Page 3 ___________________ Drive functions Foreword ___________________ Fundamental safety instructions ___________________ Infeed SINAMICS ___________________ Extended setpoint channel S120 ___________________ Drive functions Servo control ___________________ Vector control Function Manual ___________________ U/f control (vector control) ___________________ Basic functions ___________________ Function modules ___________________ Monitoring and protective functions ___________________ Safety Integrated basic...
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
My Documentation Manager Under the following link there is information on how to create your own individual documentation based on Siemens' content, and adapt it for your own machine documentation: http://www.siemens.com/mdm Training...
Page 6 Equipment for Machine Tools (Catalog NC 61) SINUMERIK 840D sl Type 1B • Equipment for Machine Tools (Catalog NC 62) Installation/assembly SINAMICS S120 Equipment Manual for Control Units and • Additional System Components SINAMICS S120 Equipment Manual for Booksize Power Units •...
Page 7 The EC Declarations of Conformity for the machinery directive can be found on the Internet at: http://support.automation.siemens.com/WW/view/de/21901735/67385845 Alternatively, you can contact the Siemens office in your region in order to obtain the EC Declaration of Conformity. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 8 Foreword Structure The Function Manual is structured as follows: Chapter 1 Basic safety instructions (Page 23) Chapter 2 Infeed (Page 25) Chapter 3 Extended setpoint channel (Page 55) Chapter 4 Servo control (Page 83) Chapter 5 Vector control (Page 183) Chapter 6 U/f control (vector control) (Page 263) Chapter 7...
Page 9 Foreword Notation The following notation and abbreviations are used in this documentation: Notation for faults and alarms (examples): Fault 12345 • F12345 Alarm 67890 • A67890 Safety message • C23456 Notation for parameters (examples): Adjustable parameter 918 • p0918 Display parameter 1024 •...
Page 10 Foreword Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 11: Table Of Contents
Contents Foreword ..............................5 Fundamental safety instructions ......................23 General safety instructions ......................23 Industrial security ......................... 24 Infeed ..............................25 Active Infeed ..........................25 2.1.1 Active Infeed closed-loop control booksize .................. 26 2.1.2 Active Infeed closed-loop control chassis ..................28 2.1.3 Function diagrams and parameters .....................
Page 12 Contents Servo control ............................83 Speed controller .......................... 86 Speed setpoint filter ........................87 Speed controller adaptation ......................89 Torque-controlled operation ......................92 Torque setpoint limitation ......................95 Current controller ........................100 Current setpoint filters ....................... 103 4.7.1 Function diagrams and parameters ..................109 Autotuning ..........................
Page 13 Contents Vector control ............................183 Sensorless vector control (SLVC) ....................187 Vector control with encoder ....................... 195 Speed controller ......................... 196 Speed controller adaptation ....................... 199 Speed controller pre-control and reference model ..............202 Droop ............................206 Open actual speed value ......................208 Torque control ..........................
Page 14 Contents Basic functions ............................. 279 Changing over units ........................279 Reference parameters/normalizations ..................281 Modular machine concept ......................285 Sinusoidal filter .......................... 288 Motor reactors ........................... 290 dv/dt filter plus VPL ........................291 dv/dt filter compact plus Voltage Peak Limiter ................292 Pulse frequency wobbling ......................
Page 15 Contents 7.19.7 Pulse number correction for faults ..................... 339 7.19.8 "Tolerance band pulse number" monitoring ................340 7.19.9 Signal edge evaluation (1x, 4x) ....................342 7.19.10 Setting the measuring time to evaluate speed "0" ..............343 7.19.11 Sliding averaging of the speed actual value ................343 7.19.12 Troubleshooting .........................
Page 16 Contents 7.28.7 Displaying diagnostic functions ....................404 7.28.7.1 Status and operating display of the drive object ............... 404 7.28.7.2 Loading a multiple trace ......................405 7.28.8 Displaying messages ........................ 407 7.28.8.1 Displaying the diagnostic buffer ....................407 7.28.8.2 Displaying faults and alarms ..................... 409 7.28.9 Displaying and changing drive parameters ................
Page 17 Contents 8.8.11 Status signals ..........................506 Master/slave function for Active Infeed ..................509 8.9.1 Operating principle ........................509 8.9.2 Basic structure ........................... 509 8.9.3 Types of communication ......................512 8.9.4 Description of functions ......................513 8.9.5 Commissioning........................... 516 8.9.6 Function diagrams and parameters ................... 517 8.10 Parallel connection of power units .....................
Page 18 Contents 9.5.6 Terminal Module 120 ........................ 563 9.5.7 Terminal Module 150 ........................ 565 9.5.7.1 Measurement with up to 6 channels ..................566 9.5.7.2 Measurement with up to 12 channels ..................567 9.5.7.3 Forming groups of temperature sensors ................... 567 9.5.7.4 Evaluating temperature channels .....................
Page 19 Contents 10.10.5 Completion of certificate ......................632 10.11 Overview of parameters and function diagrams ................ 634 Communication ........................... 637 11.1 Communication according to PROFIdrive ................. 637 11.1.1 Application classes ........................639 11.1.2 Cyclic communication ........................ 641 11.1.2.1 Telegrams and process data ..................... 641 11.1.2.2 Information about control words and status words ..............
Page 20 11.3.8.3 Overview of important parameters .................... 745 11.3.9 PROFIenergy ..........................745 11.3.9.1 Tasks of PROFIenergy ......................747 11.3.9.2 PROFIenergy properties of the SINAMICS S120 drive system ..........748 11.3.9.3 PROFIenergy commands ......................748 11.3.9.4 PROFIenergy measured values ....................750 11.3.9.5 PROFIenergy energy-saving mode ..................750 11.3.9.6 Block PROFIenergy ........................
Page 21 Contents 13.4 BICO technology: interconnecting signals ................. 808 13.4.1 Binectors, connectors ........................ 808 13.4.2 Interconnecting signals using BICO technology ................ 809 13.4.3 Internal encoding of the binector/connector output parameters ..........810 13.4.4 Sample interconnections ......................811 13.4.5 BICO technology: ........................812 13.4.6 Scaling ............................
Page 22 Appendix ............................. 911 List of abbreviations ........................911 Documentation overview ......................920 Availability of hardware components ..................921 Availability of SW functions ....................... 925 Functions of SINAMICS S120 Combi ..................935 Index ..............................937 Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 23: Fundamental Safety Instructions
Fundamental safety instructions General safety instructions WARNING Risk of death if the safety instructions and remaining risks are not carefully observed If the safety instructions and residual risks are not observed in the associated hardware documentation, accidents involving severe injuries or death can occur. •...
Page 24: Industrial Security
Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept.
Page 25: Infeed
Infeed Active Infeed Features ● Controlled DC-link voltage whose level can be adjusted (independent of line voltage fluctuations) ● Regenerative feedback capability ● Specific reactive current setting ● Low line harmonics, sinusoidal line current (cos φ = 1) ● Several Active Line Modules connected in parallel ●...
Page 26: Active Infeed Closed-Loop Control Booksize
Infeed 2.1 Active Infeed 2.1.1 Active Infeed closed-loop control booksize Figure 2-1 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 27 Infeed 2.1 Active Infeed The closed-loop controlled mode of booksize power units for p0210 > 415 V can be enabled if the maximum stationary DC-link voltage (p0280) is increased as follows: p0280 ≥ 1.5 x p0210 and p0280 > 660 V. In this case, the setpoint of the DC-link voltage p3510 is not adapted automatically.
Page 28: Active Infeed Closed-Loop Control Chassis
Infeed 2.1 Active Infeed 2.1.2 Active Infeed closed-loop control chassis Figure 2-2 Schematic structure of Active Infeed chassis Operating mode of Active Infeed closed-loop control for Active Line Modules chassis. Active Line Modules chassis only function in Active Mode. In the Active Mode, the DC-link voltage is regulated to a variable setpoint (p3510) which results in a sinusoidal line current (cos φ...
Page 29: Function Diagrams And Parameters
For thermal reasons, the step-up factor for Active Line Modules chassis may be set to a maximum of 2.00. 2.1.3 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed overview • 8910 Active Infeed - Control word, sequence control, infeed •...
Page 30 Infeed 2.1 Active Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046 Device supply voltage • p0210 Infeed line filter type • p0220 DC-link voltage maximum steady-state • p0280 BI: ON/OFF (OFF1) •...
Page 31: 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: Identify and save controller setting with L adaptation 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 32: Active Infeed Open-Loop Control
Infeed 2.1 Active Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed identification method • p3410 Infeed identified inductance • r3411 Infeed DC-link capacitance identified • r3412 Infeed Vdc controller proportional gain • p3560 2.1.5 Active Infeed open-loop control The Active Line Module can be controlled via the BICO interconnection using terminals or the fieldbus.
Page 33 Infeed 2.1 Active Infeed Switching on the Active Line Module Figure 2-3 Active Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 34 Infeed 2.1 Active Infeed Switching off the Active Line Module The Active Line Module is switched off by the same procedure used to switch it on, but in the reverse order. However, there is no pre-charging at switch off. Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This allows the attached drives to be braked in a controlled manner.
Page 35: Reactive Current Control
• 8910 Active Infeed - Current precontrol / current controller / gating unit • 8946 (p3400.0 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed reactive current fixed setpoint • p3610 CI: Infeed reactive current supplementary setpoint •...
Page 36: Harmonics Controller
100 % 100 % The phase currents in parameter p0069[0...2] (U, V, W) can be checked using the STARTER trace function. Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed harmonics controller order • p3624[0...1] Infeed harmonics controller scaling •...
Page 37: Parameterizable Bandstop Filters For Active Infeed Controls In Chassis Format
Infeed 2.1 Active Infeed 2.1.8 Parameterizable bandstop filters for Active Infeed Controls in chassis format Parameterizable bandstop filters that can be used to dampen system resonance are available for the current control loop. The main application for these bandstop filters is in weak networks in which the resonance point of the line filter can drop to one quarter of the controller frequency.
Page 38 (p3400.0 = 0) Active Infeed - Current precontrol / current controller / gating unit • 8946 (p3400.0 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) Signal filter activation • p1656[0...n] Vdc actual value filter 5 type •...
Page 39: Smart Infeed
Infeed 2.2 Smart Infeed Smart Infeed Features ● For Smart Line Modules with a power ≥ 16 kW ● Unregulated DC-link voltage ● Regenerative feedback capability Description The firmware of the Smart Line Module is located on the assigned Control Unit. The Smart Line Module and Control Unit communicate via DRIVE-CLiQ.
Page 40 Infeed 2.2 Smart Infeed Figure 2-5 Schematic structure of Smart Infeed chassis Commissioning The device connection voltage (p0210) must be parameterized during commissioning. Note In a supply system without regenerative feedback capability (e.g. generators), the regenerative operation of the infeed must be deactivated via the binector input p3533. Smart Line Modules do not support kinetic buffering in generator mode.
Page 41 Smart Infeed - Signals and monitoring functions, line voltage monitoring • 8860 Smart Infeed - Signals and monitoring functions, line frequency and Vdc • 8864 monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046 Device supply voltage •...
Page 42: Line Supply And Dc Link Identification Routine For Smart Infeed Booksize
0 when one of the two identification routines (p3410 = 4 or p3410 = 5) completes successfully. For additional identification methods, see the SINAMICS S120/S150 List Manual. It may be necessary to reset the closed-loop controller to the factory settings if an identification run was unsuccessful, for example.
Page 43: Smart Infeed Open-Loop Control
Infeed 2.2 Smart Infeed 2.2.2 Smart Infeed open-loop control The Smart Line Module can be controlled via the BICO interconnection, e.g. using terminals or the fieldbus. 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 manual of the corresponding power units.
Page 44 Infeed 2.2 Smart Infeed Switching on the Smart Line Module Figure 2-6 Smart Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 45 Infeed 2.2 Smart Infeed 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. However, there is no pre-charging at switch off. Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This allows the attached drives to be braked in a controlled manner.
Page 46: Basic Infeed
Infeed 2.3 Basic Infeed Basic Infeed Features ● For Basic Line Modules chassis and booksize ● Unregulated DC-link voltage ● Control of external braking resistors with 20 kW and 40 kW Basic Line Modules (with temperature monitoring) Description The Basic Infeed open-loop control can be used to switch on/off the Basic Line Module. The Basic Line Module is an unregulated infeed unit without regenerative feedback capability.
Page 47 Infeed 2.3 Basic Infeed Figure 2-8 Schematic structure of Basic Infeed chassis Commissioning The rated line voltage (p0210) must be parameterized during commissioning. For the 20 kW and 40 kW Basic Line Modules booksize, the temperature switch of the external braking resistor must be connected to X21 on the Basic Line Module. If a braking resistor has not been connected for 20 kW and 40 kW Basic Line Modules booksize, the Braking Module must be deactivated via p3680 = 1.
Page 48: Function Diagrams And Parameters
– Servo control: p1240 = 4 or 6 – U/f control: p1280 = 4 or 6 2.3.1 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Basic Infeed overview • 8710 Basic Infeed - Control word, sequence control, infeed •...
Page 49: Basic Infeed Open-Loop Control
Infeed 2.3 Basic Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) Infeed operating display • r0002 CO/BO: Missing enable signals • r0046 Device supply voltage • p0210 BI: ON/OFF (OFF1) • p0840 BI: No coast down / coast down (OFF2) •...
Page 50 Infeed 2.3 Basic Infeed Switching on the Basic Line Module Figure 2-9 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 51 Infeed 2.3 Basic Infeed Switching off the Basic Line Module For switching off, carry out the steps for switching on in the reverse order. However, there is no pre-charging at switch off. Control and status messages Table 2- 7 Basic Infeed open-loop control Signal name Internal Binector input...
Page 52: Line Contactor Control
Infeed 2.4 Line contactor control Line contactor control This function can be used to control an external line contactor. Opening and closing the line contactor can be monitored by evaluating the feedback contact in the line contactor. The line contactor can be controlled with the following drive objects: ●...
Page 53 Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed - Missing enables, line contactor control • 8934 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Line contactor, feedback signal • p0860 CO/BO: Drive coupling status word / control word •...
Page 54: Pre-Charging And Bypass Contactor Chassis
HI and JI. With the Smart Line Module, pre-charging is integrated in the Smart Line Module itself, although the bypass contactor must be provided externally. Further information: See SINAMICS S120 Chassis Power Units Manual Procedure during power ON/OFF Power ON: ●...
Page 55: Extended Setpoint Channel
Extended setpoint channel In servo control, the extended setpoint channel is deactivated through the factory setting. If an extended setpoint channel is required, it has to be activated. The extended setpoint channel is always activated in vector control. Properties of servo control without the "extended setpoint channel" function module ●...
Page 56: Activation Of The "Extended Setpoint Channel" Function Module In Servo Control
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 control 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 57: Description
Extended setpoint channel 3.2 Description Description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control. The setpoint for the motor control can also originate from the technology controller, see Section Technology controller (Page 428) Figure 3-1 Extended setpoint channel Properties of the extended setpoint channel...
Page 58 Extended setpoint channel 3.2 Description Setpoint sources The closed-loop control setpoint can be interconnected from various sources using BICO technology, e.g. at p1070 CI: Main setpoint (see function diagram 3030)). There are various options for setpoint input: ● Fixed speed setpoints ●...
Page 59: Fixed Speed Setpoints
Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Fixed speed setpoints • 3010 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Fixed speed setpoint 1 • p1001[0...n] CO: Fixed speed setpoint 15 • p1015[0...n] BI: Fixed speed setpoint selection Bit 0 •...
Page 60: Motorized Potentiometer
Extended setpoint channel 3.4 Motorized potentiometer Motorized potentiometer 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 61 • 3001 Internal control/status words - Control word, sequence control • 2501 Setpoint channel - Motorized potentiometer • 3020 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motorized potentiometer configuration • p1030[0...n] BI: Motorized potentiometer, setpoint, raise • p1035[0...n] BI: Motorized potentiometer, setpoint, lower •...
Page 62: Jog
Extended setpoint channel 3.5 Jog This function can be selected via digital inputs or via a fieldbus (e.g. PROFIBUS). This means that the setpoint is specified via p1058[0...n] and p1059[0...n]. When a jog signal is present, the motor is accelerated to the jog setpoint with the acceleration ramp of the ramp-function generator (referred to the maximum speed p1082;...
Page 63 Extended setpoint channel 3.5 Jog 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. ● Jog is possible from the "Ready to start" state. ●...
Page 64 Extended setpoint channel 3.5 Jog Jog sequence Figure 3-4 Jog sequence Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 65 ZSW1.6 Pulses enabled ZSWA.11 r0899.11 ZSW2.10 Only available in Interface Mode p2038 = 0. Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Sequence control - Sequencer • 2610 Setpoint channel - Main/supplementary setpoint, setpoint scaling, jogging •...
Page 66 Extended setpoint channel 3.5 Jog Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Jog bit 0 • p1055[0...n] BI: Jog bit 1 • p1056[0...n] Jog 1 speed setpoint • p1058[0...n] Jog 2 speed setpoint • p1059[0...n] Maximum speed •...
Page 67: Main/Supplementary Setpoint And Setpoint Modification
Both variables are imported via two separate sources and added in the setpoint channel. Figure 3-5 Setpoint addition, setpoint scaling Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Main setpoint / supplementary setpoint, setpoint scaling, •...
Page 68 Extended setpoint channel 3.6 Main/supplementary setpoint and setpoint modification Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Main setpoint • p1070[0...n] CI: Main setpoint scaling • p1071[0...n] CO: Main setpoint effective • r1073 CI: Supplementary setpoint • p1075[0...n] CI: Supplementary setpoint scaling •...
Page 69: Direction Of Rotation Limiting And Direction Of Rotation Changeover
= 1 is set. Figure 3-6 Direction of rotation limiting and direction of rotation reversal Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Direction limitation and direction reversal •...
Page 70 Extended setpoint channel 3.7 Direction of rotation limiting and direction of rotation changeover Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Block negative direction • p1110[0...n] BI: Block positive direction • p1111[0...n] BI: Setpoint inversion • p1113[0...n] Parameterization with STARTER The "Speed Setpoint"...
Page 71: Suppression Bandwidths And Setpoint Limits
Extended setpoint channel 3.8 Suppression bandwidths and setpoint limits Suppression bandwidths and setpoint limits In the range from 0 rpm to the speed setpoint, a drive train (e.g. motor, clutch, shaft, machine) can have one or more points of resonance. These resonances lead to oscillations. The suppression bandwidths can be used to prevent operation in the resonance frequency range.
Page 72 Function diagrams (see SINAMICS S120/S150 List Manual) Setpoint channel overview • 3001 Setpoint channel - Skip frequency bands and speed limiting • 3050 Overview of important parameters (see SINAMICS S120/S150 List Manual) Setpoint limitation Minimum speed • p1080[0...n] Maximum speed •...
Page 73: Ramp-Function Generator
Extended setpoint channel 3.9 Ramp-function generator Ramp-function generator 3.9.1 Ramp-function generator Function of the ramp-function generator The ramp-function generator is used to limit the acceleration in the event of abrupt setpoint changes and so helps to prevent load surges throughout the complete drive train. The ramp- up time p1120[0...n] and ramp-down time p1121[0...n] can be used to set mutually independent acceleration and deceleration ramps.
Page 74 Extended setpoint channel 3.9 Ramp-function generator Properties of the basic ramp-function generator Figure 3-8 Ramp-up and ramp-down with the basic ramp-function generator ● Ramp-up time T p1120[0...n] ● Ramp-down time T p1121[0...n] ● OFF3 ramp-down: – OFF3 ramp-down time p1135[0...n] ●...
Page 75 Extended setpoint channel 3.9 Ramp-function generator Properties of the extended ramp-function generator Figure 3-9 Extended ramp-function generator ● Ramp-up time T p1120[0...n] ● Ramp-down time T p1121[0...n] ● Initial rounding IR p1130[0...n] ● Final rounding FR p1131[0...n] ● Effective ramp-up time + (IR/2 + FR/2) up_eff ●...
Page 76 Extended setpoint channel 3.9 Ramp-function generator Scaling of the up ramp and the down ramp In order to be able to influence the ramp times set in parameters p1120 and p1121 cyclically via PROFIdrive telegrams, scaling is available for the ramp times. ●...
Page 77: Ramp-Function Generator Tracking
Extended setpoint channel 3.9 Ramp-function generator 3.9.2 Ramp-function generator tracking A ramp-function generator (RFG) can be operated with or without tracking. Figure 3-10 Ramp-function generator tracking Without ramp-function generator tracking ● p1145 = 0 ● Drive accelerates until t2 although setpoint < actual value With standard ramp-function generator tracking ●...
Page 78 Extended setpoint channel 3.9 Ramp-function generator Standard ramp-function generator tracking If the load torque exceeds the torque limit of the drive and so causes the actual speed to diminish, the ramp-function generator output is not tracked to the actual speed value. If the torque limit is overshot during the ramp-up because the ramp-up time was selected too small, the effective ramp-up time of the ramp-function generator lengthens.
Page 79 Extended setpoint channel 3.9 Ramp-function generator Extended ramp-function generator tracking The extended ramp-function generator tracking returns the RFG output to the actual speed value when the drive reaches the torque limit. Consequently, the drive does not return to the current limit but rather back on the set acceleration ramp to the original setpoint. Figure 3-12 Extended ramp-function generator tracking The additional torque starts to act at the times t...
Page 80: Signal Overview, Function Diagrams And Important Parameters
Extended setpoint channel 3.9 Ramp-function generator 3.9.3 Signal overview, function diagrams and important parameters Signal overview (see SINAMICS S120/S150 List Manual) ● Control signal STW1.2 OFF3 ● Control signal STW1.4 Enable ramp-function generator ● Control signal STW1.5 Start/stop ramp-function generator ●...
Page 81 Extended setpoint channel 3.9 Ramp-function generator Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Speed limit in RFG, positive direction of rotation • p1051[0...n] CI: Speed limit RFG, negative direction of rotation • p1052[0...n] CO: Speed limit in positive direction of rotation •...
Page 82 Extended setpoint channel 3.9 Ramp-function generator Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 83: Servo Control
Servo control This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls.
Page 84 • If a higher output frequency is required, Note: consult the specialist support from SINAMICS S can achieve the specified SIEMENS. values without tuning. Higher frequencies can be set under the following secondary conditions and additional tuning runs: Up to 3000 Hz •...
Page 85 Servo control Subject Servo control Vector control Note: The derating characteristics in the various manuals must be carefully observed! Max. output frequency when using dv/dt and sine-wave filters: 150 Hz Response when operating at the Reduction of the current setpoint or Reduction in the pulse frequency and / or thermal limit of the motor shutdown...
Page 86: Speed Controller
Servo control 4.1 Speed controller Speed controller The speed controller controls the motor speed using the actual values from the encoder (operation with encoder) or from the calculated actual speed values (operation without encoder). Properties ● Speed setpoint filter ● Speed controller adaptation Note Speed and torque cannot be controlled simultaneously.
Page 87: Speed Setpoint Filter
● Low-pass 1st order (PT1) ● Low-pass 2nd order (PT2) Figure 4-2 Filter overview for speed setpoint filters Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Speed setpoint filter and speed precontrol • 5020 Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 88 Servo control 4.2 Speed setpoint filter Overview of important parameters (see SINAMICS S120/S150 List Manual) Speed setpoint filter activation • p1414[0...n] Speed setpoint filter 1 type • p1415[0...n] Speed setpoint filter 1 time constant • p1416[0...n] Speed setpoint filter 1 denominator natural frequency •...
Page 89: Speed Controller Adaptation
Servo control 4.3 Speed controller adaptation Speed controller adaptation There are two types of adaptation available: The free K adaptation and the speed- dependent K adaptation. Free K adaptation is also active in "operation without encoder" mode and is used in "operation with encoder"...
Page 90 Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Speed controller adaptation (K adaptation) • 5050 Overview of important parameters (see SINAMICS S120/S150 List Manual) Free Kp_n adaptation CI: Speed controller P gain adaptation signal • p1455[0...n] Speed controller P gain adaptation lower starting point •...
Page 91 Servo control 4.3 Speed controller adaptation Speed-dependent Kp_n/Tn_n adaptation Speed controller P gain adaptation speed, lower • p1460[0...n] Speed controller Kp adaptation speed, upper scaling • p1461[0...n] Speed controller integral time adaptation speed, lower • p1462[0...n] Speed controller Tn adaptation speed, upper scaling •...
Page 92: Torque-Controlled Operation
Servo control 4.4 Torque-controlled operation Torque-controlled operation An operating mode switchover (p1300) or binector input (p1501) can be used to switch from speed control to torque control mode. All torque setpoints from the speed control system are rendered inactive. The setpoints for torque control mode are selected by parameterization. Properties ●...
Page 93 (p1226) or when the monitoring time (p1227) that started when speed setpoint ≤ speed threshold (p1226) has expired. – Switching on inhibited is activated. Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Torque setpoint, switchover control mode • 5060 Servo control - Torque limiting/reduction/interpolator •...
Page 94 Servo control 4.4 Torque-controlled operation Overview of important parameters (see SINAMICS S120/S150 List Manual) Open-loop/closed-loop control operating mode • p1300 CO/BO: Control word, speed controller / torque control active • r1406.12 BI: Change over between closed-loop speed/torque control • p1501[0...n] CI: Supplementary torque 1 •...
Page 95: Torque Setpoint Limitation
Servo control 4.5 Torque setpoint limitation Torque setpoint limitation The steps required for limiting the torque setpoint are as follows: 1. Define the torque setpoint and an additional torque setpoint 2. Generate torque limits The torque setpoint can be limited to a maximum permissible value in all four quadrants. Different limits can be parameterized for motor and regenerative modes.
Page 96 Servo control 4.5 Torque setpoint limitation 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). ● A control bit can be used to select the torque limitation mode. The following alternatives are available: –...
Page 97 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 98 – 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) Servo control, generation of the torque limits, overview • 5609 Servo control - Torque limiting/reduction/interpolator •...
Page 99 Servo control 4.5 Torque setpoint limitation Overview of important parameters (see SINAMICS S120/S150 List Manual) Current limit • p0640[0...n] Speed control configuration • p1400[0...n] CO: Torque setpoint before supplementary torque • r1508 CO: Torque setpoint before torque limiting • r1509 Supplementary torque total •...
Page 100: Current Controller
Servo control 4.6 Current controller Current controller Properties ● Current controller as PI controller ● Four identical current setpoint filters ● Current and torque limitation ● Current controller adaptation ● Flux control Current controller No settings are required for operating the current controller. Tuning measures can be taken in certain circumstances.
Page 101 Servo control - Iq and Id controller • 5714 Servo control - Field current / flux specification, flux reduction, flux controller • 5722 Overview of important parameters (see SINAMICS S120/S150 List Manual) Current control Current controller reference model dead time • p1701[0...n] Current controller P gain •...
Page 102 Servo control 4.6 Current controller CO: Torque limit, upper total • r1534 CO: Torque limit, lower total • r1535 CO: Upper effective torque limit • r1538 CO: Lower effective torque limit • r1539 Current controller adaptation Current controller adaptation, starting point KP •...
Page 103: Current Setpoint Filters
Servo control 4.7 Current setpoint filters Current setpoint filters Activate and set current setpoint filter The current setpoint filters 1 to 4 are available as standard. You can activate the current setpoint filters 5 to 10 offline in the object properties of the drive. 1.
Page 104 Servo control 4.7 Current setpoint filters In addition to the amplitude response, the phase response is also shown in the following. A phase shift results in a control system delay and should be kept to a minimum. Figure 4-9 Current setpoint filter Transfer function: Denominator natural frequency f Denominator damping D...
Page 105 Servo control 4.7 Current setpoint filters Table 4- 3 Example of a PT2 filter STARTER filter Amplitude log frequency curve Phase frequency curve parameters Characteristic frequency 500 Hz Damping D 0.7 dB Band-stop with infinite notch depth Table 4- 4 Example of band-stop with infinite notch depth STARTER filter Amplitude log frequency curve...
Page 106 Servo control 4.7 Current setpoint filters Band-stop with defined notch depth Table 4- 5 Example of band-stop with defined notch depth STARTER filter Amplitude log frequency curve Phase frequency curve parameters Blocking frequency = 500 Hz Bandwidth f = 500 Hz Notch depth K = -20 dB Reduction Abs = 0 dB Simplified conversion to parameters for general order filters:...
Page 107 Servo control 4.7 Current setpoint filters Band-stop with defined reduction Table 4- 6 Example of band-stop STARTER filter Amplitude log frequency curve Phase frequency curve parameters Blocking frequency = 500 Hz Bandwidth f = 500 Hz Notch depth K = -∞ dB Reduction ABS = -10 dB General conversion to parameters for general order filters: ●...
Page 108 Servo control 4.7 Current setpoint filters General low-pass with reduction Table 4- 7 Example of general low-pass with reduction STARTER filter Amplitude log frequency curve Phase frequency curve parameters Characteristic frequency = 500 Hz Damping D = 0.7 Reduction Abs = -10 dB Conversion to parameters for general order filters: ●...
Page 109: Function Diagrams And Parameters
= 900 Hz Denominator damping = 0.15 dB 4.7.1 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Current control, overview • 5700 Servo control - Current setpoint filters 1 ... 4 • 5710 Servo control - Current setpoint filters 5 … 10 (r0108.21 = 1) •...
Page 110 Servo control 4.7 Current setpoint filters Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • p0108[0...23] Speed control configuration • p1400[0...n] Current setpoint filters 1 to 4 activation • p1656[0...n] Current setpoint filter 1 type •...
Page 111: Autotuning
Servo control 4.8 Autotuning Autotuning The term "Autotuning" comprises all drive-internal functions that adapt controller parameters during operation based on internal measured variables. The main applications of the autotuning functions are: ● Support of the commissioning ● Adaptation of the controller during major changes in the mechanical system The set parameters are visible in the parameters, but not saved permanently.
Page 112: One Button Tuning
Servo control 4.8 Autotuning 4.8.1 One button tuning The speed controller and position controller of a drive can be automatically tuned with the "One button tuning" function. This is a drive-internal function. Therefore, no external engineering tool is required. Note The "One button tuning"...
Page 113 Servo control 4.8 Autotuning Activating autotuning You can configure the activation and deactivation of the autotuning function via parameter p5300. The following settings are possible: Setting Explanation The "Autotuning" function is set inactive. The setting is automatically corrected to p5300 = 0. The default settings for the speed controller and position controller are also restored.
Page 114 Servo control 4.8 Autotuning Additional settings and displays Parameter Adjustment Factory Setting/display range setting p5292 25%...150% Dynamic response factor for the P gain of the speed controller. The speed control may become instable if the values are too high. r5293 Display of the determined proportional gain of the speed controller calculated from the FFT measurement during "One button tuning".
Page 115: Online Tuning
Servo control 4.8 Autotuning 4.8.2 Online tuning 4.8.2.1 "Drive-based" online tuning The "Online tuning" can be used with EPOS for simple positioning tasks. With the "Online tuning" function, it is possible to automatically set robust controller parameters of a drive during operation without user interaction.
Page 116 Servo control 4.8 Autotuning Activating autotuning You can configure the activation and deactivation of the autotuning function via parameter p5300. The following settings are possible: Setting Explanation The "Autotuning" function is set inactive. The setting is automatically corrected to p5300 = 0. The default settings for the speed controller and position controller are also restored.
Page 117 Servo control 4.8 Autotuning Setting the sequence control: The following sequence control settings can be made via p5302: Effect The speed controller gain is determined and set with the aid of a noise signal. "Function is being prepared" Any required current setpoint filters are determined and set with the aid of a noise signal. In this way, a higher dynamic response can be achieved in the speed control loop.
Page 118: Automatic Pre-Assignment And Adaptation During Operation
Servo control 4.8 Autotuning Additional settings and displays ● Set the dynamic response factor (p5272) for the entire P gain of the speed controller. ● Set the estimated load moment of inertia component for the P gain of the speed controller with the load dynamic response factor (p5273).
Page 119 Servo control 4.8 Autotuning Adapted controller parameters As soon as the "Online tuning" is active, the controller parameters are adapted to the estimated moment of inertia. However, the controller parameters are only recalculated when the moment of inertia has changed more than 5% compared to the last calculation. Otherwise the controller settings are not changed.
Page 120: Application Examples
Servo control 4.8 Autotuning Determining the maximum acceleration limits Prerequisite is that the pulses have been disabled in the drive and the maximum moment of inertia has been determined. The maximum target acceleration for the basic positioner (EPOS) is determined with the aid of the inertia estimator.
Page 121: Problem Handling
Servo control 4.8 Autotuning 4.8.2.4 Problem handling Drive vibrates If the drive vibrates audibly, then the speed controller may have become instable at a mechanical resonance. Remedy: ● The instability in the control loop through resonance can be avoided by parameterizing bandstop filters in the current setpoint.
Page 122: Current Setpoint Filter Adaptation
Servo control 4.8 Autotuning 4.8.3 Current setpoint filter adaptation 4.8.3.1 Activating/deactivating the current setpoint filter adaptation The "Current setpoint filter adaptation" function is used to automatically shift a selected current setpoint filter to a mechanical resonance frequency. The function is particularly recommended for systems that display a variable mechanical resonance frequency during operation.
Page 123 Servo control 4.8 Autotuning Further parameters of the current setpoint filter adaptation and their purpose: ● p5281 = specifies which of the current setpoint filters is to be used for the adaptation ● p5282 = defines the lower limit frequency ●...
Page 124: Principle Of Operation Of The Current Setpoint Filter Adaptation
Servo control 4.8 Autotuning 4.8.3.2 Principle of operation of the current setpoint filter adaptation ● As soon as the pulse enable has been set and a resonance frequency has been excited enough that the internal activation threshold is exceeded, the adaptation moves the bandstop filter to this resonance frequency.
Page 125 Servo control 4.8 Autotuning Limitations: ● Because of the operating principle, the base adaptation algorithm can work reliably with systems that have only one mechanical resonance frequency. Undesirable movements of the adapted filter between the resonances can occur for systems with several mechanical resonance frequencies.
Page 126: Stability Of The Speed Control Loop
Servo control 4.8 Autotuning Range of movement of the adapted filter The range of movement of the adapted filter can be limited with parameter p5282 or p5283. Start value of the adaptation The frequency with which the adaptation starts at the pulse enable, i.e. the start value of the adaptation, is always the current blocking frequency of the filter.
Page 127: Lower And Upper Limit Frequencies
Servo control 4.8 Autotuning 4.8.3.4 Lower and upper limit frequencies Parameter p5283 for the upper limit frequency has an internal upper limit that depends on the settings for the adapted current setpoint filter. It is only active with an active adaptation. ●...
Page 128: Function Diagrams And Parameters
Servo control 4.8 Autotuning 4.8.4 Function diagrams and parameters Overview of important faults (see SINAMICS S120/S150 List Manual) Drive: Incorrect current setpoint filter adaptation • F07419 Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • p0108[0...23] Speed control configuration •...
Page 129: Note About The Electronic Motor Model
Servo control 4.9 Note about the electronic motor model Note about the electronic motor model A model change takes place within the speed range p1752 x (100% - p1756) and p1752. With induction motors with encoder, the torque image is more accurate in higher speed ranges;...
Page 130: V/F Control
Servo control 4.10 V/f control 4.10 V/f control For V/f control, the drive is operated with an open control loop. In this open-loop control system, the drive does not require speed feedback and no actual current sensing. Operation is possible with a small amount of motor data. With V/f control, the following components and data can be checked: ●...
Page 131 Servo control 4.10 V/f control Requirements for V/f control ● First commissioning has been carried out: The parameters for V/f control have been initialized with appropriate values. ● First commissioning has not been carried out: The following relevant motor data must be checked and corrected: –...
Page 132 Servo control 4.10 V/f control Commission V/f control 1. Check the requirements for V/f control. 2. Set the rated motor speed via parameter p0311. 3. Activate the function with the parameter setting of p1317 = 1. 4. Set the enables for operation. 5.
Page 133 Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - V/f control for diagnostics • 5300 Servo control - Vdc_max controller and Vdc_min controller • 5650 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor voltage • p0304[0...n] Rated motor frequency • p0310[0...n] Rated motor speed •...
Page 134: Optimizing The Current And Speed Controller
Servo control 4.11 Optimizing the current and speed controller 4.11 Optimizing the current and speed controller Note Controller tuning may only be performed by skilled personnel with a knowledge of control engineering. The following tools are available for tuning the controllers: ●...
Page 135 Servo control 4.11 Optimizing the current and speed controller 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 136: Sensorless Operation (Without An Encoder)
Servo control 4.12 Sensorless operation (without an encoder) 4.12 Sensorless operation (without an encoder) Note Unstable operation The operation of synchronous motors without an encoder must be verified in a test application. Stable operation in this mode cannot be guaranteed for every application. Therefore, the user will be solely responsible for the use of this operating mode.
Page 137 Servo control 4.12 Sensorless operation (without an encoder) To accept a high load torque even in the open-loop controlled range, the motor current can be increased via p1612. To do so, the drive torque (e.g. friction torque) must be known or estimated.
Page 138 Servo control 4.12 Sensorless operation (without an encoder) Switchover between closed-loop/open-loop operation and operation with/without encoder Operation without an encoder is activated via parameter setting p1300 = 20. If p1300 = 20 or p1404 = 0, operation without an encoder is active across the entire speed range. If the speed value is less than the changeover speed p1755, the motor is operated in accordance with the current/frequency.
Page 139 3. Determine the load moment of inertia in the speed range above I/f operation (> p1755) by setting p1498 via a ramp response (e.g. ramp time 100 ms) and assessing the current (r0077) and model speed (r0063). Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - Speed control and V/f control, overview • 5019 Servo control - Speed controller adaptation (Kp_n-/Tn_n adaptation) •...
Page 140 Servo control 4.12 Sensorless operation (without an encoder) Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor moment of inertia • p0341[0...n] Ratio between the total and motor moment of inertia • p0342[0...n] Motor series inductance • p0353[0...n] Motor temperature sensor for monitoring •...
Page 141: Motor Data Identification
Servo control 4.13 Motor data identification 4.13 Motor data identification Description The motor data identification (MotID) is used as a tool to determine the motor data, e.g. of third-party motors and can help to improve the torque accuracy (k estimator). The drive system must have been commissioned for the first time as basis for using motor data identification.
Page 142 Servo control 4.13 Motor data identification If there is an extended setpoint channel (r0108.08 = 1), p1959.14 = 0 and p1959.15 = 0 and direction limiting (p1110 or p1111) is active there, then this is observed at the instant of the start via p1960.
Page 143 Servo control 4.13 Motor data identification Motor data Motor data input requires the following parameters: Table 4- 9 Motor data Induction motor Permanent-magnet synchronous motor p0304 rated motor voltage p0305 rated motor current • • p0305 rated motor current p0311 rated motor speed •...
Page 144: Motor Data Identification Induction Motor
Servo control 4.13 Motor data identification Parameters to control the motor data identification The following parameters influence the motor data identification: Table 4- 11 Parameters for control Static measurement (motor data identification) Rotating measurement p0640 current limit p0640 current limit •...
Page 145 Servo control 4.13 Motor data identification Table 4- 12 Data determined using p1910 for induction motors (stationary measurement) Determined data (gamma) Data that is accepted (p1910 = 1) r1912 identified stator resistance p0350 motor stator resistance, cold + p0352 cable resistance r1913 rotor time constant identified r0384 motor rotor time constant / damping time constant, d axis...
Page 146: Motor Data Identification Synchronous Motor
Servo control 4.13 Motor data identification Determined data (gamma) Data that is accepted (p1960 = 1) Note: The magnetic design of the motor can be identified from the saturation characteristic. r1969 moment of inertia identified p0341 motor moment of inertia * p0342 ratio between the total moment of inertia and that of the motor + p1498 load moment of inertia...
Page 147 Servo control 4.13 Motor data identification Table 4- 15 Data determined using p1960 for synchronous motors (rotating measurement) Determined data Data that is 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 148 Servo control 4.13 Motor data identification Figure 4-17 Equivalent circuit diagram for synchronous motor and cable Overview of important parameters (see SINAMICS S120/S150 List Manual) Identification status • r0047 Standstill measurement Motor data identification, control word • p1909[0...n] Motor data identification, stationary •...
Page 149: Pole Position Identification
2. Start the one-off pole position identification by setting p1990 = 1. The value in p1982 is not taken into account. For Siemens 1FN1, 1FN3 and 1FN6 linear motors, p1990 is automatically set to 1 after commissioning or after an encoder has been replaced.
Page 150 Servo control 4.14 Pole position identification Notes regarding pole position identification The relevant procedure can be selected using parameter P1980. The following procedures are available for pole position identification: ● Saturation-based 1st + 2nd harmonics (p1980 = 0) ● Saturation-based 1st harmonic (p1980 = 1) ●...
Page 151 Before using the pole position identification routine, the control sense of the speed control loop must be corrected (p0410.0). For linear motors, see SINAMICS S120 Commissioning Manual. NOTICE Inaccuracy when determining the commutation angle If more than one 1FN3 linear motor is using saturation-based pole position identification for commutation (p1980 ≤...
Page 152 Servo control 4.14 Pole position identification This procedure is available for absolute encoders (with the exception of DRIVE-CLiQ encoders), incremental encoders with equidistant zero mark and resolvers. The sequence is then as follows: 1. Select the "fine synchronization with reference mark search" mode in p0437. 2.
Page 153 Servo control 4.14 Pole position identification Saturation-based Motion-based Elasticity-based p3091 p3092 p3093 p3094 p3095 p3096 r3097 Marking: + = relevant, - = not relevant Commutation angle 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 154 Servo control 4.14 Pole position identification Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor pole position identification current 1st phase • p0325[0...n] Motor pole position identification current • p0329[0...n] Encoder configuration; commutation with zero mark (not induction motor) •...
Page 155 Servo control 4.14 Pole position identification PolID motion-based smoothing time • p1997[0...n] PolID elasticity-based configuration • p3090[0...n] PolID elasticity-based ramp time • p3091[0...n] PolID elasticity-based wait time • p3092[0...n] PolID elasticity-based measurement count • p3093[0...n] PolID elasticity-based deflection expected • p3094[0...n] PolID elasticity-based deflection permitted •...
Page 156: Vdc Control
Servo control 4.15 Vdc control 4.15 Vdc control Principle The Vdc control monitors the DC voltage in the DC link for overvoltage and undervoltage. If an overvoltage or undervoltage is identified in the DC-link line-up, a subsequent response can be set with the Vdc control via p1240. The torque limits of the motors for which the Vdc controller is active can be affected if discrepancies in the DC-link voltage are significant enough.
Page 157 Servo control 4.15 Vdc control control dc_min Figure 4-18 Switching V control on/off (kinetic buffering) dc_min 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 158 Servo control 4.15 Vdc control control dc_max Figure 4-19 Switching the V control on/off dc_max 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 159 Servo control - V/f control for diagnostics • 5300 Servo control - Vdc_max controller and Vdc_min controller • 5650 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, closed-loop control: Vdc_max controller active • r0056.14 CO/BO: Status word, closed-loop control: Vdc_min controller active •...
Page 160: Dynamic Servo Control (Dsc)
The following PROFIdrive telegrams support DSC: ● Standard telegrams 5 and 6 ● SIEMENS telegrams 105, 106, 116, 118, 125, 126, 136, 138, 139 Further PZD data telegram types can be used with the telegram extension. It must then be ensured that SERVO supports a maximum of 20 PZD setpoints and 28 PZD actual values.
Page 161 Servo control 4.16 Dynamic Servo Control (DSC) Operating states The following operating states are possible for DSC (for details, see function diagram 3090 in the SINAMICS S120/S150 List Manual): Operating state for DSC Meaning Speed/torque precontrol with linear As a result of the step-like torque precontrol in the position...
Page 162 Servo control 4.16 Dynamic Servo Control (DSC) Note KPC when DSC is activated After activating dynamic servo control, check the position controller gain KPC in the master. It may be necessary to correct the setting. Channel p1155 for speed setpoint 1, as well as channel r1119 for the extended setpoint, are disconnected when DSC is active.
Page 163 Servo control 4.16 Dynamic Servo Control (DSC) Wind-up effect If the drive reaches its torque limits when in the DSC mode, e.g. because of excessively fast setpoint inputs, then positioning motion can be overshot. With this so-called wind-up effect, the drive overshoots the specified target, the controller enters a specific correction, the drive reverses, overshoots the target again, etc.
Page 164 Servo control - Speed setpoint filter and speed precontrol • 5020 Servo control - Reference model/precontrol balancing/speed limiting • 5030 Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Speed controller, speed setpoint 2 • p1160 CI: DSC position deviation XERR •...
Page 165: Travel To Fixed Stop
Servo control 4.17 Travel to fixed stop 4.17 Travel to fixed stop This function can be used to move a motor to a fixed stop at a specified torque without a fault being signaled. When the stop is reached, the specified torque is established and is then continuously available.
Page 166 Servo control 4.17 Travel to fixed stop When the "basic positioner" function module is activated, the signals listed above are automatically interconnected to the basic positioner. Figure 4-20 Signals for "Travel to fixed stop" When PROFIdrive telegrams 2 to 6 are used, no torque reduction is transferred. When the "Travel to fixed stop"...
Page 167 Servo control 4.17 Travel to fixed stop Signal chart Figure 4-21 Signal chart for "Travel to fixed stop" Commission PROFIdrive telegrams 2 to 6 1. Activate the "Travel to fixed stop" function via the parameter setting p1545 = "1". 2. Set the required torque limit. Example: p1400.4 = 0 →...
Page 168 Torque utilization < torque ZSW monitoring functions r2199.11 MELDEW.1 threshold value 2 3.11 Function diagrams (see SINAMICS S120/S150 List Manual) Servo control, generation of the torque limits, overview • 5609 Servo control - Torque limiting/reduction/interpolator • 5610 Servo control - Motoring/generating torque limit •...
Page 169 Servo control 4.17 Travel to fixed stop Overview of important parameters (see SINAMICS S120/S150 List Manual) Speed control configuration • p1400[0...n] CO/BO: Status word speed controller; torque limit reached • r1407.7 CO: Torque limit, upper/motoring • p1520[0...n] CO: Torque limit, lower/regenerative •...
Page 170: Vertical Axes
• 5060 Servo control - Motoring/generating torque limit • 5620 Servo control - Upper/lower torque limit • 5630 Overview of important parameters (see SINAMICS S120/S150 List Manual) Actual torque smoothed • r0031 CI: Supplementary torque 1 • p1511[0...n] CI: Supplementary torque 1 scaling •...
Page 171: Variable Signaling Function
Servo control 4.19 Variable signaling function 4.19 Variable signaling function Definition: Attribute "traceable" A parameter whose value can be acquired using the trace function of STARTER or SCOUT, is allocated the "traceable" attribute. These parameters can be called in STARTER or SCOUT in the "Device trace"...
Page 172 Variable signaling function Function diagrams (see SINAMICS S120/S150 List Manual) Servo control - variable signaling function • 5301 Overview of important parameters (see SINAMICS S120/S150 List Manual) Variable signaling function, start • p3290 CI: Variable signaling function signal source • p3291 BO: Variable signaling function, output signal •...
Page 173: Central Probe Evaluation
From the sampling values of the position signals of the various axes, the control interpolates the times of the actual position values at the probe instant. Three evaluation procedures are implemented in SINAMICS S120 for this purpose. The evaluation procedures can be set using parameter p0684:...
Page 174 Servo control 4.20 Central probe evaluation Common features for central measuring with and without handshake Both measuring procedures have the following points in common: ● Setting the input terminal in p0680. ● Signal source, synchronization signal in p0681. ● Signal source, control word probe p0682. ●...
Page 175 Servo control 4.20 Central probe evaluation Central measuring with handshake With p0684 = 0, you activate the evaluation procedure with handshake for the central probe evaluation. You can evaluate a maximum of one positive and/or negative edge per probe within four DP cycles. = PROFIBUS cycle (also DP cycle) = master application cycle time (time grid, in which the master application generates MAPC...
Page 176 Servo control 4.20 Central probe evaluation Central measurement without handshake, more than two edges With p0684 = 16, you activate the evaluation procedure without handshake for the central probe evaluation. You can evaluate up to 16 signal edges from a maximum of 2 probes simultaneously within a DP cycle.
Page 177 Servo control 4.20 Central probe evaluation After the measuring function has been activated, for several measured values per DP cycle, the acquired time stamps are saved in the indices of r0565[0...15] for transfer, corresponding to their sequence in time starting with the oldest measured value. Probe time stamp references For telegram 395, the probe time stamps MT_ZS_1...16 are assigned to the telegram locations using the probe time stamp references MT_ZSB1...4.
Page 178 Servo control 4.20 Central probe evaluation Table 4- 20 Bit assignment of MT_ZSB1 (r0566[0]) Reference time stamp Probe bit, binary values Edge selection bit Reference MT_ZS1 Bits 0...2: Bit 3: 000: MT_ZS1 from MT1 0: MT_ZS1 falling edge 001: MT_ZS1 from MT2 1: MT_ZS1 rising edge 010: MT_ZS1 from MT3 011: MT_ZS1 from MT4...
Page 179: Examples
Servo control 4.20 Central probe evaluation Measurement buffer Each measuring pulse input of a Control Unit 320-2 or 310-2 has one memory for maximum 16 measured value entries (8 rising and 8 falling edges). The measured values for rising and falling signal edges are sequentially written to the memory.
Page 180 Servo control 4.20 Central probe evaluation Example 1 MT_STW = 100H: a search is only made for rising edges, probe 1 Figure 4-23 A search is made for rising edges for probe 1 In the DP cycle, all time stamps for rising edges are transferred corresponding to their sequence in time for probe 1.
Page 181 In the DP cycle, initially all time stamps for rising and falling edges of probe 1 are entered. Afterwards, all time stamps for rising and falling edges of probe 2. Function diagrams (see SINAMICS S120/S150 List Manual) PROFIdrive - Manufacturer-specific/free telegrams and process data •...
Page 182 Servo control 4.20 Central probe evaluation Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Probe time stamp • p0565[0...15] CO: Probe time stamp reference • p0566[0...3] CO: Probe diagnostic word • p0567 Central probe, input terminal • p0680[0...7] BI: Central probe synchronization signal, signal source •...
Page 183: Vector Control
Vector control Compared with vector V/f control, vector control offers the following benefits: ● Stability for load and setpoint changes ● Short rise times for setpoint changes (→ better control behavior) ● Short settling times for load changes (→ better response to disturbances) ●...
Page 184 Vector control Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls. Table 5- 1 Comparison of servo control and vector control Subject Servo control Vector control Typical applications Drives with highly dynamic motion Speed and torque-controlled drives with •...
Page 185 • If a higher output frequency is required, Note: consult the specialist support from SINAMICS S can achieve the specified SIEMENS. values without tuning. Higher frequencies can be set under the following secondary conditions and additional tuning runs: Up to 3000 Hz •...
Page 186 Vector control Subject Servo control Vector control Response when operating at the Reduction of the current setpoint or Reduction in the pulse frequency and / or thermal limit of the motor shutdown the current setpoint or shutdown (not applicable with parallel connection / sine- wave filter) Speed setpoint Optional...
Page 187: Sensorless Vector Control (Slvc)
Vector control 5.1 Sensorless vector control (SLVC) Sensorless vector control (SLVC) During operation via the "Sensorless vector control" function (SLVC), the position of the flux and actual speed must be determined using the electric motor model. The motor model is buffered by the incoming currents and voltages.
Page 188 Vector control 5.1 Sensorless vector control (SLVC) Encoderless vector control has the following characteristics at low frequencies: ● Closed-loop controlled operation for passive loads up to approx. 0 Hz output frequency (p0500 = 2), for p1750.2 = 1 and p1750.3 = 1. ●...
Page 189 Vector control 5.1 Sensorless vector control (SLVC) Note Operation in encoderless torque control only makes sense if, in the speed range below the changeover speed of the motor model (p1755), the setpoint torque is greater than the load torque. The drive must be able to follow the setpoint and the associated setpoint speed (p1499 , FBD 6030).
Page 190 Vector control 5.1 Sensorless vector control (SLVC) Closed-loop control without changeover between closed-loop and open-loop speed control is restricted to applications with passive load: A passive load only has a reactive effect on the drive torque of the driving motor at the starting point, e.g.
Page 191 Vector control 5.1 Sensorless vector control (SLVC) Active loads Active loads, which can reverse the drive, e.g. hoisting gear, must be started in the open- loop speed control mode. In this case, bit p1750.6 must be set to 0 (open-loop controlled operation when the motor is blocked).
Page 192 The actual rotor position can be continuously determined down to 0 Hz (standstill). With Siemens 1FW4 and 1PH8 torque motors, the load can be maintained at standstill or, from standstill, the motor can accelerate any load up to rated torque.
Page 193 Motor reactor, sine-wave filter, dv/dt filter The process cannot be used with the present motor reactors, sine-wave filters and dv/dt filters. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed setpoint, droop • 6030 Vector control - Interface to Motor Module (ASM, p0300 = 1) •...
Page 194 Vector control 5.1 Sensorless vector control (SLVC) Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor current • p0305[0...n] Actual motor magnetizing current / short-circuit current • r0331[0...n] Technology application • p0500 Torque setpoint static (without encoder) • p1610[0...n] Supplementary acceleration torque (without encoder) •...
Page 195: Vector Control With Encoder
Vector control 5.2 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 196: Speed Controller
Vector control 5.3 Speed controller Speed controller Both closed-loop control procedures with and without an encoder (VC, SLVC) have the same speed controller structure which contains the following components: ● PI controller ● Speed controller precontrol ● Droop The total of the output variables result in the torque setpoint which is reduced to the permissible magnitude by means of the torque setpoint limitation.
Page 197 Vector control 5.3 Speed controller If the moment of inertia has been specified, the speed controller (K ) can be calculated by means of automatic parameterization (p0340 = 4). The controller parameters are defined in accordance with the symmetrical optimum as follows: = 4 x T = 0.5 x r0345 / T = 2 x r0345 / T...
Page 198 5.3 Speed controller Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed controller with/without encoder • 6040 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Speed setpoint after filter • r0062 CO: Actual speed value • r0063[0...1] Automatic calculation of motor/control parameters •...
Page 199: Speed Controller Adaptation
Vector control 5.4 Speed controller adaptation Speed controller adaptation Fundamentals With the speed controller adaptation, any speed controller oscillation can be suppressed. Speed-dependent K adaptation is active in the factory setting. The required values are automatically calculated when commissioning and for the rotating measurement. If, in spite of this, speed oscillations do occur, then in addition the K component can be tuned using the free K...
Page 200 This dynamic reduction is activated to reduce the controller dynamic response in the field- weakening range. Up to the field-weakening range, the higher controller dynamic of the speed controller is kept. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed controller adaptation (K adaptation) •...
Page 201 Vector control 5.4 Speed controller adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) Speed control configuration: Automatic Kp/Tn adaptation active • p1400.0 Speed control configuration: Kp/Tn adaptation active • p1400.5 Speed control configuration: Free Tn adaptation active • p1400.6 Speed controller encoderless operation P gain •...
Page 202: Speed Controller Pre-Control And Reference Model
Vector control 5.5 Speed controller pre-control and reference model Speed controller pre-control and reference model Speed controller precontrol The command behavior of the speed control loop can be improved by calculating the acceleration torque from the speed setpoint and connecting it on the line side of the speed controller.
Page 203 Vector control 5.5 Speed controller pre-control and reference model If the speed controller has been correctly adjusted, it only has to compensate for disturbance variables in its own control loop, which can be achieved by means of a relatively small change to the correcting variables.
Page 204 Vector control 5.5 Speed controller pre-control and reference model Reference model Figure 5-10 Reference model The reference model is activated with p1400.3 = 1. The reference model is used to emulate the speed control loop with a P speed controller. The loop emulation can be set in p1433 to p1435.
Page 205 Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Precontrol balancing reference/acceleration model • 6031 Vector control - Speed controller with/without encoder • 6040 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor speed • p0311[0...n] Rated motor torque • r0333[0...n] Motor moment of inertia •...
Page 206: Droop
Vector control 5.6 Droop Droop Droop (enabled via p1492) ensures that the speed setpoint is reduced proportionally as the load torque increases. ① Active only when the precontrol has been activated (p1496 > 0) ② Active only for SLVC Figure 5-11 Speed controller with droop The droop has a torque limiting effect on a drive that is mechanically coupled to a different speed (e.g.
Page 207 ● Only a single common ramp-function generator may be used for mechanically coupled drives. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Speed setpoint, droop • 6030 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Torque setpoint • r0079 CO: Speed controller I torque output • r1482 Droop input source •...
Page 208: Open Actual Speed Value
Vector control 5.7 Open actual speed value Open actual speed value Via the parameter p1440 (CI: Speed controller actual speed value) is the signal source for the actual speed value of the speed controller. In the factory setting, the unsmoothed actual speed value r0063[0] is the default signal source.
Page 209 Vector control - Speed controller with/without encoder • 6040 Signals and monitoring function - Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) Actual speed value • r0063[0...2] CI: Speed controller actual speed value •...
Page 210: Torque Control
Vector control 5.8 Torque control Torque control With sensorless speed control SLVC (p1300 = 20) or speed control with sensor VC (p1300 = 21), a changeover can be made to torque control (slave drive) via BICO parameter p1501. A changeover cannot be made between speed and torque control if torque control is selected directly with p1300 = 22 or 23.
Page 211 Vector control 5.8 Torque control OFF responses ● OFF1 and p1300 = 22, 23 – Response as for OFF2 ● OFF1, p1501 = "1" signal and p1300 ≠ 22, 23 – No separate braking response; the braking response is provided by a drive that specifies the torque.
Page 212 5.8 Torque control Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Torque setpoint • 6060 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor moment of inertia • p0341 Ratio between the total and motor moment of inertia •...
Page 213: Torque Limiting
Vector control 5.9 Torque limiting Torque limiting Description The torque limiting value specifies the maximum permissible torque. Different limits can be parameterized for motoring and generating operation. ● p0640[0...n] Current limit ● p1520[0...n] CO: Torque limit, upper/motoring ● p1521[0...n] CO: Torque limit, lower/regenerative ●...
Page 214 Motor Module, this is indicated via the following diagnostic parameters: ● r1407.8 Upper torque limit active ● r1407.9 Lower torque limit active Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Torque setpoint • 6060 Vector control - Upper/lower torque limit •...
Page 215: Vdc Control
Vector control 5.10 Vdc control 5.10 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 216 Vector control 5.10 Vdc control Vdc_min control Figure 5-15 Switching V control on/off (kinetic buffering) dc_min In the event of a power failure, V is activated when the V switch-on level is dc_min dc_min undershot. This controls the DC-link voltage and maintains it at a constant level. The motor speed is reduced.
Page 217 Vector control 5.10 Vdc control Vdc_max control Figure 5-16 Switching the V control on/off dc_max The switch-on level for V -control (r1242) is calculated as follows: dc_max ● When the function for automatically detecting the switch-on level is switched off (p1254 = 0) r1242 = 1.15 x p0210 (device connection voltage, DC link) ●...
Page 218 Vector control 5.10 Vdc control WARNING Inadvertent acceleration of individual drives If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), or for power failure or overload (for SLM/ALM), the Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia.
Page 219 5.10 Vdc control Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Vdc_max controller and Vdc_min controller • 6220 Overview of important parameters (see SINAMICS S120/S150 List Manual) Vdc controller or Vdc monitoring configuration • p1240[0...n] Vdc_min controller switch-on level •...
Page 220: Current Setpoint Filter
= 0, is the calculation performed. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Current setpoint filter • 6710 Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Current setpoint filter natural frequency tuning • p1655[0...n] Current setpoint filter activation •...
Page 221: Speed Actual Value Filter
• 4702 Encoder evaluation - actual speed value and pole position sensing, motor • 4715 encoder ASM/SM (encoder1) Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Current setpoint filter / actual speed value filter natural frequency • p1655[0...4] tuning Current setpoint filter / actual speed value filter activation •...
Page 222: Current Controller Adaptation
Vector control 5.13 Current controller adaptation 5.13 Current controller adaptation Current controller adaptation can be used to adapt the P gain of the current controller and the dynamic precontrol of the I current controller depending on the current. The current controller adaptation is directly activated with setting p1402.2 = 1 or deactivated with p1402.2 = 0.
Page 223 Vector control - Current setpoint filter • 6710 Vector control - Iq and Id controller • 6714 Overview of important parameters (see SINAMICS S120/S150 List Manual) Current controller adaptation, starting point KP • p0391 Current controller adaptation, starting point KP adapted •...
Page 224: Motor Data Identification And Rotating Measurement
Vector control 5.14 Motor data identification and rotating measurement 5.14 Motor data identification and rotating measurement 5.14.1 Overview There are two motor data identification options which are based on each other: ● Motor data identification (Page 225) with p1910 (standstill measurement) For measurement of the motor equivalent circuit diagram parameters (obligatory for operation with vector control).
Page 225: Motor Data Identification
Vector control 5.14 Motor data identification and rotating measurement Note To set the new controller setting permanently, the data must be saved in a non-volatile memory. The measurement progress can be tracked using r0047. Completion of the individual motor data identification runs can be read via parameters r3925 to r3928.
Page 226 Vector control 5.14 Motor data identification and rotating measurement Table 5- 2 Data determined using p1910 Induction motor Permanent-magnet synchronous motor p1910 = 1 Rated magnetization current (p0320) Stator resistance (p0350) • • Stator resistance (p0350) Stator resistance q axis (p0356) •...
Page 227 Vector control 5.14 Motor data identification and rotating measurement The inductance value is then subtracted from the total measured value of the leakage. With sine-wave filters, only the stator resistance, valve threshold voltage, and valve interlocking time are measured. 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 228 Vector control 5.14 Motor data identification and rotating measurement Note To set the new controller setting permanently, the data must be saved in a non-volatile memory. Note At the end of the motor data identification, all dependent control parameters are calculated automatically (p0340 = 3) Motor data identification sequence 1.
Page 229: Rotating Measurement
Vector control 5.14 Motor data identification and rotating measurement 5.14.3 Rotating measurement Rotating measurement (p1900, p1960) "Rotating measurement" can be activated via p1960 or p1900 = 3. It should be performed only after the motor data identification (p1910). The rotating measurement contains a speed control tuning with which the drive's moment of inertia is ascertained and the speed controller is set.
Page 230 Vector control 5.14 Motor data identification and rotating measurement Rotating measurement (p1960 > 0): Sequence The following measurements are carried out when the enable signals are set and a switch- on command is issued in accordance with the settings in p1959 and p1960. ●...
Page 231: Shortened Rotating Measurement
Vector control 5.14 Motor data identification and rotating measurement 5.14.4 Shortened rotating measurement A normal rotating measurement cannot always be performed when a load is connected. When switching the motor on for the first time, a short measurement of the moment of inertia and the measurement of the magnetizing current and the saturation characteristic can be performed with a simplified measuring procedure.
Page 232 Vector control 5.14 Motor data identification and rotating measurement Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor data identification routine and speed controller optimization • r0047 Automatic calculation of motor/control parameters • p0340 Open-loop/closed-loop control operating mode • p1300[0...n] Motor data identification and rotating measurement •...
Page 233: Efficiency Optimization
Vector control 5.15 Efficiency optimization 5.15 Efficiency optimization The following can be achieved when tuning the efficiency using p1580: ● Lower motor losses in the partial load range ● Noise in the motor is minimized Figure 5-21 Efficiency tuning It only makes sense to activate this function if the dynamic response requirements of the speed controller are low (e.g.
Page 234 • 6722 Vector control - Field weakening characteristic, Id setpoint (ASM, p0300 = 1) • 6723 Vector control - Field weakening controller, flux controller (p0300 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) • r0077 CO: Torque-generating current setpoint •...
Page 235: Quick Magnetization For Induction Motors
Vector control 5.16 Quick magnetization for induction motors 5.16 Quick magnetization for induction motors For crane applications, frequently a frequency converter is switched alternately to different motors. After being switched to a different motor, a new data set must be loaded in the frequency converter and the motor magnetized.
Page 236 Vector control 5.16 Quick magnetization for induction motors Figure 5-22 Quick magnetization characteristics Notes When quick magnetization is selected (p1401.6 = 1), smooth starting is deactivated internally and alarm A07416 displayed. When the stator resistance identification function is active (see p0621 "Identification of stator resistance after restart") is active, quick magnetization is deactivated internally and alarm A07416 displayed.
Page 237 Vector control 5.16 Quick magnetization for induction motors Alarms and faults Flux controller configuration When a function controlled by parameter p1401 and p0621 is activated, the system checks whether any other incompatible function is already selected. If this is the case, alarm A07416 is displayed with the number of the parameter which is incompatible with the configuration parameter (i.e.
Page 238 Vector control - Field weakening characteristic, Id setpoint (ASM, p0300 = 1) • 6722 Vector control - Field weakening controller, flux controller (ASM, p0300 = 1) • 6723 Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor rated magnetizing current / short-circuit current • p0320 [0...n] Motor excitation build-up time •...
Page 239: Flying Restart
The search starts at the maximum speed plus 25%. A Voltage Sensing Module (VSM) is required for permanent-magnet synchronous motors (for additional information, see SINAMICS S120 Control Units Manual). – When operated with an encoder (actual speed value is sensed), the search phase is eliminated.
Page 240 Vector control 5.17 Flying restart Application example After a power failure, a fan drive can be quickly reconnected to the running fan motor by means of the "flying restart" function. Figure 5-23 Flying restart, example of induction motor without encoder Figure 5-24 Flying restart, example of induction motor with encoder Drive functions...
Page 241: Fast Flying Restart
Vector control 5.17 Flying restart Flying restart in encoderless operation for long cables As a rule, it is important to consider the cable resistance. The cable resistance is required for calculation of the thermal motor model. 1. Enter the cable resistance in parameter p0352 before you perform motor data identification.
Page 242 Vector control 5.17 Flying restart The settings for fast flying restart can be made in the expert list. 1. To switch flying restart to "fast flying restart", make the following setting: "p1780.11 = 1". The normal flying restart had the parameter setting "p1780.11 = 0". For operation with encoder, settings of this bit are ignored because fast flying restart is not possible in this case.
Page 243: Faults And Parameters
Vector control 5.17 Flying restart 5.17.2 Faults and parameters Overview of important faults (see SINAMICS S120/S150 List Manual) Flying restart: Detection current measured too low • F07330 Flying restart: Function not supported • F07331 Overview of important parameters (see SINAMICS S120/S150 List Manual) Voltage measurement configuration •...
Page 244: Synchronization
(p3800 = 0), the voltage is sensed using a VSM, which is connected to the line phases. The voltage values must be transferred to the synchronization via connectors r3661 and r3662. Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - Synchronizing • 7020...
Page 245 Vector control 5.18 Synchronization Overview of important parameters (see SINAMICS S120/S150 List Manual) Sync-line-drive activation • p3800[0...n] Sync-line-drive drive object number • p3801[0...n] BI: Sync-line-drive enable • p3802[0...n] CO/BO: Sync-line-drive control word • r3803 CO: Sync-line-drive target frequency • r3804 CO: Sync-line-drive frequency difference •...
Page 246: Voltage Sensing Module
(p3800 = 0). Topology view The VSM is used on the encoder side for SINAMICS S120 drives. The VSM is only used at the VECTOR drive object in sensorless operating modes. The VSM is integrated into the topology at the position of the motor encoder.
Page 247 Voltage Sensing Module (VSM) - Analog inputs (AI 0 ... AI 3) • 9880 Voltage Sensing Module (VSM) - Temperature evaluation • 9886 Overview of the important parameters (see SINAMICS S120/S150 List Manual) Voltage Sensing Module component number • p0151[0...n] Activate/deactivate Voltage Sensing Module •...
Page 248: Simulation Mode
Vector control 5.20 Simulation mode 5.20 Simulation mode 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. If the voltage is higher, simulation mode is reset and fault message F07826 is output.
Page 249: Redundance Operation Power Units
● Redundancy for up to 4 chassis power units ● Power unit can be deactivated via parameter (p0125) ● Power unit can be deactivated via binector input (p0895) Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate power unit component • p0125 Power unit components active/inactive •...
Page 250: Bypass
Vector control 5.22 Bypass 5.22 Bypass 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 be operated using the converter or directly on the supply line. The contactors are activated by the converter.
Page 251: Bypass With Synchronization With Overlap
Vector control 5.22 Bypass Features ● Available for the vector control mode ● Available for induction motors without encoder 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.
Page 252 Vector control 5.22 Bypass Example The following parameters must be set after the bypass function with synchronization with overlap (p1260 = 1) has been activated. Table 5- 3 Parameter setting for bypass function with synchronization with overlap Parameter Description r1261.0 = Control signal for contactor K1 r1261.1 = Control signal for contactor K2...
Page 253 Vector control 5.22 Bypass The motor is transferred to the line supply (the drive converter controls contactors K1 and K2): ● The initial state is as follows: Contactor K1 is closed, contactor K2 is open and the motor is fed from the drive converter. ●...
Page 254: Bypass With Synchronization Without Overlap
Vector control 5.22 Bypass 5.22.2 Bypass with synchronization without overlap When "bypass with synchronization without overlap (p1260 = 2)" is activated, contactor K2 to be closed is only closed when contactor K1 has opened (anticipatory type synchronization). During this time, the motor is not connected to the line supply so that its speed is determined by the load and the friction.
Page 255: Bypass Without Synchronization
Vector control 5.22 Bypass Example The following parameters must be set after the bypass function with synchronization without overlap (p1260 = 2) has been activated. Table 5- 4 Parameter settings for bypass function with synchronization without overlap Parameter Description p1266 = Control signal setting when p1267.0 = 1 p1267.0 = 1 Bypass function is initiated by the control signal.
Page 256 Vector control 5.22 Bypass Requirement In this case, contactor K2 must be designed/selected to be able to switch inductive loads. Contactors K1 and K2 must be interlocked so that they cannot simultaneously close. The "flying restart" function must be activated (p1200). Figure 5-28 Circuit example, bypass without synchronization Activation...
Page 257 Vector control 5.22 Bypass Example After activating the bypass function without synchronization (p1260 = 3) the following parameters still have to be set: Table 5- 5 Parameter settings for non-synchronized bypass function with overlap Parameter Description p1262 = Setting of the dead time for non-synchronized bypass p1263 = Setting of the delay time to switch back to converter operation for non- synchronized bypass...
Page 258 Vector control 5.22 Bypass Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - Synchronizing • 7020 Overview of important parameters (see SINAMICS S120/S150 List Manual) Bypass function Bypass configuration • p1260 CO/BO: Bypass control/status word • r1261.0...9 Bypass dead time •...
Page 259: Asynchronous Pulse Frequency
Vector control 5.23 Asynchronous pulse frequency 5.23 Asynchronous pulse frequency The pulse frequency is coupled to the current controller cycle, and can only be adjusted in multiple integer steps. For most standard applications, this setting makes sense and should not be modified. For certain applications, it may be advantageous if the pulse frequency is decoupled from the current controller cycle.
Page 260 Vector control 5.23 Asynchronous pulse frequency Application example Situation: A large (> 250 kW) Motor Module in the chassis format and a small (< 250 kW) Motor Module, e.g. in the booksize format, are to be connected to one DRIVE-CLiQ line. The factory setting of the current controller cycle of the small Motor Module is 250 µs, corresponding to a pulse frequency of 2 kHz.
Page 261 Vector control 5.23 Asynchronous pulse frequency Overview of important parameters (see SINAMICS S120/S150 List Manual) Sampling times for internal control loops • p0115[0...6] Pulse frequency setpoint • p1800 Modulator configuration • p1810 Actual value correction configuration • p1840[0...n] Drive functions...
Page 262 Vector control 5.23 Asynchronous pulse frequency Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 263: U/F Control (Vector Control)
U/f control (vector control) The V/f control characteristic is the simplest way to control an induction motor. When configuring the drive using the STARTER commissioning tool, V/f control is activated in the "Closed-loop control structure" screen (also see p1300). The stator voltage of the induction motor is set proportional to the stator frequency. This procedure is used for many standard applications where the dynamic performance requirements are low, for example: ●...
Page 264 U/f control (vector control) Several variations of the V/f characteristic exist, which are shown in the following table: Table 6- 1 V/f characteristic (p1300) Parameter Meaning Application / property values Linear characteristic Standard (without voltage boost) Linear characteristic Characteristic that compensates for with flux current voltage losses in the stator resistance for control (FCC)
Page 265 U/f control (vector control) Parameter Meaning Application / property values Programmable Characteristic that takes into account characteristic motor/machine torque curve (e.g. synchronous motor). Linear characteristic Characteristic, see parameter 0 and Eco mode at a constant operating point. and ECO In the ECO mode, the efficiency at a constant operating point is optimized. This •...
Page 266 U/f control (vector control) Function diagram Vector control - V/f characteristic and voltage boost • 6300 Parameter Open-loop/closed-loop control operating mode • p1300[0...n] Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 267: Voltage Boost
U/f control (vector control) 6.1 Voltage boost Voltage boost According to the V/f characteristic, at an output frequency of 0 Hz, the control supplies an output voltage of 0 V. This means that at 0 V, the motor cannot generate any torque. There are several reasons for the use of the "Voltage boost"...
Page 268 U/f control (vector control) 6.1 Voltage boost NOTICE Overload of the motor winding through excessive voltage boost If the voltage boost value is too high, this can result in a thermal overload of the motor winding. Voltage boost, permanent = p0305 (motor rated current x permanent p0395 (current stator resistance) x p1310 (permanent voltage boost)
Page 269 Voltage boost while accelerating (example: p1300 = 0 and p1311 > 0) Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - V/f characteristic and voltage boost • 6301 Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor voltage • p0304[0...n] Rated motor current •...
Page 270: Slip Compensation
A parameter setting of p1351 > 0 automatically activates the slip compensation (p1335 = 100%). Figure 6-5 Slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated motor slip • r0330[0...n] V/f control slip compensation starting frequency •...
Page 271: Resonance Damping
45 Hz. Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Resonance damping and slip compensation • 6310 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Output frequency • r0066 CO: Torque-generating actual current value •...
Page 272: Vdc Control
U/f control (vector control) 6.4 Vdc control Vdc control The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. Figure 6-7 dc control Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 273 U/f control (vector control) 6.4 Vdc control 1. Undervoltage in the DC link – Typical cause: Failure of the supply voltage or supply for the DC link. – Remedy: Specify a regenerative torque for the rotating drive to compensate the existing losses, thereby stabilizing the voltage in the DC link (kinetic buffering).
Page 274 U/f control (vector control) 6.4 Vdc control Vdc_min control Figure 6-8 Switching V control on/off (kinetic buffering) dc_min In the event of a power failure, V is activated when the V switch-on level is dc_min dc_min undershot. This controls the DC-link voltage and maintains it at a constant level. The motor speed is reduced.
Page 275 U/f control (vector control) 6.4 Vdc control Vdc_max control Figure 6-9 Switching the V control on/off dc_max The switch-on level for V -control (r1282) is calculated as follows: dc_max p1294 (automatic detection of the Switch-on level of the Comment ON level (V/f)) control (r1282) dc_max Value...
Page 276 U/f control (vector control) 6.4 Vdc control WARNING Inadvertent acceleration of individual drives If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), or for power failure or overload (for SLM/ALM), the Vdc_max control may only be activated for a Motor Module whose drive should have a high moment of inertia.
Page 277 Function diagrams (see SINAMICS S120/S150 List Manual) Vector control - Vdc_max controller and Vdc_min controller (V/f) • 6320 Overview of important parameters (see SINAMICS S120/S150 List Manual) Vdc controller or Vdc monitoring configuration (V/f) • p1280[0...n] Vdc_max controller switch-on level (V/f) •...
Page 278 U/f control (vector control) 6.4 Vdc control Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 279: 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 280 Basic functions 7.1 Changing over units Overview of the important parameters (see SINAMICS S120/S150 List Manual) Infeed, commissioning parameter filter • p0010 IEC/NEMA motor standard • p0100 Unit system, motor equivalent circuit diagram data • p0349 Unit system selection • p0505 Technological unit selection •...
Page 281: Reference Parameters/Normalizations
Basic functions 7.2 Reference parameters/normalizations Reference parameters/normalizations Reference values, corresponding to 100%, are required for the display 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 282 Basic functions 7.2 Reference parameters/normalizations Scaling for the VECTOR drive object Table 7- 1 Scaling for the VECTOR drive object Size Scaling parameter Default when commissioning for the first time Reference speed 100% = p2000 p2000 = Maximum speed (p1082) Reference voltage 100% = p2001 p2001 = 1000 V...
Page 283 Basic functions 7.2 Reference parameters/normalizations Size Scaling parameter Default when commissioning for the first time Reference modulation 100% = Maximum output depth voltage without overload Reference flux 100% = Rated motor flux Reference temperature 100% = 100° C p2006 Reference electrical 100% = 90°...
Page 284 Reference temperature 100% = 100° C p2006 Reference electrical 100% = 90° angle Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated power module power • r0206[0...4] Device supply voltage • p0210 Automatic calculation of motor/control parameters • p0340 Inhibit automatic reference value calculation •...
Page 285: Modular Machine Concept
Basic functions 7.3 Modular machine concept Modular machine concept The modular machine concept is based on a maximum 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 286 Basic functions 7.3 Modular machine concept Figure 7-2 Example of a sub-topology Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 287 Therefore, before deactivating, take this drive out of the group (see Section Safety Integrated basic functions (Page 577)). Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 288: Sinusoidal Filter
● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 Chassis Power Units – SINAMICS S120 Liquid Cooled Chassis Power Units Note If a filter cannot be parameterized (p0230 < 3), this means that a filter has not been provided for the component.
Page 289 Basic functions 7.4 Sinusoidal filter Table 7- 6 Parameter settings for sine-wave filters Parameter number Name Setting p0233 Power unit motor reactor Filter inductance p0234 Power unit sine-wave filter Filter capacitance capacitance p0290 Power unit overload response Disable pulse frequency reduction p1082 Maximum speed Fmax filter / pole pair number...
Page 290: Motor Reactors
Commissioning 1. Activate the motor reactors during commissioning (p0230 = 1). 2. Enter the number of motor reactors connected in series via p0235. Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive filter type, motor side • p0230 Power unit motor reactor •...
Page 291: Dv/Dt Filter Plus Vpl
● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 Chassis Power Units – SINAMICS S120 Liquid Cooled Chassis Power Units NOTICE Damage to the dv/dt filter through too high a pulse frequency when using with Voltage Peak...
Page 292: Dv/Dt Filter Compact Plus Voltage Peak Limiter
Basic functions 7.7 dv/dt filter compact plus Voltage Peak Limiter dv/dt filter compact plus Voltage Peak Limiter The dv/dt filter compact plus Voltage Peak Limiter consists of two components: The dv/dt reactor and the voltage limiting network (Voltage Peak Limiter, VPL). A VPL cuts off the voltage peaks and feeds the energy back into the DC link.
Page 293 ● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 Chassis Power Units – SINAMICS S120 Liquid Cooled Chassis Power Units Commissioning During commissioning, you must activate the dv/dt filter with p0230 = 2.
Page 294: Pulse Frequency Wobbling
(1000/p0115[0]). These conditions apply to all indices. Note If pulse frequency wobbling is deactivated, parameter p1811 is set to "0" in all of the indices. Overview of important parameters (see SINAMICS S120/S150 List Manual) Modulator configuration • p1810 Pulse frequency wobbling amplitude •...
Page 295: Direction Reversal Without Changing The Setpoint
Basic functions 7.9 Direction reversal without changing the setpoint Direction reversal without changing the setpoint The direction of rotation of the motor can be reversed using the direction reversal via p1821 without having to change the motor rotating field by interchanging two phases at the motor and having to invert the encoder signals using p0410.
Page 296 Basic functions 7.9 Direction reversal without changing the setpoint Overview of the important parameters (see SINAMICS S120/S150 List Manual) Phase current actual value • r0069 Phase voltage, actual value • r0089 Reverse output phase sequence • p1820 Direction of rotation •...
Page 297: Automatic Restart
Basic functions 7.10 Automatic restart 7.10 Automatic restart The automatic restart function is used to automatically restart the drive / drive line-up, e.g. 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 298 Basic functions 7.10 Automatic restart Automatic restart mode Table 7- 7 Automatic restart mode p1210 Mode Meaning Disables automatic restart Automatic restart inactive Acknowledges all faults without Any faults that are present, are acknowledged automatically once the restarting cause has been rectified. If further faults occur after faults have been acknowledged, then these are also again automatically acknowledged.
Page 299 Basic functions 7.10 Automatic restart Startup attempts (p1211) and wait time (p1212) p1211 is used to specify the number of startup attempts. The number is internally decremented after each successful fault acknowledgement (line supply voltage must be re- applied or the infeed signals that it is ready). Fault F07320 is signaled if the number of parameterized startup attempts is exceeded.
Page 300 After the cause of the fault has been removed, the drives must be switched-on in another way. Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Drive coupling status word / control word •...
Page 301: Armature Short-Circuit, Dc Braking
Basic functions 7.11 Armature short-circuit, DC braking 7.11 Armature short-circuit, DC braking The "Armature short-circuit" and "DC braking" functions can be set using parameters p1231[0...n]. The current status of the armature short-circuit or the DC braking can be seen in r1239. Armature short-circuit Using this function, you can brake permanent-magnet synchronous motors.
Page 302: Armature Short-Circuit Braking For Permanent-Magnet Synchronous Motors
Basic functions 7.11 Armature short-circuit, DC braking 7.11.1 Armature short-circuit braking for permanent-magnet synchronous motors 7.11.1.1 Internal armature short-circuit braking With the internal armature short-circuit braking, the motor windings are short-circuited using the Motor Module. Requirement ● This function has been released for Motor Modules in the booksize and chassis formats. ●...
Page 303: External Armature Short-Circuit Braking
Basic functions 7.11 Armature short-circuit, DC braking 7.11.1.2 External armature short-circuit braking This function controls an external contactor via output terminals that then short-circuits the motor windings through resistors. Requirement ● Short-circuit-proof motors (p0320 < p0323): Use only short-circuit proof motors, or use suitable resistors to short-circuit the motor. ●...
Page 304 Basic functions 7.11 Armature short-circuit, DC braking Example of an activation: 1. The signal source of p1230 is set to a "1" signal 2. As a consequence, the display parameters of drive object Motor Module r1239.0 and r0046.4 also indicate a "1". 3.
Page 305 Basic functions 7.11 Armature short-circuit, DC braking Example of external armature short-circuit braking Before parameterizing external armature short-circuit braking, you have to create a new project with a Motor Module and a motor. The following conditions must be fulfilled: ● A short-circuit contactor with an additional feedback signal contact is used (p1231 = 1). ●...
Page 306: Dc Braking
Basic functions 7.11 Armature short-circuit, DC braking 7.11.2 DC braking Preconditions ● This function has been released for Motor Modules in the booksize, blocksize and chassis formats. ● An induction motor must be used. With the function "DC braking", after a demagnetization time, a DC current is injected in the stator windings of the induction motor.
Page 307: Activation Via Fault Response
Basic functions 7.11 Armature short-circuit, DC braking Deactivation If DC braking is deactivated by setting the signal source of p1230 to "0" and the ON command is still active, then the drive returns to its selected operating mode. The following applies: ●...
Page 308: Activation Via Off Fault Responses
Basic functions 7.11 Armature short-circuit, DC braking 7.11.2.3 Activation via OFF fault responses Setting as a response to OFF fault signals With p1231 = 5, DC braking is set as a response to OFF1 or OFF3. Parameter p1230 has no influence on the response for OFF1/OFF3.
Page 309: Configuring The Fault Response
Basic functions 7.11 Armature short-circuit, DC braking 7.11.3 Configuring the fault response Changing the fault response The responses can be set to selected faults using parameters p2100 and p2101. Only responses can be set that are intended for the corresponding faults. Using parameter p0491, responses to encoder errors of a motor encoder can be set (F07412 and many F3yxxx, y = 1, 2, 3).
Page 310: Function Diagrams And Parameters
Technology functions - Internal armature short-circuit (IVP, p0300 = 2xx or 4xx) • 7016 Technology functions - DC braking (p0300 = 1xx) • 7017 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Missing enable signals • r0046.0...31 Motor type selection •...
Page 311: Motor Module As A Braking Module
• SINAMICS S120 Motor Modules Chassis (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (500 V - 690 V) 7.12.1...
Page 312: Configuring Resistors
Basic functions 7.12 Motor Module as a Braking Module 7.12.2 Configuring resistors Rules and values ● Under no circumstances may the resistance values for the peak braking power, which are listed in this table, be fallen below! ● The resistance values apply for each of the three resistors in a star connection in the cold state.
Page 313 Basic functions 7.12 Motor Module as a Braking Module Motor Rated Rated Braking Continuous Peak Resistance at the Resistance at the DC link Module voltage current current chopper braking braking continuous peak braking frame size threshold power power braking power power [kW] [kW]...
Page 314 Basic functions 7.12 Motor Module as a Braking Module Motor Rated Rated Braking Continuous Peak Resistance Resistance DC link Module voltage current current chopper braking braking at the continuous at the peak frame size threshold power power braking power braking power [kW] [kW] [Ω]...
Page 315 Basic functions 7.12 Motor Module as a Braking Module Connecting braking resistors Preferably connect the braking resistors in a star configuration Figure 7-5 Braking resistors Setting of the Braking Module activation threshold The value of the Braking Module activation threshold p1362[0] and the hysteresis p1362[1] can be adjusted.
Page 316: Activating The "Braking Module" Function
You have opened the STARTER commissioning tool and created a new project or opened an existing project. Activating the Braking Module 1. Configure the Control Unit and the infeed module as usual (see SINAMICS S120 Commissioning Manual). 2. Select "Vector" as drive object type.
Page 317 Basic functions 7.12 Motor Module as a Braking Module 4. Check the number of Motor Modules that you have set in the topology. The braking resistors must be dimensioned for each Motor Module according to the table of resistances above. Figure 7-6 Parallel connection of Motor Modules as Braking Modules 5.
Page 318: Protective Equipment
Basic functions 7.12 Motor Module as a Braking Module 7.12.4 Protective equipment The protection functions are explained in detail in Section Thermal monitoring and overload responses (Page 548). Additional protective devices include: ● Ground fault Monitoring of sum of all phase currents. ●...
Page 319: Overview Of The Important Parameters
Basic functions 7.12 Motor Module as a Braking Module 7.12.5 Overview of the important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Rated power unit current • r0207[0…4] Fault value • r0949[0...63] Open-loop/closed-loop control operating mode • p1300[0…n] CI: V/f control independent of voltage setpoint •...
Page 320: Off3 Torque Limits
Servo control - Motoring/generating torque limit • 5620 Servo control - Upper/lower torque limit • 5630 Vector control - Upper/lower torque limit • 6630 Overview of important parameters (see SINAMICS S120/S150 List Manual) Torque limit, upper/motoring • p1520 Torque limit, lower/regenerative • p1521 Drive functions...
Page 321: Technology Function: Friction Characteristic
Basic functions 7.14 Technology function: friction characteristic 7.14 Technology function: friction characteristic The friction characteristic curve is used to compensate the friction torque for the motor and the driven machine. A friction characteristic enables the speed controller to be precontrolled and improves the response.
Page 322 • 5610 Vector control - Current setpoint filter • 6710 Technology functions - Friction characteristic • 7010 Overview of important parameters (see SINAMICS S120/S150 List Manual) Friction characteristic, value n0 • p3820 Friction characteristic, value M9 • p3839 CO/BO: Friction characteristic curve status •...
Page 323: 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 function diagrams 2701 and 2704 (see SINAMICS S120/S150 List Manual). The operating principle of the holding brake can be configured via parameter p1215.
Page 324 It is only permissible to activate brake control monitoring for booksize power units and blocksize power units with Safe Brake Relay (p1278 = 0). Function diagrams (see SINAMICS S120/S150 List Manual) Brake control - Simple brake control (r0108.14 = 0) •...
Page 325 Basic functions 7.15 Simple brake control Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, closed-loop control; magnetizing complete • r0056.4 CO: Speed setpoint before the setpoint filter • r0060 CO: Actual velocity value smoothed • r0063 CO: Actual speed value •...
Page 326: Runtime (Operating Hours Counter)
Basic functions 7.16 Runtime (operating hours counter) 7.16 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 327 Basic functions 7.16 Runtime (operating hours counter) Time stamp mode The mode for the time stamp can be set via parameter p3100. Setting Explanation p3100 = 0 Time stamp based on operating hours p3100 = 1 Time stamp UTC format p3100 = 2 Time stamp operating hours + 01.01.2000 Additional setting for firmware V4.7 and above.
Page 328: Energy-Saving Display
Using the SINAMICS S120 system enables control of the flow rate or the pressure by changing the speed of the continuous-flow machine. As a consequence, the plant or system is controlled close to its maximum efficiency over the complete operating range.
Page 329 Basic functions 7.17 Energy-saving display Solution to optimize the system When using a speed controller, the process-specific flow rate of the continuous-flow machine is controlled by varying the speed. The flow rate changes proportionally with the speed of the continuous-flow machine. Any throttles or valves remain completely open. The entire plant/system characteristic is shifted by the speed controller to achieve the required flow rate.
Page 330 Basic functions 7.17 Energy-saving display Energy-saving function This function determines the amount of energy used and compares it with the interpolated energy required for a plant or system equipped with a conventional throttle control. The amount of energy saved is calculated over the last 100 operating hours and is displayed in kW.
Page 331: Encoder Diagnostics
● Displaying the last written BIN file ● Number of still possible write operations (from 10000 downwards). Note BIN files can only be evaluated by Siemens. Alarm A3x930 is output while diagnostics data is being actively recorded. Do not switch off the system during this time.
Page 332: Encoder Dirty Signal
The input is automatically set to a high level if a wire is broken: As a consequence, for a broken wire, the encoder is considered to be "good". Overview of important parameters (see SINAMICS S120/S150 List Manual) Sensor Module extended configuration •...
Page 333: Tolerant Encoder Monitoring
Basic functions 7.19 Tolerant encoder monitoring 7.19 Tolerant encoder monitoring The tolerant encoder monitoring offers the following expanded functionality regarding the evaluation of encoder signals: ● Encoder track monitoring (Page 334) ● Zero mark tolerance (Page 335) (also for other sensor modules) ●...
Page 334: Encoder Track Monitoring
If you selected your encoder from the list of parameter p0400, then the values above are pre-selected and cannot be changed (also refer to the information on p0400 in the SINAMICS S120/S150 List Manual). Deactivating track monitoring If encoder track monitoring is activated, you can deactivate the function by setting p0437.26 = 1.
Page 335: Zero Mark Tolerance
Basic functions 7.19 Tolerant encoder monitoring Evaluating messages All of the track monitoring functions can be individually evaluated. You can use both HTL as well as TTL encoders. If a fault is detected, then fault F3x117 is output. The faulty tracks are included in the fault value bit-coded.
Page 336: Freezing The Speed Raw Value
Basic functions 7.19 Tolerant encoder monitoring 7.19.3 Freezing the speed raw value If, for high speed changes, the dn/dt monitoring function responds, then the "freeze speed raw value" function gives you the opportunity of briefly specifying the actual speed value therefore equalizing the speed change.
Page 337: Adjustable Hardware Filter
Basic functions 7.19 Tolerant encoder monitoring 7.19.4 Adjustable hardware filter The adjustable hardware filter function allows an encoder signal to be filtered, therefore suppressing short interference pulses. Commissioning 1. Set parameter p0438 ≠ 0 to activate the "adjustable hardware filter" function. Parameterization 1.
Page 338: Edge Evaluation Of The Zero Mark
Basic functions 7.19 Tolerant encoder monitoring 7.19.5 Edge evaluation of the zero mark This functionality is suitable for encoders, where the zero mark ≥ 1 pulse wide. In this particular case, errors would otherwise occur as a result of the edge detection of the zero mark.
Page 339: Pole Position Adaptation
Basic functions 7.19 Tolerant encoder monitoring 7.19.6 Pole position adaptation For example, for a dirty encoder disk, the drive adds the missing pulses to the pole position using the zero mark that is cyclically received in order to correct the pole position error. If, for example EMC interference causes too many pulses to be added, then these will be subtracted again every time the zero mark is crossed.
Page 340: Tolerance Band Pulse Number" Monitoring
Basic functions 7.19 Tolerant encoder monitoring Sequence 1. This function completely corrects encoder pulse errors up to the tolerance window (p4681, p4682) between two zero marks. The rate of correction is ¼ encoder pulses per current controller cycle. As a consequence, it is possible to continually compensate for missing encoder pulses (for example, if the encoder disk is dirty).
Page 341 Basic functions 7.19 Tolerant encoder monitoring Sequence 1. After each zero mark, it is again checked as to whether up to the next zero mark the number of pulses lies within the tolerance band. If this is not the case and "pulse number correction for faults"...
Page 342: Signal Edge Evaluation (1X, 4X)
Basic functions 7.19 Tolerant encoder monitoring 7.19.9 Signal edge evaluation (1x, 4x) The "signal edge evaluation" function allows square-wave encoders with higher production tolerances or older encoders to be used. Using this function, a "steadier" actual speed value is calculated for encoders with an uneven pulse duty factor of the encoder signals. As a consequence, you can keep the old motors together with the encoders - for example when modernizing plants.
Page 343: Setting The Measuring Time To Evaluate Speed "0
Basic functions 7.19 Tolerant encoder monitoring 7.19.10 Setting the measuring time to evaluate speed "0" This function is only necessary for slow-speed drives (up to 40 rpm rated speed) in order to be able to output actual speeds correctly close to 0. For a stationary drive, this prevents that the I component of the speed controller slowly increases and the drive unnecessarily establishes a torque.
Page 344: Troubleshooting
Basic functions 7.19 Tolerant encoder monitoring 7.19.12 Troubleshooting Table 7- 12 Fault profiles and their possible causes Fault profile Fault description Remedy No fault – F3x101 (zero mark Check that the failed) connection assignment is correct (A interchanged with –A or B interchanged with –B) F3x100 (Zero mark Check whether the...
Page 345 Basic functions 7.19 Tolerant encoder monitoring Fault profile Fault description Remedy Zero mark too wide Use edge evaluation of the zero mark EMC faults Use an adjustable hardware filter Zero mark too early/late For faults, use pole position adaptation or (interference pulse or pulse number correction pulse loss on the A/B...
Page 346: Tolerance Window And Correction
Basic functions 7.19 Tolerant encoder monitoring 7.19.13 Tolerance window and correction Figure 7-10 Tolerance window and correction 7.19.14 Dependencies Table legend: 1. Encoder track monitoring 2. Zero mark tolerance 3. Freezing the speed setpoint 4. Adjustable hardware filter 5. The measuring time can be set to evaluate zero speed 6.
Page 347 Basic functions 7.19 Tolerant encoder monitoring Parameter Functionality These functions can be freely combined with one These functions another build on one another from left to right, and can be combined with the adjacent ones Indices p0405.2 Track monitoring p0430.20 Speed calculation mode p0430.21 Zero mark tolerance...
Page 348 Basic functions 7.19 Tolerant encoder monitoring Parameter Functionality These functions can be freely combined with one These functions another build on one another from left to right, and can be combined with the adjacent ones Indices Messages F3x117 Inversion signal A and B error F3x118 Speed difference outside tolerance F3x131...
Page 349: Overview Of Important Parameters
Basic functions 7.19 Tolerant encoder monitoring 7.19.15 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Encoder configuration active • p0404[0...n] Square-wave encoder track A/B / square-wave encoder A/B • p0405[0...n] Rotary encoder pulse No. • p0408[0...n] Sensor Module configuration •...
Page 350: Parking Axis And Parking Encoder
Basic functions 7.20 Parking axis and parking encoder 7.20 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 351 Basic functions 7.20 Parking axis and parking encoder Parking an encoder When an encoder is parked, the encoder being addressed is switched to inactive (r0146 = 0). ● Control is carried out via the encoder control/status words of the cyclic telegram (Gn_STW.14 and Gn_ZSW.14).
Page 352 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 7-12 Function chart: parking encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 353: Position Tracking
Basic functions 7.21 Position tracking 7.21 Position tracking 7.21.1 General Information Terms ● Encoder range The encoder range is the position area that can itself represent the absolute encoder. ● Singleturn encoder A singleturn encoder is a rotating absolute encoder, which provides an absolute image of the position within one encoder revolution.
Page 354: Measuring Gear
Basic functions 7.21 Position tracking The encoder actual position value in r0483 (must be requested via GnSTW.13) is limited to places. When position tracking (p0411.0 = 0) is switched off, the encoder actual position value r0483 comprises the following position information: ●...
Page 355 Basic functions 7.21 Position tracking Example: Gear ratio 1:3 (motor revolutions p0433 to encoder revolutions p0432), absolute encoder can count eight encoder revolutions (p0421 = 8). Figure 7-15 Drive with odd-numbered gearboxes without position tracking In this case, for each encoder overflow, there is a load-side offset of 1/3 of a load revolution, after three encoder overflows, the motor and load zero position coincide again.
Page 356 Basic functions 7.21 Position tracking Measuring gear configuration (p0411) The following points can be set by configuring this parameter: ● p0411.0: Activation of position tracking ● p0411.1: Setting the axis type (linear axis or rotary axis) Here, a rotary axis refers to a modulo axis (modulo offset can be activated through higher-level controller or EPOS).
Page 357 Basic functions 7.21 Position tracking Note The position can only be reproduced if, in the powered-down state, the encoder was moved through less than half of the range that it can represent. For the standard EQN1325 encoder, this is 2048 revolutions or half a revolution for singleturn encoders. Note The ratio stamped on the gear rating plate is often just a rounded-off value (e.g.
Page 358 7.21 Position tracking Function diagrams (see SINAMICS S120/S150 List Manual) Encoder evaluation - Position and temperature sensing, encoders 1 ... 3 • 4704 Overview of important parameters (see SINAMICS S120/S150 List Manual) Gear unit type selection • p0402 Measuring gear configuration •...
Page 359: Creating An Encoder As Drive Object
● Project with one CU320-2 The project can also be created OFFLINE. A description of this can be found in Section "Commissioning" in the SINAMICS S120 Commissioning Manual. Connection conditions for ENCODER drive objects ● All encoders that can be assigned to a drive can be used.
Page 360: Creating An Encoder Drive Object
Basic functions 7.22 Creating an encoder as drive object 7.22.2 Creating an ENCODER drive object Creating/inserting an ENCODER drive object is described using a CU320-2 as an example. In this example, the project is created OFFLINE with the STARTER commissioning tool. In the project navigator, you can find the selection of the ENCODER drive object between "Input/output components"...
Page 361 Basic functions 7.22 Creating an encoder as drive object Procedure 1. Double-click "Insert encoder". The "Insert Encoder" dialog box opens. 2. Enter a name for the encoder in the "Name:" input field. 3. Click the "Drive object no." button. 4. Enter a new drive object number in the "Drive object no." input field. All assigned drive object numbers are shown in the "Assigned drive object no."...
Page 362: Terminal Module 41
Basic functions 7.23 Terminal Module 41 7.23 Terminal Module 41 Terminal Module 41 is characterized by the following features: ● Pulse encoder emulation, TTL signals according to the RS422 standard (X520) ● 1 analog input ● 4 digital inputs ● 4 bidirectional digital inputs/outputs Terminal Module 41 (TM41) emulates incremental encoder signals (TTL) - and outputs them via interface X520.
Page 363: Sinamics Mode
Basic functions 7.23 Terminal Module 41 Special features ● PROFIdrive telegram 3 ● Own control word (r0898) ● Own status word (r0899) ● Sequence control (refer to function diagram 9682) ● Settable zero mark position (p4426) ● Operating display (r0002) 7.23.2 SINAMICS mode The SINAMICS mode of the incremental encoder emulation is set using parameter p4400 =...
Page 364 Basic functions 7.23 Terminal Module 41 Special features ● The runtime of the encoder actual position value up to the pulse encoder emulation can be compensated using the deadtime compensation with p4421. ● The pulse number ratio between the encoder to be emulated and the emulating TM41 can be set as required.
Page 365: Zero Mark Emulation (Sinamics Mode)
Basic functions 7.23 Terminal Module 41 7.23.3 Zero mark emulation (SINAMICS mode) The referencing mode set for the leading encoder is used to determine the zero mark position for the zero mark emulation of the TM41. Possible referencing modes are: ●...
Page 366 Basic functions 7.23 Terminal Module 41 Example of a pulse number step-up ratio The leading encoder emits 12 pulses and a zero mark per revolution. However, the application requires 32 pulses per revolution. By setting p4408 and p4418, the required 32 pulses a revolution are available at X520 of the TM41.
Page 367 Basic functions 7.23 Terminal Module 41 Example of a pulse number step-up ratio with several zero positions If the original encoder has several zero positions/marks per revolution (e.g. resolver with several pole pairs), the correct zero mark must be selected via an additional condition. Otherwise, there is no reproducible relationship between the position of the original encoder and the zero mark position of the encoder emulation.
Page 368: Synchronization Of The Zero Marks (Sinamics Mode)
Basic functions 7.23 Terminal Module 41 Enabling the zero mark output of the TM41 For p4401.1 = 1, the zero mark from the leading encoder is also output from the TM41. For p4401.1 = 0, TM41 outputs the zero pulse at the position at which the TM41 was located when switching on.
Page 369: Limit Frequencies For Tm41
Basic functions 7.23 Terminal Module 41 Layout of the synchronization: ● After the SINAMICS system has been powered up, the TM41 drive object requests the zero position of the leading encoder via the encoder interface. The encoder emulation follows the movements of the leading encoder and outputs the track signals A/B. At this point in time, no zero mark is output.
Page 370: Example In The Sinamics Mode
Basic functions 7.23 Terminal Module 41 Table 7- 14 Maximum output frequencies for TM41 = 1024 kHz (p4401.7 = 1) Higher setpoint resolution activated (p4401.5 = 1) Sampling time p4099[3] 125 µs 250 µs 500 µs Resolution 0.122 Hz 0.061 Hz 0.031 Hz SINAMICS mode Output frequency f...
Page 371: Function Diagrams And Parameters
BICO with a digital output (TM41 or CU) which can be read by the external control system. 7.23.7 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Terminal Module 41 (TM41) - Overview • 9659 Terminal Module 41 (TM41) - digital inputs, isolated (DI 0 ... DI 3) •...
Page 372 Basic functions 7.23 Terminal Module 41 Overview of important parameters (see SINAMICS S120/S150 List Manual) General TM41 status display • r0002 • p0408 TM41 encoder emulation pulse number • p0418 TM41 encoder emulation fine resolution Gx_XACT1 • p4099 TM41 inputs/outputs sampling time •...
Page 373: Upgrade The Firmware And Project
Basic functions 7.24 Upgrade the firmware and project 7.24 Upgrade the firmware and project 7.24.1 Overview The firmware must be upgraded, if in a more recent firmware version, an extended functional scope is available that you would like to use. In principle, upgrading the firmware functions the same for both the CU310-2 and the CU320-2.
Page 374 Basic functions 7.24 Upgrade the firmware and project Once the project has been downloaded or automatic configuration has been carried out, the firmware is automatically upgraded on all the connected DRIVE-CLiQ components. This upgrades all DRIVE-CLiQ components to the firmware releases that match the memory card. Update This operation can take several minutes.
Page 375: Updating The Firmware Via The Web Server
Basic functions 7.24 Upgrade the firmware and project 7.24.2 Updating the firmware via the Web server 7.24.2.1 Overview As of firmware version V4.6, you can update the data on your memory card directly via an Internet connection with the aid of the Web server. You can use this to transfer configuration data and the latest firmware to the memory card.
Page 376 Basic functions 7.24 Upgrade the firmware and project Calling the Manage config display area Click the "Manage Config" entry in the navigation. The "Manage config" area is then displayed on the right in the Internet browser. Figure 7-24 Web server display area: Manag Config; the status on the right is only displayed following an action You can send new data or restore the previous update via this display area.
Page 377 Basic functions 7.24 Upgrade the firmware and project Firmware and configuration can also be updated together. For this reason, the "select a file" field is present twice. The following description refers to the separate update of the firmware or the configuration: 1.
Page 378: Updating The Firmware
Basic functions 7.24 Upgrade the firmware and project Restoring the last update The current firmware version is displayed at "Restore last update" in the "Manage config" area. If an older version of the firmware is available as a backup, this version is also displayed with its ID and in this case, you can downgrade the firmware back to this backup version.
Page 379 Basic functions 7.24 Upgrade the firmware and project Updating the firmware via the Web server to the latest version 1. Update the data on the memory card: – Start the Web server (Page 399) – Transfer the firmware via the Web server to the memory card (Page 375) After the update of the data on the memory card, the new data is unzipped and checked automatically.
Page 380: Downgrade Lock
– In the project navigator, right-click "Drive unit" > "Target device" > "Update device version / device type" – Select the required firmware version, e.g. version "SINAMICS S120 firmware version 4.x" > "Change version" 4. Transfer the project into the new hardware –...
Page 381: Protection Against Power Failure While Updating Via The Web Server
Basic functions 7.24 Upgrade the firmware and project 7.24.5 Protection against power failure while updating via the Web server To ensure data protection against power failure updating via the Web server, as of firmware V4.6, the data on the working partition is duplicated on the memory card on the backup partition.
Page 382: Pulse/Direction Interface
• More information on the Control Unit CU320-2 and the SMC30 is provided in the SINAMICS S120 Control Units Manual. • More information on the Control Unit CU310-2 is provided in the SINAMICS S120 AC Drive Manual. Application: Speed-controlled drive The drive is subject to speed control when operating on the controller.
Page 383 STARTER configuration wizard in the "Encoder Data" dialog box. Note The pulse/direction interface is activated using p0405.5 = 1 (e.g. via the Expert list of STARTER). Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive, commissioning parameter filter • p0010 CO: Actual speed value unsmoothed •...
Page 384: Derating Function For Chassis Units
Units that are connected in parallel operate in the same manner as single units. The dependency of the output current on the pulse frequency for the chassis power units is described in the SINAMICS S120 Chassis Power Units Manual. Operating principle...
Page 385: Connecting The Motors In Parallel
Basic functions 7.27 Connecting the motors in parallel 7.27 Connecting the motors in parallel For simple commissioning of group drives (a number of identical motors operating on one power unit), the number of parallel-connected motors can be entered via STARTER (only for vector control) or via the expert list (for servo and vector control) (p0306).
Page 386 Basic functions 7.27 Connecting the motors in parallel Parameter p0306 is assigned in a STARTER commissioning screen. When the subsequent parameters are set, p0306 is included in the calculation of the current limit (p0640) and in the reference current (p2002). Parameter p0306 has a value range of 1 to 50, and is it dependent on the motor data set (MDS).
Page 387 The motor must then be decoupled from the parallel grouping. Parameter p0306 is changed by the DDS/MDS changeover. Overview of important parameters (see SINAMICS S120/S150 List Manual) Motor type selection • p0300[0...n] Number of motors connected in parallel: •...
Page 388: Web Server
Basic functions 7.28 Web server 7.28 Web server 7.28.1 Overview The Web server provides information on a SINAMICS device via its Web pages. Access is via an Internet browser. The information on the Web pages is shown in English. For information about message texts, drive object states and parameter names, there is a language selection which allows a switchover of the display to the languages that are stored on the memory card.
Page 389 2. Select drive type "S120" in the search screen and "Web server" as the special feature. 3. Click on the desired tooltip in the list of results. The corresponding tooltip is then displayed in the SIEMENS Industry Online Support. Via the tooltip you can then download a detailed description as a PDF file.
Page 390: Requirements And Addressing
Basic functions 7.28 Web server 7.28.2 Requirements and addressing Preconditions The Web server is available for all CU310-2 and CU320-2 Control Units via the LAN interface. For Control Units with PROFINET interface, the Web server is also available via this interface. Addressing The individual drives are addressed in the Web server via the IP address.
Page 391: Configuring The Web Server
Basic functions 7.28 Web server 7.28.3 Configuring the Web server 7.28.3.1 Performing the basic configuration The configuration of the Web server is performed via the "Configure Web Server" dialog box of STARTER. Basically, the configuration can be performed in online mode as well as in offline mode of STARTER.
Page 392 Basic functions 7.28 Web server Restricting Web server access to a secure connection Using the default configuration of the Web server, you can access SINAMICS data via an HTTP connection as well as via the secure HTTPS connection. Using the configuration, access can be restricted so that only the secure HTTPS connection is possible.
Page 393: Assigning A Password
Basic functions 7.28 Web server 7.28.3.2 Assigning a password Requirement The configuration dialog box for the Web server has been opened in STARTER and the Web server is activated (see Basic configuration (Page 391)). Figure 7-27 Configuring the Web server with default settings During the first commissioning, the password can also be assigned via the Web server ("Setup"...
Page 394 Basic functions 7.28 Web server Enabling users The "SINAMICS" and "Administrator" users can be enabled with their specific rights. It is also possible to specify whether a password protection should be active for the respective user. The "Administrator" user has the full rights as standard. However, only restricted access rights apply for the standard "SINAMICS"...
Page 395 Basic functions 7.28 Web server 6. Click "OK" to confirm the input. If both password entries were identical, the input dialog box is closed. If both entries do not match, the input dialog box remains open and an error message is displayed. At the same time, the two entries in the input dialog are cleared.
Page 396: Access Protection And Rights
Basic functions 7.28 Web server 7.28.4 Access protection and rights 7.28.4.1 SINAMICS access protection The specified settings of the Write and know-how protection (Page 892) including password protection also apply for access via the Web server to the drive parameters and configuration.
Page 397 Basic functions 7.28 Web server However, the following access rights apply for a commissioned drive: Functions of the Web server Access rights SINAMICS Administrator Start page / password input Diagnostic pages (version overview, DO state, alarms, – diagnostic buffer) Resetting the fault memory –...
Page 398: Access Rights For Parameter Lists
Basic functions 7.28 Web server 7.28.4.3 Access rights for parameter lists Default rights for parameter lists Three standard rights are specified for the user-defined parameter lists: Standard right Explanation Change The user can create, change and delete the list. Read The user can read the parameters from the list.
Page 399: Starting The Web Server
Basic functions 7.28 Web server 5. Click "Access". The "Access rights" dialog box opens with the access settings of the parameter list. Figure 7-29 Access rights The preset access rights can be seen for the "SINAMICS" and the "Administrator" users. The checkbox is selected for the activated access rights.
Page 400 Basic functions 7.28 Web server Start 1. Enter the IP address of your SINAMICS drive in the address line of your Internet browser. Note Security In addition to a normal connection to your drive, secure data transfer via HTTPS is also possible.
Page 401 Basic functions 7.28 Web server 3. Enter the login name and password at the top left. 4. Click "Login" to confirm the input. Figure 7-31 Start page after logging in After logging in you can call other display areas. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 402 Basic functions 7.28 Web server Areas of the Web server display The display of the Web server is divided into two main areas: ● Navigation You can select the various display areas directly by clicking in the navigation. ● Display area Different information is displayed in tables in the various areas.
Page 403: Displaying Device Information
Basic functions 7.28 Web server Logout If you no longer require the Web server or want to block the detailed display areas, you can log out. Click "Logout" at the top left in the navigation. 7.28.6 Displaying device information The most important device information can be displayed with the aid of the Web server. Displaying information Click the "Device Info"...
Page 404: Displaying Diagnostic Functions
Basic functions 7.28 Web server 7.28.7 Displaying diagnostic functions 7.28.7.1 Status and operating display of the drive object The status and operating display of the drive object can be called with the aid of the Web server. Displaying the diagnostic buffer 1.
Page 405: Loading A Multiple Trace
Note Activation and parameterization of the multiple trace Detailed information for the activation and parameterization of a multiple trace is contained in the "Multiple trace" section of the SINAMICS S120 commissioning manual and in the STARTER online help. Drive functions...
Page 406 Basic functions 7.28 Web server Loading trace files from the memory card 1. Click the "Diagnostics" entry in the navigation. 2. Click the "Trace files" tab. A list of loadable trace files is then displayed in the "Trace files" tab: Figure 7-34 Loading trace files The file name is displayed for each trace file.
Page 407: Displaying Messages
Basic functions 7.28 Web server 7.28.8 Displaying messages 7.28.8.1 Displaying the diagnostic buffer You can display the diagnostic buffer with the aid of the Web server. Requirements ● Functional drive project ● Web server has been started ● PG/PC is connected to the Control Unit (target device) Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 408 Basic functions 7.28 Web server Displaying the diagnostic buffer 1. Click the "Messages and Logs" entry in the navigation. 2. Click the "Diagbuffer" tab. The diagnostic buffer is then displayed on the "Diagbuffer" tab. Figure 7-35 Displaying the diagnostic buffer The following information is displayed: Column Explanation...
Page 409: Displaying Faults And Alarms
Basic functions 7.28 Web server 7.28.8.2 Displaying faults and alarms You can display and acknowledge the current faults and alarms with the aid of the Web server. Displaying alarm messages 1. Click the "Messages and Logs" entry in the navigation. 2.
Page 410: Displaying And Changing Drive Parameters
Basic functions 7.28 Web server 7.28.9 Displaying and changing drive parameters 7.28.9.1 Creating a parameter list Access to all drive parameters is possible with the Web server user-defined parameter lists (including level 4, DCC and OA parameters). Up to 20 parameter lists, each with up to 40 parameters, can be managed in the Web server. The created parameter lists are saved on the memory card of the drive.
Page 411 Basic functions 7.28 Web server Creating a parameter list in the Web server 1. Click the "Parameter" entry in the navigation. The "Parameter" area is then displayed on the right in the Internet browser. The "Define" tab is active when this display area is called. Figure 7-37 Drive parameters - defining the parameter list 2.
Page 412 Basic functions 7.28 Web server 5. Select the drive object in the "DO" drop-down list. Figure 7-39 Drive parameters - specifying the parameter list 6. Enter the parameter of the drive object in the following input fields (e.g. 601:0). – First field: Parameter number –...
Page 413: Deleting A Parameter List
Basic functions 7.28 Web server 7.28.9.2 Deleting a parameter list Either the entire parameter list or individual lines of a selected parameter list can be deleted in the "Parameter" display area of the Web server. Note You require the appropriate change rights to delete the selected parameter list (see Access rights for parameter lists (Page 398)).
Page 414 Basic functions 7.28 Web server Deleting entries from the parameter list 1. In the "List name" drop-down list, select the parameter list from which you want to delete selected list elements (lines). 2. Click the "DEL" button in the parameter list in front of the line that you want to delete. Figure 7-41 Drive parameters - deleting an individual list If you have the required change rights for this parameter list, the line is deleted.
Page 415: Changing Drive Parameters
Basic functions 7.28 Web server 7.28.9.3 Changing drive parameters The parameter values are displayed via the tab in the "Parameter" display area. Each list created is displayed as a separate tab. The parameter display is updated regularly. To change the parameter values of a parameter list, you need the appropriate change rights (see Access rights for parameter lists (Page 398)).
Page 416 Basic functions 7.28 Web server Changing parameter values 1. Click the "Parameter" entry in the navigation. 2. Click the tab of the required parameter list in the "Parameter" display area. The parameter list is displayed. Figure 7-42 Changing drive parameters 3.
Page 417: Updating The Firmware Or Configuration
Basic functions 7.28 Web server 4. Enter the new parameter value in the "New Value" input field. Then click "Submit" to confirm the input. If this value is not possible or not permitted, the dialog box remains open. A message text is also displayed.
Page 418: Certificates For The Secure Data Transfer
Basic functions 7.28 Web server 5. If the know-how protection was not activated, you can now finely adjust the configuration for the individual drives. If the know-how protection was activated, you require a password for the fine adjustment of all parameters on the individual drives that are not listed in the exception list. Note You can find detailed information about the following parameters in the SINAMICS S120/S150 List Manual in Section "Parameters for write protection and know-how...
Page 419 Basic functions 7.28 Web server The pair of keys is created individually for the appropriate SINAMICS drive interface. This ensures that the address requested matches the SINAMICS drive reached during the HTTPS access. Note Encrypted access to the SINAMICS drive is only possible with the interface identifier (name or IP address) specified when the key was created.
Page 420: Using The Certificate Default Configuration
Basic functions 7.28 Web server 7.28.11.2 Using the certificate default configuration Note Security The use of a default configuration described in the following is not the most secure way of transferring data to your drive with the Web server. It should therefore only be used if no self-created or purchased certificate can be used. In the delivery state, there is a standard root certificate and a private key stored on the memory card of your device as a file.
Page 421: Using Self-Created Certificates
Basic functions 7.28 Web server 7.28.11.3 Using self-created certificates If no Certification Authority (CA) is available in your organization, you can follow the steps described in the following section. The key files are created with the aid of the "OpenSSL" program and an EXE file.
Page 422 Basic functions 7.28 Web server 5. The used root or server certificate must be loaded to the browser of your PC. It is recommended that you first assign a logical name to the certificate. – Make a backup copy of your certificate and rename the copy, e.g. as "SINAMICS.crt". –...
Page 423: Using Certificates From A Certification Authority
Basic functions 7.28 Web server 7.28.11.4 Using certificates from a certification authority You can also purchase certificates for a secure data backup from a certification authority. In this case, a server certificate and a private server key are supplied. Sequence 1.
Page 424: Overview Of Important Parameters
Basic functions 7.28 Web server 7.28.12 Overview of important parameters IE IP address of active station • r8911 PN IP address of active station • r8931 Web server configuration • p8986 Web server port assignment • p8987[0...1] Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 425: Function Modules
Function modules A function module is a functional expansion of a drive project that can be activated during commissioning. Examples of function modules: ● Technology controller ● Setpoint channel ● Extended brake control Function modules have their own parameters and, in some cases, also their own alarm and fault messages.
Page 426 Function modules Commissioning with STARTER In the commissioning screens of STARTER, you can either directly or indirectly activate the function modules (e.g. technology controller). When the basic positioner (EPOS) is activated, for example, the position control is also automatically activated. You can also activate function modules in STARTER under "Configuration"...
Page 427 Function modules Commissioning via parameter (only with BOP20) Function modules can be activated/deactivated using parameter p0108 of the Control Unit (CU). Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • p0108[0..23] Main component identification via LED •...
Page 428: Technology Controller
Function modules 8.1 Technology controller Technology controller Simple closed-loop control functions can be implemented with the technology controller, e.g.: ● Level control ● Temperature control ● Dancer roll position control ● Pressure control ● Flow control ● Simple closed-loop controls without higher-level controller ●...
Page 429 Function modules 8.1 Technology controller Commissioning with STARTER The "technology controller" function module can be activated via the commissioning wizard. You can check the actual configuration in parameter r0108.16. Application example: Level control The objective here is to maintain a constant level in the container. This is carried out by means of a variable-speed pump in conjunction with a sensor for measuring the level.
Page 430 Technology controller p-gain p2280 Determine by optimization p2285 Technology controller integral time p2285 Determine by optimization Function diagrams (see SINAMICS S120/S150 List Manual) Technology controller - Fixed values, binary selection (r0108.16 = 1 and • 7950 p2216 = 2) Technology controller - Fixed values, direct selection (r0108.16 = 1 and •...
Page 431 Function modules 8.1 Technology controller Overview of important parameters (see SINAMICS S120/S150 List Manual) Fixed setpoints CO: Technology controller fixed value 1 • p2201[0...n] CO: Technology controller fixed value 15 • p2215[0...n] BI: Technology controller fixed value selection bit 0 •...
Page 432 Function modules 8.1 Technology controller CI: Technology controller actual value • p2264[0...n] Technology controller actual value filter time constant • p2265 CO: Technology controller actual value after filter • r2266 Technology controller upper limit actual value • p2267 Technology controller lower limit actual value •...
Page 433: Extended Monitoring Functions
Function modules 8.2 Extended monitoring functions Extended monitoring functions When the extension is activated, the monitoring functions are extended as follows: ● Speed setpoint monitoring: |n_set| ≤ p2161 ● Speed setpoint monitoring: n_set > 0 ● Load monitoring Load monitoring This function monitors power transmission between the motor and the working machine.
Page 434 Signals and monitoring functions - Speed messages 2 • 8011 Signals and monitoring functions - Load monitoring (r0108.17 = 1) • 8013 Overview of important parameters (see SINAMICS S120/S150 List Manual) Load monitoring Load monitoring, response • p2181[0...n] Load monitoring, speed threshold 1 •...
Page 435: Extended Brake Control
Function modules 8.3 Extended Brake Control Extended Brake Control Features ● Forced brake release (p0855, p1215) ● Closing of brake for a 1 signal "unconditionally close holding brake" (p0858) ● Binector inputs for opening or closing the brake (p1218, p1219) ●...
Page 436 Function modules 8.3 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. NOTICE Damage to the holding brake through incorrect parameterization If parameter p1215 = 0 (no brake available) is set when a brake is present, the drive runs...
Page 437 Function modules 8.3 Extended Brake Control Examples Starting against a closed brake When the device is switched on, the setpoint is enabled immediately (if the required enable signals are issued), even if the brake has not yet been released (p1152 = 1). The factory setting p1152 = r0899.15 must be separated here.
Page 438 Function modules 8.3 Extended Brake Control Now, only the brake opening time will delay the motor starting to rotate following activation of the master switch. If the master switch is moved (deflected), then there is a "setpoint enable from the control" (bit interconnected with p1142, r1229.3, p1224.0). The speed controller is enabled immediately.
Page 439 B_ZSW.10 Brake AND logic operation result r1229.11 B_ZSW.11 Function diagrams (see SINAMICS S120/S150 List Manual) Brake control - Extended brake control, standstill detection (r0108.14 = 1) • 2704 Brake control - Extended brake control / open/close brake (r0108.14 = 1) •...
Page 440 Function modules 8.3 Extended Brake Control Overview of important parameters (see SINAMICS S120/S150 List Manual) Extended brake control • r0108.14 CO/BO: Status word, sequence control • r0899 Standstill monitoring CO: Speed setpoint before the setpoint filter • r0060 CO: Actual speed smoothed (servo) •...
Page 441: Braking Module External
Function modules 8.4 Braking Module External Braking Module External This function module can be activated via the infeed commissioning wizard. You can check the current configuration in parameter r0108.26. The appropriate binectors must be interconnected via digital inputs/outputs (e.g. Control Unit, TM31 or TB30) with the Braking Module.
Page 442 Note 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) Drive object function module; Braking Module External • r0108.26 Braking Module number of modules connected in parallel •...
Page 443: Cooling Unit
Function modules 8.5 Cooling unit Cooling unit A cooling unit (RKA) is responsible for the cooling and the (non) conductivity in the de- ionized water cooling circuit of a liquid-cooled power unit. The cooling unit is controlled and monitored from a PLC that is part of the cooling unit. The "cooling unit"...
Page 444 Auxiliaries - Cooling unit, control and feedback signals (r0108.28 = 1) • 9794 Auxiliaries - Cooling unit, sequence control (r0108.28 = 1) • 9795 Overview of important parameters (see SINAMICS S120/S150 List Manual) Missing enables; cooling unit ready missing • r0046.29 Drive object function module; cooling unit •...
Page 445: Extended Torque Control (Kt Estimator, Servo)
Function modules 8.6 Extended torque control (kT estimator, servo) Extended torque control (kT estimator, servo) The "extended torque control" function module comprises two modules - the k estimator and the compensation of the voltage emulation error of the drive converter. As a consequence, the torque accuracy is increased.
Page 446 (p1752). The k estimator is activated using p1780.3 and the voltage compensation using p1780.8. Function diagrams (see SINAMICS S120/S150 List Manual) Technology functions - kT estimator • 7008 Drive functions...
Page 447 Function modules 8.6 Extended torque control (kT estimator, servo) Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module; extended torque control • r0108.1 Motor model adaptation configuration; selects motor model PEM k • p1780.3 adaptation Motor model adaptation configuration; compensation of the voltage •...
Page 448: Closed-Loop Position Control
Function modules 8.7 Closed-loop position control Closed-loop position control 8.7.1 General features The position controller essentially comprises the following parts: ● Position actual value conditioning (including the lower-level measuring probe evaluation and reference mark search) ● Position controller (including limits, adaptation and the pre-control calculation) ●...
Page 449 Function modules 8.7 Closed-loop position control The following interconnections are automatically established after the assignment has been made. ● p0480[0] (G1_STW) = encoder control word r2520[0] ● p0480[1] (G2_STW) = encoder control word r2520[1] ● p0480[2] (G3_STW) = encoder control word r2520[2] Figure 8-6 Actual position value sensing with rotary encoders The link between the physical variables and the neutral length unit LU is established via...
Page 450 Function modules 8.7 Closed-loop position control Figure 8-7 Actual position 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 451: Indexed Actual Value Acquisition
Function modules 8.7 Closed-loop position control A correction can be made using connector input p2513 (correction value, actual position value processing) and a positive edge at binector input p2512 (activates the correction value). When the "basic positioning" function module is activated, p2513 is automatically interconnected with r2685 (EPOS correction value) and p2512 with r2684.7 (activate correction).
Page 452 Function modules 8.7 Closed-loop position control The measuring probe evaluation can be enabled for the encoder evaluation x, which is not assigned to position control, via p2509[x]. The signal sources are assigned via p2510[0...3], the edge evaluation is set via p2511[0...3]. The measured value is available in r2523[x] if, in the status word for encoder x (encoder 0: r2526.0..9, encoder1: 2627.0..2, encoder2: r2628.0..2, encoder3: r2529.0..2) the "Measurement value valid"...
Page 453: Load Gear Position Tracking
Function modules 8.7 Closed-loop position control 8.7.2.4 Load gear position tracking Position tracking enables the load position to be reproduced when using gearboxes. It can also be used to extend the position area. Position tracking for load gear, functions in the same way as position tracking for the measuring gear (see "Measuring gear position tracking").
Page 454 Function modules 8.7 Closed-loop position control Example of position area extension With absolute encoders without position tracking, it must be ensured that the traversing range around 0 is less than half the encoder range, because beyond this range, no unique reference remains after switching on and off (see description on parameter p2507).
Page 455 Function modules 8.7 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; the modulo offset can be activated from a higher-level controller or EPOS.
Page 456 Function modules 8.7 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 six 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 457 Function modules 8.7 Closed-loop position control Multiple drive data sets Position tracking of the load gear can be activated in multiple drive data sets. ● The load gear is DDS-dependent. ● Load gear position tracking is computed only for the active drive data set and is EDS- dependent.
Page 458 Function modules 8.7 Closed-loop position control Table 8- 4 DDS changeover with load gear position tracking DDS p0186 p0187 p0188 p0189 Encoder Mechanical Position Changeover response conditions tracking (MDS) (encoder1) (encoder2) (encoder3) position p2504/ Load gear control p2505/ p2502 p2506/ p2503 EDS0 EDS1...
Page 459 Function modules 8.7 Closed-loop position control DDS p0186 p0187 p0188 p0189 Encoder Mechanical Position Changeover response conditions tracking (MDS) (encoder1) (encoder2) (encoder3) position p2504/ Load gear control p2505/ p2502 p2506/ p2503 EDS0 EDS1 EDS2 encoder_1 xxx Deactivate Pulse inhibit/operation: Referencing bit is reset. Position tracking for EDS0 is no longer calculated and, as a consequence,...
Page 460: Commissioning Position Tracking Load Gear Using Starter
Function modules 8.7 Closed-loop position control Definitions: Position tracking is continued ● The behavior of the position tracking during the changeover is the same as it would be if the data set had not even been changed. Position tracking is newly initiated ●...
Page 461: Function Diagrams And Parameters
• 4704 Encoder evaluation - Actual speed value and pole position sensing, motor • 4710 encoder (encoder1) Overview of important parameters (see SINAMICS S120/S150 List Manual) LR encoder assignment • p2502[0...n] LR length unit LU per 10 mm • p2503[0...n] LR motor/load motor revolutions •...
Page 462: Position Controller
● Adaptation (p2537, p2538) Note We only recommend that experts use the position controller functions without using the basic positioner. Function diagrams (see SINAMICS S120/S150 List Manual) Position control - Position controller (r0108.3 = 1) • 4015 Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 463: Monitoring Functions
Function modules 8.7 Closed-loop position control Overview of important parameters (see SINAMICS S120/S150 List Manual) LR position setpoint filter time constants • p2533[0...n] LR speed feedforward control factor • p2534[0...n] LR speed feedforward control balancing filter dead time • p2535[0...n] LR speed feedforward control balancing filter PT1 •...
Page 464 ● Positioning monitoring (p2544, p2545) ● Dynamic following error monitoring (p2546, r2563) ● Cam controllers (p2547, p2548, p2683.8, p2683.9) Function diagrams (see SINAMICS S120/S150 List Manual) Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1) • 4020 Position control - Dynamic following error monitoring, cam controllers •...
Page 465: Measuring Probe Evaluation And Reference Mark Search
Function modules 8.7 Closed-loop position control Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: LR position setpoint • p2530 CI: LR actual position value • p2532 LR standstill window • p2542 LR standstill monitoring time • p2543 LR positioning window •...
Page 466 Encoder evaluation - Encoder interface, receive signals, encoders 1 ... 3 • 4720 Encoder evaluation - Encoder interface, send signals, encoders 1 ... 3 • 4730 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: LR activate reference mark search • p2508 BI: LR activate measuring probe evaluation •...
Page 467: Commissioning
Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1) • 4020 Position control - Dynamic following error monitoring, cam controllers • 4025 (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • r0108 CI: Speed controller, speed setpoint 2 • p1160[0...n] BI: Position control enable 2 •...
Page 468: Basic Positioner
Function modules 8.8 Basic positioner Basic positioner The basic positioner (EPOS) 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). EPOS is available for servo control and vector control. For the basic positioner functionality, STARTER provides graphic guides through the configuration, commissioning and diagnostic functions.
Page 469 Function modules 8.8 Basic positioner Functions of the basic positioner In addition, the following functions can be carried out using the basic positioner: ● Mechanical system – Backlash compensation – Modulo offset – Position tracking of the load gear (motor encoder) with absolute encoders ●...
Page 470: Mechanical System
Function modules 8.8 Basic positioner ● Jog mode – Position-controlled traversing of the axis with the switchable modes "Endless position- controlled" or "Incremental jog" (to traverse an "increment") ● Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the selection of which automatically establishes the internal "connection"...
Page 471 Function modules 8.8 Basic positioner Table 8- 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 8-14 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 472: Limits
EPOS - Interpolator (r0108.4 = 1) • 3635 Position control - Actual position value processing (r0108.3 = 1) • 4010 Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS modulo offset modulo range • p2576 BI: EPOS modulo offset activation •...
Page 473 Function modules 8.8 Basic positioner Maximum velocity The maximum velocity of an axis is defined using parameter p2571. The velocity should not be set to be greater than the maximum speeds in r1084 and r1087. The drive is limited to this velocity if a higher velocity is specified or programmed via the override (p2646) for the reference point approach or is programmed in the traversing block.
Page 474 Function modules 8.8 Basic positioner Software limit switch The connector inputs p2578 (software limit switch minus) and p2579 (software limit switch plus) limit the position setpoint if the following prerequisites are fulfilled: ● The software limit switches are activated (p2582 = "1") ●...
Page 475 Function modules 8.8 Basic positioner Jerk limitation can be used to achieve a ramp-like change of both variables, which ensures "smooth" acceleration and braking as shown in the diagram below. Ideally, acceleration and deceleration should be linear. Figure 8-16 Activated jerk limitation The maximum gradient (r ) can be set in parameter p2574 (jerk limitation) in the unit LU/s for both acceleration and braking.
Page 476 Function modules 8.8 Basic positioner Function diagrams (see SINAMICS S120/S150 List Manual) • 3630 EPOS - Traversing range limits (r0108.4 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS maximum speed • p2571 EPOS maximum acceleration • p2572 EPOS maximum delay •...
Page 477: Epos And Safe Setpoint Velocity Limitation
Function modules 8.8 Basic positioner 8.8.3 EPOS and safe setpoint velocity limitation If safe speed monitoring (SLS) or the safe direction motion monitoring (SDI) is also to be used at the same time as the EPOS positioning function, EPOS must be informed about the activated monitoring limits.
Page 478 Function modules 8.8 Basic positioner 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 479 Function modules 8.8 Basic positioner NOTICE Adjustment only in a defined encoder range During adjustment with the rotary absolute encoder, a range is aligned symmetrically around the zero point with half the encoder range within which the position is restored after switch off/on.
Page 480 Function modules 8.8 Basic positioner Reference point approach for incremental measurement systems With the reference point approach (in the case of an incremental measuring system), the drive is moved to its reference point. In so doing, the drive itself controls and monitors the complete referencing cycle.
Page 481 Function modules 8.8 Basic positioner Step 1: Travel to the reference cam If there is no reference cam present (p2607 = 0), go to step 2. When the referencing process is started, the drive accelerates at maximum acceleration (p2572) to the reference cam approach velocity (p2605). The direction of the approach is determined by the signal of binector input p2604 (reference point approach start direction).
Page 482 Function modules 8.8 Basic positioner Step 2: Synchronization to the reference zero mark (encoder zero mark or external zero mark) Reference cam available (p2607 = 1): In step 2, the drive accelerates to the velocity specified in p2608 (zero mark approach velocity) in the direction opposite to that specified using binector input p2604 (reference point approach start direction).
Page 483 Function modules 8.8 Basic positioner Step 3: Travel to reference point Travel to the reference point is started when the drive has successfully synchronized to the reference zero mark (refer to step 2). Once the reference zero mark has been detected, the drive accelerates on-the-fly to the reference point approach velocity set in parameter p2611.
Page 484 Function modules 8.8 Basic positioner The probe pulse is used to supply connector input p2660 (referencing measured value) with the measured value via parameter r2523. The validity of the measurement is reported to binector input p2661 (measurement valid feedback) via r2526.2. Note The following must always apply to the "Flying referencing mode"...
Page 485 Function modules 8.8 Basic positioner Instructions for data set changeover Using drive data set changeover (DDS), motor data sets (MDS, p0186) and encoder data sets (EDS, p0187 to p0189) can be changed over. The following table shows when the reference bit (r2684.11) or the status of the adjustment with absolute encoders (p2507) is reset.
Page 486 (p2507) is not reset in addition, because the encoder data set is different from the original. xxx, yyy, zzz: different mechanical conditions Function diagrams (see SINAMICS S120/S150 List Manual) EPOS - Referencing / reference point approach mode (r0108.4 = 1) •...
Page 487: Referencing With Several Zero Marks Per Revolution
Function modules 8.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) Equivalent zero mark input terminal • p0494[0...n] Equivalent zero mark input terminal • p0495 BI: EPOS set reference point • p2596 BI: EPOS referencing type selection •...
Page 488 Function modules 8.8 Basic positioner By using a reduction gear between the motor and the load (spindle), the drive detects several revolutions of the motor per mechanical revolution of the load - and therefore also several encoder zero marks. The higher-level control/position control when referencing requires a unique reference between the encoder zero mark and the machine axis (load/spindle).
Page 489 Function modules 8.8 Basic positioner Evaluating the BERO signal You have the option of either evaluating the positive or negative signal edge of the BERO signal: ● Positive edge (factory setting) For referencing with a positive edge evaluation of the BERO signal, the encoder interface supplies the position of that reference mark, which is directly detected after the positive edge of the BERO signal.
Page 490: Safely Referencing Under Epos
Function modules 8.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) Probe 1, input terminal • p0488 Probe 2, input terminal • p0489 Zero mark selection, input terminal • p0493 Equivalent zero mark, input terminal • p0495 Probe, input terminal •...
Page 491 Function modules 8.8 Basic positioner The ratio for the gearbox used must be parameterized in p9521/p9522 for Safety Integrated Extended functions and in p2504/p2505 for EPOS. For a gearbox to convert 2 motor revolutions to 1 load revolution, set p9521 = 1, p9522 = 2, p2504 = 2 and p2505 = 1. Example 2: Safety Integrated Extended functions monitors the linear axis using the rotating motor encoder.
Page 492: Traversing Blocks
Function modules 8.8 Basic positioner Using the spindle pitch parameterized in parameter p9520, rotary motion is converted into linear motion. EPOS does not take into account spindle pitch. Instead, the LUs are defined in the number of load revolutions in p2506. The load revolutions refer to the movement of the ball screw, that is, the motion after the gearbox.
Page 493 Function modules 8.8 Basic positioner Parameter sets Traversing blocks are parameterized using parameter sets that have a fixed structure: ● Traversing block number (p2616[0...63]) Every traversing block must be assigned a traversing block number (in STARTER "No."). The traversing blocks are executed in the sequence of the traversing block numbers. Numbers containing the value "-1"...
Page 494 Function modules 8.8 Basic positioner 0100, CONTINUE_EXTERNAL_WAIT Control signal "External block change" can be used to trigger a flying changeover to the next task at any time during the traveling phase. If "External block change" is not triggered, the axis remains in the parameterized target position until the signal is issued.
Page 495 Function modules 8.8 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] Deceleration 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 cycle.
Page 496 Function modules 8.8 Basic positioner ENDLESS POS, ENDLESS NEG Using these tasks, the axis is accelerated to the specified velocity and is moved until: ● A software limit switch is reached. ● A STOP cam signal has been issued. ● The traversing range limit is reached. ●...
Page 497 Function modules 8.8 Basic positioner The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator cycles p0115[5]. The minimum delay time is one interpolation cycle; this means that if a delay time is parameterized which is less than an interpolation cycle, then the system waits for one interpolation cycle.
Page 498: Travel To Fixed Stop
POSITION and WAIT task can be started. Function diagrams (see SINAMICS S120/S150 List Manual) EPOS - Traversing blocks mode (r0108.4 = 1) • 3616 Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS traversing block, block number • p2616 EPOS traversing block, position •...
Page 499 Function modules 8.8 Basic positioner Fixed stop is reached As soon as the axis comes into contact with the mechanical fixed stop, the closed-loop control in the drive raises the torque so that the axis can move on. The torque increases up to the value specified in the task and then remains constant.
Page 500 Note The fault can be changed into an alarm (see Section "Message configuration" in the SINAMICS S120 Commissioning Manual), which means that the drive program will advance to the next specified block. The target point must be sufficiently far inside the workpiece.
Page 501 EPOS - Travel to fixed stop (r0108.4 = 1) • 3617 Position control - Dynamic following error monitoring, cam controllers • 4025 (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) CI: Torque limit, upper/motoring, scaling • p1528 CI: Torque limit, lower/regenerative scaling • p1529 BI: Activate travel to fixed stop •...
Page 502: Direct Setpoint Input (Mdi)
– Positive edge on p2650 or – Positive edge on p2649 An overview of the setpoint transfer / direct setpoint specification can be found in the function diagram 3620 (see SINAMICS S120/S150 List Manual). Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 503 Function modules 8.8 Basic positioner Features ● Select direct setpoint specification (p2647) ● Select positioning type (p2648) ● Direction selection (p2651, p2652) ● Setting-up (p2653) ● Fixed setpoints – CO: Position setpoint (p2690) – CO: Velocity setpoint (p2691) – CO: Acceleration override (p2692) –...
Page 504 • 3618 EPOS - Direct setpoint specification / MDI mode, dynamic values (r0108.4 = 1) • 3620 EPOS - Direct setpoint specification / MDI mode (r0108.4 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: EPOS modulo offset activation •...
Page 505: Jog
● Incremental (p2587, p2588, p2591) Function diagrams (see SINAMICS S120/S150 List Manual) EPOS - Jog mode (r0108.4 = 1) • 3610 Overview of important parameters (see SINAMICS S120/S150 List Manual) EPOS jog 1 setpoint velocity • p2585 EPOS jog 2 setpoint velocity •...
Page 506: Status Signals
Function modules 8.8 Basic positioner 8.8.11 Status signals The status signals relevant to positioning mode are described below. Tracking mode active (r2683.0) The "Follow-up active mode" status signal shows that follow-up mode has been activated which can be done by binector input p2655 (follow-up mode) or by a fault. In this status, the position setpoint follows the actual position value, i.e.
Page 507 Function modules 8.8 Basic positioner Cam switching signal 1 (r2683.8) Cam switching signal 2 (r2683.9) The electronic cam function can be implemented using these signals. Cam switching signal 1 is 0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if the actual position is greater than p2548 - otherwise 1.
Page 508 Function modules 8.8 Basic positioner Acknowledgement, traversing block activated (r2684.12) A positive edge is used to acknowledge that in the mode "traversing blocks" a new traversing task or setpoint was transferred (the same signal level as binector input p2631 activate traversing task).
Page 509: Master/Slave Function For Active Infeed
Function modules 8.9 Master/slave function for Active Infeed Master/slave function for Active Infeed 8.9.1 Operating principle This function allows drives to be operated with a redundant infeed. Redundancy can only be implemented in the components specified below, such as Line Modules, Motor Modules and Control Units.
Page 510 Function modules 8.9 Master/slave function for Active Infeed Features ● The "master/slave" function only works in conjunction with Active Line Modules. ● One Active Line Module is the master and up to three others are slaves. ● If the master fails, a slave ALM takes on the role of the master. ●...
Page 511 Function modules 8.9 Master/slave function for Active Infeed Topology Figure 8-23 Topology structure and communications network based on PROFIBUS for master/slave operation with redundant infeeds (four infeed trains) Master/slave operation can be implemented for a maximum of four Active Line Modules. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 512: Types Of Communication
Function modules 8.9 Master/slave function for Active Infeed Electrical isolation of infeeds To successfully implement the structure, a means of electrically isolating the infeeds from the line supply is required in addition to the SINAMICS components. This is to prevent circulating currents from developing if the pulse patterns of the Active Line Modules are not synchronized.
Page 513: Description Of Functions
Function modules 8.9 Master/slave function for Active Infeed The number "1946" can be set in one of the parameters p2101[0..19] and p2101[x] set to "0" in order to block fault message F01946. This means that the drive will not shut down when one slave-to-slave communication node fails.
Page 514 Function modules 8.9 Master/slave function for Active Infeed Parameter p3422 (C capacitance) can be changed in operation. This means that the DC link closed-loop control can be directly adjusted via this parameter when the master/slave configuration changes, instead of changing the proportional gain of the V controller DC link (p3560).
Page 515 8.9 Master/slave function for Active Infeed Function diagrams The function of the "Master/slave infeeds" function module is shown in function diagrams 8940 and 8948 (see SINAMICS S120/S150 List Manual). Explanations for the function diagrams ● Current setpoint interconnection Parameter p3570 is used to connect the setpoint for the closed-loop current control (active current setpoint from the master).
Page 516: Commissioning
(see Section: Line and DC link identification (Page 31)) must be executed during commissioning for each infeed line. Please follow the instructions given in the SINAMICS S120 Commissioning Manual for the commissioning of infeeds. Once each individual infeed has been identified, the correct inductance for current control and the DC-link capacitance for voltage control are set.
Page 517: Function Diagrams And Parameters
Two masters must not be operated simultaneously in the infeed group. 8.9.6 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Active Infeed - Controller modulation depth reserve / controller DC-link voltage • 8940 (p3400.0 = 0) Active Infeed - Master/slave (r0108.19 = 1)
Page 518 Function modules 8.9 Master/slave function for Active Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Voltage-controlled operation disable • p3513 Infeed current distribution factor • p3516 CI: Master/slave active current setpoint • p3570 CI: Master/slave active current setpoint multiplexer input •...
Page 519: Parallel Connection Of Power Units
8.10 Parallel connection of power units In order to extend the power range, SINAMICS S120 supports the parallel connection of identical power units such as Line Modules and/or Motor Modules. The prerequisites for connecting power units in parallel are as follows: ●...
Page 520 (p7003 = 0) is possible. Note Additional information and instructions in the SINAMICS S120 Chassis Power Units Manual must be carefully taken into consideration. ● Parallel connection of up to four power units on the infeed side (closed/open loop).
Page 521 The reduction of the rated current (derating) of a power unit for parallel connection is: ● 7.5% for parallel connections of SINAMICS S120 Basic Line Modules and SINAMICS S120 Smart Line Modules when neither module is equipped with a current compensation control.
Page 522: Applications Of Parallel Connections
Note Additional information on parallel power unit connections, particularly with regard to their configuration, can be found in the "SINAMICS Low Voltage Configuration Manual (http://www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/Documentsu20 Catalogs/lv-umrichter/sinamics-engineering-manual-lv-en.pdf)". Infeed concepts - parallel (one CU) and redundant parallel (two CUs) Some applications require redundant infeeds for a DC line-up. This requirement can be fulfilled through the implementation of multiple, independent infeeds which are connected in parallel to the DC line-up.
Page 523 The type of circuit required depends on whether the redundancy requirement applies only to the infeed itself or also includes the supply-side transformers or the supply systems (see "SINAMICS Low Voltage Configuration Manual (http://www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/Documentsu20 Catalogs/lv-umrichter/sinamics-engineering-manual-lv-en.pdf)"). 6-pulse infeed With a 6-pulse infeed, the two redundant infeeds with the same power rating are supplied from a line supply via a two-winding transformer.
Page 524: Parallel Connection Of Basic Line Modules
Function modules 8.10 Parallel connection of power units 8.10.1.1 Parallel connection of Basic Line Modules Features of Basic Line Modules: ● The DC-link voltage is greater than the rms value of the line rated voltage by a factor of 1.35. ●...
Page 525 Function modules 8.10 Parallel connection of power units 6-pulse parallel connection of Basic Line Modules With the 6-pulse parallel connection, up to four Basic Line Modules are supplied by a common two-winding transformer on the line side and controlled by a common Control Unit. 12-pulse parallel connection of Basic Line Modules For 12-pulse parallel connections, up to four Basic Line Modules are supplied by a three- winding transformer on the line side.
Page 526: Parallel Connection Of Smart Line Modules
Function modules 8.10 Parallel connection of power units 8.10.1.2 Parallel connection of Smart Line Modules Smart Line Modules are infeed/regenerative feedback units. Like the Basic Line Modules, they supply energy to the connected Motor Modules, but unlike the Basic Line Module, they are capable of feeding back regenerative energy to the line supply.
Page 527: Parallel Connection Of Active Line Modules
Function modules 8.10 Parallel connection of power units 8.10.1.3 Parallel connection of Active Line Modules Active Line Modules can supply motoring energy and return regenerative energy to the line supply. 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 528: Parallel Connection Of Motor Modules
Function modules 8.10 Parallel connection of power units 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 "Master/slave function for Active Infeed (Page 509)".
Page 529 Function modules 8.10 Parallel connection of power units Parallel connection of two Motor Modules to one motor with double winding system Motors in the power range from about 1 MW to 4 MW, for which power units connected in parallel are generally used, frequently have several parallel windings. If these parallel windings are separately routed to the terminal box of the motor, a motor is obtained with winding systems that can be separately accessed.
Page 530: Commissioning
For further detailed information about commissioning, restrictions regarding operation and parameterization options, please refer to the following references ● SINAMICS S120 Commissioning Manual ● SINAMICS S120/S150 List Manual Parameters r7002 ff. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 531: Additional Drive In Addition To The Parallel Connection
Function modules 8.10 Parallel connection of power units 8.10.3 Additional drive in addition to the parallel connection Frequently, a controlled auxiliary drive is required in addition to the main drives, e.g. as excitation controller for shaft-mounted generators in shipbuilding or as lubricating pump drive, fan drive etc.
Page 532 Function modules 8.10 Parallel connection of power units Example of the required topology You can see an example created with STARTER below. 3 Basic Line Modules, 2 Motor Modules and an auxiliary drive are configured. The parallel connections can be clearly seen in the topology tree as one infeed and one drive.
Page 533 Function modules 8.10 Parallel connection of power units Overview of important parameters (see SINAMICS S120/S150 List Manual) Power Module data sets (PDS) number • p0120 Power Module component number • p0121 CO: Power unit output current, maximum • r0289 Par_circuit power unit number temperature sensor •...
Page 534: Extended Stop And Retract
If extended stop and retract are to activated simultaneously with Safety Integrated Functions, the following conditions must also be satisfied. Further information can be found in the SINAMICS S120 Safety Integrated Function Manual. Example For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and various feed drives for a tool.
Page 535: Activating And Enabling The Esr Function Module
Function modules 8.11 Extended stop and retract 8.11.1 Activating and enabling the ESR function module PG/PC and drive are connected with one another via PROFIBUS or PROFINET. Procedure 1. Select the ESR function with parameter p0888: – p0888 = 0: No function –...
Page 536: Invalid Sources
Function modules 8.11 Extended stop and retract Triggering for all drives of a Control Unit Conditions for triggering the function: ● ESR function has been configured in the drive, e.g. stopping or retraction. ● ESR function has been enabled in the drive. ●...
Page 537: Esr Responses
Function modules 8.11 Extended stop and retract 8.11.4 ESR responses 8.11.4.1 Extended stopping In the case of a fault, the objective is to stop the drive in a defined fashion. The stopping method is used as long as the drive is still capable of functioning. The function is parameterized and operates on an axis-specific basis.
Page 538: Extended Retract
Function modules 8.11 Extended stop and retract 8.11.4.2 Extended retract In the case of a fault, the objective is to approach a retraction position. The retraction method is used as long as the drive is still capable of functioning. The function is parameterized and operates on an axis-specific basis.
Page 539: Regenerative Operation
Function modules 8.11 Extended stop and retract 8.11.4.3 Regenerative operation In the case of a fault, the objective is to buffer the DC link until all of the drives connected to the DC link and enabled by ESR have reached their configured final position. To achieve this, a suitable drive in the drive line-up, for example a spindle drive, is braked in generator operation.
Page 540: Restrictions For Esr
Function modules 8.11 Extended stop and retract 8.11.5 Restrictions for ESR ● Operating several axes in the generator mode Only use one speed-controlled axis to buffer the DC link. If you have parameterized several axes, faults can occur, which undesirably influence one another and therefore the drive line-up as a whole.
Page 541: Function Diagrams And Parameters
PROFIdrive - CU_STW1 control word 1, Control Unit interconnection • 2495 Setpoint channel - extended stop and retract (ESR, r0108.9 = 1) • 3082 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Actual speed value, smoothed • r0063 Drive object function module •...
Page 542: Inertia Estimator
Function modules 8.12 Inertia estimator 8.12 Inertia estimator Features Note The "Inertia estimator" function is activated exclusively for servo control via the "Inertia estimator" function module. The description is also valid for linear motion (torque -> force, moment of inertia, inertia -> mass, speed ->...
Page 543 Function modules 8.12 Inertia estimator If the load moment of inertia is significantly greater than the motor moment of inertia, then the transient event can also be improved via parameterization of the load moment of inertia (p1498). The results of the moment of inertia and load estimation can be taken over through saving as non-volatile data (RAM TO ROM) after the transient event (r1407.26).
Page 544 Function modules 8.12 Inertia estimator Commissioning To activate the "inertia estimator" function module, proceed as follows: 1. Call the drive object configuration offline. In the "Configuration" screen form, click the "Function modules / technology packages" button. In the "Object Properties" dialog box, select the "inertia estimator"...
Page 545 Function modules 8.12 Inertia estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) Drive object function module • r0108 Motor moment of inertia • p0341[0...n] Ratio between the total and motor moment of inertia • p0342[0...n] Speed control configuration •...
Page 546 Function modules 8.12 Inertia estimator Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 547: Monitoring And Protective Functions
Monitoring and protective functions Power unit protection, general SINAMICS power units offer comprehensive functions for protecting power components. Table 9- 1 General protection for power units Protection against: Precautions Responses Overcurrent Monitoring with 2 thresholds: A30031, A30032, A30033 1. Threshold exceeded •...
Page 548: Thermal Monitoring And Overload Responses
Monitoring and protective functions 9.2 Thermal monitoring and overload responses Thermal monitoring and overload responses 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 549 Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - thermal monitoring power unit • 8014 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Power unit overload I2t • r0036 • r0037[0...19] CO: Power unit temperatures Power unit overload response •...
Page 550: Block Protection
Blocking protection Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) BI: Blocked motor monitoring enable (negated) • p2144 Motor locked speed threshold •...
Page 551: Stall Protection (Only For Vector Control)
Vector control - Interface to Motor Module (ASM, p0300 = 1) • 6730 Signals and monitoring functions - Torque messages, motor locked/stalled • 8012 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Status word, current controller • r1408.0...15 Motor model speed threshold stall detection •...
Page 552: Thermal Motor Protection
Monitoring and protective functions 9.5 Thermal motor protection Thermal motor protection The thermal motor protection monitors the motor temperature and responds to overtemperature conditions with alarms or faults. The motor temperature is either measured with sensors in the motor, or is calculated without sensors, using a temperature model from the operating data of the motor.
Page 553: Thermal Motor Model 1
Monitoring and protective functions 9.5 Thermal motor protection Depending on the particular model, the temperature rise is either assigned different motor parts (stator, rotor), or is calculated from the motor current and the thermal time constant. A combination of motor temperature model with additional temperature sensors can also be used.
Page 554: Thermal Motor Model 2
Monitoring and protective functions 9.5 Thermal motor protection 9.5.1.2 Thermal motor model 2 The thermal motor model 2 is used for induction motors. It is a thermal 3-mass model. The thermal 3-mass model is activated with p0612.01 = 1. Enter the total motor mass in p0344.
Page 555: Function Diagrams And Parameters
Signals and monitoring functions - Thermal monitoring motor • 8016 Signals and monitoring functions - Thermal motor models • 8017 Overview of important parameters (see SINAMICS S120/S150 List Manual) Thermal motor model 1 CO: Thermal motor load • r0034 Motor stall current •...
Page 556: Motor Temperature Sensing
Monitoring and protective functions 9.5 Thermal motor protection Thermal motor model 2 Motor weight • p0344[0...n] Mot_temp_mod activation • p0612[0...n] Stator thermally relevant iron component • p0617[0...n] Stator thermally relevant copper component • p0618[0...n] Rotor thermally relevant mass • p0619[0...n] Motor ambient temperature •...
Page 557 Function of the PTC The temperature sensor is connected to the Sensor Module at the appropriate terminals (-Temp) and (+Temp) (see the relevant section in the SINAMICS S120 Control Units and Supplementary System Components Manual). The threshold value for switching over to an alarm or fault is 1650 Ω.
Page 558: Sensor Modules
Monitoring and protective functions 9.5 Thermal motor protection 9.5.3 Sensor Modules Sensor Modules are needed when additional temperature sensors are to be connected via DRIVE-CLiQ. Various Sensor Modules are available to do this: ● Sensor Module Cabinet-Mounted (SMC) for rail mounting in control cabinets ●...
Page 559: Sensor Module External
Monitoring and protective functions 9.5 Thermal motor protection 9.5.3.2 Sensor Module External A Sensor Module External (SME) is required if the sensor interface is to be installed close to the motor sensor outside a control cabinet. The SME has an IP67 degree of protection. 9.5.3.3 Sensor Module SME 20/25 The SME20 and SME25 evaluate encoder and sensor data.
Page 560 Monitoring and protective functions 9.5 Thermal motor protection Temperature measurement ● p0600 = 1/2/3 selects the additional motor temperature measurement via channels 2 to 4. ● p0601 = 10 activates the evaluation via several temperature channels SME12x. KTY84 ● p4601[0...n] to p4603[0...n] = 20 sets temperature sensor type KTY. ●...
Page 561: Terminal Modules
Monitoring and protective functions 9.5 Thermal motor protection 9.5.4 Terminal Modules Terminal Modules provided the drive system with additional analog and digital data inputs and outputs. They are intended for use in control cabinets. The Terminal Modules are connected via DRIVE-CLiQ with the drive system. Terminal Modules TM31, TM120 and TM150 provide inputs for temperature sensors.
Page 562: Terminal Module 31
Monitoring and protective functions 9.5 Thermal motor protection 9.5.5 Terminal Module 31 A Terminal Module 31 (TM31) is used when additional digital and analog inputs/outputs required. The temperature sensor is connected at terminal X522. The values of the fault and/or alarm thresholds can be set in parameter p4102[0..1] from -48 °C to 251 °C. p4102 = 251°C deactivates the alarm and fault threshold.
Page 563: Terminal Module 120
Fault messages for an individual temperature channel in the TM120 are propagated to all other drive objects connected with the TM120. As such all other drive objects (connected with the TM120) also trigger a fault. You will find additional information in the SINAMICS S120 Control Units and Supplementary System Components Manual. Temperature measurement ●...
Page 564 Monitoring and protective functions 9.5 Thermal motor protection ● r4620[0...3] ≠ -200° C means: – a KTY84 is connected – the temperature display is valid. ● r4620[0...3] = -200° C means: – a PTC or a bimetal NC contact is connected –...
Page 565: Terminal Module 150
As such all other drive objects (connected with the TM150) also trigger a fault. You can find additional information in the function diagrams 9625, 9626 and 9627 in the SINAMICS S120/S150 List Manual. Selecting the sensor types ● p4100[0...11] sets the sensor type for the respective temperature channel.
Page 566: Measurement With Up To 6 Channels
With p4108[0...5] = 3, you evaluate a sensor in a 4-wire system at a 4-wire connection at terminals 3 and 4. The measuring cable is connected to terminals 1 and 2. You can find additional information in function diagram 9626 in the SINAMICS S120/S150 List Manual.
Page 567: Measurement With Up To 12 Channels
1 and 2. The second sensor (number = first sensor + 6) is connected at terminals 3 and 4. You can find additional information in function diagram 9627 in the SINAMICS S120/S150 List Manual. When connecting two 2-wire sensors to terminal X531, the first sensor is assigned to temperature channel 1.
Page 568: Evaluating Temperature Channels
Monitoring and protective functions 9.5 Thermal motor protection Example: The temperature actual value from channels 0, 3, 7, and 9 should be combined in group 1: ● p4111[1].0 = 1 ● p4111[1].3 = 1 ● p4111[1].7 = 1 ● p4111[1].9 = 1 The calculated values from group 1 are available in the following parameters for interconnection: ●...
Page 569: Motor Module/Power Module Chassis Format
Monitoring and protective functions 9.5 Thermal motor protection Failure of a sensor Using parameter p4117[0...2], the response to the failure of a temperature sensor can be set within a group: ● p4117 = 0 is set. The failed sensor is not taken into account. ●...
Page 570: Connection Of The Cu310-2 And The Cua31/Cua32 Adapters
Monitoring and protective functions 9.5 Thermal motor protection If r0192.15 = 1 is displayed, then the PT 100 temperature sensor type can be selected with p0601[0...n] = 5. A motor temperature offset can be set using p0624 [0...n]. Power Module chassis A Power Module in the chassis format has one temperature channel and can evaluate PTC, KTY84 and PT100 temperature sensors (r0192.15 = 1).
Page 571: Motor With Drive-Cliq
Monitoring and protective functions 9.5 Thermal motor protection CUA32 Setting the temperature measurement and the temperature channels: ● p0600[0...n] = 10 sets the temperature sensing via BICO interconnection. ● p4600[0...n] sets the sensor type for temperature channel 1 (encoder interface). ●...
Page 572: Temperature Sensor Evaluation
Monitoring and protective functions 9.5 Thermal motor protection 9.5.11 Temperature sensor evaluation Temperature measurement via KTY or PT100 ● When the alarm threshold p0604 is exceeded, alarm A07910 is output. For vector control, using parameter p0610, you can set the drive response when the alarm is initiated: –...
Page 573: Function Diagrams And Parameters
Monitoring and protective functions 9.5 Thermal motor protection 9.5.12 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Signals and monitoring functions - Thermal monitoring motor • 8016 Signals and monitoring functions - Thermal motor models • 8017 Terminal Module 31 (TM31) - Temperature evaluation (KTY/PTC) •...
Page 574 Monitoring and protective functions 9.5 Thermal motor protection Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: Thermal motor load • r0034 CO: Motor temperature • r0035 CO: Absolute actual current value • r0068 Motor stall current • p0318[0...n] Motor temperature sensor for monitoring •...
Page 575 Monitoring and protective functions 9.5 Thermal motor protection Additional parameters for TM120 TM120 temperature evaluation sensor type • p4100[0...3] TM120 sensor resistance • r4101[0...3] TM120 fault threshold / alarm threshold • p4102[0...7] TM120 temperature evaluation delay time • p4103[0...3] BO: TM120 temperature evaluation status •...
Page 576 Monitoring and protective functions 9.5 Thermal motor protection Thermal motor models Motor stall current • p0318[0...n] Type of motor cooling • p0335[0...n] Motor weight (for thermal motor type) • p0344[0...n] I2t motor model thermal time constant • p0611[0...n] Mot_temp_mod activation •...
Page 577: Safety Integrated Basic Functions
To subscribe to the newsletter, please proceed as follows: 1. Go into the Internet under: http://automation.siemens.com 2. Select the desired language for the Web page. 3. Click on the menu item "Support". 4. Click on the menu item "Newsletter".
Page 578 Safety Integrated basic functions 10.1 Latest information 8. Open the subject area "Safety Engineering - Safety Integrated". You will now be shown which newsletter is available for this particular subject area or topic. You can subscribe to the appropriate newsletter by clicking on the box. If you require more detailed information on the newsletters then please click on these.
Page 579: General Information
General information Note Further references This manual describes the Safety Integrated Basic Functions. More information can be found in the SINAMICS S120 Safety Integrated Function Manual. 10.2.1 Explanations, standards, and terminology Safety Integrated The "Safety Integrated" functions enable the implementation of highly effective application- oriented functions for man and machine protection.
Page 580 Part 5-2: Safety requirements - Functional Note Certifications In conjunction with certified components, the safety functions of the SINAMICS S120 drive system fulfill the following requirements: • Safety integrity level 2 (SIL 2) according to IEC 61508. • Category 3 according to DIN EN ISO 13849-1 •...
Page 581 A cyclic cross-check of the safety-related data in the two monitoring channels is carried out. If any data is inconsistent, a stop response is triggered with any Safety function. Overview of important parameters (see SINAMICS S120/S150 List Manual) SI monitoring cycle (Control Unit) •...
Page 582: Supported Functions
In addition, most of the safety functions of the SINAMICS S have been certified by independent institutes. A list of currently certified components is available on request from your local Siemens office. The following Safety Integrated functions (SI functions) are available: ●...
Page 583: Control Possibilities
– Transferring safe position values (SP) – Safe Brake Test (SBT) The Safety Integrated Extended Functions are described in the following documentation: References: /FHS/ SINAMICS S120 Safety Integrated Function Manual 10.2.3 Control possibilities The following options for controlling Safety Integrated functions are available:...
Page 584: Parameter, Checksum, Version, Password
Safety Integrated basic functions 10.2 General information Note PROFIsafe or TM54F Using a Control Unit, control is possible either via PROFIsafe or TM54F. Mixed operation is not permissible. 10.2.4 Parameter, Checksum, Version, Password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ●...
Page 585 Safety Integrated basic functions 10.2 General information Basic Functions ● r9798 SI actual checksum SI parameters (Control Unit) ● p9799 SI reference checksum SI parameters (Control Unit) ● r9898 SI actual checksum SI parameters (Motor Module) ● p9899 SI reference checksum SI parameters (Motor Module) During each ramp-up procedure, the actual checksum is calculated via the Safety parameters and then compared with the reference checksum.
Page 586: Test Stop / Forced Dormant Error Detection
2. Recommission the drive unit and drives. 3. Recommission Safety Integrated. Or contact your regional Siemens office and ask for the password to be deleted (complete drive project must be made available). Overview of important parameters for "Password" (see SINAMICS S120/S150 List Manual) SI password input •...
Page 587 Safety Integrated basic functions 10.2 General information Examples of when to carry out forced dormant error detection: ● When the drives are at a standstill after the system has been switched on (POWER ON). ● When the protective door is opened. ●...
Page 588: Safety Instructions
Safety Integrated basic functions 10.3 Safety instructions 10.3 Safety instructions Additional safety instructions and residual risks Additional safety information and residual risks not specified in this section are included in the relevant sections of this Function Manual. DANGER Risk minimization through Safety Integrated Safety Integrated can be used to minimize the level of risk associated with machines and plants.
Page 589 Safety Integrated basic functions 10.3 Safety instructions WARNING System power-up and drive activation after changing or replacing hardware and/or software 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 590 Safety Integrated basic functions 10.3 Safety instructions WARNING Parameterized safety functions when an internal or external fault occurs only available to a limited extent If an internal or external fault occurs, none or only some of the parameterized safety functions are available during the STOP F response triggered by the fault. This must be taken into account when a delay time between STOP F and STOP B is parameterized.
Page 591: Safe Torque Off (Sto)
Safety Integrated basic functions 10.4 Safe Torque Off (STO) 10.4 Safe Torque Off (STO) 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 energy supply to the motor. A restart is prevented by the two-channel pulse suppression.
Page 592 Safety Integrated basic functions 10.4 Safe Torque Off (STO) WARNING Danger through brief momentary movements If two power transistors simultaneously fail in the power unit (one in the upper and one in the lower inverter bridge), then this can cause brief momentary movement. The maximum movement can be: •...
Page 593 Safety Integrated basic functions 10.4 Safe Torque Off (STO) Selecting/deselecting "Safe Torque Off" The following is executed when "Safe Torque Off" is selected: ● Each monitoring channel triggers safe pulse suppression via its switch-off signal path. ● A motor holding brake is closed (if connected and configured). Deselecting "Safe Torque Off"...
Page 594 The "STO" safety function has the higher priority when simultaneously selected. If the "STO" function is initiated, then an activated "internal armature short-circuit" is disabled. Overview of important parameters (see SINAMICS S120/S150 List Manual) CU inputs/outputs, sampling time • p0799 SI enable functions integrated in the drive (Control Unit) •...
Page 595: Safe Stop 1 (Ss1, Time Controlled)
Safety Integrated basic functions 10.5 Safe Stop 1 (SS1, time controlled) 10.5 Safe Stop 1 (SS1, time controlled) 10.5.1 SS1 with OFF3 The "Safe Stop 1" (SS1) function allows the drive to be stopped in accordance with EN 60204-1, Stop Category 1. The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1"...
Page 596 Safety Integrated basic functions 10.5 Safe Stop 1 (SS1, time controlled) Functional features of Safe Stop 1 SS1 is enabled by p9652 (delay time) ≠ 0. ● Setting parameter p9652 has the following effect: – p9652 = 0 SS1 is not enabled. Only STO can be selected via the onboard terminals and PROFIsafe.
Page 597: Ss1 With External Stop
Safety Integrated basic functions 10.5 Safe Stop 1 (SS1, time controlled) 10.5.2 SS1 with external stop In drive line-ups (e.g. drives that are mechanically connected via the material), the drive- independent braking on the respective OFF3 ramp can cause problems. If the SS1E function is used, the safe delay time (p9562) is started when the function is selected, but no OFF3 is triggered.
Page 598: Function Diagrams And Parameters
SI Basic Functions - STO (Safe Torque Off), SS1 (Safe Stop 1) • 2810 SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation • 2811 Overview of important parameters (see SINAMICS S120/S150 List Manual) OFF3 ramp-down time • p1135[0...n] Motor holding brake closing time •...
Page 599: Safe Brake Control (Sbc)
Safety Integrated basic functions 10.6 Safe Brake Control (SBC) 10.6 Safe Brake Control (SBC) The "Safe Brake Control" function (SBC) is used to safely control holding brakes that function according to the closed-circuit principle (e.g. motor holding brake). The opening and closing of the brake is controlled by the Motor Module / Power Module. Terminals are available for this on the device in booksize format.
Page 600 Safety Integrated basic functions 10.6 Safe Brake Control (SBC) Enabling the "Safe Brake Control" function The "Safe Brake Control" function is enabled via parameter p9602. The SBC function can be used only together with STO. The selection of SBC alone is not possible.
Page 601: Sbc For Motor Modules In The Chassis Format
Safety Integrated basic functions 10.6 Safe Brake Control (SBC) Response time with the "Safe Brake Control" function For the response times when the function is selected/deselected via input terminals, see the table in "Response times". Note Controlling the brake via a relay for "Safe Brake Control": If you use the "Safe Brake Control (SBC)"...
Page 602 Safety Integrated basic functions 10.6 Safe Brake Control (SBC) There are two options for registering this power unit with the system: ● Automatic brake identification when commissioning the system for the first time – Requirements: - No Safety Integrated functions enabled - p1215 = 0 (no motor holding brake available) –...
Page 603: Response Times
Safety Integrated basic functions 10.7 Response times 10.7 Response times The Basic Functions are executed in the monitoring cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 × r9780). Note Current value of the monitoring cycle (r9780) You can only see the actual value of the monitoring cycle (r9780) if you are connected...
Page 604 Safety Integrated basic functions 10.7 Response times Control of the Basic Functions via terminals on the Control Unit and Motor Module (CU310-2 and CU320-2) The following table lists the response times from the control via terminals until the response actually occurs. Table 10- 2 Response times for control via terminals on the Control Unit and the Motor Module.
Page 605 Safety Integrated basic functions 10.7 Response times Control of the Basic Functions via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 10- 3 Response times when controlling via PROFIsafe Function Worst case for a fault-free drive system Worst case when a fault exists...
Page 606: Control Via Terminals On The Control Unit And Motor/Power Module
● The F-DI 0 is available on the CU310-2 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 607 Safety Integrated basic functions 10.8 Control via terminals on the Control Unit and Motor/Power Module Description of the two-channel structure The functions are separately selected/deselected for each drive using two terminals. 1. Switch-off signal path, Control Unit (CU310-2/CU320-2) The desired input terminal is selected via BICO interconnection (BI: p9620[0]). 2.
Page 608 Safety Integrated basic functions 10.8 Control via terminals on the Control Unit and Motor/Power Module Note Parameterization of the grouping The grouping must be configured (DI on Control Unit) and wired (EP terminals) identically in both monitoring channels. Note Response of STO for grouping If a fault in a drive results in a "Safe Torque Off"...
Page 609: Simultaneity And Tolerance Time Of The Two Monitoring Channels
Safety Integrated basic functions 10.8 Control via terminals on the Control Unit and Motor/Power Module 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 610: Bit Pattern Test
F-DI input filter (p9651). To do this, a value must be entered in p9651 that is greater than the duration of a test pulse. Overview of important parameters (see SINAMICS S120/S150 List Manual) SI STO/SBC/SS1 debounce time (Control Unit) •...
Page 611: Commissioning The "Sto", "Sbc" And "Ss1" Functions
Control Unit offline. In order to set the safety- relevant parameters of the Motor Module, establish an online connection to SINAMICS S120 and copy the parameters using the "Copy parameter" button on the start screen of the safety configuration into the Motor Module.
Page 612 Safety Integrated basic functions 10.9 Commissioning the "STO", "SBC" and "SS1" functions Requirements for commissioning the safety functions ● Commissioning of the drives must be complete. ● Non-safe pulse suppression must be present (e.g. via OFF1 = "0" or OFF2 = "0") If the motor holding brake is connected and parameterized, the holding brake is applied.
Page 613: Commissioning Via Direct Parameter Access
Safety Integrated basic functions 10.9 Commissioning the "STO", "SBC" and "SS1" functions Adapt the reference checksum with the safety screens of STARTER: 1. Change settings → 2. Enter password → 3. Activate settings The checksums are automatically adapted after "activate settings". 10.9.2 Commissioning via direct parameter access To commission the "STO", "SBC"...
Page 614 Safety Integrated basic functions 10.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p9620 = "fast DI Set terminals for "Safe Torque Off (STO)". on CU" Wire terminal "EP" (enable pulses) on the Motor Module. Terminal "EP" Control Unit monitoring channel: •...
Page 615 Safety Integrated basic functions 10.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments p9621 = "value" Parameterize Safe Brake Adapter. p9622[0...1] = Set with p9621 the signal source for the Safe Brake Adapter. • "value" Set with p9622 the wait times for switching on and switching off the Safe Brake Adapter •...
Page 616: Safety Faults
Safety Integrated basic functions 10.9 Commissioning the "STO", "SBC" and "SS1" functions 10.9.3 Safety faults The fault messages of the Safety Integrated Basic Functions are saved in the standard message buffer and can be read out from there. When faults associated with Safety Integrated Basic Functions occur, the following stop responses can be initiated: Table 10- 6 Stop responses for Safety Integrated Basic Functions...
Page 617 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 functions are described in SINAMICS S120/S150 List Manual Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 618: Acceptance Test And Certificate
Responsibilities The machine manufacturer is responsible for carrying out and documenting the acceptance test: The appendix of the SINAMICS S120 Safety Integrated Function Manual contains in the "Acceptance tests (suggestions)" section examples how the acceptance test is carried out and documented for the individual safety functions.
Page 619 10.10 Acceptance test and certificate Note PFH values • The PFH values of the individual SINAMICS S120 safety components can be found at: http://support.automation.siemens.com/WW/view/en/76254308 • The PFH values of all safety components from Siemens are available in the "Safety Evaluation Tool", see www.siemens.de/safety-evaluation-tool...
Page 620: Content Of The Complete Acceptance Test
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.1.1 Content of the complete acceptance test A) Documentation Documentation of the machine and safety functions 1. Machine description (with overview) 2. Specification of the controller (if this exists) 3. Configuration diagram 4.
Page 621: Content Of The Partial Acceptance Test
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.1.2 Content of the partial acceptance test A) Documentation Documentation of the machine and safety functions 1. Extending/changing the hardware data 2. Extending/changing the software data (specify version) 3. Extending/changing the configuration diagram 4.
Page 622 Safety Integrated basic functions 10.10 Acceptance test and certificate D) Functional testing of actual value acquisition 1. General testing of actual value acquisition – After exchanging the component, initial activation and brief operation in both directions. WARNING Risk through process During this process, all personnel must keep out of the danger area.
Page 623: Test Scope For Specific Measures
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.1.3 Test scope for specific measures Scope of partial acceptance tests for specific measures The measures and points specified in the table refer to the information provided in Section Content of the partial acceptance test (Page 621). Table 10- 7 Scope of partial acceptance tests for specific measures Measure...
Page 624: Safety Logbook
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.2 Safety logbook Description The "Safety Logbook" function is used to detect changes to safety parameters that affect the associated CRC sums. CRCs are only generated when p9601/p9801 (SI enable, functions integrated in the drive CU/Motor Module) is >...
Page 625: Documentation
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.3 Documentation Table 10- 8 Machine description and overview diagram Designation Type Serial number Manufacturer End customer Electrical axes Other axes Spindles Overview diagram of machine Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 626 Safety Integrated basic functions 10.10 Acceptance test and certificate Table 10- 9 Values from relevant machine data Parameter FW version Control Unit r0018 = Drive number FW version SI version r9770 = r0128 = r9870 = Parameter r0128 = r9870 = Motor Modules r0128 = r9870 =...
Page 627 Safety Integrated basic functions 10.10 Acceptance test and certificate Table 10- 11 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), 04/2014, 6SL3097-4AB00-0BP4...
Page 628: Acceptance Tests
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.4 Acceptance tests 10.10.4.1 General information about acceptance tests Note Conditions for the acceptance test As far as possible, the acceptance tests are to be carried out at the maximum possible machine speed and acceleration rates to determine the maximum braking distances and braking times that can be expected.
Page 629: Acceptance Test For Safe Stop 1, Time Controlled (Ss1)
Safety Integrated basic functions 10.10 Acceptance test and certificate Description Status No Safety faults and alarms (r0945[0...7], r2122[0...7]) • r9772.17 = 1 (STO selection via terminal - DI CU / EP terminal Motor Module); only • relevant for STO via terminal r9772.20 = 1 (STO selection via PROFIsafe);...
Page 630 Safety Integrated basic functions 10.10 Acceptance test and certificate Description Status r9774.5 = r9774.6 = 0 (SS1 deselected and inactive – group); only relevant for grouping • Run the drive Check whether the correct drive is operational Select SS1 when you issue the traversing command and check the following: Drive brakes along the OFF3 ramp (p1135) (not in the case of SS1 with external stop) •...
Page 631: Acceptance Test For "Safe Brake Control" (Sbc)
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.4.4 Acceptance test for "Safe Brake Control" (SBC) Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals and/or via PROFIsafe. Initial state Drive in the "Ready"...
Page 632: Completion Of Certificate
Safety Integrated basic functions 10.10 Acceptance test and certificate 10.10.5 Completion of certificate SI parameters Specified values checked? Control Unit Motor Module Checksums Basic functions Drive name Drive number SI reference checksum SI SI reference checksum SI parameters (Control Unit) parameters (Motor Module) p9799 = p9899 =...
Page 633 Safety Integrated basic functions 10.10 Acceptance test and certificate Safety logbook Functional Checksum for functional tracking of changes r9781[0] = Checksum for hardware dependent tracking of changes r9781[1] = Time stamp for functional tracking of changes r9782[0] = Time stamp for hardware dependent tracking of changes r9782[1] = 1) These parameters can be found in the expert list of the Control Unit.
Page 634: Overview Of Parameters And Function Diagrams
Safety Integrated basic functions 10.11 Overview of parameters and function diagrams 10.11 Overview of parameters and function diagrams Function diagrams (see SINAMICS S120/S150 List Manual) SI Basic Functions - Parameter manager • 2800 SI Basic functions - Monitoring functions and faults/alarms •...
Page 635 Safety Integrated basic functions 10.11 Overview of parameters and function diagrams Overview of important parameters (see SINAMICS S120/S150 List Manual) Table 10- 13 Parameters for Safety Integrated No. of Control Unit No. of Motor Name Changeable to (CU) Module (MM)
Page 636 Safety Integrated basic functions 10.11 Overview of parameters and function diagrams Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 637: Communication
Communication 11.1 Communication according to PROFIdrive PROFIdrive 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). Note PROFINET for drive technology is standardized and described in the following document: •...
Page 638 ● Isochronous mode Interface IF1 and IF2 The CU320-2 Control Unit can communicate via two different interfaces (IF1 and IF2). Table 11- 3 Properties of IF1 and IF2 PROFIdrive and SIEMENS telegram Isochronous mode Drive object types Can be used for...
Page 639: Application Classes
Communication 11.1 Communication according to PROFIdrive Note For additional information on the IF1 and IF2 interfaces, see section "Parallel operation of communication interfaces (Page 653)" in this manual. 11.1.1 Application classes There are different application classes for PROFIdrive according to the scope and type of the application processes.
Page 640 Communication 11.1 Communication according to PROFIdrive Telegram Description Class 1 Class 3 Class 4 (p0922 = x) Speed setpoint, 32-bit with 2 position encoders (encoder 1 and encoder 2), torque reduction and DSC, plus load, torque, power and current actual values Speed setpoint, 32-bit with 2 external position encoders (encoder 2 and encoder 3), torque reduction and DSC, plus load, torque, power and current actual values...
Page 641: Cyclic Communication
Communication 11.1 Communication according to PROFIdrive 11.1.2 Cyclic communication Cyclic communication is used to exchange time-critical process data (e.g. setpoints and actual values). 11.1.2.1 Telegrams and process data The process data (PZD) that is to be transferred is defined through the configuration of the drive unit (Control Unit).
Page 642 STARTER in accordance with the telegram number setting. The SINAMICS S120/S150 List Manual contains the standard telegrams in the following function diagrams: – 2415 PROFIdrive - Standard telegrams and process data 1 –...
Page 643 Communication 11.1 Communication according to PROFIdrive The receive and send data can be freely connected using BICO technology. SERVO, TM41 VECTOR CU_S A_INF, B_INF, TB30, TM31, ENCODER S_INF TM15DI_DO, TM120, TM150 Receive process data DWORD r2060[0 ... 18] r2060[0 ... 30] r2060[0 ...
Page 644 Figure 11-2 Normalization of speed You can find the detailed structure of the telegrams in the SINAMICS S120/S150 List Manual in the associated function diagrams. Which drive objects support which telegrams?
Page 645 Communication 11.1 Communication according to PROFIdrive Drive object Telegrams (p0922) Function diagrams TM41 3, 999 2415, 2423 TM120 No predefined telegram. TM150 No predefined telegram. TB30 No predefined telegram. CU_S 390, 391, 392, 393, 394, 395, 396, 999 2422, 2423 Depending on the drive object, different process data (PZD) can be sent and received: Drive objects Maximum number of PZD...
Page 646: Information About Control Words And Status Words
Communication 11.1 Communication according to PROFIdrive Procedure: 1. Set p0922 ≠ 999. 2. p2038 = set required interface mode. When positioning telegrams 7, 9, 110, and 111 are set, the "SINAMICS" Interface Mode is permanently specified (p2038 = 0). This relationship cannot be changed. When telegrams 102, 103, 105, 106, 116, 118, 125, 126, 136, 138 and 139 are set, the "SIMODRIVE 611 universal"...
Page 647: Examples
Communication 11.1 Communication according to PROFIdrive 11.1.2.3 Examples Based on the PROFIdrive communication of the encoder interface, the following application examples show: ● The chronological sequence of the communication ● The chronological changes to the control and status words ● The mutual dependencies of these changes Example: Encoder interface Figure 11-3 Example of encoder interface (encoder 1: Two actual values, encoder 2: One actual...
Page 648 Communication 11.1 Communication according to PROFIdrive Example: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference marks (function 1 / function 2) ● Position control with encoder 1 Figure 11-4 Sequence chart for "Find reference mark" Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 649 Communication 11.1 Communication according to PROFIdrive Example: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Figure 11-5 Sequence chart for "Flying measurement" Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 650: Motion Control With Profidrive
Communication 11.1 Communication according to PROFIdrive 11.1.2.4 Motion Control with PROFIdrive The "Motion Control with PROFIBUS" or "Motion Control with PROFINET" function can be used to implement an isochronous drive coupling between a master (a controller) and one or more slaves (drives) via PROFIBUS or an isochronous drive coupling via PROFINET. Note The isochronous drive coupling is defined in the following documentation: PROFIdrive Profile Drive Technology...
Page 651 Communication 11.1 Communication according to PROFIdrive Overview of closed-loop control ● Sensing of the actual position value on the slave can be performed using: – Indirect measuring system (motor encoder) – Additional direct measuring system ● The encoder interface must be configured in the process data. ●...
Page 652 Communication 11.1 Communication according to PROFIdrive Structure of the data cycle The data cycle comprises the following elements: ● Global control telegram (PROFIBUS only) ● Cyclic part - setpoints and actual values ● Acyclic part - parameters and diagnostic data ●...
Page 653: Parallel Operation Of Communication Interfaces
Communication 11.1 Communication according to PROFIdrive 11.1.3 Parallel operation of communication interfaces The two cyclic interfaces for the setpoints and actual values differ by the parameter ranges used (BICO technology etc.) and the functions that can be used. The interfaces are designated as cyclic interface 1 (IF1) and cyclic interface 2 (IF2).
Page 654 Communication 11.1 Communication according to PROFIdrive Table 11- 6 Implicit assignment of hardware to the cyclic interfaces for p8839[0] = p8839[1] = 99 Plugged hardware interface No option, only use Control Unit onboard interface Control Unit onboard (PROFIBUS, PROFINET or USS) CU320-2 DP with CBE20 (optional PROFINET COMM BOARD Control Unit onboard...
Page 655 ● If p8839[x] is set to 2, and the COMM BOARD is missing or defective, then the corresponding interface is not supplied from the Control Unit onboard interface. Message A08550 is output instead. Overview of important parameters (see SINAMICS S120/S150 List Manual) IF1 PROFIdrive PZD telegram selection • p0922 List of drive objects •...
Page 656: Acyclic Communication
Communication 11.1 Communication according to PROFIdrive 11.1.4 Acyclic communication 11.1.4.1 General information about acyclic communication 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 record"...
Page 657 Communication 11.1 Communication according to PROFIdrive Figure 11-8 Reading and writing data Characteristics of the parameter channel ● One 16-bit address exists for each parameter number and subindex. ● Concurrent access by several additional PROFIBUS masters (master class 2) or PROFINET IO supervisor (e.g.
Page 658: Structure Of Orders And Responses
Communication 11.1 Communication according to PROFIdrive 11.1.4.2 Structure of orders and responses Structure of parameter request and parameter response Parameter request Offset Values for Request header Request reference Request ID write access Axis Number of parameters only 1. 1st parameter address Attribute Number of elements Parameter number...
Page 659 Communication 11.1 Communication according to PROFIdrive Description of fields in the parameter request and response Field Data type Values Remark Request reference Unsigned8 0x01 ... 0xFF Unique identification of the request/response pair for the master. The master changes the request reference with each new request. The slave mirrors the request reference in its response.
Page 660 Communication 11.1 Communication according to PROFIdrive Field Data type Values Remark Format Unsigned8 0x02 Data type integer8 0x03 Data type integer16 0x04 Data type integer32 0x05 Data type unsigned8 0x06 Data type unsigned16 0x07 Data type unsigned32 0x08 Data type floating point Other values See PROFIdrive profile V3.1 0x40...
Page 661 Write access is possible while the device is in the "Controller – controller. enable" state. Pay attention to the parameter attribute "changeable" in the SINAMICS S120/S150 List Manual (C1, C2, U, T). 0x6C Parameter %s [%s]: Unknown unit. – –...
Page 662 Communication 11.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x72 Parameter %s [%s]: Write access – – only in the commissioning state, parameter reset (p0010 = 30). 0x73 Parameter %s [%s]: Write access – – only in the commissioning state, Safety (p0010 = 95).
Page 663: Determining The Drive Object Numbers
Communication 11.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x83 Parameter %s [%s]: Requested BICO BICO output does not supply float values. The BICO input, – interconnection not possible. however, requires a float value. 0x84 Parameter %s [%s]: Parameter –...
Page 664: Example 1: Read Parameters
Communication 11.1 Communication according to PROFIdrive 11.1.4.4 Example 1: read parameters Requirements ● The PROFIdrive controller has been commissioned and is fully operational. ● PROFIdrive communication between the controller and the device is operational. ● The controller can read and write data sets in conformance with PROFINET/PROFIBUS. 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 665 Communication 11.1 Communication according to PROFIdrive Create the request Parameter request Offset Request header Request reference = 25 hex Request ID = 01 hex 0 + 1 Axis = 02 hex Number of parameters = 01 hex 2 + 3 Parameter address Attribute = 10 hex Number of elements = 08 hex...
Page 666 Communication 11.1 Communication according to PROFIdrive Evaluate the parameter response. Parameter response Offset Response header Request reference mirrored = Response ID = 01 hex 0 + 1 25 hex Axis mirrored = 02 hex Number of parameters = 01 hex 2 + 3 Parameter value Format = 06 hex...
Page 667: Example 2: Write Parameters (Multi-Parameter Request)
Communication 11.1 Communication according to PROFIdrive 11.1.4.5 Example 2: write parameters (multi-parameter request) Requirements ● The PROFIdrive controller has been commissioned and is fully operational. ● PROFIdrive communication between the controller and the device is operational. ● The controller can read and write data sets in conformance with PROFINET/PROFIBUS. Special requirements for this example: ●...
Page 668 Communication 11.1 Communication according to PROFIdrive Basic procedure 1. Create a request to write the parameters. 2. Invoke the request. 3. Evaluate the response. Create the request Parameter request Offset Request header Request reference = 40 Request ID = 02 hex 0 + 1 Axis = 02 hex Number of parameters = 04 hex...
Page 669 Communication 11.1 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 → This identifier is required for a write request. ●...
Page 670: Diagnostics Channels
The messages entered here are combined into the PROFIdrive error classes for the diagnostics. The assignment of the messages to the error classes can be found in the List Manual (see SINAMICS S120/S150 List Manual; Section 3.1.2 Explanations on the list of faults and alarms).
Page 671 Communication 11.1 Communication according to PROFIdrive Table 11- 7 Messages in relation to the bus system PROFIdrive error classes Faults Alarms Channel assignment GSDML ● SINAMICS transfers the messages in the order that they have occurred. ● The time stamps are generated from the higher-level controller when the messages are received.
Page 672: Communication Via Profibus Dp
Communication 11.2 Communication via PROFIBUS DP 11.2 Communication via PROFIBUS DP 11.2.1 General information about PROFIBUS 11.2.1.1 General information about PROFIBUS for SINAMICS PROFIBUS is an open international fieldbus standard for a wide range of production and process automation applications. The following standards ensure open, multi-vendor systems: ●...
Page 673 Communication 11.2 Communication via PROFIBUS DP Master and slave ● Master and slave properties Properties Master Slave As bus node Active Passive Send messages Permitted without external Only possible on request by request master Receive messages Possible without any Only receive and acknowledge restrictions permitted ●...
Page 674 Communication 11.2 Communication via PROFIBUS DP Sequence of drive objects in the telegram On the drive side, the sequence of drive objects in the telegram is displayed via a list in p0978[0...24] where it can also be changed. You can use the STARTER commissioning tool to display the sequence of drive objects for a commissioned drive system in the project navigator under "Drive unit"...
Page 675: Example: Telegram Structure For Cyclic Data Transmission
Communication 11.2 Communication via PROFIBUS DP 11.2.1.2 Example: telegram structure for cyclic data transmission Task The drive system comprises the following drive objects: ● Control Unit (CU_S) ● Active Infeed (A_INF) ● SERVO 1 (comprises a Single Motor Module and other components) ●...
Page 676 Communication 11.2 Communication via PROFIBUS DP Configuration settings (e.g. HW Config for SIMATIC S7) Due to the telegram structure shown, the objects in the "DP slave properties" overview must be configured as follows: Telegram 370 • Active Infeed (A_INF): Standard telegram 6 •...
Page 677 Communication 11.2 Communication via PROFIBUS DP DP slave properties – details Figure 11-12 Slave properties – details The axis separator separates the objects in the telegram as follows: Object 1 ––> Active Infeed (A_INF) • Slots 4 and 5: Object 2 ––> SERVO 1 •...
Page 678: Commissioning Profibus
Communication 11.2 Communication via PROFIBUS DP 11.2.2 Commissioning PROFIBUS 11.2.2.1 Setting the PROFIBUS interface Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available as standard on the CU320-2 DP Control Unit. Figure 11-13 Interfaces and diagnostic LED Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 679 Communication 11.2 Communication via PROFIBUS DP ● PROFIBUS interface The PROFIBUS is described in the "SINAMICS S120 Control Units and Supplementary System Components Manual". ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnostics purposes.
Page 680: Profibus Interface In Operation
Communication 11.2 Communication via PROFIBUS DP Note The rotary coding switches used to set the PROFIBUS address are located beneath the cover. Note Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1 ... 126. When several Control Units are connected to a PROFIBUS line, you set the addresses differently than for the factory setting.
Page 681 ● Shielding of the PROFIBUS cables The cable shield must be connected in the plug through a large surface area at both ends (see SINAMICS S120 Control Units and Supplementary System Components Manual). Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 682: Commissioning Profibus
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 683: Simatic Hmi Addressing
Communication 11.2 Communication via PROFIBUS DP 11.2.2.5 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 applies: ●...
Page 684 Communication 11.2 Communication via PROFIBUS DP Field Value Length Not activated Acquisition cycle Number of elements Decimal places Note • You can operate a SIMATIC HMI together with a drive unit independently of an existing controller. A basic "point-to-point" connection can only be established between two nodes (devices). •...
Page 685: Monitoring: Telegram Failure
Communication 11.2 Communication via PROFIBUS DP 11.2.2.6 Monitoring: telegram failure When monitoring the telegram failure, SINAMICS differentiates between two cases: ● Telegram failure with a bus fault After a telegram failure and the additional monitoring time has elapsed (p2047), bit r2043.0 is set to "1"...
Page 686 Communication 11.2 Communication via PROFIBUS DP Example: Quick stop at telegram failure Assumption: ● A drive unit with an Active Line Module and a Single Motor Module. ● VECTOR mode is activated. ● After a ramp-down time (p1135) of two seconds, the drive is at a standstill. Settings: p2047 = 20 ms...
Page 687: Motion Control With Profibus
Communication 11.2 Communication via PROFIBUS DP 11.2.3 Motion Control with PROFIBUS Motion control / isochronous drive coupling with PROFIBUS Figure 11-16 Motion control / isochronous drive coupling with PROFIBUS, optimized cycle with T = 2 ∙ T MAPC Sequence of data transfer to closed-loop control system 1.
Page 688 Communication 11.2 Communication via PROFIBUS DP Designations and descriptions for motion control Table 11- 11 Time settings and meanings Name Limit value Description 250 µs Time base for T BASE_DP ≥ T DP cycle time DP_MIN = Dx + MSG + RES + GC = multiple integer ∙...
Page 689 Communication 11.2 Communication via PROFIBUS DP Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. – T > T and T > T Note After T has been changed on the PROFIBUS master, the drive system must be switched on (POWER ON) or parameter p0972 = 1 (reset drive unit) must be set.
Page 690 Communication 11.2 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 an arbitrary value between 1 and 15.
Page 691: Slave-To-Slave Communication
Communication 11.2 Communication via PROFIBUS DP 11.2.4 Slave-to-slave communication For PROFIBUS DP, the master interrogates 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 692 Communication 11.2 Communication via PROFIBUS DP Links and taps The links configured in the subscriber (connections to publisher) contain the following information: ● From which publisher is the input data received? ● What is the content of the input data? ●...
Page 693: Setpoint Assignment In The Subscriber
Communication 11.2 Communication via PROFIBUS DP 11.2.4.1 Setpoint assignment in the subscriber Information about setpoints ● 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 694 Communication 11.2 Communication via PROFIBUS DP Activation in the subscriber The slave, which is to be used as subscriber, requires a filter table. The slave must know which setpoints are received from the master and which are received from a publisher. The filter table is created automatically via the bus configuration tool (e.g.
Page 695: Commissioning Of The Profibus Slave-To-Slave Communication
Communication 11.2 Communication via PROFIBUS DP 11.2.4.3 Commissioning of the PROFIBUS slave-to-slave communication The commissioning of slave-to-slave communication between two SINAMICS drive devices using the additional Drive ES package is described below in an example. Settings in HW Config Based on the example of the project below, the settings in HW Config are described when using standard telegrams.
Page 696 1. You have generated a project, e.g. with SIMATIC Manager and HW Config. In the project example, you have defined a CPU 314 controller as master and two SINAMICS S120 Control Units as slaves. For the slaves, one CU320-2 DP is intended as publisher and one CU310-2 DP as subscriber.
Page 697 Communication 11.2 Communication via PROFIBUS DP 4. Then switch to the detailed view. – Slots 4/5 contain the actual and setpoint values for the first drive object, e.g. SERVO. – Slots 7/8 contain the telegram components for the actual values and setpoints for the second drive object, e.g.
Page 698 Communication 11.2 Communication via PROFIBUS DP 6. Under the "PROFIBUS Partner" column, change the new setpoint slot 6 from an "output" type to a "slave-to-slave communication" type. 7. In the first column, select the PROFIBUS DP address of the publisher, in this example "6".
Page 699 Communication 11.2 Communication via PROFIBUS DP 9. Click the "Slave-to-slave communication overview" tab. The configured slave-to-slave communication relationships are shown here which correspond to the current status of the configuration in HW Config. Figure 11-24 Slave-to-slave communication - overview After the slave-to-slave communication link has been created, instead of showing "Standard telegram 2"...
Page 700 Communication 11.2 Communication via PROFIBUS DP The details after creation of the slave-to-slave communication link for a drive object of the drive device are as follows: Figure 11-26 Details after the creation of the slave-to-slave communication link 10.You should therefore adjust the telegrams for each drive object of the selected drive device that is to participate actively in slave-to-slave communication.
Page 701 Communication 11.2 Communication via PROFIBUS DP Commissioning in STARTER Slave-to-slave communication is configured in HW Config and is simply an extension of an existing telegram. STARTER supports telegram extension. Figure 11-27 Configuring the slave-to-slave communication links in STARTER To complete the configuration of slave-to-slave communication for the drive objects, the telegram portions of the drive objects in STARTER must be matched to those in the HW Config and extended.
Page 702 Communication 11.2 Communication via PROFIBUS DP Procedure 1. In the overview for the PROFIBUS telegram, you can access the telegram components of the drive objects, in the example, SERVO_01. Select the telegram type "Free telegram configuration with BICO" for the configuration. 2.
Page 703 Communication 11.2 Communication via PROFIBUS DP 4. In the project navigator, select "Communication" > "Protocol selection on PROFIBUS" for the "SERVO_01" drive object. You are then provided with the structure of the PROFIBUS telegram in the receive and send direction. The telegram extension as of PZD5 is the part for slave-to-slave communication.
Page 704: Diagnosing The Profibus Slave-To-Slave Communication In Starter
Communication 11.2 Communication via PROFIBUS DP A list for the connector shows all signals that are available for interconnection. Figure 11-30 Linking the PZDs for slave-to-slave communication with standard telegrams 11.2.4.4 Diagnosing the PROFIBUS slave-to-slave communication in STARTER 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.
Page 705: Messages Via Diagnostics Channels
Any interruption to the publisher is also reported by the fault F01946 at the affected drive object. A failure of the publisher only impacts the respective drive objects. More detailed information on the messages can be found in the SINAMICS S120/S150 List Manual.
Page 706 Messages The message texts are described in detail in the SINAMICS S120/S150 List Manual, Section 3.1.2 "Explanations on the list of faults and alarms". A current list of the message texts can be found in the "Message classes and coding of different diagnostics interfaces" table.
Page 707: Communication Via Profinet Io
● An IO supervisor is an engineering tool, typically based on a PC, to configure e and diagnose the individual IO devices (drive units). IO devices: Drive units with PROFINET interface ● SINAMICS S120 with CU320-2 DP and inserted CBE20 ● SINAMICS S120 with CU320-2 PN ● SINAMICS S120 with CU310-2 PN...
Page 708: Real-Time (Rt) And Isochronous Real-Time (Irt) Communication
Communication 11.3 Communication via PROFINET IO Cyclic communication using PROFINET IO with IRT or using RT is possible on all drive units equipped with a PROFINET interface. This means that error-free communication using other standard protocols is guaranteed within the same network. Note PROFINET for drive technology is standardized and described in the following document: PROFIBUS profile PROFIdrive - Profile Drive Technology...
Page 709: Addresses
Communication 11.3 Communication via PROFINET IO PROFINET IO with IRT (Isochronous Real Time) Isochronous real time: Real time property of PROFINET IO where IRT telegrams are transferred deterministically via planned communication paths in a defined sequence to achieve the best possible synchronism and performance between the IO controller and IO device (drive unit).
Page 710 IO controller. In this case, the IP address is not stored permanently. The IP address entry is lost after POWER ON/OFF. The IP address can be assigned retentively via the STARTER function "Accessible nodes" (see SINAMICS S120 Commissioning Manual).
Page 711: Data Transfer
Communication 11.3 Communication via PROFINET IO Note You can enter the address data for the internal PROFINET ports X150 P1 and P2 in STARTER in the expert list using parameters p8920, p8921, p8922 and p8923. You can enter the address data for the ports of the optional CBE20 module in STARTER in the expert list using parameters p8940, p8941, p8942 and p8943.
Page 712 Communication 11.3 Communication via PROFINET IO The following drive objects can exchange process data: ● Active Infeed (A_INF) ● Basic Infeed (B_INF) ● Control Unit (CU_S) ● ENC ● Smart Infeed (S_INF) ● SERVO ● Terminal Board 30 (TB30) ● Terminal Module 15 (TM15) ●...
Page 713: Communication Channels For Profinet
Routing is neither possible between the onboard interfaces X127 and X150 – nor between the onboard interfaces of the Control Unit 320-2 PN and an inserted CBE20. Overview of important parameters (see SINAMICS S120/S150 List Manual) Integrated PROFINET interface PN name of station •...
Page 714 Communication 11.3 Communication via PROFINET IO PN MAC address of station • r8935[0...5] PN state of the cyclic connections • r8936[0...1] PN diagnostics • r8937[0...5] PROFINET name of station • r61000[0...239] PROFINET IP of station • r61001[0...3] CBE20 CBE2x number of remote controllers •...
Page 715: Drive Control With Profinet
● For a description of the CBE20 and how you can use it in the drive, please refer to the SINAMICS S120 Control Units and Additional System Components Manual. ● The PROFINET interface on the CU310-2 PN unit is described in the SINAMICS S120 AC Drive Manual:...
Page 716 11.3 Communication via PROFINET IO Clock generation via PROFINET IO (isochronous communication) SINAMICS S120 with CU310-2 PN/CU320-2 DP/CU320-2 PN can only assume the role of a synchronization slave within a PROFINET IO network. For a CU310-2 PN/CU320-2 DP/CU320-2 PN with CBE20 module, the following applies: ●...
Page 717 Communication 11.3 Communication via PROFINET IO STEP 7 routing with CBE20 The CBE20 does not support STEP 7 routing between PROFIBUS and PROFINET IO. Connecting a PG/PC with the STARTER commissioning tool To commission a Control Unit with a PG/PC using the STARTER commissioning tool, there are the connection options PROFIBUS, PROFINET or Ethernet.
Page 718: Media Redundancy
Communication 11.3 Communication via PROFINET IO Note Routing is not possible between the two interfaces. 11.3.2.1 Media redundancy To increase the availability of PROFINET, you can create a ring topology. If the ring is interrupted at one point, the data paths between the devices are automatically reconfigured. Following reconfiguration, the devices can once again be accessed in the resulting new topology.
Page 719 Communication 11.3 Communication via PROFINET IO Two options are available with this RT class: ● IRT "high flexibility" ● IRT "high performance" The real-time classes IRT "high flexibility" and IRT "high performance" can be selected as options in the synchronization settings configuration area of HW Config. In the description below, both these classes are simply referred to as "IRT".
Page 720 Communication 11.3 Communication via PROFINET IO Modules The following S110/S120 modules support the IRT "high performance": ● S120 CU320 together with the CBE20 ● S120 CU320-2 DP together with the CBE20 ● S120 CU320-2 PN ● S120 CU310 PN ● S120 CU310-2 PN ●...
Page 721 Communication 11.3 Communication via PROFINET IO Set the RT class The RT class is set by means of the properties of the controller interface of the IO controller. If RT class IRT "high performance" is set, it is not possible to operate any IRT "high flexibility"...
Page 722 Communication 11.3 Communication via PROFINET IO Update cycles and send cycles for RT classes Definition of the update time / send cycle: If we take a single IO device in the PROFINET IO system as an example, this device has been supplied with new data (outputs) by the IO controller and has transferred new data (inputs) to the IO controller within the update time.
Page 723 Communication 11.3 Communication via PROFINET IO Furthermore, the send cycles which can actually be set are determined by the intersection of the send cycles supported by all the devices in the synchronization domain. The reduction ratio between the update cycle of an IO device and the send cycle is set in the "Properties"...
Page 724: Profinet Gsdml
11.3 Communication via PROFINET IO 11.3.4 PROFINET GSDML To embed a SINAMICS S into a PROFINET network, SINAMICS S120 supports two different PROFINET GSDML versions (generic station description file): ● PROFINET GSDML for compact modules ● PROFINET GSDML with subslot configuring...
Page 725 Communication 11.3 Communication via PROFINET IO Module Subslot 1 Subslot 2 Subslot 3 Subslot 4 Max. number PROFIsafe PZD telegram PZD extension of PZD TM150 Reserved Telegrams: no Reserved free PZD-4/4 TM41 Reserved Telegrams: 3 Reserved 20/28 free PZD-4/4, 16/16 Control Unit Reserved Telegrams: 390, 391, 392,...
Page 726: Motion Control With Profinet
Communication 11.3 Communication via PROFINET IO 11.3.5 Motion Control with PROFINET Motion Control / isochronous drive link with PROFINET Figure 11-35 Motion Control / isochronous drive link with PROFINET, optimized cycle with CACF = 2 (Controller Application Cycle Factor) Sequence of data transfer to closed-loop control system 1.
Page 727 Communication 11.3 Communication via PROFINET IO Designations and descriptions for motion control Table 11- 16 Time settings and meanings Name Limit value Description Time basis for cycle time T DC_BASE calculation: =T_DC_BASE × 31.25 µs = 4 × 31.25 µs = 125 µs DC_BASE T_DC_MIN ≤...
Page 728 Communication 11.3 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 ≧ T CA_Valid IO_Output is thus large enough to enable communication with all bus nodes.
Page 729: Communication With Cbe20
• r8858[0...39] 11.3.6.1 EtherNet/IP SINAMICS S120 supports the communication with the fieldbus EtherNet Industrial Protocol (EtherNet/IP or also EIP). EtherNet/IP is an open standard based on Ethernet, which is predominantly used in the automation industry. EtherNet/IP is supported by the Open DeviceNet Vendor Association (ODVA).
Page 730: Pn Gate
SINAMICS S120, other PROFINET devices (drives, distributed I/O, etc.) can be connected. The CBE20 in the CU320-2 PN of the SINAMICS S120 contains the "PN Gate" function (p8835 = 2). The PN Gate represents the controller in the sense of PROFINET. It covers a standard PROFINET network.
Page 731: Functions Supported By Pn Gate
Communication 11.3 Communication via PROFINET IO 11.3.7.1 Functions supported by PN Gate PN Gate function overview Function Description Communication channels Cyclic data communication: • – IRT – RT Acyclic data communication: • - PROFINET alarms - Read/write data set - TCP/IP PROFINET basic services LLDP •...
Page 732: Preconditions For Pn Gate
Communication 11.3 Communication via PROFINET IO 11.3.7.2 Preconditions for PN Gate Hardware ● SINAMICS CU320-2 PN with firmware version as of 4.5 ● Communication Board Ethernet 20 (CBE20) ● Short Ethernet cable to connect CBE20 and CU320-2 PN (X150) Recommendation: Ethernet cable with the order number: 6SL3060-4AB00-0AA0 ●...
Page 733 Communication 11.3 Communication via PROFINET IO Scope of delivery PN Gate Dev Kit (Development Kit) The PN Gate development kit is supplied on a DVD and contains the following components: ● STEP 7 add-on setup – CD1 PN Gate add-on setup for STEP7 5.5 SP2, STARTER 4.3, SINAMICS 4.5 ●...
Page 734: Profinet With 2 Controllers
Note Operation with two controllers is only possible in conjunction with an F-CPU. SINAMICS S120 allows two control systems to be connected simultaneously to a Control Unit via PROFINET, e.g. an automation controller (A-CPU) and a safety controller (F-CPU). SINAMICS S supports, for this communication, PROFIsafe standard telegrams 30 and 31, as well as Siemens telegrams 901 and 902 for the safety controller.
Page 735 The following diagram shows a configuration example of a drive with three axes. The A-CPU sends Siemens telegram 105 for axis 1 and Siemens telegram 102 for axis 2. The F-CPU sends PROFIsafe telegram 30 for axis 1 and axis 3.
Page 736: Configuring Shared Device
Communication 11.3 Communication via PROFINET IO Note When booting, the drive system first requires the configuration data of A-CPU and then establishes a cyclic communication to this CPU taking into account the PROFIsafe telegrams expected. As soon as the drive system has received the configuration data of the F-CPU, then cyclic communication is also established here and PROFIsafe telegrams are taken into consideration.
Page 737 Communication 11.3 Communication via PROFINET IO Example: Two controllers in a common project Start STEP 7: 1. Under S7, create a drive control for the new project, in the example called A-CPU, based on a SIMATIC 300. Figure 11-39 Creating a new S7 project 2.
Page 738 Communication 11.3 Communication via PROFINET IO 3. Click "Station\Save and compile" (Ctrl+S) The previous project is saved. 4. Open the shortcut menu of the S120 drive and click "Open object with STARTER" to configure the drives in STARTER. Figure 11-41 New project transferred from HW Config into STARTER Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 739 Communication 11.3 Communication via PROFINET IO The STARTER window opens automatically The project is displayed in the navigation window. 1. In the expert list of the Control Unit, set parameter p8929 = 2. Figure 11-42 p8929 from the expert list of the Control Unit 2.
Page 740 Communication 11.3 Communication via PROFINET IO The PROFIsafe telegrams were added to the PROFIdrive table: Figure 11-45 List of telegrams that are available 4. Transfer your telegram changes to HW Config by clicking "Set up addresses". Figure 11-46 The telegrams were aligned with HW Config After the telegrams have been successfully transferred to HW Config, the red exclamation mark is replaced by a checkmark.
Page 741 Communication 11.3 Communication via PROFINET IO Configuring the safety controller: 1. In the HW Config window click the S120 component. Figure 11-47 Updated project in HW Config 2. There is full access to all telegrams. You must enable this in order that the PROFIsafe controller can access telegram 30.
Page 742 Communication 11.3 Communication via PROFINET IO 3. In the following window, you lock the access of the PROFIsafe telegrams through the A- CPU. Figure 11-48 Safety telegrams of the A-CPU enabled Inserting the PROFIsafe controller in STEP 7 You configure the PROFIsafe controller in precisely the same way as the drive control under STEP 7.
Page 743 Communication 11.3 Communication via PROFINET IO Configuring the F-CPU in HW Config 1. Different than for a drive control, now select a PROFIsafe-compatible controller, for example, a CPU 317F-2 PN/DP. We have manually renamed the PROFIsafe controller to "F-CPU". 2. To establish the communication, select PROFINET IO again. Figure 11-49 PROFIsafe controller configuration 3.
Page 744 Communication 11.3 Communication via PROFINET IO 8. In the shortcut menu, select "Insert shared". The S120 drive control is connected to the PROFINET of the PROFIsafe controller. In the table, the PROFIsafe controller has automatically been allocated full access for PROFIsafe telegram 30.
Page 745: Overview Of Important Parameters
If there is a checkmark after each telegram type in STARTER, then the Shared Device has been successfully configured. 11.3.8.3 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) PN number of remote controllers • p8929 SI enable functions integrated in the drive (Control Unit) •...
Page 746 Communication 11.3 Communication via PROFINET IO The following table provides an overview of the PROFIenergy functionality and the support of the various SINAMICS devices: Figure 11-52 PROFIenergy functions Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 747: Tasks Of Profienergy
Communication 11.3 Communication via PROFINET IO 11.3.9.1 Tasks of PROFIenergy PROFIenergy is a data interface based on PROFINET. It allows loads to be shut down during non-operational periods in a controlled fashion, and irrespective of the manufacturer and device. Consequently, the process should be given only the energy it actually requires. The majority of the energy is saved by the process, the PROFINET device itself contributes only a few watts to the saving potential.
Page 748: Profienergy Properties Of The Sinamics S120 Drive System
PROFIenergy properties of the SINAMICS S120 drive system SINAMICS S120 drive system devices meet the following requirements: ● SINAMICS S120 devices are certified for PROFIenergy ● SINAMICS S120 devices support the PROFIenergy functional unit Class 3 ● SINAMICS S120 devices support the PROFIenergy hibernation 2 11.3.9.3...
Page 749 Communication 11.3 Communication via PROFINET IO PROFIenergy query commands Query commands Description List_Energy_Saving_Modes Determines all supported energy-saving modes. Get_Mode Determines the energy-saving mode. PEM_Status Determines the current PROFIenergy status. PEM_Status_with_CTTO Determines the current PROFIenergy status, such as the PEM status and together with the regular transition time to the operating state.
Page 750: Profienergy Measured Values
SINAMICS. These alarms are therefore not sent during energy-saving mode. 11.3.9.6 Block PROFIenergy For SINAMICS S120 drive devices, the parameter setting p5611.0 = 1 can be used to block PROFIenergy. This causes the control commands to be ignored. Drive functions...
Page 751: Function Diagrams And Parameters
PROFIenergy - Control commands / query commands • 2381 PROFIenergy - States • 2382 Sequence control - Sequencer • 2610 Overview of important parameters (see SINAMICS S120/S150 List Manual) Pe hibernation ID • r5600 Pe hibernation pause time, minimum • p5602[0...1] Pe hibernation duration, maximum •...
Page 752 SINAMICS first transfers all pending messages to the controller. Messages The message texts are described in detail in the SINAMICS S120/S150 List Manual, Section 3.1.2 "Explanations on the list of faults and alarms". A current list of the message texts can be found in the "Message classes and coding of different diagnostics interfaces"...
Page 753: Support Of I&M Data Sets 1
Communication 11.3 Communication via PROFINET IO 11.3.11 Support of I&M data sets 1...4 Identification & Maintenance (I&M) I&M data sets contain information for a standardized and simplified identification and maintenance of PROFIBUS/PROFINET devices. I&M data sets 1...4 contain plant-specific information, such as the installation location and date. PROFINET supports I&M data sets 0...4.
Page 754 ● I&M data sets are not changed when the alternative parameter sets are stored or loaded. The transfer of parameter sets between a memory card and non-volatile device memory does not have any effect on the I&M data sets. Overview of important parameters (see SINAMICS S120/S150 List Manual) Identification and Maintenance configuration • p8805[0...1] Identification and Maintenance 1 •...
Page 755: Dynamic Ip Address Assignment
Communication 11.3 Communication via PROFINET IO 11.3.12 Dynamic IP address assignment In those cases in which the PROFINET interface is not used for the IO communication, it is possible to generate an IP address centrally using a DHCP (DHCP = Dynamic Host Configuration Protocol) server.
Page 756 (each value 2). Make one of the following settings: – For Ethernet onboard (X127): p8905 = 1 or 2 – For PROFINET onboard: p8925 = 1 or 2 (applies only to SINAMICS S120 devices) – For CBE20: p8945 = 2 A direct activation is not possible for the CBE20.
Page 757: Communication Via Sinamics Link
● Setpoint cascading for n drives ● Load distribution of drives coupled through a material web ● Master/slave function for infeed units ● Links between SINAMICS DC-MASTER and SINAMICS S120 Requirements The following preconditions must be fulfilled to operate SINAMICS Link: ●...
Page 758 Communication 11.4 Communication via SINAMICS Link Send and receive data The SINAMICS Link telegram contains 16 slots (0...15) for the process data (PZD1...16). Each PZD is precisely 1 word long (= 16 bits). Slots that are not required are automatically filled with zeros.
Page 759: Topology
Communication 11.4 Communication via SINAMICS Link 11.4.2 Topology Only a line topology with the following structure is permitted for SINAMICS Link. You must manually set the parameters in the expert lists of the Control Units and drive objects. To do this, use the STARTER commissioning tool.
Page 760: Configuring And Commissioning
Communication 11.4 Communication via SINAMICS Link ● A maximum of 64 nodes are possible for a communication cycle between 1000 µs and 2000 µs. ● A maximum of 16 nodes are possible in the isochronous mode at 500 µs. ● The ports of the CBE20 must be interconnected strictly in accordance with the above diagram.
Page 761 Communication 11.4 Communication via SINAMICS Link Table 11- 20 Compile send data of drive 1 (DO2) p2051[x] p2061[x] Contents From Slots in the send buffer parameter p8871[x] Index Index ZSW1 r0899 PZD 1 Actual speed value part 1 r0061[0] PZD 2 Actual speed value part 2 PZD 3 Actual torque value part 1...
Page 762 Communication 11.4 Communication via SINAMICS Link 4. The sequence of the PZD in the send telegram of this node is defined in parameter p8871[0...15] by the entries in the required slots. 5. The telegram is sent at the next bus cycle. Receiving data The sent telegrams of all nodes are simultaneously available at the SINAMICS Link.
Page 763 Communication 11.4 Communication via SINAMICS Link Table 11- 23 Receive data for Control Unit 2 From the sender Receiver Transfer Tel. word Address Receive buffer Data transferred in from p8871[x] p8872[x] p8870[x] Parameter Contents r2050[x] r2060[x] p2051[0] PZD 1 r0899 ZSW1 p2061[1] PZD 2...
Page 764: Example
Communication 11.4 Communication via SINAMICS Link 11.4.4 Example Task Configure SINAMICS Link for two nodes and transfer the following values: ● Send data from node 1 to node 2 – r0898 CO/BO: Control word, sequence control, drive 1 (1 PZD), in the example PZD 1 –...
Page 765 Communication 11.4 Communication via SINAMICS Link 10.Define the receive data for node 2: – Specify that the data placed in the receive buffer p8872 of node 2 in locations 0 to 4 will be received by node 1: p8872[0] = 1 p8872[1] = 1 p8872[2] = 1 p8872[3] = 1...
Page 766 Communication 11.4 Communication via SINAMICS Link 14.For both nodes, perform a POWER ON in order to activate the SINAMICS Link connections. Figure 11-56 SINAMICS Link: Configuration example Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 767: Communication Failure When Booting Or In Cyclic Operation
Communication 11.4 Communication via SINAMICS Link 11.4.5 Communication failure when booting or in cyclic operation If at least one sender does not correctly boot after commissioning or fails in cyclic operation, then alarm A50005 is output to the other nodes: "Sender was not found on the SINAMICS Link."...
Page 768: Function Diagrams And Parameters
Data transfer - SINAMICS Link (p8835 = 3) • 2198 Data transfer - SINAMICS Link, PZD assignment (p8835 = 3) • 2199 Overview of important parameters (see SINAMICS S120/S150 List Manual) Sampling time for additional functions • p0115 IF1 PROFIdrive STW1.10 = 0 mode •...
Page 769: Communication Services And Used Port Numbers
11.5 Communication services and used port numbers 11.5 Communication services and used port numbers SINAMICS S120 supports the protocols listed in the following table. The address parameters, the relevant communication layer as well as the communication role and the communication direction are specified for each protocol.
Page 770 Communication 11.5 Communication services and used port numbers Report Port (2) Link layer Function Description number (4) Transport layer PTCP Not relevant (2) Ethernet II and PROFINET PTC enables a time IEEE 802.1Q and delay measurement Precision send clock and Ethertype 0x8892 Transparent time...
Page 771 Communication 11.5 Communication services and used port numbers Report Port (2) Link layer Function Description number (4) Transport layer SNMP (4) UDP Simple network SNMP enables the management reading out and setting Simple network protocol of network management management data (SNMP managed protocol Objects) by the SNMP manager.
Page 772 Communication 11.5 Communication services and used port numbers Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 773: Applications
12.1 Application examples SINAMICS application examples can be found at the following website: www.siemens.de/sinamics-applikationen We can offer you efficient system strategies, especially as a result of the optimum interaction between SIMATIC control technology and SINAMICS drive systems. The application examples provide you with: ●...
Page 774 12.1 Application examples Finding and calling application examples 1. Call the following site in your Internet browser: www.siemens.de/sinamics-applikationen 2. Select the required filter in the search mask. Example: The result list is updated every time a filter setting is specified.
Page 775 Applications 12.1 Application examples The required tooltip is then displayed in the Siemens Industry Online Support. Generally, you can download a detailed application description as PDF via the tooltip. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 776: Infeed Switch On By A Drive
Applications 12.2 Infeed switch on by a drive 12.2 Infeed switch on by a drive Description Figure 12-1 BICO interconnection Using this BICO interconnection, a drive object (DO) X_INF (= all "Infeed" drive objects; i.e. A_INF, B_INF, S_INF) can be switched on by a "VECTOR" drive object. This switch-on version is mainly used for drive units in the "chassis"...
Page 777 Applications 12.2 Infeed switch on by a drive Individual steps when restarting: ● After the line supply returns and the electronics has booted, the faults that have occurred at the "VECTOR" drive object as a result of its automatic restart are acknowledged depending on the settings in p1210.
Page 778: Control Units Without Infeed Control
Applications 12.3 Control Units without infeed control 12.3 Control Units without infeed control 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 precisely one Control Unit and which includes a drive object X_INF , the BICO interconnection p0864 = p0863.0 is established automatically...
Page 779 The source for the "Infeed operation" signal is a digital input in the example. Figure 12-3 Example: interconnection with more than one Control Unit Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: CU digital inputs, status • r0722 CO/BO: Drive coupling status word / control word •...
Page 780: Quick Stop In The Event Of A Power Failure Or Emergency Stop (Servo)
Applications 12.4 Quick stop in the event of a power failure or emergency stop (servo) 12.4 Quick stop in the event of a power failure or emergency stop (servo) A drive line-up generally responds when the power fails with an OFF2, even when a Control Supply Module and a Braking Module is being used.
Page 781 Applications 12.4 Quick stop in the event of a power failure 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 782: Description
Applications 12.5 Description 12.5 Description Description The motor changeover is used in the following cases, for example: ● Changing over between different motors and encoders ● Changing over different windings in a motor (e.g. star-delta changeover) ● Adapting the motor data If several motors are operated alternately on a Motor Module, a matching number of drive data sets must be created.
Page 783 Applications 12.5 Description Figure 12-5 Example of motor changeover Table 12- 1 Settings for the example Parameter Settings Remark p0130 Configure four MDS. p0180 Configure four DDS. p0186[0...3] 0, 1, 2, 3 The MDS are assigned to the DDS. p0820, p0821 Digital inputs DDS The digital inputs for motor changeover via DDS selection...
Page 784 Applications 12.5 Description Procedure for changeover between motor data sets 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 from exceeding the terminal voltage.
Page 785 Sets the speed at which the circuit is to be changed over to delta. Note: Using p2140, you can define an additional hysteresis for the changeover (refer to function diagram 8010 in the SINAMICS S120/150 List Manual). Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 786 After the feedback signal (motor contactor closed) for motor contactor 2, the bit "motor changeover active" (r0835.0) is reset and the pulses are enabled. The changeover is complete. Function diagrams (see SINAMICS S120/S150 List Manual) Data sets - Drive Data Sets (DDS) • 8565 Data sets - Encoder Data Sets (EDS) •...
Page 787 Applications 12.5 Description Overview of important parameters (see SINAMICS S120/S150 List Manual) CO/BO: Drive data set DDS effective • r0051[0...4] Motor data sets (MDS) number • p0130 Encoder data sets (EDS) number • p0140 Drive data set (DDS) number • p0180 Motor data sets (MDS), number •...
Page 788: Application Examples With Dmc20
Applications 12.6 Application examples with DMC20 12.6 Application examples with DMC20 The DRIVE-CLiQ Hub Module Cabinet 20 (DMC20/DME20) is used for the star-shaped distribution of a DRIVE-CLiQ line. With the DMC20, an axis grouping can be expanded with five DRIVE-CLiQ sockets for additional subgroups. The component is especially suitable for applications which require DRIVE-CLiQ nodes to be removed in groups, without interrupting the DRIVE-CLiQ line and, therefore, the data exchange process.
Page 789 Applications 12.6 Application examples with DMC20 Example: Distributed structure Several direct length measuring systems are used in a machine. These are to be combined in a control cabinet and connected to the Control Unit via a DRIVE-CLiQ cable. When a DMC20 is used, up to five measuring systems can be combined. Figure 12-7 Example, distributed topology using DMC20 Example: Hot-plugging...
Page 790 Applications 12.6 Application examples with 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 791 2. Right-click "Topology" in the project navigator and call the "Add new object > DRIVE- CLiQ hub" context menu. 3. Configure the topology. Overview of important parameters (see SINAMICS S120/S150 List Manual) Activate/deactivate drive object • p0105 Drive object active/inactive •...
Page 792: Dcc And Dcb Extension Applications
12.7 DCC and DCB extension applications 12.7 DCC and DCB extension applications You can find further application examples, such as applications with DCC, on the Siemens homepage. Finding and calling application examples 1. Call the following Internet site in your browser: www.siemens.de/sinamics-applikationen...
Page 793 Applications 12.7 DCC and DCB extension applications Example: Synchronous operation applications with DCC You require the "Synchronous operation" drive function and the "DCC" feature as filter settings. Figure 12-10 The most important synchronous operation application examples are marked in red in the figure.
Page 794 Applications 12.7 DCC and DCB extension applications Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 795: Basic Information About The Drive System
Basic information about the drive system 13.1 Parameter 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 796 Basic information about the drive system 13.1 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 797 = 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 798: Data Sets
Basic information about the drive system 13.2 Data sets 13.2 Data sets 13.2.1 CDS: Command Data Set The BICO parameters are combined (binector and connector inputs) in a command data set (CDS). 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 799: Dds: Drive Data Set
The parameters that are grouped together in the drive data set are identified in the SINAMICS S120/S150 List Manual by "Data Set DDS" and are assigned an index [0...n]. It is possible to parameterize several drive data sets. You can switch easily between different drive configurations (control type, motor, encoder) by selecting the corresponding drive data set.
Page 800: Eds: Encoder Data Set
Basic information about the drive system 13.2 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 801 Basic information about the drive system 13.2 Data sets If encoder 1 (p0187) is switched over via DDS, then an MDS must also be switched over. Note Switching over between several encoders In order to be able to switch between two or more encoders using the EDS switched function, you must connect these encoders via various Sensor Modules or DRIVE-CLiQ ports.
Page 802: 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 803: Function Diagrams And Parameters
DDS 3 MDS 1 EDS 6 13.2.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) Data sets - Command Data Sets (CDS) • 8560 Data sets - Drive Data Sets (DDS) • 8565 Data sets - Encoder Data Sets (EDS) •...
Page 804 Basic information about the drive system 13.2 Data sets Overview of important parameters (see SINAMICS S120/S150 List Manual) Power Module data sets (PDS) number • p0120 Motor data sets (MDS) number • p0130 Copy motor data set (MDS) • p0139 Encoder data sets (EDS) number •...
Page 805: Drive Objects
Basic information about the drive system 13.3 Drive objects 13.3 Drive objects A drive object (DO) is an independent, "self-contained" software function that has its own parameters and, in some cases, its own faults and alarms. Drive objects can be provided as standard (e.g.
Page 806 A dedicated drive object is responsible for evaluating an optional additional encoder that can be connected. Note Drive object A list of all drive objects is provided in the SINAMICS S120/S150 List Manual in Section Overview of parameters. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 807 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) Drive object numbers • p0101 Number of drive objects •...
Page 808: Bico Technology: Interconnecting Signals
Basic information about the drive system 13.4 BICO technology: interconnecting signals 13.4 BICO technology: interconnecting signals 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 requirements.
Page 809: Interconnecting Signals Using Bico Technology
Basic information about the drive system 13.4 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 810: Internal Encoding Of The Binector/Connector Output Parameters
Basic information about the drive system 13.4 BICO technology: interconnecting signals Note A connector input (CI) cannot be interconnected with any connector output (CO, signal source). The same applies to the binector input (BI) and binector output (BO). For each CI and BI parameter, the parameter list shows under "data type" the information on the data type of the parameter and the data type of the BICO parameter.
Page 811: Sample Interconnections
Basic information about the drive system 13.4 BICO technology: interconnecting signals 13.4.4 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 13-7 Interconnection of digital signals (example) Example 2: Connection of OC/OFF3 to several drives...
Page 812: Bico Technology
Basic information about the drive system 13.4 BICO technology: interconnecting signals 13.4.5 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 813: Scaling
Basic information about the drive system 13.4 BICO technology: interconnecting signals 13.4.6 Scaling Signals for the analog outputs Table 13- 5 List of signals for analog outputs Signal Parameter Unit Scaling (100% = ...) Speed setpoint before the r0060 p2000 setpoint filter Actual speed value, motor r0061...
Page 814: Propagation Of Faults
Basic information about the drive system 13.4 BICO technology: interconnecting signals 13.4.7 Propagation of faults Forwarding faults to the Control Unit When faults are triggered on the "Control Unit" drive object, it is always assumed that central functions of the drive are affected. For this reason, these faults are also forwarded to all other drive objects (propagation).
Page 815: Inputs/Outputs
Detailed information on the hardware properties of the inputs/outputs can be found in the SINAMICS S120 Control Units Manual. For detailed information about the structural relationships between all I/Os of a component and their parameters, please refer to the function diagrams in the SINAMICS S120/S150 List Manual: Drive functions...
Page 816: Digital Inputs/Outputs
– Jumper closed, non-isolated. The reference potential of the digital inputs is the ground of the Control Unit. ● Sampling time for digital inputs/outputs can be adjusted (p0799). Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit 320-2 CU320-2 input/output terminals - •...
Page 817 Basic information about the drive system 13.5 Inputs/outputs CU310-2 input/output terminals - • 2021 isolated digital inputs (DI 16 ... DI 21) CU310-2 input/output terminals - • 2030 digital input/outputs, bidirectional (DI/DO 8 … DI/DO 9) CU310-2 input/output terminals - •...
Page 818 Basic information about the drive system 13.5 Inputs/outputs Function diagrams (see SINAMICS S120/S150 List Manual) TB30 Terminal Board 30 (TB30) - • 9102 isolated digital inputs (DI 0 ... DI 3) TM31 Terminal Module 31 (TM31) - • 9556 digital relay outputs, isolated (DO 0 and DO 1)
Page 819 Basic information about the drive system 13.5 Inputs/outputs Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit CU310-2 CU310-2 input/output terminals - • 2030 digital input/outputs, bidirectional (DI/DO 8 … DI/DO 9) CU310-2 input/output terminals - • 2031 digital input/outputs, bidirectional (DI/DO 10 ... DI/DO 11) CU310-2 input/output terminals - •...
Page 820: Use Of Bidirectional Inputs/Outputs On The Cu
Basic information about the drive system 13.5 Inputs/outputs 13.5.2 Use of bidirectional inputs/outputs on the CU The bidirectional inputs/outputs of terminals X122 and X132 on the CU (DO1) can be used by a drive object as well as a higher-level controller (resource sharing). The assignment to a terminal is defined by means of BICO interconnections which are either connected to a controller via the DO1 telegram p0922 = 39x or to a drive object.
Page 821: Analog Inputs
Basic information about the drive system 13.5 Inputs/outputs Fault reaction to controller failure The onboard I/Os assigned to the controller are switched to the safe state in response to a fault. This also applies to terminals whose signals are transferred via the bypass channel of the controller.
Page 822 Terminal Module 41 (TM41) - Analog input 0 (AI 0) • 9663 CU310-2: CU310-2 input/output terminals - Analog input (AI 0) • 2040 Overview of important parameters (see SINAMICS S120/S150 List Manual) CO: CU analog input current input voltage/current • r0752[0] CU analog input smoothing time constant • p0753[0] CU analog input wire-break monitoring response threshold •...
Page 823: Analog Outputs
Parameters p4077 to p4080 of the scaling do not limit the voltage values / current values (for TM31, the output can be used as current output). Function diagrams (see SINAMICS S120/S150 List Manual) Terminal Board 30 (TB30) - Analog outputs (AO 0 ... AO 1) •...
Page 824: Data Backup
0 if the operation was successful. If the operation was not successful, p7775 indicates a corresponding fault value. Further details of the fault values can be found in the SINAMICS S120/S150 List Manual. Note NVRAM data change The data in the NVRAM can only be restored or deleted if the pulse inhibit is set.
Page 825 Basic information about the drive system 13.6 Data backup Restoring NVRAM data With p7775 = 2, the NVRAM data is transferred back from the memory card into the Control Unit. When restoring you decide which data you require and want to copy. There are two reasons that necessitate the NVRAM data being restored.
Page 826: Redundant Data Backup On Memory Card
When write protection is activated, p7775 can only be written to from a higher-level controller using cyclic communication. More information on fault buffers, diagnostic buffers and message buffers is provided in the SINAMICS S120 Commissioning Manual. 13.6.2 Redundant data backup on memory card In conjunction with the "Firmware download via Web server"...
Page 827 ≥ E CU320-2 DP ≥ G CU320-2 PN ≥ D Overview of important faults and alarms (see SINAMICS S120/S150 List Manual) Memory card restored from backup copy • F01072 POWER ON required for backup copy on memory card • A01073...
Page 828: Parameterizing Using The Bop20 (Basic Operator Panel 20)
Faults can be diagnosed as well as acknowledged. The BOP20 is snapped onto the Control Unit. To do this, the blanking cover must be removed (for additional information on mounting, please refer to the SINAMICS S120 Manual Control Units and Supplementary System Components). Displays and keys...
Page 829 Basic information about the drive system 13.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Display Meaning Is lit (bright) if, for a parameter, the value only becomes effective after pressing the P key. Is light (bright) if at least one parameter was changed and the calculation for consistent data management has still not been initiated.
Page 830 Basic information about the drive system 13.7 Parameterizing using the BOP20 (Basic Operator Panel 20) BOP20 functions Table 13- 9 Functions Name Description Backlighting The backlighting can be set using p0007 in such a way that it switches itself off automatically after the set time if no actions are carried out.
Page 831: Displays And Using The Bop20
Basic information about the drive system 13.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Overview of important parameters (see SINAMICS S120/S150 List Manual) All drive objects BOP status display selection • p0005 BOP status display mode • p0006 BOP user-defined list •...
Page 832 Basic information about the drive system 13.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Status indicator The operating display for each drive object can be set using p0005 and p0006. Using the operating display, you can change into the parameter display or to another drive object. The following functions are possible: ●...
Page 833 Basic information about the drive system 13.7 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 834 Basic information about the drive system 13.7 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 835 Basic information about the drive system 13.7 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 13-12 Example: Changing p0013[4] from 0 to 300 Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 836 Basic information about the drive system 13.7 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 13-13 Example: Changing indexed binector parameters Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 837: Fault And Alarm Displays
Basic information about the drive system 13.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 13.7.3 Fault and alarm displays Displaying faults Figure 13-14 Faults Displaying alarms Figure 13-15 Alarms Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 838: Controlling The Drive Using The Bop20
Basic information about the drive system 13.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 13.7.4 Controlling the drive using the BOP20 When commissioning the drive, it can be controlled via the BOP20. A control word is available on the Control Unit drive object (r0019) for this purpose, which can be interconnected with the appropriate binector inputs of e.g.
Page 839: Examples Of Replacing Components
Basic information about the drive system 13.8 Examples of replacing components 13.8 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 840 Basic information about the drive system 13.8 Examples of replacing components Example: Replacing a component with a different order number Requirement: ● The replaced component has a different order number Table 13- 11 Example: Replacing a component with a different order number Action Reaction Remark...
Page 841 Basic information about the drive system 13.8 Examples of replacing components Example: (p9909 = 0) Replacing a defective component with an identical order number Requirement: ● The replaced component has an identical order number ● Topology comparison component replacement inactive p9909 = 0. Table 13- 12 Example: Replacing a Motor Module Action Reaction...
Page 842 Replacing motors with SINAMICS Sensor Module Integrated or with DRIVE-CLiQ Sensor Integrated If a defect has occurred in a motor with integrated DRIVE-CLiQ interface (SINAMICS Sensor Module Integrated), please contact the Siemens office in your region to arrange for repair. Drive functions...
Page 843: 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 corresponds to the actual DRIVE-CLiQ wiring harness.
Page 844 Basic information about the drive system 13.9 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 845: System Rules, Sampling Times And Drive-Cliq Wiring
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.1 Overview of system limits and system utilization The number and type of controlled axes, infeeds and Terminal Modules as well as the additionally activated functions can be scaled by configuring the firmware.
Page 846: System Rules
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.2 System rules A maximum of 24 drive objects (DOs) can be connected to one Control Unit. Control Units: ● The CU310-2 Control Unit is a single-axis control module for operating the AC/AC Power Modules in the Blocksize (PM240-2 or PM340) and Chassis formats.
Page 847 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring The following applies when connecting Motor Modules in parallel: ● A parallel connection is only permitted in the chassis format and only in the vector control or V/f control mode.
Page 848: Rules On The Sampling Times
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Terminal Modules: Control Unit CU320-2: ● In total a maximum of 16 drive objects of the types TM15 Base, TM31, TM15, TM17, TM41, TM120 or TM150 can be operated concurrently. ●...
Page 849 ● The current controller sampling times of the drives and infeeds must be synchronous to the set pulse frequency of the power unit (see also p1800 in the SINAMICS S120/S150 Lists Manual). Any increase in the pulse frequency requires a reduction in the sampling times and increases the derating in the power unit.
Page 850: Rules For Isochronous Mode
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Vector control / V/f control ● A current controller sampling time between 125 µs and 500 µs can be set for vector drives (125 µs ≤ p0115[0] ≤ 500 µs). This also applies to operation with V/f control. ●...
Page 851 (Page 868) can be set for vector control. ● The setting rules for the safety actual value acquisition cycle and the safety monitoring cycle must be observed (for details, see SINAMICS S120 Safety Integrated Function Manual): –...
Page 852: Default Settings For The Sampling Times
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.3.3 Default settings for the sampling times The sampling times of the functions are automatically pre-assigned when configuring the drive unit. These default settings are based on the selected mode (vector/servo control) and the activated functions.
Page 853: Setting The Pulse Frequency
● Position controller (p0115[4]) ● Positioner (p0115[5]) ● Technology controller (p0115[6]) The performance levels range from xLow to xHigh. Details of how to set the sampling times are given in the SINAMICS S120/S150 List Manual. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 854: Setting Sampling Times
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Setting the pulse frequency with the STARTER in online operation Enter the minimum pulse frequency in p0113. For isochronous operation (p0092 = 1), you can only set the parameter so that a resulting current controller cycle with an integer multiple of 125 μs is obtained.
Page 855: Overview Of Important Parameters
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.3.6 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) Device commissioning parameter filter • p0009 Isochronous mode, pre-assignment/check • p0092 Select drive object type •...
Page 856: Rules For Wiring With Drive-Cliq
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.4 Rules for wiring with DRIVE-CLiQ Rules apply for wiring components with DRIVE-CLiQ. A distinction is made between binding DRIVE-CLiQ rules, which must be unconditionally observed and recommended rules, which should then be maintained so that the topology, generated offline in the STARTER commissioning tool, no longer has to be changed.
Page 857 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring ● The sampling times (p0115[0] and p4099) of all components that are connected to a DRIVE-CLiQ line must be divisible by one another with an integer result, or all the sampling times set for the components must be an integer multiple of a common "base cycle".
Page 858: Recommended Interconnection Rules
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring The following applies for the CU Link and the CX32 and NX10/NX15 Control Units: ● In a topology with CU Link, the SINUMERIK NCU is DRIVE-CLiQ master for the NX and the SIMOTION D4xx is master for the CX32.
Page 859 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Motor Modules: ● No more than 6 Motor Modules should be connected to a DRIVE-CLiQ line on the Control Unit (including with vector, V/f control). ● Motor Modules should be connected directly to the Control Unit in vector control. –...
Page 860 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Encoder, Sensor Modules ● The motor encoder or Sensor Module should be connected to the associated Motor Module. Connecting the motor encoder via DRIVE-CLiQ: – Single Motor Module Booksize to terminal X202 –...
Page 861: Rules For Automatic Configuration
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Terminal Modules: ● Terminal Modules should be connected to DRIVE-CLiQ socket X103 of the Control Unit in series. ● The TM54F should not be operated together on the same DRIVE-CLiQ line as Line Modules or Motor Modules.
Page 862: Changing The Offline Topology In The Starter Commissioning Tool
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.4.4 Changing the offline topology in the STARTER commissioning tool The device topology can be changed in the STARTER commissioning tool by shifting the components in the topology tree. Example: Changing the DRIVE-CLiQ topology 1.
Page 863: Modular Machine Concept: Offline Correction Of The Reference Topology
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.4.5 Modular machine concept: Offline correction of the reference topology The topology is based on a modular machine concept. The machine concept is created offline in the STARTER commissioning tool in the maximum version as reference topology. The maximum version is the maximum expansion of a particular machine type.
Page 864 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 4. Then execute a "Copy RAM to ROM". Figure 13-19 Example of a sub-topology Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 865 "1" to "0". The deactivated components remain inserted, however, they are deactivated. Errors are not displayed from deactivated components. Overview of important parameters (see SINAMICS S120/S150 List Manual) Activating/deactivating drive object • p0105 Drive object active/inactive •...
Page 866: Notes On The Number Of Controllable Drives
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring 13.10.5 Notes on the number of controllable drives 13.10.5.1 Number of drives depending on the control mode and cycle times The number of axes that can be operated with a Control Unit depends on the cycle times and the control mode.
Page 867 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring The recommended settings are marked with XX in the Table; all other possible settings are marked with X. Table 13- 18 Pulse frequencies and current controller cycles for servo control Pulse Current controller cycle [µs] frequency...
Page 868 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Cycle times for vector control This following table lists the number of axes that can be operated with a Control Unit in the vector control mode. The number of axes is also dependent on the cycle times of the controller: Table 13- 19 Sampling time setting for vector control Cycle times [µs]...
Page 869 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Pulse Current controller cycle [µs] frequency 500,0 375,0 312,5 250,0 218,75 200,0 187,5 175,0 156,25 150,0 137,5 125,0 [kHz] 5,714 5,333 4,571 3,636 3,333 2,857 2,666 2,285 1,333 This means that maximum 2 cycle levels can be mixed.
Page 870 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Cycle times for V/f control The following table lists the number of axes that can be operated with a Control Unit in the V/f control mode. The number of axes is dependent on the current controller clock cycle: Table 13- 21 Sampling time setting for V/f control Cycle times [µs] Number...
Page 871 "SINAMICS/SIMOTION Editor Description DCC" manual. Using EPOS The following table lists the number of axes that can be operated with a SINAMICS S120 when using a basic positioning system (EPOS). The number of axes is dependent on the current controller clock cycle.
Page 872: Cycle Mix For Servo Control And Vector Control
Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Using CUA31/CUA32 Information on using the Control Unit Adapter CUA31 or CUA32: ● CUA31/32 is the first component in the CUA31/32 topology: 5 axes ● CUA31/32 is not the first component in the CUA31/32 topology: 6 axes ●...
Page 873 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring Table 13- 27 Examples for cycle mixes for vector control Cycle mix: Current controller Base cycle for T Base cycle for T Base cycle for T mapc cycles [µs] [µs]...
Page 874 Basic information about the drive system 13.10 System rules, sampling times and DRIVE-CLiQ wiring This, however, causes the advantages of the isochronous operation for the asynchronous axis to be lost: ● The setpoints act at times that differ from T , i.e.
Page 875: Supported Sample Topologies
Basic information about the drive system 13.11 Supported sample topologies 13.11 Supported sample topologies 13.11.1 Topology example: Drives in vector control Example 1 A drive line-up with three Motor Modules in chassis format with identical pulse frequencies or three Motor Modules in booksize format in vector control mode. The Motor Modules chassis format with identical pulse frequencies or the Motor Modules booksize format in vector control mode can be connected to 1 DRIVE-CLiQ interface on the Control Unit.
Page 876 Basic information about the drive system 13.11 Supported sample topologies Drive line-up comprising four Motor Modules in the chassis format with different pulse frequencies It is advantageous to connect Motor Modules with different pulse frequencies to different DRIVE-CLiQ sockets of the Control Unit. They may also be connected at the same DRIVE- CLiQ line.
Page 877: Topology Example: Parallel Motor Modules In Vector Control
In the following diagram, two Active Line Modules and two Motor Modules are connected to the X100 or X101 socket. You can find additional notes in Chapter "Parallel connection of power units" in the SINAMICS S120 Function Manual. Note The offline topology automatically generated in the STARTER commissioning tool must be manually modified, if this topology was wired.
Page 878: Topology Example: Power Modules
Basic information about the drive system 13.11 Supported sample topologies 13.11.3 Topology example: Power Modules Blocksize Figure 13-23 Drive line-ups with Power Modules blocksize Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 879 Basic information about the drive system 13.11 Supported sample topologies Chassis Figure 13-24 Drive line-up of a Power Module chassis Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 880: Example Topologies: Drives In Servo Control
Basic information about the drive system 13.11 Supported sample topologies 13.11.4 Example topologies: Drives in servo control. 13.11.4.1 Example: Sampling time 125 µs The following diagram shows the maximum number of controllable servo drives and extra components. The sampling times of individual system components are: ●...
Page 881: Examples: Sampling Time 62.5 Μs And 31.25 Μs
Basic information about the drive system 13.11 Supported sample topologies 13.11.4.2 Examples: Sampling time 62.5 µs and 31.25 µs Examples, CU320-2 with 62.5 µs sampling time: ● Topology 1:1 x ALM (250 µs) + 2 x servo (62.5 µs) + 2 x servo (125 µs) + 3 x TM15 Base (p4099[0] = 2000 µs) + TM54F + 4 x Safety Integrated Extended Functions with encoder SI Motion monitoring clock cycle (p9500) = 12 ms + SI Motion actual value sensing clock cycle (p9511) = 4 ms + 4 x direct measuring systems.
Page 882: Topology Example: Drives In U/F Control (Vector Control)
Basic information about the drive system 13.11 Supported sample topologies 13.11.5 Topology example: Drives in U/f control (vector control) The following diagram shows the maximum number of controllable vector V/f drives with additional components. The sampling times of individual system components are: ●...
Page 883: Drive-Cliq Diagnostics
As a result of the interconnectability, you can record when data transfer errors occur and correlate them with other events in the drive. Overview of important parameters (see SINAMICS S120/S150 List Manual) DRIVE-CLiQ diagnostics, error counter connection • r9936[0...199] DRIVE-CLiQ diagnostics configuration •...
Page 884: Emergency Operating Mode For Drive-Cliq Components
Basic information about the drive system 13.13 Emergency operating mode for DRIVE-CLiQ components 13.13 Emergency operating mode for DRIVE-CLiQ components In order to protect the drive system against excessive voltage when the Control Unit or DRIVE-CLiQ communication fails (e.g. while a spindle is rotating), an autonomous emergency operating mode (independent operation) is integrated in DRIVE-CLiQ components for the following functions: ●...
Page 885 Basic information about the drive system 13.13 Emergency operating mode for DRIVE-CLiQ components Communication restart includes a topology detection during emergency operation. Note When the component is running in emergency mode, it cannot be deactivated. Preparation for autonomous time-slice operation The application signals (basic system DRIVE-CLiQ slave components) preparation for autonomous time-slice operation.
Page 886 Basic information about the drive system 13.13 Emergency operating mode for DRIVE-CLiQ components Reconfigurations which must be linked to the DRIVE-CLiQ slave with message "Timing change" are ● Changes to the DRIVE-CLiQ clock cycle for the component. ● Changes to oversampling settings which require internal reconfiguration of the time-slice system.
Page 887: Licensing
13.14 Licensing To use the SINAMICS S120 drive system and the activated options, you need to assign the corresponding licenses to the hardware. When doing so, you receive a license key, which electronically links the relevant option with the hardware.
Page 888 Basic information about the drive system 13.14 Licensing System response for an insufficient license for a function module An insufficient license for a function module is indicated using the following fault and LED on the Control Unit: ● F13010 licensing, function module not licensed. ●...
Page 889 ● Product name Creating a license key 1. Call the "WEB License Manager" via the following link: http://www.siemens.com/automation/license 2. Select the "Direct access" link. The progress indicator is at "Login" in the License Manager. 3. Enter the license number and delivery note number of your license and then click "Next".
Page 890 Basic information about the drive system 13.14 Licensing Displaying the license key If the license key on the memory card is accidentally deleted, you can display it again via the WEB License Manager. 1. Call the "WEB License Manager". 2. Click the entry "Display license key" under "User" in the navigation. 3.
Page 891 ASCII code Table 13- 29 Excerpt of ASCII code Character Decimal Character Decimal Blank Overview of important parameters (see SINAMICS S120/S150 List Manual) Licensing, enter license key • p9920[0...99] Licensing, activate license key • p9921 System utilization • r9976[0...7] Drive functions...
Page 892: Write And Know-How Protection
Basic information about the drive system 13.15 Write and know-how protection 13.15 Write and know-how protection In order to protect your own projects against changes, unauthorized viewing or copying, SINAMICS S120 has "write protection" and "know-how protection" functions (KHP). Protection Validity Objective Effect...
Page 893 Basic information about the drive system 13.15 Write and know-how protection 5. Select the required drive unit in the project navigator of your STARTER project. 6. Call the shortcut menu "Write protection drive unit > Activate". Figure 13-27 Activating write protection Write protection is now activated.
Page 894: Know-How Protection
Certain parameters are excluded from the write protection in order not to restrict the functionality and operability of the drives. The list of these parameters can be found in the SINAMICS S120/150 List Manual in Section "Parameters for write protection and know-how protection", Subsection "Parameters with WRITE_NO_LOCK".
Page 895 Basic information about the drive system 13.15 Write and know-how protection Characteristics when know-how protection is activated ● Except for a small number of system parameters and the parameters specified in an exception list, all other parameters are locked. ● The values of these parameters are not visible in the expert list and so cannot be changed.
Page 896 Parameters that can be changed when know-how protection is active In spite of active know-how protection, certain parameters can be changed and read. The list of these parameters can be found in the SINAMICS S120/S150 List Manual in Section "Parameters for write protection and know-how protection", Subsection "Parameters with "KHP_WRITE_NO_LOCK".
Page 897 Note Diagnostics under know-how protection If service or diagnostics is to be performed when know-how protection is active, then Siemens AG can only provide support in collaboration with the OEM partner. Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 898: Copy Protection
Basic information about the drive system 13.15 Write and know-how protection 13.15.2.1 Copy protection Features of the activated copy protection The copy protection prevents the project from being copied to other memory cards and possibly used on other Control Units. Additional features include: ●...
Page 899 Basic information about the drive system 13.15 Write and know-how protection Procedure 1. Use parameter p7763 to define the required number of parameters for the exception list. You can enter a maximum of 500 parameters in the exception list. 2. Execute the "Load to PG" function. Parameter p7764 is adapted in the expert list according to the setting in p7763.
Page 900 Basic information about the drive system 13.15 Write and know-how protection Activate know-how protection 1. Connect the Control Unit to the programming device. 2. Call STARTER. 3. Open your project. 4. Establish a connection to the target device. 5. Select the required drive unit in the project navigator of your STARTER project. 6.
Page 901 Basic information about the drive system 13.15 Write and know-how protection 8. Click "Specify". The "Know-how Protection for Drive Unit - Specify Password" dialog box opens. Figure 13-29 Setting the password 9. In the "New password" field, enter the password (1 to 30 characters). Pay attention to upper- and lower-case.
Page 902 Basic information about the drive system 13.15 Write and know-how protection Deactivating know-how protection 1. Connect the Control Unit to the programming device. 2. Call STARTER. 3. Open your project. 4. Establish a connection to the target device. 5. Select the required drive unit in the project navigator of your STARTER project. 6.
Page 903 Basic information about the drive system 13.15 Write and know-how protection Changing the password A password can only be changed for an activated know-how protection. To change the password for the know-how protection, proceed as follows: 1. Connect the Control Unit to the programming device. 2.
Page 904: Loading Know-How Protected Data To The File System
Basic information about the drive system 13.15 Write and know-how protection 13.15.2.3 Loading know-how protected data to the file system Data with know-how protection can be directly loaded or saved to the file system from the drive unit. The activated know-how protection ensures that the data cannot be forwarded to unauthorized third parties.
Page 905 Basic information about the drive system 13.15 Write and know-how protection Calling the "Load to File System" dialog box 1. Call STARTER. 2. Open the required project. 3. Select the required drive unit in the project navigator of your STARTER project. 4.
Page 906 Basic information about the drive system 13.15 Write and know-how protection Specifying the general memory data The "General" tab is displayed automatically when the dialog is called. The "Save normally" option is activated by default. 1. If you want to save the data in compressed form, click the "Save compressed (.zip archive)"...
Page 907 Basic information about the drive system 13.15 Write and know-how protection Configuring know-how protection Make the settings for the know-how protection on the "Drive unit know-how protection" tab. 1. Click the "Drive unit know-how protection" tab. Figure 13-33 Load to file system know-how protection By default, the "Without know-how protection"...
Page 908 Basic information about the drive system 13.15 Write and know-how protection The input fields for the passwords and the serial numbers appropriate for the activated know-how protection are then active. Figure 13-34 Activating load to file system know-how protection The active input fields are mandatory inputs. 3.
Page 909: Overview Of Important Parameters
Basic information about the drive system 13.15 Write and know-how protection 13.15.3 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) KHP Control Unit serial number • r7758[0...19] KHP Control Unit reference serial number • p7759[0...19] Write protection / know-how protection status •...
Page 910 Basic information about the drive system 13.15 Write and know-how protection Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 911: Appendix
Appendix List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 912 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 913 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 914 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 915 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 916 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 917 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 918 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 919 Appendix A.1 List of abbreviations Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 920: Documentation Overview
Appendix A.2 Documentation overview Documentation overview Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 921: Availability Of Hardware Components
Appendix A.3 Availability of hardware components Availability of hardware components Table A- 1 Hardware components available as of 03.2006 HW component Order number Version Revisions AC Drive (CU320, PM340) refer to the Catalog SMC30 6SL3055-0AA00-5CA1 With SSI support DMC20 6SL3055-0AA00-6AAx TM41 6SL3055-0AA00-3PAx SME120...
Page 922 Appendix A.3 Availability of hardware components HW component Order number Version Revisions Motor Modules booksize 6SL3420-1TE13-0AAx compact 6SL3420-1TE15-0AAx 6SL3420-1TE21-0AAx 6SL3420-1TE21-8AAx 6SL3420-2TE11-0AAx 6SL3420-2TE13-0AAx 6SL3420-2TE15-0AAx Power Modules blocksize liquid 6SL3215-1SE23-0AAx cooled 6SL3215-1SE26-0AAx 6SL3215-1SE27-5UAx 6SL3215-1SE31-0UAx 6SL3215-1SE31-1UAx 6SL3215-1SE31-8UAx Reinforced DC-link busbars for 6SL3162-2DB00-0AAx 50 mm components Reinforced DC-link busbars for 6SL3162-2DD00-0AAx 100 mm components...
Page 923 Appendix A.3 Availability of hardware components Table A- 6 Hardware components available as of 04.2011 HW component Order number Version Revisions S120 Combi three axes 6SL3111-3VE21-6FA0 Power Module 6SL3111-3VE21-6EA0 6SL3111-3VE22-0HA0 S120 Combi four axes 6SL3111-4VE21-6FA0 Power Module 6SL3111-4VE21-6EA0 6SL3111-4VE22-0HA0 S120 Combi 6SL3420-1TE13-0AA0 Single Motor Module 6SL3420-1TE15-0AA0...
Page 924 Appendix A.3 Availability of hardware components Table A- 10 Hardware components available as of 04.2014 HW component Order number Version Revisions Combi: 6SL3111-4VE21-0EA New power unit Four axis Power Modules with high amperage: 24 A, 12 A, 12 A, 12 A Power Module PM240-2 6SL321x-xPxx-xxxx FSA, FSB and FSC for 200 V and...
Page 925: Availability Of Sw Functions
Appendix A.4 Availability of SW functions Availability of SW functions Table A- 11 New functions, firmware 2.2 SW function SERVO VECTOR HW component Technology controller Two command data sets Extended brake control Automatic restart for vector and Smart Line Modules 5/10 kW The ability to mix servo and vector V/f control modes on one CU Regulated V up to 480 V input voltage can be parameterized for...
Page 926 New functions, firmware 2.4 or 2.4 SP1 SW function SERVO VECTOR HW component SINAMICS S120 functionality for AC DRIVE (CU310 DP/PN) Basic positioning Encoder data set changeover (three EDS encoder data sets per drive data set) Two command data sets (CDS)
Page 927 Appendix A.4 Availability of SW functions SW function SERVO VECTOR HW component Separately-excited synchronous motors with encoder Drive converter/drive converter, drive converter/line supply For chassis drive (bypass) synchronizing units Voltage Sensing Module (VSM) for Active Line Module Also for booksize drive units Armature short-circuit braking, synchronous motors CANopen extensions (vector, free process data access, profile...
Page 928 Appendix A.4 Availability of SW functions SW function SERVO VECTOR HW component EPOS function extensions: Traversing blocks / new task: "Travel to fixed stop" • Traversing blocks / new continuation conditions: "External • block relaying" Completion of position tracking for absolute encoder (load •...
Page 929 Appendix A.4 Availability of SW functions SW function SERVO VECTOR HW component Automatic speed controller setting As of FW2.1 Technological pump functions Simultaneous cyclical operation of PROFIBUS and PROFINET on CU320 Automatic restart also with servo As of FW2.2 Operates at 500 μs PROFINET IO Absolute position information (X_IST2) with resolver DC-link voltage monitoring depending on the line voltage Automatic line frequency detection...
Page 930 Permanent-magnet synchronous motors can be controlled down to zero speed without having to use an encoder "SINAMICS Link": Direct communication between several SINAMICS S120 Safety Integrated: Control of the Basic Functions via PROFIsafe • SLS without encoder for induction motors •...
Page 931 Appendix A.4 Availability of SW functions SW function SERVO VECTOR HW component V/f diagnostics (p1317) permitted as regular operating mode Setpoint-based utilization display, instead of the previous actual value-based utilization display A performance license is now required from the 4th axis (for servo/vector) or from the 7th V/f axis, instead of from a utilization of 50% and higher - which was the case up until now.
Page 932 Appendix A.4 Availability of SW functions Table A- 18 New functions, firmware 4.5 SW function SERVO VECTOR HW component Support for new components, CU310-2 Refer to Appendix A1 Support for new components, TM150 Support for high-frequency spindles with pulse frequencies up to 32 kHz (a current controller cycle of 31.25 µs) PROFINET: Support for the PROFIenergy profile PROFINET: Improved usability for Shared Device...
Page 933 Appendix A.4 Availability of SW functions Table A- 19 New functions, firmware 4.6 SW function SERVO VECTOR HW component Integrated Web server for SINAMICS Project and firmware download via Ethernet on the memory card Protection against power failure while updating via the Web server Replacing a part with know-how protection: Encrypted loading into the file system Parameterizable bandstop filters for Active Infeed control, chassis...
Page 934 Extension of the safe gearbox switchover Execute test stop automatically during ramp-up Safety Integrated Extended Functions with two TTL/HTL encoders for booksize and blocksize Uniform behavior for component replacement SINAMICS S120 hydraulic drive with Safety Integrated Drive functions Function Manual, (FH1), 04/2014, 6SL3097-4AB00-0BP4...
Page 935: Functions Of Sinamics S120 Combi
A.5 Functions of SINAMICS S120 Combi Functions of SINAMICS S120 Combi SINAMICS S120 Combi supports the following functions, which are described in this Function Manual (and in the Safety Integrated Function Manual). Any function not shown in this list is not available for SINAMICS S120 Combi...
Page 936 Appendix A.5 Functions of SINAMICS S120 Combi Topology Fixed DRIVE-CLiQ topology rules for SINAMICS S120 Combi. The device must always be connected according to the same principle. System clocks The sampling times are permanently set to 125 μs for the following functions: ●...
Page 937: Index
Index One button tuning, 112 Online tuning, 115 Axis Suspended, 170 Absolute encoder Adjusting, 478 Absolute encoder adjustment, 451 Acceptance test SBC (Basic Functions), 631 Bandstop filters SS1 (Basic Functions), 629 Active Infeed, 37 STO (Basic Functions), 628 Basic Functions Access levels, 797 SBC, 599 Active Infeed...
Page 938 Index Closed-loop position control, 448 Data sets Combi, 935 Command data set (CDS), 798 Commissioning Drive data set (DDS), 799 Safety Integrated, 611 Encoder data set (EDS), 800 Communication Motor data set (MDS), 802 Communication services, 769 Data transfer Dynamic IP address assignment for PROFINET PROFINET, 711 IO, 755 Datalogger, 331...
Page 939 Index DRIVE-CLiQ Overview, 534 Check connections, 883 Retraction, 538 Diagnostics, 883 Several axes, 540 Emergency mode, 884 Stopping, 537 Encoder, 479 Telegram extensions, 540 Independent operation, 884 Unsuitable motors, 540 Wiring rules, 856 Example DRIVE-CLiQ Hub PROFIBUS telegram structure, 675 DMC20, 788 Expansion of the encoder evaluation, 342 Droop, 206...
Page 940 Index Free telegrams, 642 Intermediate stop Freezing the speed raw value, 336 EPOS, 494, 503 Frequency setpoint Internal armature short-circuit, 594 SMC30, 382 Internal armature short-circuit braking Friction characteristic Activating, 302 Technology function, 321 Deactivating, 302 Function module Setting, 302 Closed-loop position control, 448 IO controller, 707 Extended brake control, 435...
Page 941 Index Entering with BOP20, 891 SMC, 558 Licensing, 887 SMC10, 558 ASCII code, 891 SMC20, 558 Limits SMC30, 558 Torque setpoint, 95 SMC40, 558 Line contactor control, 52 SME120/125, 559 Line supply and DC-link identification routine, 516 Temperature sensor evaluation, 572 Load gear, 458 Terminal Modules, 561 Thermal motor model 1, 553...
Page 942 Index Parameter NSET_A, 639 Categories, 795 NSET_B, 639 Reset, 797 XERR, 639 Save retentively, 797 PROFIBUS, 672 Types, 795 Device identification, 681 Parameter list Forwarding of messages via diagnostics Creating in the Web server, 410 channels, 705 Deleting in the Web server, 413 Generic station description file, 680 Parameterizing with BOP, 828 Interface Mode, 645...
Page 943 Index Commissioning, 611 Component replacement, 612 Ramp-down generator Password, 585 Scaling, 76 Series commissioning, 612 Ramp-function generator Safety Integrated Basic Functions Scaling, 76 Stop responses, 616 Ramp-function generator, extended, 73 Safety Integrated password, 585 Ramp-up with partial topology, 285, 863 Safety logbook, 624 Rating plate Sampling times, 845...
Page 944 Stop response Requirements, 757 STOP A, 616 Synchronous cycle, 758 STOP F, 616 Transmission time, 758 Switches for PROFIBUS address, 679 SINAMICS S120 Combi, 935 Switching operation Sine-wave filter, 288 Timing, 609 Singleturn encoder, 353 Switchover Slave-to-slave communication Fixed speed setpoints, 59...
Page 945 Index TM150 Automatic restart, 297 Forming groups, 567 Bypass, 251 Sensor failure, 569 Comparison with servo control, 83, 184 Temperature sensor types, 565 Current setpoint filter, 220 TM31, 562 Motor data identification, 224, 225 TM41, 362 Properties, 83, 184 Referencing modes, 365 Rotating measurement, 224, 229 SIMOTION mode, 362 Shortened rotating measurement, 231...
Page 946 Index Password protection, 393 Protection against power failure during the firmware update, 381 Read access, 393 Restoring last firmware, 375 Secure connection, 391 Secure data transfer, 418 Security certificates, 418 Security certificates from a certification authority, 423 Start, 399 Start page, 399 Supported Internet browsers, 390 Updating the firmware, 375 User-defined Web pages, 389...

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