Line Module can be controlled via the BICO interconnection by means of terminals or the field bus. The operating status is indicated on the operating display r0002. The missing enable signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable pulses) must be connected in accordance with the Equipment Manual.
  • Page 35 Infeed 1.2 Smart Infeed Switching on the Smart Line Module Figure 1-6 Smart Infeed power-up Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 36 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 37: Basic Infeed

    Infeed 1.3 Basic Infeed Basic Infeed 1.3.1 Basic Infeed open-loop control 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 Basic Infeed open-loop control can be used to switch on/off the Basic Line Module.
  • Page 38 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. Function diagrams (see SINAMICS S120/S150 List Manual) ● 8720 Control word sequence control infeed ●...
  • Page 39: Basic Infeed Open-loop Control

    Infeed 1.3 Basic Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed/operating display ● r0046 CO/BO: Infeed missing enable signals ● p0210 Device supply voltage ● p0840 BI: ON/OFF1 ● p0844 BI: 1. OFF2 ● r0898 CO/BO: Control word sequence control infeed ●...
  • Page 40 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 41 Infeed 1.3 Basic Infeed Switching off the Basic Line Module The Basic Line Module is switched off by the same procedure used to switch it on, but in the reverse order. However, the DC link is not precharged when the module is switched off. Control and status messages Table 1- 7 Basic Infeed open-loop control...
  • Page 42: 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 is used for the electrical isolation of the DC link for the energy supply network.
  • Page 43 ● 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) ● r0863.1 CO/BO: Drive coupling status word/control word ● p0860 BI: Line contactor, feedback signal...
  • Page 44: 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 45: 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 46: 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 motor control can also originate from the technology controller (see "Technology controller"). Figure 2-1 Extended setpoint channel Properties of the extended setpoint channel ●...
  • Page 47: Jog

    Extended setpoint channel 2.3 Jog ● Jog ● Field bus – Setpoint via PROFIBUS, for example ● Via the analog inputs of the following exemplary components: – e.g. Terminal Board 30 (TB30) – e.g. Terminal Module 31 (TM31) – e.g. Terminal Module 41 (TM41) Description This function can be selected via digital inputs or via a field bus (e.g.
  • Page 48 Extended setpoint channel 2.3 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 49 Extended setpoint channel 2.3 Jog Jog sequence Figure 2-4 Jog sequence Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 50 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2610 Execution control - processor ● 3030 Setpoint addition, setpoint scaling, jog Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1055[C] BI: Jog bit 0 ● p1056[C] BI: Jog bit 1 ●...
  • Page 51: Fixed Speed Setpoints

    – Unused binector inputs have the same effect as a "0" signal 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) Adjustable parameters ● p1001[D] CO: Fixed speed setpoint 1 ● ...
  • Page 52: Motorized Potentiometer

    Extended setpoint channel 2.5 Motorized potentiometer Motorized potentiometer Description This function is used to simulate an electromechanical potentiometer for setpoint input. You can switch between manual and automatic mode for setpoint input. The specified setpoint is routed to an internal ramp-function generator. Setting values, start values and braking with OFF1 do not require the ramp-function generator of the motorized potentiometer.
  • Page 53 ● 1550 Setpoint channel ● 2501 Control word sequence control ● 3020 Motorized potentiometer Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1030[D] Motorized potentiometer, configuration ● p1035[C] BI: Motorized potentiometer, setpoint, raise ● p1036[C] BI: Motorized potentiometer, setpoint, lower ●...
  • Page 54: 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) Adjustable parameters ● p1070[C] CI: Main setpoint ● p1071[C] CI: Main setpoint scaling ●...
  • Page 55 Extended setpoint channel 2.6 Main/supplementary setpoint and setpoint modification Display parameters ● r1073[C] CO: Main setpoint effective ● r1077[C] CO: Supplementary setpoint effective ● r1078[C] CO: Total setpoint effective Parameterization with STARTER The "Speed setpoint" parameter screen is selected with the icon in the toolbar of the STARTER commissioning tool: Drive functions...
  • Page 56: Direction Of Rotation Limiting And Direction Of Rotation Changeover

    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) Adjustable parameters ● p1110[C] BI: Block negative direction ● p1111[C] BI: Block positive direction ●...
  • Page 57: Suppression Bandwidths And Setpoint Limits

    The limit frequencies can be set via p1080[D] and p1082[D]. These limits can also be changed during operation with the connectors p1085[C] and p1088[C]. Figure 2-7 Suppression bandwidths, setpoint limitation Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Setpoint channel ● 3050 Suppression bandwidth and speed limiting Drive functions...
  • Page 58 Extended setpoint channel 2.8 Suppression bandwidths and setpoint limits Overview of important parameters (see SINAMICS S120/S150 List Manual) Setpoint limitation ● p1080[D] Minimum speed ● p1082[D] Maximum speed ● p1083[D] CO: Speed limit in positive direction of rotation ● r1084 Speed limit positive effective ●...
  • Page 59: 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 drive train. The ramp-up time p1120[D] and ramp-down time p1121[D] can be used to set mutually independent acceleration and deceleration ramps.
  • Page 60 Extended setpoint channel 2.9 Ramp-function generator ● OFF3 deceleration ramp – OFF3 ramp-down time p1135[D] ● Set ramp-function generator – Ramp-function generator setting value p1144[C] – Set ramp-function generator signal p1143[C] ● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 0) Properties of the extended ramp-function generator Figure 2-10 Extended ramp-function generator...
  • Page 61 Extended setpoint channel 2.9 Ramp-function generator ● Set ramp-function generator – Ramp-function generator setting value p1144[C] – Set ramp-function generator signal p1143[C] ● Select ramp-function generator rounding type p1134[D] – p1134 = "0": continuous smoothing rounding is always active. Overshoots may occur. If the setpoint changes, final rounding is carried out and then the direction of the new setpoint is adopted.
  • Page 62 The "ramp-function generator" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 2-12 STARTER icon for "ramp-function generator" Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameters ● p1115 Ramp-function generator selection ● p1120[D] Ramp-function generator ramp-up time ●...
  • Page 63 Extended setpoint channel 2.9 Ramp-function generator ● p1136[D] OFF3 initial rounding time ● p1137[D] OFF3 final rounding time ● p1140[C] BI: Enable ramp-function generator ● p1141[C] BI: Start ramp-function generator ● p1143[C] BI: Ramp-function generator, accept setting value ● p1144[C] CI: Ramp-function generator setting value ●...
  • Page 64 Extended setpoint channel 2.9 Ramp-function generator Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 65: 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 the servo and vector controls.
  • Page 66 Servo control 2.9 Ramp-function generator Subject Servo Vector Sampling time current Booksize: Booksize: controller/speed controller/pulse 125 μs / 125 μs / >= 4 kHz 250 μs / 1000 μs / >=2 kHz frequency (factory setting 4 kHz) (factory setting 4 kHz) 500 μs / 2000 μs / >= 2 kHz Blocksize: (factory setting 4 kHz)
  • Page 67 Servo control 2.9 Ramp-function generator Subject Servo Vector Note: The derating characteristics in the Equipment Manuals must be carefully observed! Max. output frequency when using dv/dt and sine-wave filters 150 Hz! Reaction in operation at the Reduction in the Reduction in the pulse thermal current setpoint or shutdown frequency and / or the current...
  • Page 68: 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 the calculated actual speed value from the electric motor model (operation without encoder). Properties ● Speed setpoint filter ●...
  • Page 69 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) Adjustable parameters ● p1414[D] Speed setpoint filter activation ● p1415[D] Speed setpoint filter 1 type ●...
  • Page 70: Speed Controller Adaptation

    Servo control 3.3 Speed controller adaptation Speed controller adaptation Description Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent Kp_n/Tn_n adaptation. Free Kp_n adaptation is also active in "operation without encoder" mode and is used in "operation with encoder" mode as an additional factor for speed-dependent Kp_n adaptation. Speed-dependent Kp_n/Tn_n adaptation is only active in "operation with encoder"...
  • Page 71 STARTER icon for "speed controller" 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 72: Torque-controlled Operation

    Servo control 3.4 Torque-controlled operation Speed-dependent Kp_n/Tn_n adaptation ● p1460[0...n] Speed controller P gain lower adaptation speed ● p1461[0...n] Speed controller Kp adaptation speed upper scaling ● p1462[0...n] Speed controller integral time lower adaptation speed ● p1463[0...n] Speed controller Tn adaptation speed upper scaling ●...
  • Page 73 Servo control 3.4 Torque-controlled operation Figure 3-6 Torque setpoint 3. Activate enable signals OFF responses ● OFF1 and p1300 = 23 – Reaction as for OFF2 ● OFF1, p1501 = "1" signal and p1300 ≠ 23 – No separate braking response; the braking response takes place by a drive that specifies the torque.
  • Page 74: Torque Setpoint Limitation

    The "torque setpoint" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-7 STARTER icon for "torque setpoint" Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameters ● p1300 Open-loop/closed-loop control operating mode ● p1501[C] BI: Change over between closed-loop speed/torque control ●...
  • Page 75 Servo control 3.5 Torque setpoint limitation Figure 3-8 Current/torque setpoint limiting Note This function is effective immediately without any settings. The user can also define further settings for limiting the torque. Properties The connector inputs of the function are initialized with fixed torque limits. If required, the torque limits can also be defined dynamically (during operation).
  • Page 76 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). Drive functions...
  • Page 77 – Set the torque offset. Examples ● Travel to fixed stop ● Tension control for continuous goods conveyors and winders Function diagrams (see SINAMICS S120/S150 List Manual) ● 5610 Torque limiting/reduction/interpolator ● 5620 Motor/generator torque limit ● 5630 Upper/lower torque limit ●...
  • Page 78 Servo control 3.5 Torque setpoint limitation 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 ●...
  • Page 79: Current Controller

    Servo control 3.6 Current controller Current controller Properties ● PI controller for current control ● Four identical current setpoint filters ● Current and torque limitation ● Current controller adaptation ● Flux control Closed-loop current control No settings are required for operating the current controller. Optimization measures can be taken in certain circumstances.
  • Page 80 ● 5710 Current setpoint filters ● 5714 Iq and Id controller ● 5722 Specified field current, flux reduction, flux controller Overview of important parameters (see SINAMICS S120/S150 List Manual) Closed-loop current control ● p1701[0...n] Current controller reference model dead time ●...
  • Page 81 Servo control 3.6 Current controller ● r1538 CO: Upper effective torque limit ● r1539 CO: Upper effective torque limit Current controller adaptation ● p0391[0...n] Current controller adaptation starting point KP ● p0392[0...n] Current controller adaptation starting point KP adapted ● p0393[0...n] Current controller adaptation upper P gain ●...
  • Page 82: Current Setpoint Filters

    Servo control 3.7 Current setpoint filters Current setpoint filters Description The four current setpoint filters connected in series can be parameterized as follows: ● Low-pass 2nd order (PT2: -40 dB/decade) (type 1) ● General filter 2nd order (type 2) Bandstop and lowpass with reduction are converted to the parameters of the general filter 2nd order via STARTER.
  • Page 83 Servo control 3.7 Current setpoint filters Transfer function: Denominator natural frequency f Denominator damping D 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...
  • Page 84 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 85 Servo control 3.7 Current setpoint filters ● Denominator natural frequency ● Denominator damping General low-pass with reduction Table 3- 7 Example of general low-pass with reduction STARTER filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency f = 500 Hz Damping D = 0.7 Reduction Abs = -10 dB Conversion to parameters for general order filters:...
  • Page 86 STARTER icon for "current setpoint filter" 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 ●...
  • Page 87: Note About The Electronic Motor Model

    Servo control 3.8 Note about the electronic motor model Note about the electronic motor model A model change takes place within the speed range p1752*(100%-p1756) and p1752. With induction motors with encoder, the torque image is more accurate in higher speed ranges; the effect of the rotor resistance and the saturation of the main field inductance are corrected.
  • Page 88 Servo control 3.9 V/f control for diagnostics Structure of V/f control Figure 3-14 Structure of V/f control Prerequisites for V/f control 1. First commissioning has been carried out: The parameters for V/f control have been initialized with appropriate values. 2. First commissioning has not been carried out: The following relevant motor data must be checked and corrected: –...
  • Page 89 Figure 3-15 V/f characteristic Function diagrams (see SINAMICS S120/S150 List Manual) ● 5300 V/f control for diagnostics 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 90: 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 91: Sensorless Operation (without An Encoder)

    Servo control 3.11 Sensorless operation (without an encoder) 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 92 Servo control 3.11 Sensorless operation (without an encoder) Since the dynamic response in operation without an encoder is lower than in operation with an encoder, accelerating torque pre-control is implemented to improve the control dynamic performance. It controls, knowing the drive torque, and taking into account the existing torque and current limits as well as the load moment of inertia (motor moment of inertia: p0341*p0342 + load torque: p1498) the required torque for a demanded speed dynamic performance optimized from a time perspective.
  • Page 93 Servo control 3.11 Sensorless operation (without an encoder) If the motor is rotating and the start value for the search is as of the setpoint (p1400.11 = 1), the speed setpoint must be in the same direction as the actual speed before the pulses can be enabled.
  • Page 94 ● 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 95: 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 MotID.
  • Page 96 Servo control 3.12 Motor data identification DANGER The stationary MotID can result in slight movement of up to 210 degrees electrical. For the rotating motor data identification routine, motor motion is initiated, which can reach the maximum speed (p1082) and the motor torque corresponding to the maximum current (p0640).
  • Page 97 Servo control 3.12 Motor data identification Rating plate data Input of the rating plate data requires the following parameters: Table 3- 10 Rating plate data Induction motor Permanent-magnet synchronous motor p0304 rated voltage p0304 rated voltage • • p0305 rated current p0305 rated current •...
  • Page 98: Motor Data Identification - Induction Motor

    Servo control 3.12 Motor data identification 3.12.1 Motor data identification - induction motor Induction motor The data are identified in the gamma equivalent circuit diagram and displayed in r19xx. The motor parameters p0350, p0354, p0356, p0358 and p0360 taken from the MotID refer to the T equivalent circuit diagram of the induction machine and cannot be directly compared.
  • Page 99: Motor Data Identification - Synchronous Motor

    Servo control 3.12 Motor data identification Table 3- 13 Data determined using p1960 for induction motors (rotating measurement) Determined data (gamma) Data that are accepted (p1960 = 1) r1934 q inductance identified r1935 q inductance identification current Note: The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation (p0391, p0392 and p0393).
  • Page 100 Servo control 3.12 Motor data identification Determined data Data that are accepted (p1910 = 1) Note regarding r1950 to p1953: Active when the function module "extended torque control" is activated and activated compensation of the voltage emulation error (p1780.8 = 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...
  • Page 101 Equivalent circuit diagram for induction motor and cable Figure 3-19 Equivalent circuit diagram for synchronous motor and cable Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0047 Status identification Standstill measurement ● p1909[0...n] Motor data identification control word ●...
  • Page 102: Pole Position Identification

    Servo control 3.13 Pole position identification 3.13 Pole position identification Description For synchronous motors, the pole position identification determines its electrical pole position, that is required for the field-oriented control. Generally, the electrical pole position is provided from a mechanically adjusted encoder with absolute information. In this case, pole position identification is not required.
  • Page 103 Servo control 3.13 Pole position identification ● For 1FN3 motors, no traversing with the 2nd harmonic should take place (p1980 = 0,4). ● With 1FK7 motors, two-stage procedures must not be used (p1980 = 4). The value in p0329, which is set automatically, must not be reduced. For the motion-based technique, the following supplementary conditions apply: ●...
  • Page 104 Servo control 3.13 Pole position identification Determining a suitable technique for the pole position identification routine Figure 3-20 Selecting the appropriate technique 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 105 When fault F07414 occurs, p1990 is automatically started; if p1980 is not equal to 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 106: Vdc Control

    Servo control 3.14 Vdc control 3.14 Vdc control Description Vdc control can be activated if overvoltage or undervoltage is present in the DC link line-up. In the line-up, one or more drives can be used to relieve the DC link. This prevents a fault from occurring due to the DC link voltage and ensures that the drives are always ready to This function is activated by means of the configuration parameter (p1240).
  • Page 107 Servo control 3.14 Vdc control Description of Vdc_min control (p1240 = 2, 3) Figure 3-21 Switching Vdc_min control on/off (kinetic buffering) 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.
  • Page 108 Servo control 3.14 Vdc control Description of Vdc_max control (p1240 = 1, 3) Figure 3-22 Switching-in/switching-out the Vdc_max control With Infeed Modules without feedback or in the event of a power failure, the DC link voltage can increase until it reaches the shutdown threshold when drives in the DC link line-up are decelerated.
  • Page 109: Dynamic Servo Control (dsc)

    Vdc_max monitoring function (p1240 = 4, 6). Function diagrams (see SINAMICS S120/S150 List Manual) ● 5650 Vdc_max controller and Vdc_min controller Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameters ● p1240[0...n] Vdc controller or Vdc monitoring configuration ●...
  • Page 110 The following PROFIdrive telegrams support DSC: ● Standard telegrams 5 and 6, ● SIEMENS telegrams 105, 106 ,116, 118. Further PZD data telegram types can be used with the telegram extension. It must then be ensured that SERVO supports a maximum of 16 PZD setpoints and 19 PZD actual values.
  • Page 111 Servo control 3.15 Dynamic Servo Control (DSC) When DSC is activated, it is recommended to use a new setting for the position controller gain KPC in the master. When DSC is activated, neither channels p1155 and p1160 for the position setpoint values nor the channel for the extended setpoint value are used.
  • Page 112: Travel To Fixed Stop

    ● 3090 Dynamic Servo Control (DSC) ● 5020 Speed setpoint filter and speed pre-control ● 5030 Reference model Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1190 CI: DSC position deviation XERR ● p1191 CI: DSC position controller gain KPC ●...
  • Page 113 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 114 Servo control 3.16 Travel to fixed stop Signal chart Figure 3-25 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 115 ● 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; BO: Torque limit reached ●...
  • Page 116: 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 117: Variable Signaling Function

    Servo control 3.18 Variable signaling function 3.18 Variable signaling function Description The variable signaling function can be used to monitor BICO sources and parameters (with the attribute traceable) for violation of an upper or lower threshold (p3295). A hysteresis (p3296) can be specified for the threshold value and a pull-in or drop-out delay (p3297/8) can be specified for the output signal (p3294).
  • Page 118 3.18 Variable signaling function Function diagram (see SINAMICS S120/S150 List Manual) ● 5301 Servo control - variable signaling function Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3290 Start variable signaling function Bit 0 = 0: Stop variable signaling function (default)
  • Page 119: 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 with setpoint changes (–> better command behavior) ● Short settling times with load changes (–> better disturbance characteristic) ●...
  • Page 120 Vector control 3.18 Variable signaling function Comparison of servo control and vector control The table below shows a comparison between the characteristic features of the servo and vector controls. Table 4- 1 Comparison of servo control and vector control Subject Servo Vector Typical applications...
  • Page 121 Vector control 3.18 Variable signaling function Subject Servo Vector Connectable motors Synchronous servomotors Induction motors Induction motors Synchronous motors (incl. Torque motors torque motors) Reluctance motors (only for V/f control) Separately excited synchronous motors (only for closed-loop control with encoder) Note: Synchronous motors of series 1FT6, 1FK6 and 1FK7...
  • Page 122: Sensorless Vector Control (slvc)

    Vector control 4.1 Sensorless vector control (SLVC) Sensorless vector control (SLVC) In sensorless vector control (SLVC), the position of the flux and actual speed must be determined via the electric motor model. The motor model is buffered by the incoming currents and voltages.
  • Page 123 Vector control 4.1 Sensorless vector control (SLVC) Note In this case, the speed setpoint upstream of the ramp-function generator must be greater than (p1755). Figure 4-2 Starting and passing through 0 Hz in closed-loop and open-loop-controlled operation Closed-loop operation up to approx. 1 Hz (settable via parameter p1755) and the ability to start or reverse at 0 Hz directly in closed-loop operation (settable via parameter p1750) result in the following benefits: ●...
  • Page 124 Vector control 4.1 Sensorless vector control (SLVC) Figure 4-3 Zero crossover for permanent-magnet synchronous motors Supplementary closed-loop control as of firmware version 2.6 With the restriction to passive loads at starting, it is now possible to maintain induction motors in steady-state, closed-loop-controlled operation down to zero frequency (standstill) without switching over to open-loop-controlled operation at any time.
  • Page 125 ● 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] Motor magnetizing current/short-circuit current actual ●...
  • Page 126: 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 127 Vector control 4.3 Speed controller Figure 4-5 Speed controller The optimum speed controller setting can be determined via the automatic speed controller optimization function (p1900 = 1, rotating measurement). If the inertia load has been specified, the speed controller (Kp, Tn) can be calculated by means of automatic parameterization (p0340 = 4).
  • Page 128 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6040 Speed controller with/without encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0340[0...n] Automatic calculation of motor/control parameters ● p1442[0...n] Speed controller actual speed smoothing time ●...
  • Page 129: Speed Controller Adaptation

    Vector control 4.4 Speed controller adaptation Speed controller adaptation Description Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent Kp_n/Tn_n adaptation. Free Kp_n adaptation can also also be activated in "operation without encoder" mode and is used in "operation with encoder" mode as an additional factor for speed-dependent Kp_n adaptation.
  • Page 130 STARTER icon for "speed controller" Function diagrams (see SINAMICS S120/S150 List Manual) ● 6050 Kp_n and Tn_n adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1400.5 speed control configuration: Kp/Tn adaptation active ● p1470 Speed controller encoderless operation P-gain ●...
  • Page 131: Speed Controller Pre-control And Reference Model

    Vector control 4.5 Speed controller pre-control and reference model 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 ● p1457[0...n] Speed controller P gain adaptation upper starting point ●...
  • Page 132 Vector control 4.5 Speed controller pre-control and reference model p 1400 . 2 p 0341 p 0342 r 1515 p 1495 r 1518 p 1496 p 1428 p 1429 r 1084 r 1538 r 0079 r 1547 [ 0 ] >...
  • Page 133 Vector control 4.5 Speed controller pre-control and reference model If these supplementary conditions are in line with the application, the starting time can be used as the lowest value for the ramp-up or ramp-down time. Note The ramp-up and ramp-down times (p1120; p1121) of the ramp-function generator in the setpoint channel should be set accordingly so that the motor speed can track the setpoint during acceleration and braking.
  • Page 134 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 135: 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 4-11 Speed controller with droop The droop has a torque limiting effect on a drive that is mechanically coulped to a different speed (e.g.
  • Page 136 4.6 Droop Function diagrams (see SINAMICS S120/S150 List Manual) ● 6030 Speed setpoint, droop, acceleration model Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1488[0...n] Droop input source ● p1489[0...n] Droop feedback scaling ● p1492[0...n] BI: Droop feedback enable ●...
  • Page 137: Torque Control

    Vector control 4.7 Torque control Torque control With sensorless speed control SLVC (p1300 = 20) or speed control with sensor VC (p1300 = 21), a switchover can be made to torque control (slave drive) via BICO parameter p1501. A switchover cannot be made between speed and torque control if torque control is selected directly with p1300 = 22 or 23.
  • Page 138 Vector control 4.7 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. True torque control (with self-adjusting speed) is only possible in closed-loop but not open- loop control for sensorless vector control (SLVC).
  • Page 139 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 140: Torque Limiting

    Vector control 4.8 Torque limiting Torque limiting Description Figure 4-13 Torque limiting The value specifies the maximum permissible torque whereby different limits can be parameterized for motor and regenerative mode. ● p0640[0...n] Current limit ● p1520[0...n] CO: Torque limit, upper/motoring ●...
  • Page 141: Vdc Control

    Vector control 4.9 Vdc control ● 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 Vdc control...
  • Page 142 Vector control 4.9 Vdc control 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 143 Vector control 4.9 Vdc control Description of Vdc_min control Figure 4-15 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 144 = Vdc_max - 50 V (Vdc_max: overvoltage threshold of the Motor Module) 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 145: 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 CI: Current setpoint filter natural frequency tuning ● ...
  • Page 146: Motor Data Identification And Rotating Measurement

    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 147 Vector control 4.12 Motor data identification and rotating measurement If a permanent-magnet synchronous motor is being used (p0300 = 2), then with p1900 > 1, the encoder adjustment (p1990 = 1) is automatically activated. The technique used can be set in p1980. Parameter p1960 is set depending on p1300: ●...
  • Page 148 Vector control 4.12 Motor data identification and rotating measurement Table 4- 2 Data determined using p1910 Induction motor Permanent-magnet synchronous motor Stator resistance (p0350) Stator resistance (p0350) p1910 = 1 • • Rotor resistance (p0354) Stator resistance q axis (p0356) •...
  • Page 149 Vector control 4.12 Motor data identification and rotating measurement Note With diffusion of more than 35% to 40% of the motor nominal impedance, the dynamic response of the speed and current control is restricted to the area of the voltage limit and to field weakening mode.
  • Page 150 Vector control 4.12 Motor data identification and rotating measurement Note To set the new controller setting permanently, the data must be saved in a non-volatile memory. Carrying out motor identification ● Enter p1910 > 0. Alarm A07991 is displayed. ● Identification starts when the motor is switched on. ●...
  • Page 151 Vector control 4.12 Motor data identification and rotating measurement Carrying out the rotating measurement (p1960 > 0) 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 152 Vector control 4.12 Motor data identification and rotating measurement Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0047 Status identification ● p1300[0...n] Open-loop/closed-loop control operating mode ● p1900 Motor data identification and rotating measurement ● r3925 Identification completion display ●...
  • Page 153: 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 154: Quick Magnetization For Induction Motors

    Vector control 4.14 Quick magnetization for induction motors 4.14 Quick magnetization for induction motors Description The "Quick magnetization" function for induction motors in vector control is available as of firmware version V2.6. Application example: In crane applications, a frequency converter is often used to operate a number of motors alternately.
  • Page 155 Vector control 4.14 Quick magnetization for induction motors Commissioning Parameter p1401.6 =1 (flux control configuration) is set in order to activate quick magnetization. This setting initiates the following sequence during motor starting: ● The field-producing current setpoint jumps to its limit value: 0.9*r0067 (I ●...
  • Page 156 Vector control 4.14 Quick magnetization for induction motors 3 = quick magnetization (p1401 bit 6) and Rs identification (stator resistance identification) after restart (p0621 = 2) Remedy: For fault code 1: ● Deactivate smooth starting: p1401 bit 0 = 0 ●...
  • Page 157 ● 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 158: Instructions For Commissioning Induction Motors (asm)

    Vector control 4.15 Instructions for commissioning induction motors (ASM) 4.15 Instructions for commissioning induction motors (ASM) Equivalent circuit diagram for vector induction motor and cable Figure 4-23 Equivalent circuit diagram for induction motor and cable Induction motors, rotating The following parameters can be entered in STARTER during the commissioning phase: Table 4- 3 Motor data rating plate Parameter...
  • Page 159 Vector control 4.15 Instructions for commissioning induction motors (ASM) The following parameters can be optionally entered: Table 4- 4 Optional motor data Parameter Description Remark p0320 Motor rated magnetization current/short-circuit current p0322 Maximum motor speed p0341 Motor moment of inertia p0342 Ratio between the total and motor moment of inertia...
  • Page 160: Instructions For Commissioning Permanent-magnet Synchronous Motors

    Vector control 4.16 Instructions for commissioning permanent-magnet synchronous motors Commissioning We recommend the following points when commissioning: ● Commissioning wizard in STARTER The motor identification routine and the "rotating measurement" (p1900) can be activated from the commissioning wizard in STARTER. ●...
  • Page 161 Vector control 4.16 Instructions for commissioning permanent-magnet synchronous motors For operation without encoders or with encoders without position information, a pole position identification must be carried out (see the chapter on pole position identification for further details). Typical applications include direct drives with torque motors, which are characterized by high torque at low speeds.
  • Page 162 Vector control 4.16 Instructions for commissioning permanent-magnet synchronous motors Table 4- 8 Equivalent circuit diagram for motor data Parameter Description Remark p0350 Motor stator resistance, cold p0356 Motor stator inductance p0357 Motor stator inductance, d axis WARNING As soon as the motor starts to rotate, a voltage is generated. When work is carried out on the converter, the motor must be safely disconnected.
  • Page 163 Vector control 4.16 Instructions for commissioning permanent-magnet synchronous motors Calculating k see "Commissioning". Note If pulse inhibition of the converter occurs (fault or OFF2), synchronous motors can generate high terminal voltages in the field weakening range, which could lead to overvoltage in the DC link.
  • Page 164: Automatic Encoder Adjustment

    Integration Automatic encoder adjustment is integrated into the system in the following way: Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0404.15 Commutation with zero mark ● p0431 Angular commutation offset ● p1990 Encoder adjustment selection ●...
  • Page 165: Pole Position Identification

    Vector control 4.16 Instructions for commissioning permanent-magnet synchronous motors 4.16.2 Pole position identification Description The pole position identification routine is used to determine rotor position at start up. This is required when no pole position information is available. If, for example, incremental encoders are used or operation without encoder is employed, then pole position identification is started automatically.
  • Page 166: Flying Restart

    Vector control 4.17 Flying restart Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0325 Motor pole position identification current 1st phase ● p0329 Motor pole position identification current ● p1780.6 Selects pole position identification PEM without an encoder ●...
  • Page 167 Vector control 4.17 Flying restart Figure 4-26 Flying restart, example of induction motor without encoder Figure 4-27 Flying restart, example of induction motor with encoder Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 168: Synchronization

    Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1082[0...n] Maximum speed ●...
  • Page 169 ● Induction motor without encoder ● Vector control Function diagrams (see SINAMICS S120/S150 List Manual) ● 7020 Synchronization Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3800 Sync-line-drive activation ● p3801 Sync-line-drive object number ● p3802 BI: Sync-line-drive enable ●...
  • Page 170: Use Of The Voltage Sensing Module In Vector Drives

    (for additional information, refer to document: /GH1/ Equipment Manual Control Units). The VSM is used at the encoder end in SINAMICS S120 drives. In this case, it must always be used as a substitute for the motor encoder and is therefore inserted at the motor encoder position in the topology.
  • Page 171 ● 9880 VSM analog inputs ● 9886 VSM temperature evaluation ● 9887 VSM sensor monitoring KTY/PTC Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3800[0...n] Sync-line-drive activation ● p3801[0...n] Sync-line-drive object number ● p0151[0...n] Voltage Sensing Module component number ●...
  • Page 172: Simulation Mode

    Vector control 4.20 Simulation mode 4.20 Simulation mode 4.20.1 Description Simulation mode allows you to simulate the drive without a connected motor and without the DC link voltage. In this case, it should be noted that the simulation mode can only be activated under an actual DC link voltage of 40 V.
  • Page 173: Redundance Operation Power Units

    Vector control 4.21 Redundance operation power units 4.21 Redundance operation power units Features ● Redundancy for up to 4 chassis power units ● Power unit can be de-activated via parameter (p0125) ● Power unit can be de-activated via binector input (p0895) Description Redundancy mode can be used so that operation can be continued in spite of the failure of one power unit connected in parallel.
  • Page 174: Bypass

    Vector control 4.22 Bypass 4.22 Bypass Features ● Available for the vector mode ● Available for induction motors without encoder Description The bypass function controls two contactors via digital outputs of the drive converter and evaluates the feedback signals of the contactors via digital inputs (e.g. via TM31). This circuit allows the motor to either be fed from the drive converter or connected directly to the supply line.
  • Page 175: Bypass With Synchronization With Overlap (p1260 = 1)

    Vector control 4.22 Bypass Commissioning the bypass function The bypass function is part of the function module "technology controller" that can be activated when using the commissioning Wizard. Parameter r0108.16 indicates whether it has been activated. 4.22.1 Bypass with synchronization with overlap (p1260 = 1) Description When "bypass with synchronization with overlap (p1260 = 1)"...
  • Page 176 Vector control 4.22 Bypass Example The following parameters must be set after the bypass function with synchronization with overlap (p1260 = 1) has been activated. Table 4- 9 Parameter setting for bypass function with synchronization with overlap Parameter Description p1266 = Control signal setting when p1267.0 = 1 p1267.0 = 1 Bypass function is initiated by the control signal...
  • Page 177: Bypass With Synchronization, Without Overlap (p1260 = 2)

    Vector control 4.22 Bypass ● After the motor has been synchronized to the line frequency, line voltage and line phase, the synchronizing algorithm reports this status (r3819.2). ● The bypass mechanism evaluates this signal and closes contactor K2 (r1261.1 = 1). The signal is internally evaluated - BICO wiring is not required.
  • Page 178 Vector control 4.22 Bypass Figure 4-30 Circuit example, bypass with synchronization without overlap Activating The bypass function with synchronization without overlap (p1260 = 2) 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 without overlap (p1260 = 2) has been activated.
  • Page 179: Bypass Without Synchronization (p1260 = 3)

    Vector control 4.22 Bypass 4.22.3 Bypass without synchronization (p1260 = 3) Description When the motor is transferred to the line supply, contactor K1 is opened (after the drive converter pulses have been inhibited); the system then waits for the motor de-excitation time and then contactor K2 is closed so that the motor is directly connected to the line supply.
  • Page 180 Signal source for contactor K2 feedback p3800 = 1 The internal voltages are used for synchronization. p3802 = r1261.2 Synchronizer activation is triggered by the bypass function. Function diagrams (see SINAMICS S120/S150 List Manual) ● 7020 Synchronization Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 181 Vector control 4.22 Bypass Overview of important parameters (see SINAMICS S120/S150 List Manual) Bypass function ● p1260 Bypass configuration ● r1261 CO/BO: Bypass control/status word ● p1262 Bypass deadtime ● p1263 Debypass delay time ● p1264 Bypass delay time ● p1265 Bypass speed threshold ●...
  • Page 182 Vector control 4.22 Bypass Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 183: Vector V/f Control (r0108.2 = 0)

    Vector V/f control (r0108.2 = 0) Introduction The simplest solution for a control procedure is the V/f curve, whereby the stator voltage for the induction motor or synchronous motor is controlled proportionately to the stator frequency. This method has proved successful in a wide range of applications with low dynamic requirements, such as: ●...
  • Page 184 Vector V/f control (r0108.2 = 0) 5.1 Introduction Table 5- 1 V/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) for static / dynamic loads (flux current control FCC).
  • Page 185 Vector V/f control (r0108.2 = 0) 5.1 Introduction Parameter Meaning Application / property values Precise frequency Characteristic that takes into account the technological particularity of an drives application (e.g. textile applications): a) whereby the current limitation (Imax controller) only affects the output voltage and not the output frequency, or b) by disabling slip compensation Precise frequency...
  • Page 186: Voltage Boost

    Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Voltage boost With an output frequency of 0 Hz, the V/f characteristics yield an output voltage of 0 V. The voltage boost must be entered to: ● Magnetize the induction motor. ●...
  • Page 187 Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Permanent voltage boost (p1310) Figure 5-3 Permanent voltage boost (example: p1300 = 0 and p1310 > 0) Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 188 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 189: Slip Compensation

    (torque M Figure 5-5 Slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1335[0...n] Slip compensation – p1335 = 0.0 %: slip compensation is deactivated.
  • Page 190: Vdc Control

    Vector V/f control (r0108.2 = 0) 5.4 Vdc control Vdc control Description Figure 5-6 Vdc control V/f The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 191 Vector V/f control (r0108.2 = 0) 5.4 Vdc control ● Overvoltage in the DC link – Typical cause The drive is operating in regenerative mode and is supplying too much energy to the DC link. – Remedy Reduce the regenerative torque to maintain the DC link voltage within permissible limits.
  • Page 192 Vector V/f control (r0108.2 = 0) 5.4 Vdc control Description of Vdc_min control Figure 5-7 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 193 = Vdc_max - 50 V (Vdc_max: overvoltage threshold of the Motor Module) Function diagrams (see SINAMICS S120/S150 List Manual) ● 6320 Vdc_max controller and Vdc_min controller 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 194 Vector V/f control (r0108.2 = 0) 5.4 Vdc control Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 195: Basic Functions

    This assignment and the unit groups can be read for each parameter in the parameter list in the SINAMICS S120/S150 List Manual. The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and p0595).
  • Page 196 To call up the function for converting units in STARTER, choose Drive object -> Configuration -> Units. The reference parameters can be found under Drive object -> Configuration -> Reference parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0010 Commissioning parameter filter ● p0100 Motor Standard IEC/NEMA ●...
  • Page 197: Reference Parameters/normalizations

    Basic functions 6.2 Reference parameters/normalizations Reference parameters/normalizations Description Reference values, corresponding to 100%, are required for the statement of units as percentages. These reference values are entered in parameters p2000 to p2007. They are computed during the calculation through p0340 = 1 or in STARTER during drive configuration.
  • Page 198 Basic functions 6.2 Reference parameters/normalizations Size Normalization parameter Default at first commissioning Reference current 100 % = p2002 p2002 = Current limit (p0640) Reference torque 100 % = p2003 p2003 = 2 * rated motor torque (p0333) Reference power 100 % = r2004 r2004 = p2003 * p2000 * 2π...
  • Page 199 100% = 100°C Reference electrical angle 100 % = 90° Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0340 Automatic calculation of motor/control parameters ● p0573 Disable automatic calculation of reference values ● p2000 Reference speed reference frequency ●...
  • Page 200: Modular Machine Concept

    Basic functions 6.3 Modular machine concept Modular machine concept Description The modular machine concept is based on a maximum target topology created offline in STARTER. The maximum design of a particular machine type is referred to as the maximum configuration in which all the machine components that may be used are pre-configured in the target topology.
  • Page 201 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), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 202 Remedy: Remove this drive from the group before you deactivate it. See also: /FH1/ SINAMICS S120 Function Manual, chapter "Safety Integrated". Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ●...
  • Page 203: Sinusoidal Filter

    Basic functions 6.4 Sinusoidal filter Sinusoidal filter Description The sine-wave filter limits the rate of rise of voltage and the capacitive charge/discharge currents that usually occur with inverter operation. They also prevent additional noise caused by the pulse frequency. The service life of the motor is the same as that with direct line operation.
  • Page 204: Dv/dt Filter Plus Vpl

    Basic functions 6.5 dv/dt filter plus VPL dv/dt filter plus VPL Description The dv/dt filter plus VPL consists of two components, the dv/dt reactor and the voltage limiting network (Voltage Peak Limiter), which limits voltage peaks and returns the energy to the DC link.
  • Page 205: Pulse Frequency Wobbling

    The number of axes that can be implemented for each CU is exactly the same for a non- wobbled gating unit. Pulse frequency wobbling can be parameterized with parameter p1810 "Modulator configuration". Parameters (see SINAMICS S120/S150 List Manual) p1810 Modulator configuration ● Bit 0: DC link voltage limitation Bit 0 = 0: Voltage limitation derived from DC link voltage minimum (lower ripple in the output current;...
  • Page 206 Basic functions 6.6 Pulse frequency wobbling ● Bit 2: Activate pulse frequency wobbling Pulse frequency wobbling is deactivated in the default setting (p1810.2 = 0). When the sine-wave filter is active (p0230 = 3 or 4), the wobbling function is locked out in order to protect the filter.
  • Page 207: Direction Reversal Without Changing The Setpoint

    If an encoder is being used, the direction of rotation must, when required, be adapted using p0410. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0069 Phase current, actual value ● r0089 Actual phase voltage ●...
  • Page 208: Automatic Restart (vector, Servo, Infeed)

    Basic functions 6.8 Automatic restart (vector, servo, infeed) Automatic restart (vector, servo, infeed) Description The automatic restart function is used to automatically restart the drive/drive group when the power is restored after a power failure. In this case, all of the faults present are automatically acknowledged and the drive is powered-up again.
  • Page 209 Basic functions 6.8 Automatic restart (vector, servo, infeed) p1210 Mode Meaning Automatic restart after line For p1210 = 4, an automatic restart is only carried supply failure, no additional start out if in addition fault F30003 occurred at the Motor attempts Module or there is a high signal at binector input p1208[1], or in the case of an infeed drive object...
  • Page 210 2. Set starting attempts (p1211). 3. Set waiting times (p1212, p1213). 4. Check function. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0863 CO/BO: Drive coupling status word/control word ● p1207 BI: Automatic restart - connection to the following DO ●...
  • Page 211: Armature Short-circuit Brake, Internal Voltage Protection, Dc Brake

    Basic functions 6.9 Armature short-circuit brake, internal voltage protection, DC brake Armature short-circuit brake, internal voltage protection, DC brake Features ● For permanent magnet synchronous motors – Controlling an external armature short-circuit configuration – Controlling an internal armature short-circuit configuration (booksize) –...
  • Page 212 Basic functions 6.9 Armature short-circuit brake, internal voltage protection, DC brake External armature short-circuit braking The external armature short-circuit is activated via p1231 = 1 (with contactor feedback signal) or p1231 = 2 (without contactor feedback signal). It is initiated when the pulses are canceled.
  • Page 213 Basic functions 6.9 Armature short-circuit brake, internal voltage protection, DC brake Internal armature short-circuit braking (booksize)/DC brake The "Internal armature short-circuit braking" function short-circuits a half-bridge in the power unit (Motor Module) to control the motor power consumption, thus braking the motor.
  • Page 214 Basic functions 6.9 Armature short-circuit brake, internal voltage protection, DC brake Internal armature short-circuit (synchronous motors) The internal armature short-circuit is activated via the parameter p1231 = 4. It can be triggered via an input signal p1230 (signal = 1) or a fault response. Both types of activation are equivalent and are no longer distinguished during the braking operation, in contrast to DC brake (see paragraph "DC brake").
  • Page 215 Basic functions 6.9 Armature short-circuit brake, internal voltage protection, DC brake DC brake (induction motors) The DC brake is activated via the parameter p1231 = 4. It can be triggered via an input signal p1230 (signal = 1) or a fault response. Activation of DC brake by BI If the DC brake is activated by the digital input signal, the first step is that the pulses are blocked for the demagnetization time p0347 of the motor in order to demagnetize the motor -...
  • Page 216 ● 7016 Internal armature short circuit (p0300 = 2xx or 4xx, synchronous motors) ● 7017 DC brake (p0300 = 1xx, induction motors) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1226 Standstill detection, velocity threshold ● p1230[0...n] BI: Armature short-circuit/DC brake activation ●...
  • Page 217: Integrated Voltage Protection

    Basic functions 6.10 Integrated voltage protection 6.10 Integrated voltage protection Description The speed range of permanent-field synchronous motors (e.g. 1FE1 spindles) can be greatly extended by means of field weakening. If faults that hinder controlled operation occur in this operating status, the EMF (electromotive force) can result in high terminal voltages.
  • Page 218 Basic functions 6.10 Integrated voltage protection Note The "Integrated voltage protection" (IVP) will be available as of firmware version 2.5 SP3 for all modules in the SINAMICS drive line-up (Line Module, Motor Module, etc.). Requirements Requirements for the use of integrated voltage protection IVP are: ●...
  • Page 219 Basic functions 6.10 Integrated voltage protection Calculation example: = 145 V = 10.000 min = 2, L = 15.7*10 Result in formula above: R = 22.9 Ohm Brake The resistance of the braking resistor must not exceed 22.9 Ohm, which means that a 17 Ohm braking resistor (P = 25kW) is sufficient here.
  • Page 220 Basic functions 6.10 Integrated voltage protection CAUTION The kinetic motor energy is initially only absorbed by the braking resistor connected to the Braking Module. The integrated voltage protection mechanism is activated when the Braking Module reaches the I²t shutdown limit, that is, when 80% of the maximum ON time of the braking resistor is reached.
  • Page 221 Basic functions 6.10 Integrated voltage protection Troubleshooting ● If a fault occurs, the main objective is to feed the energy produced by the motor back to the supply system. Examples of faults: CSM failure, interruption in DRIVE-CLiQ communication, defective motor encoder, defective Motor Module hardware, defective Break Module ●...
  • Page 222: 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 Drive functions...
  • Page 223: Technology Function: Friction Characteristic

    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 224: 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). The operating principle of the holding brake can be configured via parameter p1215.
  • Page 225 Basic functions 6.13 Simple brake control p1226 p1227 p1226 p1228 p1216 p1217 Figure 6-8 Function chart: simple brake control The start of the closing time for the brake depends on the expiration of the shorter of the two times p1227 (Pulse suppression, delay time) and p1228 (Zero speed detection monitoring time) WARNING The holding brake must not be used as a service brake.
  • Page 226 6.13 Simple brake control Function diagrams (see SINAMICS S120/S150 List Manual) ● 2701 Simple brake control (r0108.14 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0056.4 Magnetizing complete ● r0060 CO: Speed setpoint before the setpoint filter ●...
  • Page 227: Runtime (operating Hours Counter)

    Basic functions 6.14 Runtime (operating hours counter) 6.14 Runtime (operating hours counter) Total system runtime The total system runtime is displayed in p2114 (Control Unit). Index 0 indicates the system runtime in milliseconds after reaching 86.400.000 ms (24 hours), the value is reset. Index 1 indicates the system runtime in days.
  • Page 228: Component Status Display

    Description Component-specific status displays have been added to the existing DO-specific status displays in SINAMICS S120. Parameter r0196 displays the current operating status of the component. The number of indices of this parameter corresponds to the permissible numbers of DRIVE-CLiQ components.
  • Page 229: Parking Axis And Parking Encoder

    Basic functions 6.16 Parking axis and parking encoder 6.16 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 230 Basic functions 6.16 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 231 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 6-11 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 232: Position Tracking

    Basic functions 6.17 Position tracking 6.17 Position tracking 6.17.1 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 inside an encoder rotation.
  • Page 233 Basic functions 6.17 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 234: Measuring Gear

    Basic functions 6.17 Position tracking 6.17.2 Measuring gear Features ● Configuration via p0411 ● Virtual multiturn via p0412 ● Tolerance window for monitoring the position at power ON p0413 ● Input of the measuring gear via p0432 and p0433 ● Display via r0483 Description If a mechanical gear (measuring gear) is located between an endlessly rotating motor/load and the encoder and position control is to be carried out using this absolute encoder, an...
  • Page 235 Basic functions 6.17 Position tracking Figure 6-14 Drive with odd-numbered gears without position tracking In this case, for each encoder overflow, there is a load-side offset of 1/3 of a load revolution, after 3 encoder overflows, the motor and load zero position coincide again. The position of the load can no longer be clearly reproduced after one encoder overflow.
  • Page 236 Basic functions 6.17 Position tracking Virtual multiturn encoder (p0412) With a rotary absolute encoder (p0404.1 = 1) with activated position tracking (p0411.0 = 1), p0412 can be used to enter a virtual multiturn resolution. This enables you to generate a virtual multiturn encoder value (r0483) from a singleturn encoder.
  • Page 237 ● CU310 or CU320 with Order No. 6SL3040- ..- 0AA1 and Version C or higher 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 238: Terminal Module 41 (tm41)

    Basic functions 6.18 Terminal Module 41 (TM41) 6.18 Terminal Module 41 (TM41) Features ● General – Pulse encoder emulation, TTL signals (RS422) – 1 analog input – 4 digital inputs – 4 bidirectional digital inputs/outputs – Automatic adjustment of the sampling time for encoder emulation 4099[3] –...
  • Page 239 Basic functions 6.18 Terminal Module 41 (TM41) – Resolvers are not supported – The TM41 can only emulate a single zero mark of an incremental encoder. The search for the first zero mark requires at least one full encoder revolution. The detected zero mark is then output during the subsequent encoder revolution on the TM41.
  • Page 240 Basic functions 6.18 Terminal Module 41 (TM41) control without PROFIBUS and to assign the speed setpoint to the drive via the analog output of the control and the analog input of the TM41 (see example TM41). The number of encoder pulses per revolution (p0408) and the fine interpolation (p0418) must be set the same as the drive.
  • Page 241 Basic functions 6.18 Terminal Module 41 (TM41) Fine resolution (p0418) = 17 bits: Minimum and maximum pulse frequencies for TM41 with a fine resolution = 17 bits p4099[3] 125 µs 250 µs 500 µs Old/new module fmin [Hz] 31,25 15,625 7,8125 Old module fmax [kHz]...
  • Page 242 Basic functions 6.18 Terminal Module 41 (TM41) Figure 6-17 Example, TM41 Commissioning steps Input of parameter values via STARTER dialog or expert list: ● p4400 = 1 (encoder emulation by means of encoder position actual value) ● p4420 = r0479[n] (SERVO or VECTOR), n = 0 ..2 ●...
  • Page 243 ● 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 Rotary encoder pulse number ●...
  • Page 244: Updating The Firmware

    Basic functions 6.19 Updating the firmware 6.19 Updating the firmware The firmware version must be updated if new functions are made available in a later version and the operator wishes to use them. The firmware for the SINAMICS drive system is distributed in the system. Firmware is installed on each individual DRIVE-CLiQ component and the Control Unit.
  • Page 245: Upgrading Firmware And The Project In Starter

    3. Update the project to the current FW version. – In the project navigator, right-click the drive unit -> Target -> Device version – E.g. select version "SINAMICS S120 firmware version 2.5x" -> Change version Update the firmware and load the new project to the target device.
  • Page 246: Downgrade Disable

    Basic functions 6.19 Updating the firmware 6.19.2 Downgrade disable Description The downgrade disable prevents the firmware from being downgraded from updated releases which were designed to debug firmware programs. The tables below classify the interlock levels for individual modules which differ depending on the firmware in question.
  • Page 247 Basic functions 6.19 Updating the firmware It is not generally possible to downgrade from a higher to a lower interlock level. Downgrades are permissible where interlock levels are identical. Firmware can be upgraded only to a higher or identical interlock level. ●...
  • Page 248 Basic functions 6.19 Updating the firmware Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 249: Function Modules

    Function modules Function modules - Definition and commissioning Description A function module is a functional expansion of a drive object that can be activated during commissioning. Examples of function modules: ● Technology controller ● Setpoint Channel ● Extended brake control A function module generally has separate parameters and, in some cases, separate faults and warnings too.
  • Page 250: Technology Controller

    Function modules 7.2 Technology controller Technology controller Features Simple control functions can be implemented with the technology controller, e.g.: ● Fill level control ● Temperature control ● Dancer position control ● Pressure control ● Flow control ● Simple closed-loop controls without higher-level controller ●...
  • Page 251 Function modules 7.2 Technology controller Commissioning with STARTER The "technology controller" function module can be activated via the commissioning wizard or the drive configuration (configure DDS). You can check the actual configuration in parameter r0108.16. Application example: Fill level control The objective here is to maintain a constant level in the container.
  • Page 252 ● 7950 Fixed values (r0108.16 = 1) ● 7954 Motorized potentiometer (r0108.16 = 1) ● 7958 Closed-loop control (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 253 Function modules 7.2 Technology controller ● p2248[0...n] Technology controller motorized potentiometer, ramp-down time ● r2250 CO: Technology controller motorized potentiometer, setpoint after RFG Closed-loop control ● p2200 BI: Technology controller enable ● p2253[0...n] CI: Technology controller setpoint 1 ● p2254 [0...n] CI: Technology controller setpoint 2 ●...
  • Page 254: Extended Monitoring Functions

    Function modules 7.3 Extended monitoring functions Extended monitoring functions When the extension is activated, the monitoring functions are extended as follows: ● Speed setpoint monitoring: |n_setp| ≤ p2161 ● Speed setpoint monitoring: n_set > 0 ● Load monitoring Description of load monitoring This function monitors power transmission between the motor and the working machine.
  • Page 255 7.3 Extended monitoring functions Function diagrams (see SINAMICS S120/S150 List Manual) ● 8010 Speed messages ● 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 256: Extended Brake Control

    Function modules 7.4 Extended brake control Extended brake control Features The extended brake control function has the following features: ● Forced brake release (p0855, p1215) ● Application of brake for a 1 signal "unconditionally close holding brake" (p0858) ● Binector inputs for releasing/applying the brake (p1218, p1219) ●...
  • Page 257 Function modules 7.4 Extended brake control In the case of brakes with a feedback signal (p1222), the inverted signal must be connected to the BICO input for the second (p1223) feedback signal. The brake closing and opening times can be set in p1216 and p1217. Note If p1215 = 0 (no brake available) is set when a brake is present, the drive runs with applied brake.
  • Page 258 Function modules 7.4 Extended brake control closes when the speed drops below the standstill limit (p1226). After the brake closing time (p1217), the speed controller is inhibited (no motor force!). Uses extended brake control. p1275.02 (1) p1224[0] <1> [2501 ] p1279[0] r1229.3 p0856...
  • Page 259 ● 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 Standstill (zero-speed) monitoring ●...
  • Page 260 Function modules 7.4 Extended brake control ● p1216 Holding brake release time ● p1217 Holding brake application time ● p1218[0...1] BI: Open motor holding brake ● p1219[0...3 ] BI: Immediately close motor holding brake ● p1220 CI: Open motor holding brake, signal source, threshold ●...
  • Page 261: Braking Module

    Function modules 7.5 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 262: 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 ● p3860 Braking Module number of modules connected in parallel ●...
  • Page 263 Function modules 7.6 Cooling unit Figure 7-6 Sequence control cooling unit Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 264 ● 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 ● p0192.06 Power unit firmware properties - water cooling ●...
  • Page 265: Extended Torque Control (kt Estimator, Servo)

    Function modules 7.7 Extended torque control (kT estimator, Servo) Extended torque control (kT estimator, Servo) Description The "extended torque control" function module comprises two modules - the k estimator and the compensation of the voltage emulation error of the drive converter. This allows the torque accuracy to be increased.
  • Page 266 Function diagrams (see SINAMICS S120/S150 List Manual) ● 7008 kT estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.1 Function module - extended torque control active ● p1780.3 Selects motor model PEM k adaptation ●...
  • Page 267: Closed-loop Position Control

    Function modules 7.8 Closed-loop position control Closed-loop position control 7.8.1 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 268 Function modules 7.8 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 7-7 Position actual value sensing with rotary encoders The link between the physical variables and the neutral length unit LU is established via...
  • Page 269 Function modules 7.8 Closed-loop position control Figure 7-8 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 270: Indexed Actual Value Acquisition

    Function modules 7.8 Closed-loop position control 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. Incoming encoder increments are not evaluated. A difference in position cannot be compensated for in this situation.
  • Page 271 Function modules 7.8 Closed-loop position control 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. The indexed acquisition of actual values can preprocess a position actual value at each of the three encoder outputs.
  • Page 272: Load Gear Position Tracking

    Function modules 7.8 Closed-loop position control 7.8.2.4 Load gear position tracking Features ● Configuration via p2720 ● Virtual multiturn via p2721 ● Tolerance window for monitoring the position at switching on p2722 ● Input of the load gear via p2504 and p2505 ●...
  • Page 273 Function modules 7.8 Closed-loop position control Example of position area extension With absolute encoders without position tracking, it must be ensured that the traversing range is 0 smaller than half the encoder range, because beyond this range, no unique reference remains after switching on and off (see description on parameter p2507). This traversing range can be extended using the virtual multiturn (p2721).
  • Page 274 Function modules 7.8 Closed-loop position control Configuration of the load gear (p2720). The following points can be set by configuring this parameter: ● p2720.0: Activation of position tracking ● p2720.1: 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 275 Function modules 7.8 Closed-loop position control In the case of linear axes, the virtual multiturn resolution (p2721) is preset to the multiturn resolution value of the encoder (p0421), which is extended by 6 bits, (max. 32 positive/negative overflows). The setting for p2721 cannot be edited again afterwards. Example: Multiturn encoder: For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096.
  • Page 276 Function modules 7.8 Closed-loop position control ● When the switchover between drive data sets involves a change in gear unit, the position tracking function starts from the beginning again, i.e. it behaves on switchover as if a POWER ON had occurred. ●...
  • Page 277: Commissioning Position Tracking Load Gear Using Starter

    Function modules 7.8 Closed-loop position control EDS0 EDS1 EDS2 encoder_ deactivated Pulse inhibit/operation: Encoder adjustment and referencing bit are reset. Position tracking is no longer computed; it is not reset until there is a new encoder adjustment. EDS0 EDS1 EDS2 encoder_ activated Pulse inhibit/operation:...
  • Page 278: Integration

    ● 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 279: Position Controller

    (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 LR position setpoint filter, time constant ● p2534 LR speed pre-control factor ●...
  • Page 280: Monitoring Functions

    Function modules 7.8 Closed-loop position control 7.8.4 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 7-11 Zero-speed monitoring, positioning window The position controller monitors the standstill, positioning and following error.
  • Page 281 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 setpoint position ● p2532 CI: LR actual position value ●...
  • Page 282: Measuring Probe Evaluation And Reference Mark Search

    Function modules 7.8 Closed-loop position control ● p2546 LR dynamic following error monitoring tolerance ● p2547 LR cam switching position 1 ● p2548 LR cam switching position 2 ● p2551 BI: LR setpoint message present ● p2554 BI: LR travel command message active ●...
  • Page 283 ● 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 284: Integration

    (p2550 = 0) and switch to tracking mode (p2655 = 1, for control using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions are switched off and the position setpoint is tracked. Function diagrams (see SINAMICS S120/S150 List Manual) ● 4010 Position actual value conditioning ● 4015 Position controller ●...
  • Page 285: Basic Positioner

    Function modules 7.9 Basic positioner Basic positioner General description The basic positioner is used to position linear and rotary axes (modulo) in absolute/relative terms with motor encoder (indirect measuring system) or machine encoder (direct measuring system). It is available in the servo and vector modes. User-friendly configuration, commissioning, and diagnostic functions are also available in STARTER for the basic positioner functionality (graphic navigation).
  • Page 286 Function modules 7.9 Basic positioner – Referencing with incremental measuring systems – Absolute encoder adjustment ● 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 –...
  • Page 287: Mechanical System

    Function modules 7.9 Basic positioner 7.9.1 Mechanical system Features ● Backlash compensation (p2583) ● Modulo offset (p2577) Description Figure 7-14 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 288 Function modules 7.9 Basic positioner Table 7- 5 The compensation value is switched in as a function of p2604 p2604 Traversing direction Switch in compensation value positive none negative immediately positive immediately negative none Figure 7-15 Modulo offset A modulo axis has an unrestricted traversing range. The value range of the position repeats itself after a specific value that can be parameterized (the modulo range or axis cycle), e.g.
  • Page 289 Function diagrams (see SINAMICS S120/S150 List Manual) ● 3635 Interpolator ● 4010 Position actual value conditioning 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 ●...
  • Page 290: Limits

    Function modules 7.9 Basic positioner 7.9.2 Limits Description The velocity, acceleration and deceleration can be limited and the software limit switches and STOP cams set. Features ● Traversing profile limits – Maximum velocity (p2571) – Maximum acceleration (p2572) / maximum deceleration (p2573) ●...
  • Page 291 Function modules 7.9 Basic positioner ● Direct setpoint input/MDI for positioning and setting-up ● Reference point approach The parameters do not have any effect when faults occur with the fault responses OFF1 / OFF2 / OFF3. In the traversing blocks mode, the acceleration and deceleration can be set in multiple integer steps (1 %, 2 % ...
  • Page 292 Function modules 7.9 Basic positioner Jerk limitation Acceleration and deceleration can change suddenly if jerk limiting has not been activated. The diagram below shows the traversing profile when jerk limitation has not been activated. The diagram shows that maximum acceleration (a ) and deceleration (d ) are effective immediately.
  • Page 293 Jerk limitation is not active when messages are generated with stop responses OFF1 / OFF2 / OFF3. 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 ● p2573 EPOS maximum deceleration ●...
  • Page 294: Referencing

    Function modules 7.9 Basic positioner 7.9.3 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 295 Function modules 7.9 Basic positioner signal). With FW version V2.6 and higher, a reference point can also be set in conjunction with an intermediate stop. The current actual position of the drive is set here as the reference point using the coordinates specified by connector input p2598 (reference point coordinates).
  • Page 296 For further information about commissioning DRIVE-CLiQ encoders, please refer to document /IH1/: SINAMICS S120 Commissioning Manual. Reference point approach for incremental measurement systems When the reference point approach (in the case of an incremental measuring system), the drive is moved to its reference point.
  • Page 297 Function modules 7.9 Basic positioner 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. Axes that only have one zero mark over their complete traversing or modulo range are designated with parameter p2607 = 0 (no reference cam present).
  • Page 298 Function modules 7.9 Basic positioner Note The velocity override is effective during the search for the cam. By changing the encoder data set, status signal r2684.11 (reference point set) is reset. The cam switch must be able to delivery both a rising and a falling edge. For a reference point approach with evaluation of the encoder zero mark, for increasing position actual values the 0/1 edge is evaluated and for decreasing position actual values, the 1/0 edge.
  • Page 299 Function modules 7.9 Basic positioner binector input p2604 (reference point approach start direction). The drive synchronizes to the first external zero mark (p0495). The drive continues to travel with the same velocity and travel is started to the reference point (refer to step 3). Note The velocity override is inoperative during this process.
  • Page 300 Function modules 7.9 Basic positioner Status bit r2684.1 (passive/flying referencing active) is linked with binector input p2509 (activate measurement probe evaluation). It activates measurement probe evaluation. Binector inputs p2510 (measurement probe selection) and p2511 (measurement probe edge evaluation) can be used to set which measurement probe (1 or 2) and which measurement edge (0/1 or 1/0) is to be used.
  • Page 301 Function modules 7.9 Basic positioner In the following cases, when a DDS switch takes place, the current actual position value becomes invalid (p2521 = 0) and the reference point (r2684.11 = 0) is reset. ● The EDS that is effective for the position control changes. ●...
  • Page 302 Function diagrams (see SINAMICS S120/S150 List Manual) ● 3612 Referencing ● 3614 Flying referencing Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2596 BI: EPOS set reference point ● p2597 BI: EPOS referencing type selection ● p2598 CI: EPOS reference point coordinate, signal source ●...
  • Page 303: Traversing Blocks

    Function modules 7.9 Basic positioner 7.9.4 Traversing blocks Description Up to 64 different traversing tasks can be saved. The maximum number is set using parameter p2615 (maximum number of traversing tasks). All parameters which describe a traversing order are effective during a block change, i.e. if: ●...
  • Page 304 Function modules 7.9 Basic positioner 0010, CONTINUE_ON-THE-FLY: The system switches to the next traversing block "on the fly" when the braking point for the current block is reached (if the direction needs to be changed, this does not occur until the drive stops within the positioning window). 0011, CONTINUE_EXTERNAL: Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be triggered up to the braking point by a 0/1 edge.
  • Page 305 Function modules 7.9 Basic positioner POSITIONING The POSITIONING task initiates motion. The following parameters are evaluated: ● p2616[x] Block number ● p2617[x] Position ● p2618[x] Velocity ● p2619[x] Acceleration override ● p2620[x] Acceleration override ● p2623[x] Task mode The task is executed until the target position is reached. If, when the task is activated, the drive is already located at the target position, then for the block change enable (CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL, the text task is selected in the same interpolation clock cycle.
  • Page 306 Function modules 7.9 Basic positioner ● p2616[x] Block number ● p2618[x] Velocity ● p2619[x] Acceleration override ● p2623[x] Task mode All continuation conditions are possible. JERK Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter = 0) by means of the JERK task.
  • Page 307 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 308: Travel To Fixed Stop

    Function modules 7.9 Basic positioner 7.9.5 Travel to fixed stop Description The "Travel to fixed stop" function can be used, for example, to traverse sleeves to a fixed stop against the workpiece with a predefined torque. In this way, the workpiece can be securely clamped.
  • Page 309 Function modules 7.9 Basic positioner or the system is switched to jog mode. The clamping torque is therefore also applied during subsequent waiting tasks. The continuation condition CONTINUE_EXTERNAL_WAIT can be used to specify that the drive must remain at the fixed stop until a step enabling signal is applied externally.
  • Page 310 ● 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 311: Direct Setpoint Input (mdi)

    Function modules 7.9 Basic positioner 7.9.6 Direct setpoint input (MDI) Features ● Select direct setpoint input (p2647) ● Select positioning type (p2648) ● Direction selection (p2651, p2652) ● Setting-up (p2653) ● Fixed setpoints – CO: Position setpoint (p2690) – CO: Velocity setpoint (p2691) –...
  • Page 312 Function modules 7.9 Basic positioner If continuous acceptance (p2649 = 1) is activated, changes to the MDI parameters are accepted immediately. Otherwise the values are only accepted when there is a positive edge at binector input p2650 (setpoint acceptance edge). Note Continuous acceptance p2649 = 1 can only be set with free telegram configuration p0922 = 999.
  • Page 313 ● 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 314: Jog

    Function modules 7.9 Basic positioner 7.9.7 Features ● Jog signals (p2589, p2590) ● Velocity (p2585, p2586) ● Incremental (p2587, p2588, p2591) Description Using parameter p2591 it is possible to change over between jog incremental and jog velocity. The traversing distances p2587 and p2588 and velocities p2585 and p2586 are entered using the jog signals p2589 and p2590.
  • Page 315: Status Signals

    7.9 Basic positioner 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 ● p2587 EPOS jog 1 traversing distance ●...
  • Page 316 Function modules 7.9 Basic positioner Stop cam minus active (r2684.13) Stop cam plus active (r2684.14) These status signals indicate that the STOP cam minus p2569 or STOP cam plus p2570 has been reached or passed. The signals are reset if the cams are left in a directly opposing the approach direction.
  • Page 317 Function modules 7.9 Basic positioner ● Signal level 1 at binector input p2551 "signal setpoint static". Reference point set (r2684.11) The signal is set as soon as referencing has been successfully completed. It is deleted as soon as no reference is there or at the start of the reference point approach. Acknowledgement, traversing block activated (r2684.12) A positive edge is used to acknowledge that in the mode "traversing blocks"...
  • Page 318: Connecting The Motors In Parallel

    Function modules 7.10 Connecting the motors in parallel 7.10 Connecting the motors in parallel Description For easy 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: Number of parallel connected motors).
  • Page 319 Function modules 7.10 Connecting the motors in parallel Figure 7-21 Selection of motors for parallel connection Even SMI motors can be connected in parallel. The first motor is connected to DRIVE-CLiQ via the encoder. The other motors in the connection are of an identical type. Using parameter p0306 and the encoder information obtained via DRIVE-CLiQ, it is possible to determine all the necessary motor data.
  • Page 320 The motor must then be decoupled from the parallel grouping. Parameter p0306 is changed by the DDS/MDS switchover. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0306[0...n] Number of motors in parallel connection ● p0307[0...n] Rated motor power ●...
  • Page 321: Parallel Connection Of Power Units

    All the functions required for parallel operation are stored in the firmware of the Control Unit. The modular SINAMICS S120 drive system provides the option of operating infeeds and Motor Modules in parallel on S120 Chassis and on S120 Cabinet Modules. SINAMICS S120 units in booksize and blocksize format cannot be operated in parallel.
  • Page 322 Function modules 7.11 Parallel connection of power units ● Parallel connection of up to four power units on the infeed side (closed/open loop). ● A Control Unit which controls and monitors parallel connections of power units at the infeed and motor ends. In this case, the Control Unit is not capable of controlling any motor or vector axes in addition to the parallel connections.
  • Page 323: Applications Of Parallel Connections

    Function modules 7.11 Parallel connection of power units 7.11.2 Applications of parallel connections Parallel connection of power units Parallel connections of power units (infeeds can be implemented as either a 6-pulse circuit if the parallel-connected modules are connected to a two-winding transformer, or as a 12- pulse circuit if the parallel-connected modules are connected to a three-winding transformer with secondary windings that supply voltages with a phase shift of 30 °).
  • Page 324 Function modules 7.11 Parallel connection of power units with exactly the same line voltage, the current distribution is largely symmetrical in normal operation, even with uncontrolled infeeds. The infeeds can thus be dimensioned such that, taking into account a minor current derating factor, each can carry 50 % of the total current. However, if one infeed fails, only half the output remains available.
  • Page 325 Function modules 7.11 Parallel connection of power units ● Three-winding transformer must be symmetrical, recommended vector groups Dy5d0 or Dy11d0. ● Relative short-circuit voltage of three-winding transformer u ≥ 4%. ● Difference between relative short-circuit voltages of secondary windings Δu ≤...
  • Page 326 Function modules 7.11 Parallel connection of power units 6-pulse parallel connection of Basic Line Modules With the 6-pulse variant of parallel connection, up to four Basic Line Modules on the line side are supplied by a shared two-winding transformer and controlled by a shared Control Unit. Figure 7-23 Parallel connection BLM 6-pulse single Figure 7-24...
  • Page 327 Function modules 7.11 Parallel connection of power units 12-pulse parallel connection of Basic Line Modules With the 12-pulse variant of parallel connection, up to four Basic Line Modules on the line side are supplied by one three-winding transformer. An even number of Basic Line Modules, i.e two or four, must be divided equally between the two secondary windings.
  • Page 328 Function modules 7.11 Parallel connection of power units Smart Line Modules (SLM) Features Smart Line Modules are infeed/regenerative feedback units. Like the Basic Line Module, they supply energy to the connected Motor Modules, but unlike the Basic Line Module, they are capable of recovering energy to the supply network.
  • Page 329 Function modules 7.11 Parallel connection of power units ● Use of suitable line reactors for the Smart Line Modules. ● Use of symmetrical power cabling between the transformer and the parallel-connected Smart Line Modules (cables of identical type with the same cross-section and length). ●...
  • Page 330 Function modules 7.11 Parallel connection of power units Active Line Modules (ALM) Features Active Line Modules can supply the motor with power and recover energy produced in generator mode back to the power network. The parallel connection of up to four Active Line Modules is supplied by a shared two- winding transformer and controlled synchronously by a shared Control Unit.
  • Page 331 Function modules 7.11 Parallel connection of power units 6-pulse parallel connection of Active Line Modules Figure 7-29 Parallel connection ALM 6-pulse single 6-pulse, redundant parallel connection of Active Line Modules with multiple Control Units For a description of parallel connections of multiple Active Line Modules under the control of separate Control Units, please refer to section "...
  • Page 332 Function modules 7.11 Parallel connection of power units Permissible and impermissible winding systems for motors in SINAMICS parallel connections The following are admissible: 1. Motors with electrically isolated winding systems (multi-winding system) in which the individual systems are not electrically coupled or out of phase with one another. 2.
  • Page 333 Siemens or because a motor with a common winding system is already available for the application. In such cases, the outputs of the parallel-connected Motor Modules are interconnected via the motor cables in the motor terminal box.
  • Page 334 Motor Module. (For details of minimum cable lengths, please refer to section "Parallel connection of Motor Modules for boosting the converter power output" in chapter "Configuring SINAMICS S120 Cabinet Modules" in the "SINAMICS Configuration Manual".
  • Page 335: Commissioning

    During commissioning, power units connected in parallel are treated like a power unit on the line or motor side. For detailed information about commissioning, supplementary operating conditions and parameterization options, please refer to references /IH1/: SINAMICS S120 Commissioning and /LH1/: SINAMICS S120/S150 List Manual starting at parameter r7002ff. 7.11.4...
  • Page 336: Master/slave Function For Active Infeed

    Function modules 7.12 Master/slave function for Active Infeed 7.12 Master/slave function for Active Infeed 7.12.1 Operating principle Description This function allows drives to be operated with a redundant infeed. Redundancy can be implemented only in the components specified below, such as LT, CM and VSM. The function can be applied for the following applications: ●...
  • Page 337: Basic Structure

    Function modules 7.12 Master/slave function for Active Infeed 7.12.2 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 (MoMo) can be combined with a Sensor Module Cabinet (SMC) or Sensor Module External (SME) and a Control Unit to create a drive train.
  • Page 338 Function modules 7.12 Master/slave function for Active Infeed Topology Figure 7-32 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 mains supply is required in addition to the SINAMICS components.
  • Page 339: Types Of Communication

    Function modules 7.12 Master/slave function for Active Infeed One of two possible methods of electrical isolation can be chosen: ● Using an isolating transformer for each slave infeed train. The primary side of the transformer is to be connected to the grounded or ungrounded mains transformer. The secondary side must never be grounded.
  • Page 340: Description Of Functions

    Function modules 7.12 Master/slave function for Active Infeed In a master/slave infeed, a common current controller cycle is essential, particularly when infeeds with different outputs are used. If the number of PROFIBUS nodes or drives increases, this can affect the bus cycle or current controller sampling time. 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.
  • Page 341 Function modules 7.12 Master/slave function for Active Infeed (p3560, proportional gain V controller). When parameter p3422 changes, parameter DC link p3560 is recomputed automatically by the firmware. ALM1: p3513 = 1 ( Slave) ALM2: p3513 = 1 ( Slave) p0863.0 = 1 p0863.0 = 0 p0863.0 = 1 p0863.0 = 0...
  • Page 342 Function modules 7.12 Master/slave function for Active Infeed Function diagram r0070 r3575.0 [8950.1] ≥1 r3575.2 <2> r3575.1 p3572 p3571[0] p3571[1] p3570 r3517 r3573 r3573 <3> p3571[2] p3571[3] p3400.3 p3516 p3530 r0077 [8946.1] <3> p3531 <1> r0108.19 p3513 r3517 <1> & <2>...
  • Page 343 Function modules 7.12 Master/slave function for Active Infeed Explanation of the function diagram of master/slave infeeds ● Current setpoint interconnection: Parameter p3570 is used to inject the setpoint for the closed-loop current control (active current setpoint from the master). Using parameter p3513, which can be altered in the "ready for operation"...
  • Page 344: Commissioning

    Function modules 7.12 Master/slave function for Active Infeed 7.12.5 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 345: Integration

    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 (parallel connection) ●...
  • Page 346 Function modules 7.12 Master/slave function for Active Infeed Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 347: Monitoring And Protective Functions

    Monitoring and protective functions Power unit protection, general Description 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: First threshold exceeded • A30031, A30032, A30033 Current limiting of a phase has responded.
  • Page 348: Thermal Monitoring And Overload Responses

    Monitoring and protective functions 8.2 Thermal monitoring and overload responses Thermal monitoring and overload responses Description The thermal power unit monitor is responsible for identifying critical situations. If alarm thresholds are exceeded, the user can set parameterizable response options that enable continued operation (e.g.
  • Page 349 Function diagrams (see SINAMICS S120/S150 List Manual) ● 8014 Thermal monitoring, power unit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0036 Power unit overload ● r0037 Power unit temperatures ● p0290 Power unit overload response ●...
  • Page 350: Block Protection

    Figure 8-1 Block protection Function diagrams (see SINAMICS S120/S150 List Manual) ● 8012 Torque messages, motor blocked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2175 Motor blocked speed threshold ● p2177 Motor blocked delay time Drive functions...
  • Page 351: 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 352: Thermal Motor Monitoring

    Monitoring and protective functions 8.5 Thermal motor monitoring Thermal motor monitoring 8.5.1 Thermal motor monitoring Description The purposes of thermal motor monitoring is to protect the motor against permanent overload and excessive temperature. The following steps are taken to achieve this: ●...
  • Page 353 Monitoring and protective functions 8.5 Thermal motor monitoring ● When the alarm threshold is reached (set via p0604; factory setting: 120°C), alarm A7910 is triggered. Parameter p0610 can be used to set how the drive responds to the alarm triggered: –...
  • Page 354 Monitoring and protective functions 8.5 Thermal motor monitoring Formula: r0034 = (ϑ - 40°C/p605 -40°C)* 100 % model A thermal motor load of 100% corresponds to the temperature of the winding at static torque (Mo) and at the maximum permissible ambient temperature. A value of r0034 = -200% indicates an invalid display because, for example, the I t motor model has not been activated or was parameterized incorrectly.
  • Page 355 The value is preset from the motor database or the SMI during commissioning. The entry is linked to the motor code number. It can also be specified for non-Siemens motors which require thermal model support. The parameter is motor-specific. ● p0615[0...n] "Trip limit motor overtemperature thermal model"...
  • Page 356 ● 8017 Thermal I2t motor model ● 9576 Temperature evaluation KTY/PTC ● 9577 Sensor monitoring KTY/PTC Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0600[0...n] Motor temperature sensor for monitoring ● p0601[0...n] Motor temperature sensor type ● p0604[0...n] Motor overtemperature alarm threshold ●...
  • Page 357: Safety Integrated Basic Functions

    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. 9.1.1 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 358 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 359: Supported Functions

    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 360 For information on how to generate the license key for the product "SINAMICS Safety Integrated Extended Functions", read the section "Licensing" in the SINAMICS S120 Function Manual. An insufficient license is indicated via the following alarm and LED:...
  • Page 361 As of firmware version 4.1 SP1 (as of SINAMICS S120 integrated with firmware version 2.5 SP1) – when controlled by PROFIsafe: As of firmware version 4.1 SP1 HF6 (as of SINAMICS S120 integrated with firmware version 2.5 SP1 HF5) ● Safe actual value acquisition (see chapter "Safe actual value acquisition") ●...
  • Page 362: Parameter, Checksum, Version, Password

    Safety Integrated basic functions 9.1 General information 9.1.3 Parameter, Checksum, Version, Password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ● They are kept separate for each monitoring channel. ● During startup, checksum calculations (Cyclic Redundancy Check, CRC) are performed on the safety parameter data and checked.
  • Page 363 Safety Integrated basic functions 9.1 General information ● r9728[0...2] SI Motion actual checksum SI parameters ● p9729[0...2] SI Motion specified checksum SI parameters During each ramp-up procedure, the actual checksum is calculated via the safety parameters and then compared with the specified checksum. If the actual and specified checksums are different, fault F01650/F30650 or F01680/F30680 is output and an acceptance test requested.
  • Page 364 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 365: Forced Checking Procedure

    Safety Integrated basic functions 9.1 General information 9.1.4 Forced checking procedure Forced dormant error detection or test for the switch-off signal paths The forced dormant error detection function at the switch-off signal paths is used to detect software/hardware faults at both monitoring channels in time and is automated by means of activation/deactivation of the "Safe Torque Off"...
  • Page 366: Safety Instructions

    Safety Integrated basic functions 9.2 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 367 Safety Integrated basic functions 9.2 Safety instructions 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 368: Safe Torque Off (sto)

    Safety Integrated basic functions 9.3 Safe Torque Off (STO) Safe Torque Off (STO) General description In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO) function is used to safely disconnect the torque-generating motor power supply. When the function is selected, the drive unit is in a "safe status".
  • Page 369 Safety Integrated basic functions 9.3 Safe Torque Off (STO) Enabling the "Safe Torque Off" (STO) function NOTICE It is not possible to activate the function via TM54F and PROFIsafe at the same time. It is however possible to use the onboard terminals (Control Unit and power units, see section "Control via terminals on the Control Unit and the power unit") and the terminals on the TM54F and the PROFIsafe control function at the same time.
  • Page 370 Status for "Safe Torque Off" The status of the "Safe Torque Off" (STO) function is displayed using the following parameters: Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r9772 CO/BO: SI status (Control Unit) ● r9872 CO/BO: SI status (Motor Module) ●...
  • Page 371: Safe Stop 1 (ss1, Time Controlled)

    Safety Integrated basic functions 9.4 Safe Stop 1 (SS1, time controlled) Safe Stop 1 (SS1, time controlled) General description A Category 1 stop in accordance with EN 60204-1:2006 can be implemented with function "Safe Stop 1". The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is selected and switches to "Safe Torque Off"...
  • Page 372 Alternatively, the status of the functions can be displayed using the configurable messages N01621 and N30621 (configured using p2118 and p2119). Overview of important parameters (see SINAMICS S120/S150 List Manual) ● see "Safe Torque Off" function ● p1135[0...n] OFF3 ramp-down time ●...
  • Page 373: Safe Brake Control (sbc)

    Safety Integrated basic functions 9.5 Safe Brake Control (SBC) Safe Brake Control (SBC) Description Safe brake control is used to activate holding brakes that function according to the standby current 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 374 Safety Integrated basic functions 9.5 Safe Brake Control (SBC) The "Safe Brake Control" function is not selected until at least one safety monitoring function has been enabled (i.e. p9601 = p9801 ≠ 0). Two-channel brake control The brake is controlled from the Control Unit. Two signal paths are available for applying the brake.
  • Page 375 If Safe Brake Control is used, the brake must not be activated via a relay. This can result in incorrect feedback regarding a brake fault. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0799 CU inputs/outputs sampling time ●...
  • Page 376: Response Times

    Safety Integrated basic functions 9.6 Response times Response times Control signals by way of terminals on the Control Unit and Motor Module. Table 9- 2 Response times with control signals by way of terminals on the Control Unit and Motor Module. Function Standard Worst case...
  • Page 377: Control Signals By Way Of 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 378 Safety Integrated basic functions 9.7 Control signals by way of terminals on the Control Unit and Motor/Power Module Terminals for STO, SS1 (time-controlled), SBC The functions are separately selected/deselected for each drive using two terminals. ● 1. Switch-off signal path (CU310/CU320) The desired input terminal is selected via BICO interconnection (BI: p9620[0]).
  • Page 379 Safety Integrated basic functions 9.7 Control signals by way of terminals on the Control Unit and Motor/Power Module Grouping drives (not for CU310) To ensure that the function works for more than one drive at the same time, the terminals for the corresponding drives must be grouped together as follows: ●...
  • Page 380 Safety Integrated basic functions 9.7 Control signals by way of terminals on the Control Unit and Motor/Power Module Figure 9-3 Grouping terminals with Motor Modules Booksize and CU320 Information on the parallel connection of chassis type Motor Modules When chassis-type Motor Modules are connected in parallel, a safe AND element is created on the parallel drive object.
  • Page 381: Commissioning The "sto", "sbc" And "ss1" Functions

    Safety Integrated basic functions 9.8 Commissioning the "STO", "SBC" and "SS1" functions Commissioning the "STO", "SBC" and "SS1" functions 9.8.1 General information about commissioning safety functions Commissioning notes NOTICE For safety reasons, safety functions cannot be commissioned offline with the STARTER commissioning tool (or SCOUT).
  • Page 382 Safety Integrated basic functions 9.8 Commissioning the "STO", "SBC" and "SS1" functions Standard commissioning of the safety functions 1. A project that has been commissioned and uploaded to STARTER can be transferred to another drive unit without losing the safety parameterization. 2.
  • Page 383: Procedure For Commissioning "sto", "sbc" And "ss1

    Safety Integrated basic functions 9.8 Commissioning the "STO", "SBC" and "SS1" functions 9.8.2 Procedure for commissioning "STO", "SBC" and "SS1" To commission the "STO", "SBC" and "SS1" functions, carry out the following steps: Table 9- 7 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p0010 = 95...
  • Page 384 Safety Integrated basic functions 9.8 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Enable "Safe Stop 1" function. p9652 > 0 Enable "SS1" on the Control Unit p9852 > 0 Enable "SS1" on the Motor Module The parameters are not changed until safety commissioning mode has been exited •...
  • Page 385 Safety Integrated basic functions 9.8 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Set transition period from STOP F to STOP A. p9658 = "Value" Transitional period from STOP F to STOP A on Control Unit p9858 = "Value" Transitional period from STOP F to STOP A on Motor Module The parameters are not changed until safety commissioning mode has been exited •...
  • Page 386 Safety Integrated basic functions 9.8 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p0010 = Value not Safety Integrated: exit commissioning mode equal to 95 If at least one safety monitoring function is enabled (p9601 = p9801 ≠ 0), the •...
  • Page 387: Safety Faults

    Safety Integrated basic functions 9.8 Commissioning the "STO", "SBC" and "SS1" functions 9.8.3 Safety faults The fault messages for Safety Basic Functions are stored in the standard message buffer and can be read from there. In contrast, the fault messages for Safety Integrated Extended Functions are stored in a separate safety message buffer (see section "Message buffer").
  • Page 388 If this action has not eliminated the fault cause, the fault is displayed again immediately after power up. Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated are described in the following documentation: References: /LH1/ SINAMICS S120/S150 List Manual Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 389: Acceptance Test And Certificate

    Safety Integrated basic functions 9.9 Acceptance test and certificate Acceptance test and certificate 9.9.1 General information about acceptance Acceptance test The machine manufacturer must carry out an acceptance test of the selected Safety Integrated functions (SI functions) on the machine. During the acceptance test, all the limit values entered for the enabled SI functions must be exceeded to check and verify that the functions are working properly.
  • Page 390: Safety Logbook

    Safety Integrated basic functions 9.9 Acceptance test and certificate Functional test Check the individual SI functions used 1. "Safe Torque Off" function, part 1 2. "Safe Torque Off" function, part 2 3. "Safe Stop 1" function 4. "Safe brake control" function Completion of certificate Record the commissioning procedure and provide countersignatures.
  • Page 391: Documentation

    Safety Integrated basic functions 9.9 Acceptance test and certificate 9.9.3 Documentation Table 9- 9 Machine description and overview diagram Designation Type Serial number Manufacturer End customer Electrical axes Other axes Spindles Overview diagram of machine Table 9- 10 Values from relevant machine data Parameter FW version Control Unit...
  • Page 392 Safety Integrated basic functions 9.9 Acceptance test and certificate Table 9- 11 SI functions for each drive Drive number SI function Table 9- 12 Description of safety equipment Examples: Wiring of STO terminals (protective door, emergency OFF), grouping of STO terminals, holding brake for vertical axis, etc. Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 393: Acceptance Test For Safe Torque Off (sto)

    Safety Integrated basic functions 9.9 Acceptance test and certificate 9.9.4 Acceptance test for Safe Torque Off (STO) "Safe Torque Off" (STO) function This test comprises the following steps: Table 9- 13 "Safe Torque Off" (STO) function Description Status Initial state Drive in "Ready"...
  • Page 394: Acceptance Test For Safe Stop 1, Time Controlled (ss1)

    Safety Integrated basic functions 9.9 Acceptance test and certificate Description Status Acknowledge "Power-on inhibit" and run the drive Ensure that the correct drive is running The following is tested: Correct DRIVE-CLiQ wiring between Control Unit and Motor Modules • Correct assignment of drive No. – Motor Module – motor •...
  • Page 395 Safety Integrated basic functions 9.9 Acceptance test and certificate Description Status r9872.0 = r9872.1 = 0 (STO deselected and inactive – MM) • r9772.2 = r9872.2 = 1 (SS1 active – CU and MM) • r9773.0 = r9773.1 = 0 (STO deselected and inactive - drive) •...
  • Page 396: Acceptance Test For "safe Brake Control" (sbc)

    Safety Integrated basic functions 9.9 Acceptance test and certificate 9.9.6 Acceptance test for "Safe Brake Control" (SBC) "Safe Brake Control" function (SBC) This test comprises the following steps: Table 9- 15 "Safe brake control" (SBC) function Description Status Initial state Drive in "Ready"...
  • Page 397: Completion Of Certificate

    Safety Integrated basic functions 9.9 Acceptance test and certificate Description Status Vertical axis: • Mechanical brake remains applied No vertical axis: • Mechanical brake is released No safety faults or alarms (r0945, r2122) • r9772.0 = r9772.1 = 0 (STO deselected and inactive – CU) •...
  • Page 398 Safety Integrated basic functions 9.9 Acceptance test and certificate * Checksum for detecting changes, see section "Safety Logbook" in SINAMICS S120 Function Manual Safety Integrated Safety logbook Functional Checksums r9781[0] = Time stamp r9782[0] = Data backup Storage medium Storage location...
  • Page 399: Application Examples

    Safety Integrated basic functions 9.10 Application examples 9.10 Application examples 9.10.1 Safe Stop 1 (SS1, time-controlled) when protective door is locked, emergency stop switch-off Figure 9-4 Application example Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 400 Safety Integrated basic functions 9.10 Application examples Figure 9-5 Safety Integrated signal flow application example Note This example illustrates implementation options. The solution required for the machine must be suitable for the machine function, which means that parameters and control commands are defined individually.
  • Page 401 Safety Integrated basic functions 9.10 Application examples Description of functions With two SIGUARD safety combinations for emergency stop and the protective door, as well as a standard PLC, the system can be configured according to EN 954-1 category 3, ISO 13849-1 and EN 1037.
  • Page 402 Safety Integrated basic functions 9.10 Application examples Behavior when the protective door is opened To issue a request to open the protective door, press the S2 button ("OFF"). The drive is brought to a standstill in accordance with stop category 1 of EN 60204-1:2006. ●...
  • Page 403: Overview Of Parameters And Function Diagrams

    Description of the parameters Note The SINAMICS Safety Integrated parameters are described in the following documentation: References: /LH1/ SINAMICS S120/150 List Manual - Section 1.2 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2800 Parameter manager ● 2802 Monitoring and faults/alarms ●...
  • Page 404 Safety Integrated basic functions 9.11 Overview of parameters and function diagrams Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 405: Communication Profibus Dp/profinet Io

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.1 General information about PROFIdrive for SINAMICS General information PROFIdrive V4.1 is the PROFIBUS and PROFINET profile for drive technology with a wide range of applications in production and process automation systems. PROFIdrive is independent of the bus system used (PROFIBUS, PROFINET).
  • Page 406 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive ● Controller (PROFIBUS: Master Class 1, PROFINET IO: IO Controller) This is typically a higher-level control in which the automation program runs. Example: SIMATIC S7 and SIMOTION ● Supervisor (PROFIBUS: Master Class 2, PROFINET IO: IO Supervisor) Devices for configuration, commissioning, operator control and monitoring during bus operation.
  • Page 407: Application Classes

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.2 Application classes Description There are different application classes for PROFIdrive, depending on the scope and type of the application processes. PROFIdrive features a total of six application classes, four of which are discussed here.
  • Page 408 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Application class 2 (standard drive with technology function) The total process is subdivided into a number of small subprocesses and distributed among the drives. This means that the automation functions no longer reside exclusively in the central automation device but are also distributed in the drive controllers.
  • Page 409 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Application class 3 (positioning drive) In addition to the drive control, the drive also includes a positioning control, which means that it operates as a self-contained single-axis positioning drive while the higher-level technological processes are performed on the controller.
  • Page 410 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Figure 10-4 Application class 4 Dynamic Servo Control (DSC) The PFOFIdrive profile contains the "Dynamic Servo Control" control concept. This can be used to significantly increase the dynamic stability of the position control loop in application class 4 with simple means.
  • Page 411 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Selection of telegrams as a function of the application class The telegrams listed in the table below (see also chapter "Telegrams and process data") can be used in the following application classes: Table 10- 2 Selection of telegrams as a function of the application class Telegram...
  • Page 412: Cyclic Communication

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.3 Cyclic communication Cyclic communication is used to exchange time-critical process data. 10.1.3.1 Telegrams and process data General information When a telegram is selected via p0922, the drive unit (Control Unit) process data that is transferred is determined.
  • Page 413 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive – 110 Positioning, telegram 10 (basic positioner with MDI, override, and XistA) – 111 Positioning, telegram 11 (basic positioner in MDI mode) – 116 Speed setpoint, 32 bit with 2 position encoders, torque reduction and DSC, plus load, torque, power and current actual values –...
  • Page 414 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Telegram interconnections ● When you change p0922 = 999 (factory setting) to p0922 ≠ 999, the telegrams are interconnected and blocked automatically. ● Exceptions here are telegrams 20, 111, 220, and 352. Here, selected PZDs can be interconnected as required in the transmit/receive telegram.
  • Page 415 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Structure of the telegrams (Function diagram 2420) <1> <2> <4> <5> <5> <5> <5> 1, 4 1, 4 4 DSC 4 DSC PZD 1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1...
  • Page 416 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive <1> <2> <4> <5> <5> <5> <5> <5> <5> <5> <5> 1, 4 1, 4 4 DSC 4 DSC 4 DSC 4 DSC STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1 ZSW1 STW1...
  • Page 417 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive <1> <2> <4> [2481] [ 2483] <5> PZD 1 E_STW1 E_ZSW1 E_STW1_BM E_ZSW1_BM CU STW1 CU_ZSW1 CU STW1 CU_ZSW1 CU STW1 CU_ZSW1 STW1 <3> ZSW1 <3> <6> PZD 2 IAIST A_DIGITAL E_DIGITAL A_DIGITAL E_DIGITAL A_DIGITAL E_DIGITAL...
  • Page 418 When a telegram that specifies the Interface Mode (e.g. p0922 = 102) is changed to a different telegram (e.g. p0922 = 3), the setting in p2038 is retained. Function diagrams (see SINAMICS S120/S150 List Manual) ● 2410 PROFIBUS address, diagnostic ●...
  • Page 419: Description Of Control Words And Setpoints

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.3.2 Description of control words and setpoints Note This chapter describes the assignment and meaning of the process data in SINAMICS interface mode (p2038 = 0). The reference parameter is also specified for the relevant process data. The process data are generally normalized in accordance with parameters p2000 to r2004.
  • Page 420 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Table 10- 4 Overview of control words and setpoints, manufacturer specific, see function diagram [2440] Abbreviation Name Signal Data type Interconnection number parameters MOMRED Torque reduction p1542 MT_STW Measuring probe control word p0682 POS_STW Position control word...
  • Page 421 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849. Enable operation Enable operation BI: p0852, Pulse enable possible p1224.1 (with Disable operation extended Cancel pulses brake control only) Enable ramp-function generator...
  • Page 422 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive STW1 (control word 1), positioning mode, p0108.4 = 1 See function diagram [2475] Table 10- 6 Description of STW1 (control word 1), positioning mode Meaning Remarks BICO ON/OFF1 BI: p0840 Pulse enable possible OFF1 Braking with the ramp-function generator, then pulse suppression and switching on inhibited.
  • Page 423 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Master control by PLC BI: p0854 Control by PLC This signal must be set so that the process data transferred via PROFIdrive are accepted and become effective. No control by PLC Process data transferred via PROFIdrive are rejected - i.e.
  • Page 424 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO User data integrity (4-bit counter) CI: p2045 Master sign of life bit 0 Master sign of life bit 1 Master sign of life bit 2 Master sign of life bit 3 STW1_BM (control word 1, metal industry) See function diagram [2425].
  • Page 425 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Reserved Reserved Master control by PLC Master control by PLC BI: p0854 This signal must be set so that the process data transferred via PROFIdrive are accepted and become effective.
  • Page 426 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive NSOLL_A (speed setpoint A (16-bit)) ● Speed setpoint with a 16-bit resolution with sign bit. ● Bit 15 determines the sign of the setpoint: – Bit = 0 --> positive setpoint –...
  • Page 427 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive KPC (position controller gain factor) The position controller gain factor for dynamic servo control (DSC) is transmitted via this setpoint. Transmission format: KPC is transmitted in the unit 0.001 1/s. Range of values: 0 to 4000.0 Special case: When KPC = 0, the "DSC"...
  • Page 428 Activate MDI Activate MDI p2647 De-activate MDI Note: See also: SINAMICS S120 Function Manual, section "Basic positioner" POS_STW (positioning mode, r0108.4 = 1) See function diagram [2477] Table 10- 11 Description of POS_STW (positioning mode, p0108.4 = 1) Meaning Remarks...
  • Page 429 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive POS_STW1 (control word 1, positioning mode, r0108.4 = 1) See function diagram [2463]. Table 10- 12 Description of POS_STW1 (control word 1) Meaning Remarks BICO EPOS traversing block selection bit 0 Traversing block selection BI: p2625 EPOS traversing block selection bit 1...
  • Page 430 (BI: p2569) and STOP cam plus (BI: Set the signal source for activation of p2570) is active. "STOP cams". Evaluation of STOP cams is not active Note: See also: SINAMICS S120 Function Manual, section "Basic positioner" Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 431 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive OVERRIDE (Pos Velocity Override) This process data defines the percentage for the velocity override. Normalization: 4000 hex (16384 dec) = 100 % Range of values: 0 ... 7FFF hex Values outside this range are interpreted as 0%. MDI_TARPOS (MDI position) This process data defines the position for MDI sets.
  • Page 432 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Interconnection parameter 3..Reserved ...15 MDI_MODE This process data defines the mode for MDI sets. Precondition: p2654 > 0 MDI_MODE = xx0x hex –> Absolute MDI_MODE = xx1x hex –> Relative MDI_MODE = xx2x hex –>...
  • Page 433 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Inhibit regenerating BI: p3533 Inhibit regenerative operation Regenerative operation is inhibited. Enable regenerative operation Regenerative operation is enabled. Note: If regenerative operation is inhibited and power is fed to the DC link (e.g. by braking the motor), the DC link voltage increases (F30002).
  • Page 434: Description Of Status Words And Actual Values

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Acknowledge error Acknowledge error BI: p2103 Note: Faults are acknowledged at a 0/1 edge via BI: p2103 or BI: p2104 or BI: p2105. 8...9 Reserved Control by PLC Control by PLC BI: p0854 This signal must be set so that the process data...
  • Page 435 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Overview of status words and actual values Table 10- 17 Overview of status words and actual values, profile specific, see function diagram [2449] Abbreviation Name Signal Data type Interconnection number parameter ZSW1 Status word 1 r2089[0]...
  • Page 436 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Abbreviation Name Signal Data type Interconnection number parameter MT_ZSW Probe status word r0688 MT1_ZS_F Probe 1 time stamp, falling edge r0687[0] MT1_ZS_S Probe 1 time stamp, rising edge r0686[0] MT2_ZS_F Probe 2 time stamp, falling edge r0687[1] MT2_ZS_S Probe 2 time stamp, rising edge...
  • Page 437 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Not ready for operation Reason: No ON command has been issued. Operation enabled Operation enabled BO: r0899.2 Enable electronics and pulses, then ramp up to active setpoint. Operation inhibited Fault active Fault active BO: r2139.3...
  • Page 438 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Note: The message is parameterized as follows: p2141 Threshold value p2142 Hysteresis I, M or P limit reached or exceeded I, M or P limit not reached BO: r1407.7 I, M or P limit reached or exceeded Holding brake open Holding brake opened...
  • Page 439 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Coasting active (OFF2) BO: r0899.4 No OFF2 active Coasting active (OFF2) An OFF2 command is active. Quick stop active (OFF3) No OFF3 active BO: r0899.5 Quick stop active (OFF3) An OFF3 command is active.
  • Page 440 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive ZSW2 (status word 2) See function diagram [2454] Table 10- 21 Description of ZSW2 (status word 2) Meaning Remarks BICO DDS eff., bit 0 – Drive data set effective (5-bit counter) BO: r0051.0 DDS eff., bit 1 –...
  • Page 441 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Operation enabled BO: r0899.2 Operation enabled Enable electronics and pulses, then ramp up to active setpoint. Operation inhibited Fault active Fault active BO: r2139.3 The drive is faulty and, therefore, out of service. The drive switches to "switching on inhibited"...
  • Page 442 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Note: The message is parameterized as follows: p2141 Threshold value p2142 Hysteresis I, M or P limit reached or exceeded I, M or P limit not reached BO: r1407.7 I, M or P limit reached or exceeded Holding brake open Holding brake opened...
  • Page 443 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Safe Torque Off active Normalized signal according to PROFIdrive on r9773.1 (safe stop) PROFIsafe Controller sign of life Toggle bit communication active r2093.15 toggle bit Toggle bit communication not active NACT_A (Speed setpoint A (16 bit)) ●...
  • Page 444 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive PIST_GLATT The active power smoothed with p0045 is displayed. NIST_A_GLATT The actual speed value smoothed with p0045 is displayed. MSOLL_GLATT The torque setpoint smoothed with p0045 is displayed. AIST_GLATT Torque utilization smoothed with p0045 is displayed. MELDW (message word) See function diagram [2456] Table 10- 24 Description of MELDW (message word)
  • Page 445 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Torque utilization > p2194 The current torque utilization is greater than the • set torque utilization threshold (p2194). Application: This message indicates that the motor is overloaded and appropriate measures need to be taken to rectify the situation (e.g.
  • Page 446 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Note: When the motor temperature threshold is exceeded, only an alarm is output initially to warn you of this. The • alarm is canceled automatically when the temperature no longer exceeds the alarm threshold. If the overtemperature is present for longer than the value set via p0606, a fault is output to warn you of this.
  • Page 447 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive AKTSATZ See function diagram [3650]. Table 10- 25 Description of AKTSATZ (active traversing block/MDI active) Meaning Remarks BICO Active traversing block, bit 0 – Active traversing block (6-bit counter) BO: r2670.0 Active traversing block, bit 1 –...
  • Page 448 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Fixed stop reached BO: r2683.12 Fixed stop reached Fixed stop is not reached Fixed stop clamping torque Fixed stop clamping torque reached BO: r2683.13 reached Fixed stop clamping torque is not reached Travel to fixed stop active Travel to fixed stop active BO: r2683.14...
  • Page 449 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive POS_ZSW2 (status word 2, positioning mode, p0108.4 = 1 See function diagram [2467]. Table 10- 28 Description of POS_ZSW2 (status word 2, positioning mode, p0108.4 = 1 Meaning Remarks BICO Tracking mode active Tracking mode active BO: r2683.0 Tracking mode not active...
  • Page 450 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive FAULT_CODE Display of the fault code (see function diagram 8060). E_ZSW1 (status word for infeed) See function diagram [2457]. Table 10- 29 Description of E_ZSW1 (status word for infeed) Meaning Remarks BICO Ready for switching on Ready for switching on...
  • Page 451 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive E_ZSW1_BM (status word for infeeds, metal industry) See function diagram [2430]. Table 10- 30 Description of E_ZSW1_BM (status word for infeeds, metal industry) Meaning Remarks BICO Ready for switching on Ready for switching on BO: r0899.0 Not ready for switching on Ready for operation...
  • Page 452: Control And Status Words For Encoder

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.3.4 Control and status words for encoder Description The process data for the encoders is available in various telegrams. For example, telegram 3 is provided for speed control with 1 position encoder and transmits the process data of encoder 1.
  • Page 453 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Name Signal status, description Function 2 Reference mark 2 Function 3 Reference mark 3 Function 4 Reference mark 4 If bit 7 = 1, then find flying measurement request applies: Function 1 Probe 1 rising edge Function 2 Probe 2 falling edge...
  • Page 454 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Name Signal status, description Acknowledge encoder error Request to reset encoder errors No request Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 455 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Example 1: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference marks (function 1/function 2) ● Position control with encoder 1 Figure 10-11 Sequence chart for "Find reference mark" Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 456 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Example 2: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Figure 10-12 Sequence chart for "Flying measurement" Encoder 2 control word (G2_STW) ●...
  • Page 457 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Encoder n status word (Gn_ZSW, n = 1, 2) The encoder status word is used to display states, errors and acknowledgements. Table 10- 32 Description of the individual signals in Gn_ZSW Name Signal status, description "Find...
  • Page 458 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Name Signal status, description Reserved Transmit absolute value Acknowledgement for Gn_STW.13 (request absolute value cyclically) cyclically Note: Cyclic transmission of the absolute value can be interrupted by a function with higher priority. See Gn_XIST2 •...
  • Page 459 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Encoder 1 actual position value 2 (G1_XIST2) Different values are entered in Gx_XIST2 depending on the function. ● Priorities for Gx_XIST2 The following priorities should be considered for values in Gx_XIST2: Figure 10-14 Priorities for functions and Gx_XIST2 Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 460 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive ● Resolution: Encoder pulses ∙ 2n n: fine resolution, no. of bits for internal multiplication Figure 10-15 Subdivision and settings for Gx_XIST2 ● Encoder lines of incremental encoder – For encoders with sin/cos 1Vpp: Encoder lines = no.
  • Page 461 ● 4735 Find reference mark with equivalent zero mark, encoders n ● 4740 Measuring probe evaluation, measured value memory, encoders n Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameter drive, CU_S parameter is marked ● p0418[0...15] Fine resolution Gx_XIST1 ●...
  • Page 462: Central Control And Status Words

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Display parameters drive ● r0481[0...2] CO: Encoder status word Gn_ZSW ● r0482[0...2] CO: Encoder position actual value Gn_XIST1 ● r0483[0...2] CO: Encoder position actual value Gn_XIST2 ● r0487[0...2] CO: Diagnostic encoder control word Gn_STW 10.1.3.5 Central control and status words Description...
  • Page 463 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Control transferred p3116 The CU has control Once the propagated faults have been acknowledged on all DOs, the fault is also implicitly acknowledged on the DO1 (CU). External controller has control The propagated faults must be acknowledged on all DOs and must also be explicitly acknowledged on the DO1 (CU).
  • Page 464 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive MT_STW Control word for the "central probe" function. Display via r0685. Table 10- 36 Description of MT_STW (control word for Control Unit) Meaning Remarks BICO Falling edge probe 1 – Activation of measuring time determination with the next falling CI: p0682 edge Falling edge probe 2...
  • Page 465 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Meaning Remarks BICO Module line-up alarm BO: r3114.9 Group bit for alarm is active, ORed across all DOs including the CU of the module line-up. No group bit for module line-up alarm Module line-up fault Group bit for fault is active, ORed across all DOs BO: r3114.10...
  • Page 466 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive E_DIGITAL (digital inputs) See function diagram [2498]. Table 10- 38 Description of E_DIGITAL (digital inputs) Meaning Remarks BICO Digital input/output 8 – DI/DO 8 on the Control Unit must be parameterized as an input BO: p0722.8 (DI/DO = 8) (p0728.8 = 0).
  • Page 467 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive MT_ZSW Status word for the "central probe" function. Table 10- 39 Description of MT_ZSW (status word for the "central probe" function) Meaning Remarks BICO Digital input probe 1 – Display of digital inputs CO: r0688 For telegram 392, in addition, probes 3 and 6 Digital input probe 2...
  • Page 468 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Example: central probe Assumptions for the example: ● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1 ● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and falling edge of probe 2 ●...
  • Page 469: Motion Control With Profidrive

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.3.6 Motion Control with PROFIdrive Description The "Motion control with PROFIBUS" or "Motion Control with PROFINET" function can be used to implement an isochronous drive link between a master and one or more slaves via the PROFIBUS field bus or an isochronous drive link via PROFINET.
  • Page 470 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive ● The slaves synchronize their speed and/or current controller cycle with the position controller cycle on the master. ● The speed setpoint is specified by the master. Figure 10-17 Overview of "Motion control with PROFIBUS" (example: master and 3 slaves) Structure of the data cycle The data cycle comprises the following elements: 1.
  • Page 471: Acyclic Communication

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Figure 10-18 Isochronous drive link/Motion Control with PROFIdrive 10.1.4 Acyclic communication 10.1.4.1 General information about acyclic communication Description With acyclic communication, as opposed to cyclic communication, data transfer takes place only when an explicit request is made (e.g. in order to read and write parameters). The read data set/write data set services are available for acyclic communication.
  • Page 472 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive ● S7 protocol This protocol uses the STARTER commissioning tool, for example, in online mode via PROFIBUS. ● PROFIdrive parameter channel with the following data sets: – PROFIBUS: Data block 47 (0x002F) The DPV1 services are available for master class 1 and class 2.
  • Page 473: Structure Of Orders And Responses

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Characteristics of the parameter channel ● One 16-bit address each for parameter number and subindex. ● Concurrent access by several PROFIBUS masters (master class 2) or PROFINET IO supervisor (e.g. commissioning tool). ●...
  • Page 474 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Parameter response Offset Values for Response header Request reference mirrored Response ID read access Axis mirrored No. of parameters only 1. parameter value(s) Format No. of values Error values Values or error values for negative response only nth parameter value(s)
  • Page 475 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Field Data type Values Remark No. of elements Unsigned8 0x00 Special function 0x01 ... 0x75 No. 1 ... 117 Limited by DPV1 telegram length Number of array elements accessed. Parameter number Unsigned16 0x0001 ...
  • Page 476 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Error values in DPV1 parameter responses Table 10- 40 Error values in DPV1 parameter responses Error Meaning Remark Additional value info 0x00 Illegal parameter number Access to a parameter which does not exist. –...
  • Page 477 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x6E Parameter %s [%s]: Write access – – only in the commissioning state, motor (p0010 = 3). 0x6F Parameter %s [%s]: Write access – – only in the commissioning state, power unit (p0010 = 2).
  • Page 478 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x7E Parameter %s [%s]: Write access – – only in the commissioning state, device ready (device: p0009 = 0). 0x7F Parameter %s [%s]: Write access –...
  • Page 479: Determining The Drive Object Numbers

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.4.3 Determining the drive object numbers Further information about the drive system (e.g. drive object numbers) can be determined as follows using parameters p0101, r0102, and p0107/r0107: 1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read via a read request.
  • Page 480: Example 1: Read Parameters

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.4.4 Example 1: read parameters Prerequisites 1. The PROFIdrive controller has been commissioned and is fully operational. 2. PROFIdrive communication between the controller and the device is operational. 3. The controller can read and write data sets in conformance with PROFIdrive DPV1. Task description Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object number 2), the active fault codes must be read from the fault buffer r0945[0] ...
  • Page 481 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive ● Attribute: 10 hex ––> The parameter values are read. ● No. of elements: 08 hex ––> The current fault incident with 8 faults is to be read. ● Parameter number: 945 dec ––>...
  • Page 482: Example 2: Write Parameters (multi-parameter Request)

    Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive 10.1.4.5 Example 2: write parameters (multi-parameter request) Requirements 1. The PROFIdrive controller has been commissioned and is fully operational. 2. PROFIdrive communication between the controller and the device is operational. 3. The controller can read and write data sets in conformance with PROFIdrive DPV1. Special requirements for this example: 4.
  • Page 483 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Basic procedure 1. Create a request to write the parameters. 2. Invoke the request. 3. Evaluate the response. Activity 1. Create the request. Parameter request Offset Request header Request reference = 40 Request ID = 02 hex 0 + 1 Axis = 02 hex...
  • Page 484 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Information about the parameter request: ● Request reference: The value is selected at random from the valid value range. The request reference establishes the relationship between request and response. ● Request ID: 02 hex ––>...
  • Page 485 Communication PROFIBUS DP/PROFINET IO 10.1 Communication according to PROFIdrive Parameter response Offset Response header Request reference mirrored Response ID = 02 hex = 40 hex Axis mirrored = 02 hex No. of parameters = 04 hex Information about the parameter response: ●...
  • Page 486: Communication Via Profibus Dp

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2 Communication via PROFIBUS DP 10.2.1 General information about PROFIBUS 10.2.1.1 General information about PROFIBUS for SINAMICS General information PROFIBUS is an open international field bus standard for a wide range of production and process automation applications.
  • Page 487 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP ● Master Masters are categorized into the following classes: – Master class 1 (DPMC1): Central automation stations that exchange data with the slaves in cyclic and acyclic mode. Communication between the masters is also possible. Examples: SIMATIC S7, SIMOTION –...
  • Page 488: Example: Telegram Structure For Cyclic Data Transmission

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP ● Terminal Module 15 (TM15DI/DO) ● Terminal Module 31 (TM31) ● Terminal Module 41 (TM41) ● Terminal Board 30 (TB30) ● Control Unit (CU_S) Note The sequence of drive objects in the configuration must be the same as that in the drive system.
  • Page 489 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Component and telegram structure The predefined component structure results in the telegram structure shown in the following diagram. Figure 10-21 Component and telegram structure You can check and change the sequence of the telegrams via p0978[0...15]. Configuration settings (e.g.
  • Page 490 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-22 Slave properties – overview When you click "Details", the properties of the configured telegram structure are displayed (e.g. I/O addresses, axis separator). DP slave properties – details Figure 10-23 Slave properties – details The axis separator separates the objects in the telegram as follows: Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 491: Commissioning Profibus

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP • Slot 4 and 5: Object 1 ––> Active Infeed (A_INF) • Slot 7 and 8: Object 2 ––> SERVO 1 • Slot 10 and 11: Object 3 ––> SERVO 2 etc.
  • Page 492 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP ● PROFIBUS interface The PROFIBUS interface is described in the following documentation: References: /GH1/ SINAMICS S120 Equipment Manual for Control Units and Additional System Components ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnostics purposes.
  • Page 493 A device master file provides a full and clear description of the features of a PROFIBUS slave. The GSD files can be found at the following locations: ● On the Internet: http://www4.ad.siemens.de/WW/view/de/113204 ● On the CD for the STARTER commissioning tool Order no. 6SL3072-0AA00-0AGx ●...
  • Page 494: Commissioning Procedure

    ● The telegram type for each drive object is known by the application. PROFIBUS master ● The communication properties of the SINAMICS S120 slave must be available in the master (GSD file or drive ES slave OM). Commissioning steps (example with SIMATIC S7) 1.
  • Page 495: Simatic Hmi Addressing

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.2.4 SIMATIC HMI addressing You can use a SIMATIC HMI as a PROFIBUS master (master class 2) to access SINAMICS directly. With respect to SIMATIC HMI, SINAMICS behaves like a SIMATIC S7. For accessing drive parameters, the following simple rule applies: ●...
  • Page 496: Monitoring: Telegram Failure

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Note • You can operate a SIMATIC HMI together with a drive unit independently of an existing control. A basic "point-to-point" connection can only be established between two nodes (devices). • The "variable" HMI functions can be used for drive units. Other functions cannot be used (e.g.
  • Page 497: Motion Control With Profibus

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP ● CU p2047 = 20 ms ● A_INF p2044 = 2 ms ● VECTOR p2044 = 0 ms Sequence: Following a telegram failure and once the additional monitoring time (p2047) has elapsed, binector output r2043.0 of drive object CU switches to "1".
  • Page 498 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Sequence of data transfer to closed-loop control system 1. Position actual value G1_XIST1 is read into the telegram image at time T before the start of each cycle and transferred to the master in the next cycle. 2.
  • Page 499 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Name Value Limit value Description Time of setpoint transfer O_MIN ≤ T ≤ T This is the time at which the transferred setpoints (speed setpoint) are accepted by the closed-loop control system after the start of the cycle.
  • Page 500 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Name Value Limit value Description Acyclic service After cyclic transmission, the master checks whether the token hold time has already expired. If not, another acyclic DPV1 service is transmitted. Reserve: "Active pause" until the isochronous cycle has expired Processing time for speed or position controller Master time This is the time from the start of the position controller cycle to...
  • Page 501 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP User data integrity User data integrity is verified in both transfer directions (master <––> slave) by a sign of life (4-bit counter). The sign-of-life counters are incremented from 1 to 15 and then start again at 1. ●...
  • Page 502: Slave-to-slave Communication

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4 Slave-to-slave communication 10.2.4.1 General information Description With PROFIBUS DP, the master addresses all of the slaves one after the other in a DP cycle. In this case, the master transfers its output data (setpoints) to the particular slave and receives as response the input data (actual values).
  • Page 503 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Subscriber The subscribers evaluate the broadcast telegrams, sent from the publishers, and use the data which has been received as setpoints. The setpoints are used, in addition to the setpoints received from the master, corresponding to the configured telegram structure (p0922).
  • Page 504: Setpoint Assignment In The Subscriber

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4.2 Setpoint assignment in the subscriber Setpoints The following statements can be made about the setpoint: ● Number of setpoint When bus communication is being established, the master signals the slave the number of setpoints (process data) to be transferred using the configuring telegram (ChkCfg).
  • Page 505 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP ● Amount of data ● Target of the data Parameterizing telegram (SetPrm) The filter table is transferred, as dedicated block from the master to the slave with the parameterizing telegram when a bus communication is established. Configuring telegram (ChkCfg) Using the configuration telegram, a slave knows how may setpoints are to be received from the master and how many actual values are to be sent to the master.
  • Page 506: Commissioning Of The Profibus Slave-to-slave Communication

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4.4 Commissioning of the PROFIBUS slave-to-slave communication The commissioning of slave-to-slave communication between two SINAMICS drives using the additional Drive ES Basic package is described below. Settings in HW Config The project below is used to describe the settings in HW Config. Figure 10-30 Example project of a PROFIBUS network in HW Config Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 507 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Procedure 1. Select a slave (e.g. CU320) and use its properties to configure the telegram for the connected drive object. 2. In the "Configuration" tab of the drive unit, select e.g. the standard telegram 2 for the associated servo or vector drive in the telegram selection.
  • Page 508 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 4. The "Insert slot" button can be used to create a new setpoint slot for the CU320 drive object. Figure 10-33 Insert new slot 5. Assign the setpoint slot the type "slave-to-slave communication". 6.
  • Page 509 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 7. The "I/O address" column displays the start address for every DO. Select the start address of the data of the DO to be read. This is 268 in the example. If the complete data of the Publisher are not read, set this via the "Length"...
  • Page 510 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 9. When the slave-to-slave communication links have been created, the standard telegram for the drive object is replaced with the "User-defined" telegram in the configuration overview. Figure 10-36 Telegram assignment for slave-to-slave communication 10.
  • Page 511 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Commissioning in STARTER Slave-to-slave communication is configured in HWConfig and is simply an extension of an existing telegram. Telegrams can be extended in STARTER (e.g. p0922 = 999). Figure 10-38 Configuring the slave-to-slave communication links in STARTER In order to terminate the configuration of slave-to-slave communication for the DOs, the telegram data of the DOs in STARTER must be matched to those in the HW Config and must be extended.
  • Page 512 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Procedure 1. In the overview for the PROFIBUS telegram, you can access the telegrams of the drive objects, here SERVO_02. Select the telegram type "Free telegram configuration" for the configuration. 2. Enter the telegram lengths for the input data and output data according to the settings in HW Config.
  • Page 513 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-40 Configuring the PROFIBUS slave-to-slave communication in STARTER To integrate the drive objects into slave-to-slave communication, you need to assign appropriate signals to the corresponding connectors in the PZD. A list for the connector shows all signals that are available for interconnection.
  • Page 514 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP Figure 10-41 Combinding the PZDs for slave-to-slave communication with external signals Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 515: Gsd (gerätestammdaten) File

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4.5 GSD (GeräteStammDaten) file GSD File A special GSD file exists for the SINAMICS family to permit integration of the PROFIBUS slave-to-slave communication into SINAMICS. Figure 10-42 Hardware catalog of the GSD file with slave-to-slave communication functionality The SINAMICS S DXB GSD file contains standard telegrams, free telegrams and slave-to- slave telegrams for configuring slave-to-slave communication.
  • Page 516: Diagnosing The Profibus Slave-to-slave Communication In Starter

    Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP 10.2.4.6 Diagnosing the PROFIBUS slave-to-slave communication in STARTER Diagnostics Since the PROFIBUS slave-to-slave communication is implemented on the basis of a broadcast telegram, only the subscriber can detect connection or data faults, e.g. via the Publisher data length (see "Configuration telegram").
  • Page 517 Communication PROFIBUS DP/PROFINET IO 10.2 Communication via PROFIBUS DP F1946 (A) PROFIBUS: Connection of drive object to Publisher x interrupted Cause: The cyclic data transfer between this drive object and a slave-to-slave communication Publisher was not established or was interrupted. Examples: Bus connection interrupted Publisher failed...
  • Page 518: Communication Via Profinet Io

    Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO 10.3 Communication via PROFINET IO 10.3.1 General information about PROFINET IO 10.3.1.1 General information about PROFINET IO for SINAMICS General information PROFINET IO is an open Industrial Ethernet standard for a wide range of production and process automation applications.
  • Page 519: Real-time (rt) And Isochronous Real-time (irt) Communication

    Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO ● SINAMICS S120 with CU310 with integrated PROFINET interface ● SINAMICS S120 with CU320 and plugged CBE20 Cycle communication using PROFINET IO with IRT or using RT is possible on all drive units equipped with a PROFINET interface.
  • Page 520: Addresses

    Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO PROFINET IO with RT (Real Time) Real time means that a system processes external events over a defined period. Process data and alarms are always transmitted in real time (RT) within the PROFINET IO system.
  • Page 521 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO IP address To allow a PROFINET device to be addressed as a node on Industrial Ethernet, this device also requires an IP address that is unique within the network. The IP address is made up of 4 decimal numbers with a range of values from 0 through 255.
  • Page 522: Data Transfer

    The ports must not be interconnected in such a way that a ring topology is created. References The integration of a SINAMICS S120 with CU310/CU320 in a PROFINET IO system is described in detail in the System Manual "SIMOTION SCOUT Communication".
  • Page 523 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO For an example of how to link a SINAMICS S120 to a SIMATIC S7 via PROFINET IO, please refer to the FAQ "PROFINET IO communication between an S7-CPU and SINAMICS S120" on the Internet.
  • Page 524 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO STEP 7 routing with CBE20 The CBE20 does not support STEP 7 routing between PROFIBUS and PROFINET IO. Connecting the IO supervisor You can go online with the STARTER in a number of ways, which are illustrated below: Figure 10-44 Connecting the IO supervisor Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 525: Rt Classes For Profinet Io

    Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO 10.3.3 RT classes for PROFINET IO Description PROFINET IO is a scalable realtime communication system based on Ethernet technology. The scalable approach is expressed with three realtime classes. RT communication is based on standard Ethernet. The data are transferred via prioritized Ethernet telegrams.
  • Page 526 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO IRT "high flexibility" The telegrams are sent cyclically in a deterministic cycle (Isochronous Real Time). The telegrams are exchanged in a bandwidth reserved by the hardware. One IRT time interval and one standard Ethernet time interval are created for each cycle. Note IRT "high flexibility"...
  • Page 527 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO Comparison between RT and IRT Table 10- 46 Comparison between RT and IRT RT class IRT "high flexibility" IRT "high performance" Transfer mode Switching based on the MAC Switching using the MAC Path-based switching address;...
  • Page 528 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO Synchronization domain The sum of all devices to be synchronized form a synchronization domain. The whole domain must be set to a single, specific RT class (real-time class) for synchronization, i.e. mixed operation of RT classes IRT and IRT* is not permissible.
  • Page 529 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO All cyclic data are transferred within the send cycle. The actual send cycle that can be set depends on various factors: ● Bus load ● Type of devices used ● Computing capacity available in the IO controller ●...
  • Page 530 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO 4) Isochronous operation is not compatible with IRT "high flexibility". 5) Uneven send cycles can be used only if the IO systems assigned to the synchronization domain do not include any RT or IRT "high flexibility" devices. Furthermore, the send cycles which can actually be set are determined by the intersection between the send cycles supported by all the devices in the synchronization domain.
  • Page 531: Selection Of The Profinet Variant

    UFW file referenced in the pointer file is loaded. The pointer file refers to PROFINET V2.2 by default. Table 10- 48 UFW files and selected in the pointer file UFW file and folder on memory card Functionality Pointer file content /SIEMENS/SINAMICS/CODE/CB/ PROFINET V2.1 CBE20=0 CBE20_0.UFW /SIEMENS/SINAMICS/CODE/CB/ PROFINET V2.2 CBE20=1 CBE20_1.UFW...
  • Page 532: Motion Control With Profinet

    Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO 10.3.5 Motion Control with PROFINET Motion Control/Isochronous drive link with PROFINET Figure 10-46 Motion Control/Isochronous drive link with PROFINET, optimized cycle with CACF = 2 Sequence of data transfer to closed-loop control system 1.
  • Page 533 This service is used to implement user data exchange between the IO controller and IO device 1 - n. R or Rx Processing time for speed or position controller 1) The values correspond to the device master file gsdml-v2.1-siemens-sinamics-s-cu3x0-20070615.xml Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 534 Communication PROFIBUS DP/PROFINET IO 10.3 Communication via PROFINET IO Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. T is a multiple of SendClock. – T > T and T ≧...
  • Page 535: Applications

    Applications 11.1 Switching on a drive object x_Infeed by means of a vector drive object Description Figure 11-1 BICO interconnection Using this BICO interconnection, a drive object (DO) x_Infeed can be switched-in by a vector drive object. This power-on version is mainly used for chassis units, if only one Line Module and one Motor Module are used.
  • Page 536: Parallel Operation Of Communication Interfaces For Cu320

    Applications 11.2 Parallel operation of communication interfaces for CU320 ● The power-on attempt is interrupted if, during the new power-on sequence, a fault occurs on the DO x_Infeed. The fault is communicated to the DO vector via the BICO connection p1208.0 =>...
  • Page 537 Applications 11.2 Parallel operation of communication interfaces for CU320 Table 11- 1 Properties of the cyclic interfaces IF1 and IF2 Feature Setpoint (BICO signal source) r2050, r2060 r8850, r8860 Actual value (BICO signal sink) p2051, p2061 p8851, p8861 PROFIdrive conformance PROFIdrive telegram selection (p922) Isochronous mode possible Slave-to-slave communication (PROFIBUS only)
  • Page 538 Applications 11.2 Parallel operation of communication interfaces for CU320 Additional parameters for IF2 To permit a better use of the IF2 also for a PROFIBUS / PROFINET connection, the following extensions of the parameter list are available: Infeeds: r8850, p8851, r8853 Additional diagnostic parameters (meaning of 88xx identical with 20xx): r8874, r8875, r8876 Additional binector-connector converter (meaning of 88xx identical with 20xx):...
  • Page 539: Motor Changeover

    Applications 11.3 Motor changeover Alarm A_8550 PZD interface hardware assignment incorrect Description: The assignment of the hardware to the PZD interface has been incorrectly parameterized. Values: 1: Only one of the two indexes is not equal to 99 2: Both PZD interfaces have been assigned the same hardware 3: Assigned COMM board missing 4: CBC10 has been assigned to interface 1 11.3...
  • Page 540 Applications 11.3 Motor changeover ● 4 motor contactors with positively-driven auxiliary contacts (3 NC contacts, 1 NO contact) ● 4 motors, 1 Control Unit, 1 infeed, and 1 Motor Module Figure 11-2 Example of motor changeover Table 11- 3 Settings for the example Parameter Settings Remark...
  • Page 541 Applications 11.3 Motor changeover 1. Start condition: For synchronous motors, the actual speed must be lower than the speed at the start of field weakening. This prevents the regenerative voltage generated from being greater than the terminal voltage. 2. Pulse inhibit: The pulses are inhibited after a new drive data set is selected with p0820 to p0824.
  • Page 542 Applications 11.3 Motor changeover Figure 11-3 Example: star/delta changeover Table 11- 4 Settings for the example Parameter Settings Remark p0130 Configure 2 MDS. p0180 Configure 2 DDS. p0186[0...1] 0, 1 The MDS are assigned to the DDS. p0820 p2197.2 Changeover to delta connection after speed in p2155 is exceeded.
  • Page 543 ● 8565 Drive Data Sets (DDS) ● 8570 Encoder Data Sets (EDS) ● 8575 Motor Data Sets (MDS) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0051 Drive data set (DDS) effective ● p0130 Motor data sets (MDS) number ●...
  • Page 544: Application Examples With The Dmc20

    Applications 11.4 Application examples with the DMC20 11.4 Application examples with the DMC20 Features The DRIVE-CLiQ Hub Module Cabinet 20 (DMC20) has the following features: ● Own drive object ● 6 DRIVE-CLiQ ports ● Own faults and alarms Typical applications would include: ●...
  • Page 545 Applications 11.4 Application examples with the DMC20 Figure 11-4 Example, distributed topology using DMC20 Example: Hot plugging Using the hot-plugging function, components can be withdrawn from the operational drive line-up (the other components continue to operate) on the DRIVE-CLiQ line. This means that the corresponding drive object must first be deactivated/parked beforehand using parameter p0105 or STW2.7.
  • Page 546 Applications 11.4 Application examples with the DMC20 The complete drive object (Motor Module, motor encoder, Sensor Module) is disabled via p0105. STW2.7 is used to set the function "Park axis" for all components that are assigned to the motor control (Motor Module, motor encoders). All components that belong to Encoder_2 or Encoder_3 remain active.
  • Page 547: Tolerant Encoder Monitoring With Smc30

    Applications 11.5 Tolerant encoder monitoring with SMC30 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ● p0897 BI: Parking axis selection ● r0896.0 BO: Parking axis status word ● p0151 DRIVE-CLiQ Hub component number ●...
  • Page 548 Applications 11.5 Tolerant encoder monitoring with SMC30 Settable hardware filter p0438 Filter time rectangular signal encoder only discrete values in the following increments are supported: No filtering, 0.04 µs, 0.64 μs, 2.56 μs, 10.24 μs, 20.48 µs Any value between 0 and 100 µs can be set. If you enter a value other than one of the discrete values specified above, the firmware automatically sets the next closest discrete value.
  • Page 549 Applications 11.5 Tolerant encoder monitoring with SMC30 ● Bit status 0: Default ● Bit status 1: Operating mode Pure edge zero mark detection. Zero mark monitoring Zero mark monitoring is activated with parameter setting p0437.2 = 1. p4680[0...n] Zero mark monitoring permissible tolerance Sets the permissible tolerance in encoder pulses for zero mark monitoring.
  • Page 550 3 current controller cycles is supplied. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0404[0...n] Encoder configuration operative / Enc_config operative ● p0405[0...n] Rectangular signal encoder track A/B / rectangular signal encoder A/B ●...
  • Page 551: Dcc Axial Winder

    ● Flexible sensor evaluation (e.g. dancer roll, load cell) Note Documentation for a standard application for the DCC axial winder is available on demand from your responsible SIEMENS distribution partner. Function blocks The "DCC axial winder" function involves the following DCBs (Drive Control Blocks), i.e.
  • Page 552 Applications 11.6 DCC axial winder 1. TTCU block: Winding hardness diagram The block is applied for defining the tension setpoint as a function of the current winder diameter. The setpoint is adjusted according to a selectable characteristic curve. 2. DCA block: Diameter calculator: The DCA (Diameter Calculator) is used to determine the current diameter of an axial winder based on the path velocity and the motor speed.
  • Page 553 Applications 11.6 DCC axial winder Calculation of the moment of inertia for torque pre-control The function diagram below shows the calculation flow for SERVO control with encoder [5042] / without encoder [5210]: dn/dt r1493 p1497 Figure 11-7 Torque pre-control for SERVO control The function diagram below shows the calculation flow for VECTOR control [6031]: dn/dt p1497...
  • Page 554 Applications 11.6 DCC axial winder Parameters for the function diagrams for torque pre-control p0341[0...n] Motor moment of inertia / MotID M_mom inert Setting of the motor moment of inertia (no load). This parameter is automatically preset for motors from the motor list (p0301). When a motor from the list is selected, this parameter cannot be changed (write protection).
  • Page 555 Applications 11.6 DCC axial winder Limitation of the speed controller output with dynamic speed limits r1538 r1534 p1552 p1551 r0899.5 [5060 .7] [5610.3] r1509 [5060 .4] r1535 [5060 .7] p1554 r1539 Figure 11-9 Limitation of the speed controller output with dynamic speed limits (example of SERVO) See 6060 for VECTOR application.
  • Page 556 In case of a web break, this prevents the tension controller from actively building torque. The winder speed is limited by the speed setpoint. Function diagrams (see SINAMICS S120/S150 List Manual) ● 5042 Servo control, speed controller, torque/speed pre-control with encoder ●...
  • Page 557: Control Units Without Infeed Control

    Applications 11.7 Control Units without infeed control 11.7 Control Units without infeed control Description To ensure that the drive line-up functions satisfactorily, you must ensure – among other things – that the drives only draw power from the DC link when the infeed is in operation. In a DC link line-up that is controlled by just one Control Unit and in which a drive object has an infeed, the BICO interconnection p0864 = p0863.0 is established automatically during commissioning.
  • Page 558 Applications 11.7 Control Units without infeed control Figure 11-11 Example: interconnection with more than one Control Unit Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 559: Derating Function For Chassis Units

    Power Modules (AC/AC units of chassis format). Units that are connected in parallel operate in the same manner als single units. The dependency of the output current of the pulse frequency for the chassis power units of the SINAMICS S120 is described in the S120 Function Manual, Chassis Power Units.
  • Page 560: Application: Emergency Stop With Power Failure And/or Emergency Stop (servo)

    Applications 11.9 Application: emergency stop with power failure and/or emergency stop (Servo) 11.9 Application: emergency stop with power failure and/or emergency stop (Servo) If the power fails, a drive line-up normally responds with OFF2 even when a Control Supply Module is used in conjunction with a Braking Module (i.e. the connected motors coast down). The Control Supply Module provides the electronics with power via the supply system or DC link.
  • Page 561 Applications 11.9 Application: emergency stop with power failure and/or emergency stop (Servo) In addition to the component wiring shown above, each drive object that is to carry out a quick stop if the power fails needs to be parameterized. If parameterization is not carried out, the drive coasts down once a DC link undervoltage has been identified (OFF2).
  • Page 562 Applications 11.9 Application: emergency stop with power failure and/or emergency stop (Servo) Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 563: Basic Information About The Drive System

    Basic information about the drive system 12.1 Parameter Parameter types The following adjustable and display parameters are available: ● Adjustable parameters (write/read) These parameters have a direct impact on the behavior of a function. Example: Ramp-up and ramp-down time of a ramp-function generator ●...
  • Page 564 Basic information about the drive system 12.1 Parameter The CDS and DDS can be switched over during normal operation. Further types of data set also exist, however these can only be activated indirectly by means of a DDS changeover. ● EDS Encoder Data Set ●...
  • Page 565 = 1; automatically reset to 0 Access level The parameters are subdivided into access levels. The SINAMICS S120/S150 List Manual specifies the access level in which the parameter is displayed and can be changed. The required access levels 0 to 4 can be set in p0003.
  • Page 566: Data Sets

    Basic information about the drive system 12.2 Data sets 12.2 Data sets 12.2.1 CDS: Command Data Set CDS: Command Data Set The BICO parameters (binector and connector inputs) are grouped together in a command data set. These parameters are used to interconnect the signal sources of a drive. By parameterizing several command data sets and switching between them, the drive can be operated with different pre-configured signal sources.
  • Page 567: Dds: Drive Data Set

    Basic information about the drive system 12.2 Data sets Example: Changeover between command data set 0 and 1 Figure 12-3 Switching the command data set (example) 12.2.2 DDS: Drive Data Set DDS: Drive Data Set A drive data set contains various adjustable parameters that are relevant with respect to open and closed-loop drive control: ●...
  • Page 568: Eds: Encoder Data Set

    Basic information about the drive system 12.2 Data sets Binector inputs p0820 to p0824 are used to select a drive data set. They represent the number of the drive data set (0 to 31) in binary format (where p0824 is the most significant bit).
  • Page 569: Mds: Motor Data Set

    The parameters that are grouped together in the motor data set are identified in the SINAMICS S120/S150 List Manual by "Data Set MDS" and are assigned an index [0...n]. A separate motor data set is required for each motor that is controlled by the Control Unit via a Motor Module.
  • Page 570 Basic information about the drive system 12.2 Data sets If several motors are operated alternately on a Motor Module, a matching number of drive data sets must be created. For further information about motor changeover, see the "Motor changeover" section in the Function Manual. One drive object can manage up to 16 motor data sets.
  • Page 571: Integration

    ● 8565 Drive Data Sets (DDS) ● 8570 Encoder Data Sets (EDS) ● 8575 Motor Data Sets (MDS) Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameters ● p0120 Power unit data sets (PDS) number ● p0130 Motor data sets (MDS) number ●...
  • Page 572: Drive Objects

    Basic information about the drive system 12.3 Drive objects 12.3 Drive objects A drive object is a self-contained software function with its own parameters and, if necessary, its own faults and alarms. Drive objects can be provided as standard (e.g. I/O evaluation), or you can add single (e.g.
  • Page 573 Note Each installed drive object is allocated a number between 0 and 63 during first commissioning for unique identification. Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameters ● p0101 Drive object numbers ● p0107 Drive object type ●...
  • Page 574: Bico Technology: Interconnecting Signals

    Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4 BICO technology: interconnecting signals 12.4.1 Description Description Every drive contains a large number of interconnectable input and output variables and internal control variables. BICO technology (Binector Connector Technology) allows the drive to be adapted to a wide variety of conditions.
  • Page 575: Interconnecting Signals Using Bico Technology

    Basic information about the drive system 12.4 BICO technology: interconnecting signals Connectors, CI: Connector Input, CO: Connector Output A connector is a digital signal, e.g. in 32-bit format. It can be used to emulate words (16 bits), double words (32 bits) or analog signals. Connectors are subdivided into connector inputs (signal sink) and connector outputs (signal source).
  • Page 576: Internal Encoding Of The Binector/connector Output Parameters

    Example: FloatingPoint32 The possible interconnections between the BICO input (signal sink) and the BICO output (signal source) are listed in the following documents: References: SINAMICS S120/S150 List Manual, section "Explanation of list of parameters" in table "Possible combinations for BICO interconnections".
  • Page 577: Sample Interconnections

    Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.5 Sample interconnections Example 1: Interconnection of digital signals Suppose you want to operate a drive via terminals DI 0 and DI 1 on the Control Unit using jog 1 and jog 2. Figure 12-7 Interconnection of digital signals (example) Example 2: connection of OC/OFF3 to several drives...
  • Page 578: Bico Technology

    Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.6 BICO technology: BICO interconnections to other drives The following parameters are available for BICO interconnections to other drives: ● r9490 Number of BICO interconnections to other drives ● r9491[0...15] BI/CI of BICO interconnections to other drives ●...
  • Page 579: Scaling

    Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.7 Scaling Signals for the analog outputs Table 12- 5 List of signals for analog outputs Signal Parameter Unit Normalization (100 % = ...) Speed setpoint before the setpoint r0060 p2000 filter...
  • Page 580: Inputs/outputs

    Note For detailed information about the hardware properties of I/Os, please refer to document: /GH1/ SINAMICS S120 Equipment Manual Control Units For detailed information about the structural relationships between all I/Os of a component and their parameters, please refer to the function diagrams in document: /LH1/ SINAMICS S120/S150 List Manual.
  • Page 581: Digital Inputs/outputs

    Basic information about the drive system 12.5 Inputs/outputs 12.5.2 Digital inputs/outputs Digital inputs Figure 12-9 Digital inputs: signal processing using DI 0 of CU320 as an example Properties ● The digital inputs are "high active". ● An open input is interpreted as "low". ●...
  • Page 582 Basic information about the drive system 12.5 Inputs/outputs ● 9100 Digital inputs, electrically isolated (DI 0 ... DI 3) ● 9400 Digital inputs/outputs, bidirectional (DI 0 ... DI 7) ● 9401 Digital inputs/outputs, bidirectional (DI 8 ... DI 15) ● 9402 Digital inputs/outputs, bidirectional (DI 16 ... DI 23) ●...
  • Page 583 ● Sharing of bidirectional input/output resources by the CU and higher-level control (see section "Use of bidirectional inputs/outputs on the CU") Function diagrams (see SINAMICS S120/S150 List Manual) ● 2030 Bidirectional digital inputs/outputs (DI/DO 8 ... DI/DO 9) ● 2031 Bidirectional digital inputs/outputs (DI/DO 10 ... DI/DO 11) ●...
  • Page 584: Use Of Bidirectional Inputs/outputs On The Cu

    Basic information about the drive system 12.5 Inputs/outputs ● 9402 Bidirectional digital inputs/outputs (DI/DO 16 ... DI/DO 23) ● 9560 Bidirectional digital inputs/outputs (DI/DO8 and DI/DO 9) ● 9562 Bidirectional digital inputs/outputs (DI/DO 10 and DI/DO 1) ● 9661 Bidirectional digital inputs/outputs (DI/DO 0 and DI/DO 1) ●...
  • Page 585: Analog Inputs

    Basic information about the drive system 12.5 Inputs/outputs This is the specified behavior. The drive is notified of the change so that the affected application can issue an alarm/fault message is necessary. Readback of the output information can cause problems in the drive, i.e. the drive application checks the interconnection condition of "its"...
  • Page 586 Basic information about the drive system 12.5 Inputs/outputs ● Noise suppression (p4068) ● Enabling of inputs via binector input ● Output signal available via connector output ● Skalierung ● Smoothing NOTICE Parameters p4057 to p4060 of the scaling do not limit the voltage values/current values (for TM31, the input can be used as current input).
  • Page 587: Analog Outputs

    Basic information about the drive system 12.5 Inputs/outputs 12.5.5 Analog outputs Figure 12-13 Analog outputs: Signal processing using AO 0 of TB30/TM31 as an example Properties ● Adjustable absolute-value generation ● Inversion via binector input ● Adjustable smoothing ● Adjustable transfer characteristic ●...
  • Page 588: Parameterizing Using The Bop20 (basic Operator Panel 20)

    Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.6.1 General information about the BOP20 With the BOP20, drives can be powered-up and powered-down during the commissioning phase and parameters can be displayed and modified.
  • Page 589 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Display Meaning Is light (bright) if at least one parameter was changed and the calculation for consistent data management has still not been initiated. Below, 6 digit Displays, e.g.
  • Page 590 When used in a combination with another key, "P" or "FN" must be pressed first and then • the other key. Overview of important parameters (refer to the SINAMICS S120/S150 List Manual) All drive objects ● p0005 BOP operating display selection ●...
  • Page 591: Displays And Using The Bop20

    Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.6.2 Displays and using the BOP20 Features ● Operating display ● Changing the active drive object ● Displaying/changing parameters ● Displaying/acknowledging faults and alarms ● Controlling the drive using the BOP20 Operating display The operating display for each drive object can be set using p0005 and p0006.
  • Page 592 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Parameter display The parameters are selected in the BOP20 using the number. The parameter display is reached from the operating display by pressing the "P" key. Parameters can be searched for using the arrow keys.
  • Page 593 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Value display To switch from the parameter display to the value display, press the "P" key. In the value display, the values of the adjustable parameters can be increased and decreased using the arrow.
  • Page 594 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Example: Changing a parameter Precondition: The appropriate access level is set (for this particular example, p0003 = 3). Figure 12-17 Example: Changing p0013[4] from 0 to 300 Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 595 Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Example: Changing binector and connector input parameters For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected. Figure 12-18 Example: Changing indexed binector parameters Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 596: Fault And Alarm Displays

    Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.6.3 Fault and alarm displays Displaying faults Figure 12-19 Faults Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 597: Controlling The Drive Using The Bop20

    Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Operator Panel 20) Displaying alarms Figure 12-20 Alarms 12.6.4 Controlling the drive using the BOP20 Description When commissioning the drive, it can be controlled via the BOP20. A control word is available on the Control Unit drive object (r0019) for this purpose, which can be interconnected with the appropriate binector inputs of e.g.
  • Page 598: Examples Of Replacing Components

    Basic information about the drive system 12.7 Examples of replacing components 12.7 Examples of replacing components Note To ensure that the entire functionality of a firmware version can be used, it is recommended that all the components in a drive line-up have the same firmware version. Description If the type of comparison is set to the highest setting, the following examples apply.
  • Page 599 Basic information about the drive system 12.7 Examples of replacing components Action Reaction Remark Load the project from the Alarm disappears • • The new order number is stored Control Unit to the in the RAM of the Control Unit STARTER (PG) and has to be copied to the non- Configure the replacement...
  • Page 600 Basic information about the drive system 12.7 Examples of replacing components Action Reaction Remark The component has been successfully replaced Example: Replacing a Motor Module/Power Module with a different power rating Precondition: The replaced power unit has a different power rating Vector: Power rating of the Motor Module/Power Module not greater than 4 * motor current Table 12- 13 Example: Replacing a power unit with a different power rating Action...
  • Page 601: Exchanging A Sinamics Sensor Module Integrated

    Basic information about the drive system 12.8 Exchanging a SINAMICS Sensor Module Integrated 12.8 Exchanging a SINAMICS Sensor Module Integrated The motor and encoder data required for the operation of a motor with DRIVE-CLiQ are stored in their as-delivered condition on the EEPROM of the SINAMICS Sensor Module Integrated (DRIVE-CLiQ at the Motor).
  • Page 602: Backing Up Smi Data On A Memory Card

    Basic information about the drive system 12.8 Exchanging a SINAMICS Sensor Module Integrated 12.8.1 Backing up SMI data on a memory card Requirements To be able to back up SMI EEPROM data to a memory card, the following conditions must be fulfilled: ●...
  • Page 603 However, data from new hardware versions cannot be transferred to old hardware versions. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p4690 SMI component number ● p4691 Backup SMI data ●...
  • Page 604: Drive-cliq Topology

    Electronic rating plate The electronic rating plate contains the following data: ● Component type (e.g. SMC20) ● Order number (e.g. 6SL3055-0AA0-5BA0) ● Manufacturer (e.g. SIEMENS) ● Hardware version (e.g. A) ● Serial number (e.g. "T-PD3005049) ● Technical specifications (e.g. rated current) Actual topology The actual topology is the actual DRIVE-CLiQ wiring harness.
  • Page 605 Basic information about the drive system 12.9 DRIVE-CLiQ topology Comparison of topologies at Power On Comparing the topologies prevents a component from being controlled/evaluated incorrectly (e.g. drive 1 and 2). When the drive system boots, the Control Unit compares the detected actual topology and the electronic rating plates with the target topology stored on the memory card.
  • Page 606: Rules For Wiring With Drive-cliq

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10 Rules for wiring with DRIVE-CLiQ The following rules apply for wiring components with DRIVE-CLiQ. The rules are subdivided into DRIVE-CLiQ rules, which must be observed, and recommended rules, which, when observed, do not require any subsequent changes to the topology created offline in STARTER.
  • Page 607 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● The Terminal Modules TM15, TM17 and TM41 have faster sample cycles than the TM31 and TM54F. For this reason, the two groups of Terminal Modules must be connected in separate DRIVE-CLiQ lines.
  • Page 608 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ ● The Voltage Sensing Module (VSM) should be connected to a free DRIVE-CLiQ port of the corresponding Active Line Module / Motor Module (due to automatic assignment of the VSM).
  • Page 609 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Component Connecting the motor encoder via DRIVE-CLiQ Single Motor Module chassis X402 CUA31: Encoder at X202 Power Module blocksize • CU310: Encoder at X100 or via TM31 at X501 •...
  • Page 610: Rules For Different Firmware Versions

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.2 Rules for different firmware versions Rules for FW2.1 ● Only one Active Line Module can be connected to a Control Unit. ● The default sampling times must not be changed. ●...
  • Page 611 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Servo Vector V/f control (= Vector vector without speed control function module) Notes on the maximum number of drives that can be controlled by a CU320: In addition, the "Safe Standstill" function can be activated and a TM31 connected. •...
  • Page 612 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Rules for FW2.4 ● The Voltage Sensing Module may be connected directly to a DRIVE-CLiQ port of the relevant Active Line Module / Motor Module only if the DRIVE-CLiQ clock cycle matches the current controller clock cycle of the Active Line Module / Motor Module.
  • Page 613 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Rules for FW2.5 SP1: ● The Voltage Sensing Module may be connected directly to a DRIVE-CLiQ port of the relevant Active Line Module / Motor Module only if the DRIVE-CLiQ clock cycle matches the current controller clock cycle of the Active Line Module / Motor Module.
  • Page 614 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Servo Vector V/f control (=vector Vector without speed control function module and without encoder) Notes on the maximum number of drives that can be controlled by a CU320: In addition, the "Safe Standstill"...
  • Page 615: Sample Wiring For Vector Drives

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.3 Sample wiring for vector drives Drive line-up comprising three Motor Modules (chassis) with identical pulse frequencies or vector (booksize) Motor Modules (chassis) with identical pulse frequencies or vector (booksize) can be connected to a DRIVE-CLiQ interface on the Control Unit.
  • Page 616 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ In the following diagram, two Motor Modules (400 V, output ≤ 250 kW, pulse frequency 2 kHz) are connected to interface X101 and two Motor Modules (400 V, output > 250 kW, pulse frequency 1.25 kHz) are connected to interface X102.
  • Page 617: Sample Wiring Of Vector Drives Connected In Parallel

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.4 Sample wiring of Vector drives connected in parallel Drive line-up with two parallel-connected Line Modules and Motor Modules (chassis) of the same type Parallel-connected Line Modules (chassis) and Motor Modules (chassis) of the same type can be connected to a DRIVE-CLiQ interface of the Control Unit.
  • Page 618: Sample Wiring: Power Modules

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.5 Sample wiring: Power Modules Blocksize Figure 12-29 Wiring example for Power Modules Blocksize Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 619 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Chassis Figure 12-30 Wiring example for Power Modules Chassis Drive functions Function Manual, (FH1), 10/2008, 6SL3097-2AB00-0BP5...
  • Page 620: Changing The Offline Topology In Starter

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.6 Changing the offline topology in STARTER The device topology can be changed in STARTER by moving the components in the topology tree. Table 12- 21 Example: changing the DRIVE-CLiQ topology Topology tree view Remark Select the DRIVE-CLiQ component.
  • Page 621: Sample Wiring For Servo Drives

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.7 Sample wiring for servo drives The following diagram shows the maximum number of controllable servo drives and extra components. The sampling times of individual system components are: ●...
  • Page 622: Sample Wiring For Vector V/f Drives

    Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.8 Sample wiring for vector V/f drives The following diagram shows the maximum number of controllable vector V/f drives and extra components. The sampling times of individual system components are: ●...
  • Page 623: Autonomous Operating Mode For Drive-cliq Components

    Basic information about the drive system 12.11 Autonomous operating mode for DRIVE-CLiQ components 12.11 Autonomous operating mode for DRIVE-CLiQ components Description In order to protect the drive system against excessive voltage when the CU or DRIVE-CLiQ communication fails (e.g. while a spindle is rotating), an autonomous operating mode (emergency operation) is implemented in DRIVE-CLiQ components for the following functions: ●...
  • Page 624 Basic information about the drive system 12.11 Autonomous operating mode for DRIVE-CLiQ components In order to maintain the protective function, the time-slice system must remain active. The logged-on time-slice system remains active until the protective functions signal that a safe state has been reached and the time slices can therefore be deactivated. When communication is resumed and the DRIVE-CLiQ master signals that no bus timing changes will be made as compared to the old parameter settings, the DRIVE-CLiQ components can be synchronized, the time-slice system remains active as before.
  • Page 625 Basic information about the drive system 12.11 Autonomous operating mode for DRIVE-CLiQ components "deactivate" the protective function (if one is selected) and thus also autonomous time-slice operation. All timing changes can be accepted in this state. The DRIVE-CLiQ master performs a relevance check on the download (relevant here means only those settings which affect the time-slice behavior of the component).
  • Page 626: Notes On The Number Of Controllable Drives

    Basic information about the drive system 12.12 Notes on the number of controllable drives 12.12 Notes on the number of controllable drives 12.12.1 Introduction The number and type of controlled drives and the extra activated functions on a Control Unit can be scaled by configuring the firmware.
  • Page 627 Basic information about the drive system 12.12 Notes on the number of controllable drives ● Servo with CBE20 function module: PROFINET IO bus cycle time > = 1 ms – 5 drives (sampling times: current controller 125 µs / speed controller 125 µs), of which max.
  • Page 628 Basic information about the drive system 12.12 Notes on the number of controllable drives Mixed operation ● Mixed operation of servo and vector V/f control 5 drives with the following sampling times: – Servo: current controller 125 µs / speed controller 125 µs –...
  • Page 629: System Sampling Times

    Basic information about the drive system 12.13 System sampling times 12.13 System sampling times 12.13.1 Description The software functions installed in the system are executed cyclically at different sampling times (p0115, p0799, p4099). The sampling times of the func