Download Table of Contents Print this page

Siemens Simovert Masterdrives Compendium

Motion control
Hide thumbs Also See for Simovert Masterdrives:

Advertisement

Compendium
Edition: AN
simovert
masterdrives
Motion Control

Advertisement

Table of Contents
loading

Summary of Contents for Siemens Simovert Masterdrives

  • Page 1 Compendium Edition: AN simovert masterdrives Motion Control...
  • Page 3 2.) Parameterization of the F01 technology option (if present) during initial start-up 3.) Parameterization of the unit by means of downloading if data backup is provided ♦ Annex (tips on information in the internet) Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Motion Control Compendium...
  • Page 4 /messages in Section 10, "Control Word and Status Word". ♦ Interfaces (USS, PROFIBUS, SIMOLINK, CAN): In addition to the function diagrams, you can find detailed descriptions of the interface functions in Section 8, "Communication". 6SE7087-6QX70 (Version AD) Siemens AG Motion Control Compendium SIMOVERT MASTERDRIVES...
  • Page 5 HOTLINE and so on. Contents located under: SIEMENS / Products & Solutions / Product index / Variable-speed drives / MASTERDRIVES MC / contact partner / A&D Automation and Drives / Support, Training & Services / Customer Support / Variable-Speed drive Systems...
  • Page 6 NOTE For the purpose of this documentation, "Note" indicates important information about the product or about the respective part of the documentation which is essential to highlight. Siemens AG 6SE7087-6QX70 (Version AN) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 7 Should further information be desired or should particular problems arise which are not covered sufficiently for the purchaser's purposes, the matter should be referred to the local SIEMENS sales office. The contents of this documentation shall not become part of or modify any prior or existing agreement, commitment or relationship.
  • Page 8 5. Release of pollutants and emissions if components are not operated or disposed of properly. For additional information on the residual risks emanating from the components of the PDS, please refer to the relevant chapters of the technical user documentation. Siemens AG 6SE7087-6QX70 (Version AN) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 9 ♦ Parameterization and programming errors made by the machinery construction OEM cannot be identified. The required level of safety can only be assured by thorough and careful acceptance testing. 6SE7087-6QX70 (Version AN) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 10 Commissioning, operation and maintenance are only to be carried out by qualified personnel who are familiar with and adhere to the safety instructions in the respective documentation. The documentation can be ordered through your local SIEMENS office. Siemens AG 6SE7087-6QX70 (Version AN)
  • Page 11 , 2010. Motor overtemperature sensing is required. SAFETY NOTICE WARNING This inverter SIMOVERT MASTERDRIVES is an open type / IP20 component. In case of failure exceptional high temperatures including open fire within and outside the inverter as well as emissions of light, noise, particles, or gas can appear caused by e.g.
  • Page 12 System Description Configuration and Connection Examples Instructions for Design of Drives SIMOVERT MASTERDRIVES in Conformance with EMC Regulations MOTION CONTROL Function Blocks and Parameters Compendium Parameterization Parameterizing Steps in Volume 1 Functions Communication Technology Option F01 Control Word and Status Word...
  • Page 14 Check of the PFH value of the safety function as a whole......2-32 2.4.6 Emergency Stop and protective door monitoring on a converter → STO..2-32 2.4.6.1 Protective door safety function ............... 2-35 2.4.6.2 Supplementary safety function Emergency Stop ........... 2-40 Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 15 Design of drives in conformance with EMC regulations......... 3-13 3.5.1 Basic EMC rules ..................... 3-13 3.5.2 Examples ......................3-19 Assignment of SIMOVERT MASTERDRIVES, radio interference suppression filters and line reactors............... 3-26 Specified standards ..................3-26 FUNCTION BLOCKS AND PARAMETERS............ 4-1 Function blocks....................4-1 Connectors and binectors.................
  • Page 16 Power section definition..................6-5 6.2.2 Board configuration ..................6-11 6.2.3 Drive setting....................6-15 6.2.4 Motor identification..................6-22 6.2.4.1 Standstill measurement .................. 6-22 6.2.4.2 No-load measurement ..................6-23 6.2.5 Function adjustment ..................6-23 Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 17 "Field weakening for synchronous motor" function (function diagram 389) ... 7-66 7.3.9 Vdmax closed-loop control (function diagram 610)........7-71 7.3.10 Harmonic compensation................. 7-72 Special functions..................... 7-73 7.4.1 Loading firmware .................... 7-73 6SE7087-6QX70 (Version AM) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 18 Connecting up the CBP to the PROFIBUS ..........8.2-47 8.2.6.1 Assignment of plug-in connector X448............8.2-47 8.2.6.2 Connecting up the bus cable by means of the RS485 bus connecting system ......................8.2-47 Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 19 Operating the CBP with a SIMATIC S5 ............8.2-75 8.2.8.2 Operating the CBP with a SIMATIC S7 ............8.2-77 8.2.8.3 Operating the CBP with a non-Siemens system ......... 8.2-79 8.2.8.4 Operating the CBP2 with extended functions with a SIMATIC S7 ....8.2-80 8.2.8.5 CBP2 with cross traffic operated with a SIMATIC S7........
  • Page 20 The state machine ..................8.5-60 8.5.6.1 Control word ....................8.5-61 8.5.6.2 Status word....................8.5-62 8.5.6.3 Modes of operation ..................8.5-64 8.5.7 Description of individual modes..............8.5-65 8.5.7.1 Profile Position mode................... 8.5-65 Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 21 Machine data [804] ..................9-59 9.4.15 Parameter download file POS_1_1 [806] ............9-60 9.4.16 Positioning control signals [809] ..............9-61 9.4.17 Positioning status signals [811] ..............9-61 9.4.18 Digital I/Os for positioning [813]..............9-62 6SE7087-6QX70 (Version AM) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 22 Velocity normalization P353 [20.5] and P205 [340.2]........9-131 9.7.2.6 Machine data input U501 and U502 [804]............ 9-132 9.7.2.7 Connecting the technology to the speed and position controllers....9-134 9.7.2.8 Setting the parameters for the positioning modes........9-135 Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 23 Software version V1.4 .................. 9-185 9.11.6 Software version V2.1 .................. 9-188 9.11.7 Software status V2.2..................9-190 9.11.8 Software status V2.3..................9-190 9.11.9 Software status V2.4..................9-191 9.12 References, software products and accessories ......... 9-193 6SE7087-6QX70 (Version AM) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 24 Selection of the braking resistor ..............11-44 11.10 Power Extension PIN F02 (from firmware version 2.20 and higher).... 11-45 Annex Function Diagrams Parameter Lists Faults and Alarms Lists of Stored Motors Dimension Drawings Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 25 System Description System Description Overview The SIMOVERT MASTERDRIVES MC (Motion Control) belongs to the SIMOVERT MASTERDRIVES product group. This product group represents an overall modular, fully digital component system for solving all drive tasks posed by three-phase drive engineering. The...
  • Page 26 Menu structures stored in the unit software simplify start-up and visualization of the drives in conjunction with various operator control panels. PC-assisted tools enable effective parameter setting and data security. 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 27 ♦ Compact PLUS 550 W to 18.5 kW ♦ Compact 2.2 kW to 37 kW ♦ Chassis 45 kW to 250 kW Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 28 X1 01 X1 01 X1 01 X1 01 X1 01 X1 03 X1 03 X1 03 X1 03 X1 03 X1 03 X1 03 Operator control and visualization Fig. 1-1 Communication 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 29 6SE7021-0EP50 only half the rated output current). The regenerative energy generated in one axis can either be used up by the other motors, stored in the capacitor module or reduced in the braking resistor. Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 30 Motor encoder: PTC/KTY - Resolver SBx in - Encoder Slot C - Pulse encoder - Multiturn encoder Fig. 2-1 Configuration example of a single-axis drive of the Compact PLUS type 6SE7087-6QX70 (Version AM) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 31 12.2010 Configuration and Connection Examples Fig. 2-2 Configuration example of a multi-axis drive with up to 3 axes of the Compact PLUS type Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 32 Configuration and Connection Examples 12.2010 +24 V Fig. 2-3 Configuration example of a multi-axis drive with rectifier unit of the Compact PLUS type 6SE7087-6QX70 (Version AM) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 33 6) OFF switch Operating the OFF switch causes the line contactor to open immediately. The drives are not brought to a controlled standstill, but are braked only by the load. Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 34 Use of a line filter is necessary if the radio interference voltages generated by the converters or rectifier units need to be reduced. 15) Motor supply The Siemens cables described in the catalog should be used for line connecting the converter and the motor to each other.
  • Page 35 Q1 is 230 V AC. The auxiliary contactor is not required if a line contactor with a control voltage of 24 V DC is used. Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 36 This especially concerns the multiturn encoder EQN1325. Encoder or encoder cable faults can result in incorrect field orientation and therefore in uncontrolled axis movements. 6SE7087-6QX70 (Version AM) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 37 ♦ Configuration examples: • Multi-axis drive with Compact units (see Fig 2-5 on page 2-10) • Multi-axis drive with chassis-type units (see Fig. 2-6 on page 2-11) Siemens AG 6SE7087-6QX70 (Version AM) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 38 SBx in - Resolver Slot C - Encoder Options are shaded in grey - Pulse encoder - Multiturn encoder Fig. 2-4 Configuring example: single-axis drive with Compact or chassis-type units 6SE7087-6QX70 (Version AM) Siemens AG 2-10 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 39 12.2010 Configuration and Connection Examples Fig. 2-5 Configuration example: multi-axis drive with Compact units Siemens AG 6SE7087-6QX70 (Version AM) 2-11 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 40 Configuration and Connection Examples 12.2010 Fig. 2-6 Configuration example: multi-axis drive with chassis-type units 6SE7087-6QX70 (Version AM) Siemens AG 2-12 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 41 The line contactor is opened as soon as the OFF switch is activated. The drives are not brought to a standstill in a controlled manner; they are braked only by the connected load. Siemens AG 6SE7087-6QX70 (Version AM) 2-13 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 42 NC contact has to be looped in. It must be borne in mind that contact X38: 4,5 does not close until the DC link voltage has built up at the braking unit. 6SE7087-6QX70 (Version AM) Siemens AG 2-14 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 43 This especially concerns the multiturn encoder EQN1325. Encoder or encoder cable faults can result in incorrect field orientation and therefore in uncontrolled axis movements. Siemens AG 6SE7087-6QX70 (Version AM) 2-15 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 44 (with reference to 1 revolution). 6SE7087-6QX70 (Version AM) Siemens AG 2-16 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 45 Slot EB1 into another slot (adapter board or slot C), or in the case of item no. 477 491 9000 00, use product version B or higher. All product versions can be used with item no. 477 491 9000 10. Siemens AG 6SE7087-6QX70 (Version AM) 2-17 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 46 EN 60947-4-1:2005 /R8/ EN 60947-5-1:2004 /R9/ EN 60204-1:2006 /R10/ Catalog DA 65.10 2003/2004 SIMOVERT MASTERDRIVES Vector Control 0.55 kW to 2300 kW /R11/ Catalog DA 65.11 2003/2004 SIMOVERT MASTERDRIVES Motion Control 0.55 kW to 250 kW /R14/ MASTERDRIVES certification documentation "Safe OFF" 2000 and 2005 V1.1 /R15/ Pruefbericht_zu_Uebereinstimmungserklaerung_05007_Masterdrives_2005-07-18.pdf...
  • Page 47 The "Safe Torque Off" function on SIMOVERT MASTERDRIVES is a "mechanism for shutting down a drive and preventing it from restarting unexpectedly" in accordance with EN 60204-1, Section 5.4.
  • Page 48 Implemented by SSB module (option K80), piggyback on PSU1 power supply Chassis 2 250 kW to 1.2 kW SSB module (option K80) as for Chassis 1, but directly integrated in the unit 6SE7087-6QX70 (Version AM) Siemens AG 2-20 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 49 The "Safe Torque Off" function does not isolate the drive from the supply system. It does not therefore provide any protection against electric shock. Siemens AG 6SE7087-6QX70 (Version AM) 2-21 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 50 Supply voltage for "safety relay" Control input "STO" Rated resistance of operating coil ≥ 823 Ω ± 10 % at 20 °C Contact 2 Checkback "STO" Contact 1 Checkback "STO" 6SE7087-6QX70 (Version AM) Siemens AG 2-22 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 51 12.2010 Configuration and Connection Examples 2.4.4 Safety functions The following safe stop functions can be implemented with the SIMOVERT MASTERDRIVES converter system by means of appropriate circuitry: Designation Former Former according to designation description IEC61800-5-2 Safe Torque Off Safe Torque Off...
  • Page 52 As an alternative to integrating the line contactor, it is also possible to use one motor contactor for each motor as a second safety channel. The calculation results for the example applications below can be applied analogously. 6SE7087-6QX70 (Version AM) Siemens AG 2-24 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 53 On timeout, the drive is safely switched to a no-torque condition in accordance with subsection 2.4.4.1 "STO principle in a safety function". Siemens AG 6SE7087-6QX70 (Version AM) 2-25 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 54 The Emergency Stop button is actuated 1x per month. As a result of the risk assessment, the required performance level for the safety function has been defined as PLr = d. 6SE7087-6QX70 (Version AM) Siemens AG 2-26 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 55 ♦ Emergency Stop is canceled and the safety switching device –A1 is operating the drive reset by means of button –S1. ♦ Safety relay –K1 and line contactor –K2 are energized via the contacts of the safety switching device –A1. Siemens AG 6SE7087-6QX70 (Version AM) 2-27 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 56 ♦ The slide switch of –A1 must be in the "Monitored" position for this application. Fig. 2-12 Block diagram of the supplementary safety function Emergency Stop 6SE7087-6QX70 (Version AM) Siemens AG 2-28 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 57 Parameter Value Comment Safety switching device 3TK2820 –A1 9.4 x 10 Specified by manufacturer Service life T1 = 20 years Specified by manufacturer Performance Level with Category 4 Siemens AG 6SE7087-6QX70 (Version AM) 2-29 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 58 Interim results for REACT (channels 1 and 2) MTTF values of both channels have been capped to 100 years → 100 years → It is not necessary to symmetrize both MTTF (REACT) High channels 6SE7087-6QX70 (Version AM) Siemens AG 2-30 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 59 (e.g. as specified in the applicable standards) taken into consideration. The designers have been trained to detect the reasons for and effects of common cause failures. Total A sufficient total of 65 points is achieved. Siemens AG 6SE7087-6QX70 (Version AM) 2-31 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 60 As a result of the risk assessment, the required performance level for both safety functions has been defined as PLr = d. The DC link must remain energized in normal operation when the protective door is open. 6SE7087-6QX70 (Version AM) Siemens AG 2-32 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 61 12.2010 Configuration and Connection Examples Fig. 2-13 Emergency Stop and protective door monitoring on a Compact PLUS → converter STO on drive Siemens AG 6SE7087-6QX70 (Version AM) 2-33 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 62 ♦ The time on –A2 must be set as short as possible, but in such a way that –K3 picks up before –A2 drops out in order to prevent line contactor –K2 from dropping out. 6SE7087-6QX70 (Version AM) Siemens AG 2-34 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 63 Block diagram of the protective door safety function The safety switching device –A1 is required to diagnose –K2 and –K3. It is not included in the calculation for the protective door safety function. Siemens AG 6SE7087-6QX70 (Version AM) 2-35 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 64 It is not necessary to symmetrize both MTTF (ACQUIRE) → High channels (channel1) (channel2) 99 % → High Result 2.47 x 10 EN ISO 13849-1:2008 Appendix K Performance Level with Category 4 6SE7087-6QX70 (Version AM) Siemens AG 2-36 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 65 ♦ The safety function always remains operative when a component fails. Component failure is detected. This structure corresponds to Category 3 in accordance with EN ISO 13849-1:2008 /R3/. Siemens AG 6SE7087-6QX70 (Version AM) 2-37 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 66 Interim results for REACT (channels 1 and 2) MTTF values of both channels have been capped to 100 years → 100 years It is not necessary to symmetrize both MTTF (REACT) → High channels. 6SE7087-6QX70 (Version AM) Siemens AG 2-38 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 67 • is average • Sufficient measures against common cause failure According to EN ISO 13849-1:2008 Appendix K, PL e is achieved with PFHd = 4.29 x 10 / h. Siemens AG 6SE7087-6QX70 (Version AM) 2-39 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 68 The switching cycles of –K1 caused by actuation of the door have no relevant influence on the calculation for this supplementary safety function. 6SE7087-6QX70 (Version AM) Siemens AG 2-40 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 69 As a result of the risk assessment, the required performance level for both safety functions has been defined as PLr = d. The DC link must remain energized in normal operation when the protective door is open. Siemens AG 6SE7087-6QX70 (Version AM) 2-41 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 70 Safety relay OFF3 Control Contactor SIMOVERT board relay MASTERDRIVES U2 V2 W2 Fig. 2-15 Emergency Stop and protective door monitoring on a Compact PLUS converter – SS1 on drive 6SE7087-6QX70 (Version AM) Siemens AG 2-42 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 71 ♦ –K1 is automatically energized via –A3 protective cover ♦ –K2 is energized again by –K4 via –A3 ♦ High signal at OFF3 input of the drive. → Motor can be operated again. Siemens AG 6SE7087-6QX70 (Version AM) 2-43 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 72 –K3 picks up before –K4 drops out in order to prevent line contactor –K2 from dropping out. ♦ The delay time on –A1 must be set identically to the delay time on –A2. 6SE7087-6QX70 (Version AM) Siemens AG 2-44 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 73 Block diagram of the protective door safety function The safety switching device –A1 is required to diagnose –K2 and –K3. It is not included in the calculation for the protective door safety function. Siemens AG 6SE7087-6QX70 (Version AM) 2-45 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 74 It is not necessary to symmetrize both → High MTTF (ACQUIRE) channels. (channel1) (channel2) 99 % → High Result 2.47 x 10 EN ISO 13849-1:2008 Appendix K Performance Level with Category 4 6SE7087-6QX70 (Version AM) Siemens AG 2-46 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 75 ♦ The safety function always remains operative when a component fails. Component failure is detected. This structure corresponds to Category 3 in accordance with EN ISO 13849-1:2008 /R3/. Siemens AG 6SE7087-6QX70 (Version AM) 2-47 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 76 Interim results for REACT (channels 1 and 2) MTTF values of both channels have been capped to 100 years → 100 years It is not necessary to symmetrize both MTTF (REACT) → High channels. 6SE7087-6QX70 (Version AM) Siemens AG 2-48 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 77 (CCF) of the The observations stated in subsection 2.4.5.2 "Measures against safety function common cause failure (CCF) of the safety function" apply. A sufficient total of 65 points is thus achieved. Siemens AG 6SE7087-6QX70 (Version AM) 2-49 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 78 –A1 must be included in the calculation for this safety function. The position switches for protective door monitoring play no role in the Emergency Stop function.. Fig. 2-17 Block diagram of the supplementary safety function Emergency Stop 6SE7087-6QX70 (Version AM) Siemens AG 2-50 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 79 Assumed actuations per year 416,666 years MTTF × → high MTTF 99 % Plausibility monitoring by –A1 Result 4.29 x 10 EN ISO 13849-1:2008 Appendix K Performance Level with Category 3 Siemens AG 6SE7087-6QX70 (Version AM) 2-51 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 80 ♦ The safety function always remains operative when a component fails. Component failure is detected. This structure corresponds to Category 3 in accordance with EN ISO 13849-1:2008 /R3/. 6SE7087-6QX70 (Version AM) Siemens AG 2-52 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 81 Interim results for REACT (channels 1 and 2) MTTF values of both channels have been capped to 100 years → 100 years It is not necessary to symmetrize both MTTF (REACT) → High channels. Siemens AG 6SE7087-6QX70 (Version AM) 2-53 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 82 4.29 x 10 Switching elements –K1 and –K2 Total 8.6 x 10 < 1x10 The requirements regarding PL d with Category 3 for the protective door safety function are thus fulfilled. 6SE7087-6QX70 (Version AM) Siemens AG 2-54 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 83 As a result of the risk assessment, the required performance level for both safety functions has been defined as PLr = d. The DC link must remain energized in normal operation when the protective door is open. Siemens AG 6SE7087-6QX70 (Version AM) 2-55 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 84 -K1(2) Safety relay Contactor relay Control SIMOVERT board MASTERDRIVES U2 V2 W2 Fig. 2-18 Emergency Stop and protective door monitoring on two Compact PLUS converters STO on both drives 6SE7087-6QX70 (Version AM) Siemens AG 2-56 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 85 –K1(2) been added in channel 1. This must be taken into account in the calculation for the subsystem REACT. The subsystems ACQUIRE and EVALUATE are not affected. Fig. 2-20 Block diagram of the protective door safety function for two axes Siemens AG 6SE7087-6QX70 (Version AM) 2-57 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 86 MSS Modular Safety System. The monitoring functions of the safety relays can be programmed in the logic section, which means that the contactor relays can be omitted. 6SE7087-6QX70 (Version AM) Siemens AG 2-58 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 87 12.2010 Configuration and Connection Examples Fig. 2-21 Structure with programmable safe logic The safety functions are calculated in a similar manner to the examples above with discrete safety relays. Siemens AG 6SE7087-6QX70 (Version AM) 2-59 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 88 EMC regulations on a case-to-case basis after individual investigation. In the context of the EMC Law, SIMOVERT MASTERDRIVES are considered as "components" rather than "units". For a better understanding of these instructions, however, the generally used term "units"...
  • Page 89 The noise immunity of a unit describes how it behaves when subjected to electromagnetic noise/interference. The requirements and evaluation criteria for the behaviour of the electrical units are also laid down in standard EN 61800-3. 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 90 Without a radio interference suppression filter, the emitted noise of the SIMOVERT MASTERDRIVES frequency converters exceeds the limit value "First environment". Limit values are currently still under discussion for the "Second environment" sector (see EN 61800-3 section 6.3.2).
  • Page 91 The frequency converter and its electromagnetic compatibility 3.3.1 The frequency converter as a noise source Mode of operation SIMOVERT MASTERDRIVES frequency converters operate with a of SIMOVERT voltage-source DC link. MASTERDRIVES In order to keep the power losses as low as possible, the inverter switches the DC link voltage to the motor winding in the form of voltage blocks.
  • Page 92 The shield now forms the easiest path for the noise current to take when returning to the frequency converter. Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 93 The SIMOVERT MASTERDRIVES must be installed in an enclosed cabinet in order to limit the radio interference radiation. In particular, the radio interference radiation is determined by the control section with its microprocessor and it is therefore comparable with the noise emitted from a computer.
  • Page 94 Fig. 3-6 Increasing the noise immunity by using shielded signal cables The inputs and outputs of the SIMOVERT MASTERDRIVES control section are fitted with filters that keep noise currents I separate from the electronics. The filters also smooth the useful signal. In the case of signal cables with extremely high-frequency signals, e.g.
  • Page 95 9 mV and 4.5 mV respectively! Before radio interference measures can be applied, it must first be clarified at which locations you or your customer require EMC. See the following example: 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 96 It is possible that the control system produces electromagnetic influences at interfaces , and the sensor system at interfaces Therefore, a radio interference suppression filter by itself cannot ensure EMC! See the following sections. Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 97 If necessary, filters have to be used at the zone interfaces. The zone concept is explained using the following diagram as an example which shows a simplified drive system: 6SE7087-6QX70 (Version AD) Siemens AG 3-10 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 98 A defined noise immunity level is required here. ♦ Zone E comprises the three-phase motor and the motor supply cable. ♦ The zones should be spatially separated in order to achieve electromagnetic de-coupling. Siemens AG 6SE7087-6QX70 (Version AD) 3-11 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 99 (e.g. isolating amplifiers) prevent the noise from being propagated from one zone to the next. Isolating amplifiers particularly have to be provided in the case of analog signals. 6SE7087-6QX70 (Version AD) Siemens AG 3-12 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 100 Tachometers, encoders or resolvers must be connected through a shielded cable. The shield must be connected to the tachometer, encoder or resolver and at the SIMOVERT MASTERDRIVES through a large surface area. The shield must not be interrupted, e.g. using intermediate terminals.
  • Page 101 (hum), the shields are only connected for analog signals at one end at the SIMOVERT MASTERDRIVES. The other end of the shield should be grounded through a capacitor (e.g. 10 nF/100 V type MKT).
  • Page 102 The line supply cable has to be spatially separated from the motor feeder cables, e.g. by grounded partitions. Rule 19 The shield between the motor and SIMOVERT MASTERDRIVES must not be interrupted by the installation of components such as output reactors, sinusoidal filters, dv/dt filters, fuses, contactors. The...
  • Page 103 Instructions for Design of Drives in Conformance with EMC Regulations 05.2003 Cabinet 1 Cabinet 2 Cabinet 3 *) Keep the radio interference suppression filters away from SIMOVERT MASTERDRIVES air discharge duct, e.g. by Netz Netz mounting at another level Rule Rule...
  • Page 104 ♦ UNI IRIS Dicht or UNI EMV Dicht, Messrs. Pflitsch, Hückeswagen It is not permissible to use plastic motor terminal boxes! Shield clamp Cable con- nector Fig. 3-12 Connecting the signal cable shields for SIMOVERT MASTERDRIVES Siemens AG 6SE7087-6QX70 (Version AD) 3-17 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 105 Fig. 3-13 Connecting signal cable shields in the cabinet Wherever possible, intermediate terminals should not be used as they reduce the shielding effect! 6SE7087-6QX70 (Version AD) Siemens AG 3-18 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 106 (zone concept!). The motor must be connected using a shielded cable! The shield has to be connected through the largest possible surface area at the motor and the inverter. Siemens AG 6SE7087-6QX70 (Version AD) 3-19 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 107 ♦ Locate the motor connector X2 and screw tightly to the unit. The control cables can be attached at the front of the connecting adapter using shield clamps. 6SE7087-6QX70 (Version AD) Siemens AG 3-20 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 108 The motor must be connected using a shielded cable! The shield must be connected through the largest possible surface area at the motor and drive converter. The optional connecting adapter can be used to connect the shield to SIMOVERT MASTERDRIVES. Siemens AG 6SE7087-6QX70 (Version AD)
  • Page 109 05.2003 Fig. 3-17 Mounting the connecting adapter ♦ Screw lower section A to SIMOVERT MASTERDRIVES. ♦ Mount SIMOVERT MASTERDRIVES on the mounting panel. ♦ Connect the shielded motor cable and shield to section A through the largest possible surface area, e.g. attach using cable connectors.
  • Page 110 U1/L1 V1/L2 W1/L3 U2/T1 V2/T2 W2/T3 - L1 Shielded area Fig. 3-18 Example of a chassis unit mounted in the cabinet with radio interference suppression filter and line reactor Siemens AG 6SE7087-6QX70 (Version AD) 3-23 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 111 The motor and signal cables are routed separately from each other. The shields of the motor and signal cables have to be mounted on the shield connections through the largest possible surface area. 6SE7087-6QX70 (Version AD) Siemens AG 3-24 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 112 All of the cables are then routed together in the vertical cable duct. Cabling such as this allows noise to be easily propagated and coupled- Siemens AG 6SE7087-6QX70 (Version AD) 3-25 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 113 The 6SE70 radio interference suppression filters were checked to make sure they maintain the limit values, using layouts consisting of SIMOVERT MASTERDRIVES and the associated line reactors. The components were mounted in cabinets (Type 8MC) in observance of the specified rules. The motor feeder cable was 30 m long.
  • Page 114 M(set) P228.B Connector K0153 KK0152 Visualization r238 M(set) parameter n-Reg.release Fixed of sequence control B0310 [460.8] connection Binector Cross-reference to other function diagram [page.column] Fig. 4-1 A function block Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 115 The connector number always has four digits. Connector name Connector name M(set,n-Reg.) n(set,smooth) K0153 KK0150 Identification letter Connector number Identification letter Connector number Fig. 4-2 Connectors with word lengths of 16 bit and 32 bit 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 116 On account of their definition, binectors can only assume the two states "0" (logically no) and "1" (logically yes). Binector name Accel active B0201 Identification letter Binector number Fig. 4-4 Binectors Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 117 ♦ "L"xxx and "c"xxx are replaced by "3"xxx Examples: Select r004 on OP1S: Input 0004 Select P050 on OP1S: Input 0050 Select U123 on OP1S: Input 2123 Select L411 on OP1S Input 3411 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 118 16 and 17 in control word 2 (P576.B and P577.B). Changeover is possible at any time. The active function data sets are displayed via the visualization parameter r013 (Active FuncDSet). Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 119 If BICO data set 1 is active, the parameter value stored in parameter index 1 is used. If BICO data set 2 is active, the parameter value stored in parameter index 2 is used. 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 120 To distinguish them from the other parameters, they are designated with a lower-case letter (r, n, d and c) in the parameter number. Parameter name DC Bus Volts r006 Parameter number Fig. 4-7 Visualization parameters Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 121 100 % = 100 % = 100 % = 4000 0000 H 4000 H 4000 H 4000 0000 H Pxxx.B Pxxx.B Pxxx.B Bxxxx Fig. 4-9 Possible and impossible BICO connections 6SE7087-6QX70 (Version AD) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 122 32 bit to 16 bit. As the low-word is cut off, the information of the lower-order 16 bit of the double-word connectors is then lost. Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 123 It is possible for one parameter to belong to several menus. The parameter list indicates which individual menus a parameter belongs to. Assignment is effected via the menu number allocated to each menu. Siemens AG 6SE7087-6QX70 (Version AL) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 124 Setting up/MDI By entering a password in P359, access to the menus in the gray shaded area can be prohibited to unauthorized persons P358 Key P359 Lock Fig. 5-1 Parameter menus 6SE7087-6QX70 (Version AL) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 125 Used to define the power section (only necessary for units of definition the Compact and chassis type) • When selected, the unit switches to status 0 "Power section definition" Table 5-1 Main menus Siemens AG 6SE7087-6QX70 (Version AL) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 126 1. Adopt key parameter P358 in the "User parameters" menu (P360.x = 358). 2. Program the lock parameter P359 in both parameter indices with your specific password. 3. Change over to the "User parameters" menu. 6SE7087-6QX70 (Version AL) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 127 Table 5-4 Preconditions for being able to change parameters NOTE The current status of the units can be interrogated in parameter r001. Siemens AG 6SE7087-6QX70 (Version AL) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 128 Seven-segment display for: Drive statuses Alarms and faults Parameter numbers Raise key Lower key Parameter indices Toggle key Parameter values Fig. 5-2 PMU in units of the Compact PLUS type 6SE7087-6QX70 (Version AL) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 129 Seven-segment display for: Drive statuses Alarms and Reversing key faults ON key Parameter numbers Toggle key OFF key Parameter indices Lower key X300 Parameter values Fig. 5-3 PMU parameterizing unit Siemens AG 6SE7087-6QX70 (Version AL) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 130 4 figures (right-hand figure flashes if there are any further invisible figures to the right) Table 5-7 Operator control elements on the PMU 6SE7087-6QX70 (Version AL) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 131 Parameter changes made using the PMU are always safely stored in the EEPROM (protected in case of power failure) once the toggle key has been depressed. Siemens AG 6SE7087-6QX70 (Version AL) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 132     P060 P060 Select P970   P060 P970 Set P970 to 0000 and start parameter reset ∇       P970 °005 6SE7087-6QX70 (Version AL) Siemens AG 5-10 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 133 Order numbers Components Order Number OP1S 6SE7090-0XX84-2FK0 Connecting cable 3 m 6SX7010-0AB03 Connecting cable 5 m 6SX7010-0AB05 Adapter for installation in cabinet door incl. 5 m cable 6SX7010-0AA00 Siemens AG 6SE7087-6QX70 (Version AL) 5-11 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 134 Significance Range RS485 P Data via RS485 interface Ground ±5%, 200 mA 5 V aux. voltage supply RS485 N Data via RS485 interface Reference potential Table 5-8 OP1S connections 6SE7087-6QX70 (Version AL) Siemens AG 5-12 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 135 On the Compact PLUS rectifier unit, you can plug the OP1S onto the Compact PLUS Sub D socket X320 and lock it in place on the front cover. rectifier unit Siemens AG 6SE7087-6QX70 (Version AL) 5-13 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 136 When a bus system is started up with the OP1S, the slaves must first be configured individually. The plugs of the bus cable must be removed for this purpose (see section "Bus operation"). 6SE7087-6QX70 (Version AL) Siemens AG 5-14 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 137 The unit's own PMU control panel must then be used to set parameter P701 (baud rate) to 6 (9.6 kBd) or 7 (19.2 kBd) or to reset the parameters to the factory setting. Siemens AG 6SE7087-6QX70 (Version AL) 5-15 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 138 This function must be enabled by P574 • Sign key For changing the sign so that negative values can be entered Number keys • Numerical input Table 5-9 Operator control elements of the OP1S 6SE7087-6QX70 (Version AL) Siemens AG 5-16 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 139 In addition to the operating display on the display unit, the operating state is indicated by the red and green LEDs as follows: Continuous Flashing red LED Alarm Fault green LED Ready for ON Operation Table 5-10 Operating displays Siemens AG 6SE7087-6QX70 (Version AL) 5-17 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 140 "#” symbol. After the "P" key has been pressed, the relevant symbol jumps to the selected function. The "Reset" key is for returning to the operating display. 6SE7087-6QX70 (Version AL) Siemens AG 5-18 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 141 Change slave Slave ID Slave ID Slave ID Slave ID and so on Config. slave MASTERDRIVES MC 6SE7014-0TP50 #Slave ID PLUS 6SE7014-0TP50 1.5 kW Example of a slave ID Siemens AG 6SE7087-6QX70 (Version AL) 5-19 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 142 Enter ID Enter ID 190- 1909- 19091- Example of entering an ID When "P" is pressed, the message "Upread ok" appears and the display changes to the basic menu. 6SE7087-6QX70 (Version AL) Siemens AG 5-20 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 143   Download Download Error: MotionControl 00 *1909199701 *1909199701 Different Stop download? MASTERDRIVES MC MASTERDRIVES MC #yes Yes: The "Download" procedure is discontinued. The "Download" procedure is carried out. Siemens AG 6SE7087-6QX70 (Version AL) 5-21 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 144 "Lower" or "Raise" (see section "Slave ID"). The "Delete data" procedure can now be started with "P". After completion, the message "Data deleted" appears and the display returns to the basic menu. 6SE7087-6QX70 (Version AL) Siemens AG 5-22 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 145 *User Param. *Gen. Param. *Gen. Param. *SST1/SST2 #Param Menu.. Terminals Terminals Field bus conn. SCom Bus Addrese FixedSet... Communication #Communication SIMOLINK Ser. Interf.1 Example: Selecting a parameter via sub-menus Siemens AG 6SE7087-6QX70 (Version AL) 5-23 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 146 Example: Parameter with index, index text and selection text P701.001 SCom Baud rate Ser Interf.1 9600 Baud 1st line: Parameter number, parameter index, parameter value 2nd line: Parameter name 3rd line: Index text 4th line: Selection text 6SE7087-6QX70 (Version AL) Siemens AG 5-24 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 147 With "Reset", the message is deleted and the old value is re-instated. NOTE Parameter changes are always stored with power-failure protection in the EEPROM of the unit connected to the OP1S. Siemens AG 6SE7087-6QX70 (Version AL) 5-25 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 148 Some parameters may also be displayed without a parameter number, e.g. during quick parameterization or if "Fixed setting" is selected. In this case, parameterization is carried out via various sub-menus. 6SE7087-6QX70 (Version AL) Siemens AG 5-26 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 149 Menu Selection #FactSet. *User Param.. *No FactSet Param. Menu.. busy.... FixedSet... Start of factory setting NOTE It is not possible to start the parameter reset in the "Run" status. Siemens AG 6SE7087-6QX70 (Version AL) 5-27 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 150 "+” instead of "−”. Information on all alarms can be obtained with the alarm parameters r953 to r969. An alarm cannot be acknowledged. As soon as the cause no longer exists, the alarm/display disappears automatically. 6SE7087-6QX70 (Version AL) Siemens AG 5-28 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 151 The OFF function can also be performed with OFF2 or OFF3 instead of OFF1. For this, the source of OFF2 (P555) or OFF3 (P556) must be "interconnected" to 2101 or 2102 respectively in addition to setting P554. Siemens AG 6SE7087-6QX70 (Version AL) 5-29 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 152 During bus operation, each slave must have a different address (P700). Bus operation is also possible at 19.6 kBd (set P701 to 7). The baud rate, however, must be set the same in all slaves. 6SE7087-6QX70 (Version AL) Siemens AG 5-30 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 153 EN60529 • Rear IP21 Dimensions W x H x D 74 x 174 x 26 mm Standards VDE 0160/E04.91 VDE 0558 Part 1/07.87 UL, CSA Table 5-11 Technical data Siemens AG 6SE7087-6QX70 (Version AL) 5-31 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 154 Connection There are two ways of connecting a PC to a device of the SIMOVERT MASTERDRIVES Series via the USS interface. The devices of the SIMOVERT MASTERDRIVES Series have both an RS232 and an RS485 interface. RS232 interface The serial interface that PCs are equipped with by default functions as an RS232 interface.
  • Page 155 5.5.2 Establishing the connection between DriveMonitor and the device 5.5.2.1 Setting the USS interface  You can configure the interface with menu Tools ONLINE Settings. Fig. 5-8 Online settings Siemens AG 6SE7087-6QX70 (Version AL) 5-33 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 156 RS232/RS485 ♦ Tab card "Extended" Request retries and Response timeout; here you can increase the values already set if communication errors occur frequently. Fig. 5-9 Interface configuration 6SE7087-6QX70 (Version AL) Siemens AG 5-34 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 157 Search for online drives During the search the USS bus is scanned with the set baudrate only.  The baud rate can be changed via "Tools ONLINE Settings", see section 5.5.2.1. Siemens AG 6SE7087-6QX70 (Version AL) 5-35 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 158 ♦ You must only specify the bus address of the drive during online operation (switchover with button Online/Offline) 6SE7087-6QX70 (Version AL) Siemens AG 5-36 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 159 03.2010 Parameterization The specified bus address must be the same as that of the NOTE parameterized SST bus address in SIMOVERT MASTERDRIVES (P700). No bus address is assigned to the drive with the button "Disconnect network connection". NOTE Field "Number of PCD" has no special significance for the parameterization of MASTERDRIVES and should be left at "2".
  • Page 160 Display of the current parameter value. You can change this by double- value clicking on it or selecting and pressing Enter. Physical dimension of the parameter, if there is one 6SE7087-6QX70 (Version AL) Siemens AG 5-38 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 161 Drive window/parameter list The DriveMonitor drive window has a directory tree for navigation purposes (Fig. 5-14 [2]). You can deselect this additional operating tool in menu View - Parameter selection. Siemens AG 6SE7087-6QX70 (Version AL) 5-39 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 162 To do so, you have to change to offline mode. In that way, you can create an individually adapted download file, which you can load into the device later. 6SE7087-6QX70 (Version AL) Siemens AG 5-40 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 163 This is used to quickly access important functions of the DriveMonitor. Settings for Drive Navigator under Tools -> Options (Fig. 5-16): Fig. 5-15 Drive Navigator Fig. 5-16 Options menu display Siemens AG 6SE7087-6QX70 (Version AL) 5-41 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 164 Assisted commissioning Direct to parameter list General diagnostics Save drive parameters to a file Download parameter file to drive Load standard application Assisted F01 technology COMM Basic positioner operating screens 6SE7087-6QX70 (Version AL) Siemens AG 5-42 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 165 Both the warning and the fault number as well as plain text are displayed. Fig. 5-17 General diagnostics Via the Extended Diagnostics button you can reach the next diagnostics window. Fig. 5-18 Extended diagnostics Siemens AG 6SE7087-6QX70 (Version AL) 5-43 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 166 By activating a fixed setting (P060 = 2), the parameters of the unit can also be reset to the original values. Siemens AG 6SE7087-6QX70 (Version AN) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 167 Factory settings (parameter reset) (P060 = 2) (P060 = 8) Parameterizing with existing parameter files (download, P060 = 6) Parameterizing with parameter modules(quick parameterization, P060 = 3) Fig. 6-1 Detailed and quick parameterization 6SE7087-6QX70 (Version AN) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 168 The factory setting is made either via interface SST1 or SST2: Parameters that are not changed by the factory setting either. None of the indices of the parameters is changed. Siemens AG 6SE7087-6QX70 (Version AN) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 169 P970 = 0 0: Parameter reset 1: No parameter change Unit carries out parameter reset and then leaves the "Fixed settings" menu. Fig. 6-2 Sequence for parameter reset to factory setting 6SE7087-6QX70 (Version AN) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 170 250 kW can be selected. Selection is only possible if option F02 is enabled via a PIN (n978.2 = 1). To activate option F02 please refer to Chapter 11.10 "Power Extension PIN F02". Siemens AG 6SE7087-6QX70 (Version AN) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 171 To check the input data, the values for the converter supply voltage in P071 and the converter current in P072 should be checked after returning to the parameter menu. They must tally with the data given on the unit rating plate. 6SE7087-6QX70 (Version AN) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 172 6SE7023-4TP 0 34.0 6SE7023-8TP 0 37.5 6SE7024-7TP 0 47.0 6SE7026-0TP 0 59.0 6SE7027-2TP 0 72.0 = 5 corresponds to MASTERDRIVES Motion Control = 7 corresponds to MASTERDRIVES Motion Control Performance 2 Siemens AG 6SE7087-6QX70 (Version AN) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 173 6SE7023-4TC 1 34.0 6SE7023-8TD 1 37.5 6SE7024-7TD 1 47.0 6SE7026-0TD 1 59.0 6SE7027-2TD 1 72.0 = 5 corresponds to MASTERDRIVES Motion Control = 7 corresponds to MASTERDRIVES Motion Control Performance 2 6SE7087-6QX70 (Version AN) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 174 This unit is a so-called chassis unit and can only be operated up to a maximum pulse frequency of 2.7 kHz. The overload for 30 s is limited to 1.36 times the rated output current. Siemens AG 6SE7087-6QX70 (Version AN) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 175 This unit is a so-called chassis unit and can only be operated up to a maximum pulse frequency of 2.7 kHz. The overload for 30 s is limited to 1.36 times the rated output current. 6SE7087-6QX70 (Version AN) Siemens AG 6-10 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 176 Enter the CB parameters 1 to 11 necessary for the inserted P711.1...2 = ? communications boards CBx The necessary CB parameters and their significance can be P721.1...10 = ? derived from the function diagrams of the individual communications boards. Siemens AG 6SE7087-6QX70 (Version AN) 6-11 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 177 Enter the SIMOLINK cycle time in ms P749.1...8 = ? Enter the SLB read addresses CBx inserted ? P918.1...2 = ? Enter the CB bus addresses P060 = 1 Return to the parameter menu 6SE7087-6QX70 (Version AN) Siemens AG 6-12 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 178 110 to 119 Sensor Board (SBx) 120 to 129 Serial Communication Board (Scx) 130 to 139 Technology Board 140 to 149 Communication Board (Cbx) 150 to 169 Special boards (Ebx, SLB) Siemens AG 6SE7087-6QX70 (Version AN) 6-13 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 179 Communication Board Communication Board PROFIBUS Communication Board DeviceNet Communication Board CAN Bus Communication Board CC-Link CBP2 Communication Board PROFIBUS 2 Expansion Board 1 Expansion Board 2 SIMOLINK bus interface 6SE7087-6QX70 (Version AN) Siemens AG 6-14 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 180 (2 x P293). When the controller structure optimized for field weakening (P296=3) is selected for asynchronous motors, field weakening is permitted up to 5 times the motor corner frequency (5 x P293). Siemens AG 6SE7087-6QX70 (Version AN) 6-15 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 181 (SBx) must be inserted beforehand and a permissible motor encoder selected. If this is not carried out, the unit will also generate a fault when it tries to leave the "Drive setting" menu. 6SE7087-6QX70 (Version AN) Siemens AG 6-16 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 182 Input of motor rated frequency in Hz P107 = ? according to rating plate Input of motor rated speed in rpm P108 = ? P108 = ? according to rating plate Siemens AG 6SE7087-6QX70 (Version AN) 6-17 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 183 If the motor is coasting, a no-load measurement is recommended (see section entitled "No-load measurement"). Thus optimum results regarding torque accuracy can be achieved. Input the maximum output current in A P128 = ? 6SE7087-6QX70 (Version AN) Siemens AG 6-18 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 184 P144 = ? Voltage supply encoder SBM: Is set at the factory to 5 V to match the standard encoder Hook switches S1 and S2 used with SIEMENS motors. on the SBM (SBM2: P145.1) Also see function diagram 240. P130=3...
  • Page 185 (normalization variable for current limitations and current setpoints and current actual values). Input the reference value for all voltage variables P351 = ? (normalization variable for voltage limitations and voltage setpoints and voltage actual values). 6SE7087-6QX70 (Version AN) Siemens AG 6-20 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 186 (SBx) must be inserted beforehand and a permissible motor encoder selected. If this is not carried out, the unit will also generate a fault when it tries to leave the "Drive setting" menu. Siemens AG 6SE7087-6QX70 (Version AN) 6-21 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 187 Standstill measurement From Version V1.30 onwards, automatic motor identification is available. In the case of Siemens motors (P095 = 1, 2 or 5) the motor type is first selected in P096 or P097. In the case of non-Siemens motors (P095 = 3 or 4), the rating plate data and number of pole pairs have to be entered, and then automatic parameterizing is called with P115 = 1.
  • Page 188 For Siemens asynchronous motors (P095 = 1) first of all the motor type is selected in P097. For motors of other makes (P095 = 4) the rating plate data and the pole pair number have to be entered and then automatic parameterization has to be called up with P115 = 1.
  • Page 189 NOTE If you are interested in the provision and implementation of fixed settings tailored to your own requirements, please get in contact with your nearest SIEMENS branch office. P060 = 2 Select "Fixed settings" menu Select desired user setting...
  • Page 190 X103 mode Optional board CBx e.g. X448 Bus operation e.g. CBP for Profibus for CBP Automation unit (e.g. SIMATIC S7) Fig. 6-5 Parameter transfer from various sources by download Siemens AG 6SE7087-6QX70 (Version AN) 6-25 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 191 Rtd Drive Power(n) P700 IF bus address P701 IF baudrate P702 IF no. of PKW P703 IF no. of PZD U977 Table 6-5 Parameters you cannot overwrite during download 6SE7087-6QX70 (Version AN) Siemens AG 6-26 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 192 P918 CB bus address P952 Number of faults P970 Factory setting P971 EEPROM accept. U976 Product number U977 Table 6-6 Parameters that cannot be changed on downloading with DriveMonitor Siemens AG 6SE7087-6QX70 (Version AN) 6-27 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 193 The parameters necessary for fine adjustment of the control structure (all the parameters of the respective function diagrams) are automatically adopted in the user menu (P060 = 0). 6SE7087-6QX70 (Version AN) Siemens AG 6-28 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 194 1: EQN1325 (2048 lines) 2: ECN1313 (2048 lines) 6: EnDat autom. 7: EQI1325 (32 lines) 8: EQN1125 (Heidenhain) EnDat 9: ECN1113 (Heidenhain) EnDat 10: ROQ424 SSI 11: EQI1125 (Heidenhain) EnDat Siemens AG 6SE7087-6QX70 (Version AN) 6-29 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 195 If data set changeover is required, you will have to carry out a further detailed parameterization using parameter modules after having performed quick parameterization. Quick parameterization is effected in the "Download" converter status. 6SE7087-6QX70 (Version AN) Siemens AG 6-30 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 196 The function parameters and visualization parameters specified in the function diagrams are automatically adopted in the user menu and can be visualized or changed there. Siemens AG 6SE7087-6QX70 (Version AN) 6-31 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 197 Parameterizing Steps 08.2012 6SE7087-6QX70 (Version AN) Siemens AG 6-32 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 198 - 2-pole -X410/93 Track B- cos- -X414/7 -X410/94 Zero pulse + Excitation -X414/9 Data of pulse encoder simulation: - 1024 pulses/revolution -X410/95 Zero pulse - -X414/11 Excitationg Shield connection Siemens AG 6SE7087-6QX70 (Version AN) 6-33 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 199 Parameterizing Steps 08.2012 6SE7087-6QX70 (Version AN) Siemens AG 6-34 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 200 Track A+ Data of pulse encoder to be connected: Track B+ -X401/70 - HTL encoder (15 V) -X401/72 Zero pulse + - 1024 Inc. - without control track Shield connection Siemens AG 6SE7087-6QX70 (Version AN) 6-35 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 201 Parameterizing Steps 08.2012 6SE7087-6QX70 (Version AN) Siemens AG 6-36 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 202 AnaOut Smooth AnaOut Scale AnaOut Offset P642.1 +/- 10 V P643.1 P644.1 -X101/11 Disp Freq Conn y[V]= P643.1 r043.2 100 % -X101/12 (=Frequency actual value) Type of encoder: Without encoder Siemens AG 6SE7087-6QX70 (Version AN) 6-37 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 203 Parameterizing Steps 08.2012 6SE7087-6QX70 (Version AN) Siemens AG 6-38 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 204 MOP(max) P421 1 = Raise MOP 1 = Lower MOP MOP(min) Acknowledge P422 Conf MOP X300 P425 OFF1 00x0= ... Without storing after OFF 00x1= ... Storing after OFF Siemens AG 6SE7087-6QX70 (Version AN) 6-39 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 205 Parameterizing Steps 08.2012 6SE7087-6QX70 (Version AN) Siemens AG 6-40 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 206 Baud rate: 9.6 KB -X100/36 Receive RS485N Setpoint Data word 1 Data word 2 Tlg failure time: 0 = Control word 1 none 0 0 0 1 1 1 Proposal Siemens AG 6SE7087-6QX70 (Version AN) 6-41 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 207 Parameterizing Steps 08.2012 6SE7087-6QX70 (Version AN) Siemens AG 6-42 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 208 08.2012 Parameterizing Steps Setpoint and command source: PROFIBUS 1. CB • • • • • • • • • • • • Siemens AG 6SE7087-6QX70 (Version AN) 6-43 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 209 Parameterizing Steps 08.2012 6SE7087-6QX70 (Version AN) Siemens AG 6-44 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 210 T0. The time slots T1 to T10 are derived from time slot T0. The time slot T20 is used as an archive for function blocks that are not needed. Function blocks stored in time slot T20 are not processed. Siemens AG 6SE7087-6QX70 (Version AK) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 211 32 x T0 4.267 64 x T0 12.8 8.533 128 x T0 25.6 17.067 256 x T0 51.2 34.133 512 x T0 102.4 68.267 1024 x T0 204.8 136.533 none archive archive 6SE7087-6QX70 (Version AK) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 212 Calculation of the blocks defined in T0 Calculation of the blocks defined in T2 Calculation of the blocks defined in T1 Calculation of the blocks defined in T3 Fig. 7-1 Processing sequence of the time slots Siemens AG 6SE7087-6QX70 (Version AK) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 213 The following applies regarding the assignment of the function block number to the parameter number with parameter index: Parameter number Parameter index Assigned function block U950 U951 U952 U953 Table 7-1 Time slots 6SE7087-6QX70 (Version AK) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 214 You should adjust these to suit your requirements once you have determined the interconnection of the function blocks. Please note that an incorrect processing sequence will lead to uncontrolled axis movements! Siemens AG 6SE7087-6QX70 (Version AK) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 215 The following applies regarding the assignment of the function block number to the parameter number with parameter index: Parameter number Parameter index Assigned function block U960 U961 U962 U963 6SE7087-6QX70 (Version AK) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 216 ♦ monitors the system for its overall workload ♦ monitors the various time slots to ensure they are being completely processed within the allocated time ♦ generates alarms and fault messages if calculating times are not adequate. Siemens AG 6SE7087-6QX70 (Version AK) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 217 6SE7087-6QX70 (Version AK) Siemens AG Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 218 Changing the pulse frequency by halving it (P357 = 1) is only possible if the Power Extension PIN F02 has been enabled (relevant for power sections above 75 kW), see Chapter 11.10 "Power Extension PIN F02". Siemens AG 6SE7087-6QX70 (Version AK) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 219 ♦ Max. sampling time: 200.00 msec Priorities The priorities of the commands of the comfort ramp-function generator are as follows: 1. Enable 2. Quick stop 3. Set 4. Ramp down to zero 5. Stop 6SE7087-6QX70 (Version AK) Siemens AG 7-10 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 220 ♦ Smoothing time : scan time = 3000 => max. 10 % error in smoothing time ♦ Smoothing time : scan time > 20000 => should not be set Siemens AG 6SE7087-6QX70 (Version AK) 7-11 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 221 Consequently, the desired function/movement must be ensured by the user. 6SE7087-6QX70 (Version AK) Siemens AG 7-12 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 222 Moving from A to B NOTE Standard applications are available including parameter assignment and documentation. These can be obtained from your regional SIEMENS AG office and are available from the Application Center for Production Machines. Characteristics What the basic positioner offers:...
  • Page 223 For the standard user, it is sufficient to work with function diagram 788a and to use these instructions for reference if required. NOTE The control/checkback signals have positive logic (up to RESET SET setpoint). 6SE7087-6QX70 (Version AK) Siemens AG 7-14 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 224 This also generates a homing movement that processes the core block as a ramp generator (SETUP) using reversing cams. The correction block/homing command provides the setpoints with speed precontrol, the position correction signals and handles the measured value memory. Siemens AG 6SE7087-6QX70 (Version AK) 7-15 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 225 "set setpoint" transfer. NOTE The speed, acceleration and deceleration setpoints are percentage values that must always be positive (negative setpoints are limited to 0 %). 6SE7087-6QX70 (Version AK) Siemens AG 7-16 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 226 PC, SIMATIC S7) in conjunction with the communication capabilities of the basic unit, the acknowledge transfer can be employed by the user to initiate the [SPV_RIE] signal under acknowledgement control. Siemens AG 6SE7087-6QX70 (Version AK) 7-17 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 227 This gives the user the option to delete the valid outputs. DANGER An abrupt compensating movement of the axis may occur if the RESET signal is output without precautionary measures having been taken. 6SE7087-6QX70 (Version AK) Siemens AG 7-18 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 228 This mode permits the positioning block to travel to and fro in SETUP = 1 using the reversing cams REF_BWD_STOP, REF_FWD_STOP until REF_STOP [ARFD] = 1 is achieved. See "Homing movement" section for further information. Siemens AG 6SE7087-6QX70 (Version AK) 7-19 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 229 POS, REF or SETUP is active. Binector B0893 REF_DRIVE = 1 shows that "homing movement" with reversing cams is active. Binector B0895 SET_REF_D = 1 shows the preferred direction REF_D (input Src U866.14). 6SE7087-6QX70 (Version AK) Siemens AG 7-20 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 230 B0873 D_FWD_ACT B0875 D_BWD_ACT B0876 B0877 REF_DRIVE B0893 POS_TYP_ACT B0874 1(V=0) SET_REF_D B0895 x= don't care Depending on selection of direction D_FWD_ACT / D_BWD_ACT Table 7-2 Mode truth table Siemens AG 6SE7087-6QX70 (Version AK) 7-21 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 231 Bit 11 B0895 SET_REF_D Homing approach direction Table 7-4 BPos STW status of monitoring parameter n870.2: setpoint/mode output The BPos STW status output is the same as connector 0887. 6SE7087-6QX70 (Version AK) Siemens AG 7-22 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 232 With absolute positioning, the direction of movement is determined by the difference between the position setpoint and actual values. Activation of the control binector inputs D_FWD or D_BWD has no effect. Siemens AG 6SE7087-6QX70 (Version AK) 7-23 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 233 The diameter of the drive roller (d) is 300.000 mm × π × 1415 942.477 The following is to be represented: 1LU = 1 µm The circumference of the roller (x) is therefore 942477 LU. 6SE7087-6QX70 (Version AK) Siemens AG 7-24 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 234 942477 71905288 Deno ator 131072 as gearbox factor or factor for the AVWF. More encoder increments per revolution should therefore be specified (P171) than there are LUs per revolution. Siemens AG 6SE7087-6QX70 (Version AK) 7-25 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 235 = 0 to the rated speed (rated V) in t = 1 sec. The following equation is used to calculate this: Rated acceleration = U857 (in 1000 LU/s Rated speed = U856 (in 1000 LU/min) rated speed ated accelerati × 6SE7087-6QX70 (Version AK) Siemens AG 7-26 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 236 If an absolute encoder and odd-order gear factors are used, position tracking has to be used (see Chapter 9.4.9 and 9.4.10). You will find the basic description on the use of absolute encoders in Chapter 9.4.6. Siemens AG 6SE7087-6QX70 (Version AK) 7-27 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 237 To activate the setup mode, the enable positioner/homing command ENABLE_POS_REF must be set. Because of the order of priority, neither positioning (POS_ON) nor homing movement (REF_TYP = HIGH) may be set. 6SE7087-6QX70 (Version AK) Siemens AG 7-28 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 238 (B0895), (1 = counter-clockwise / 0 = clockwise) and a valid measured value is received, a correction is carried out by means of "Start Ref." taking the "skip window" into account. Siemens AG 6SE7087-6QX70 (Version AK) 7-29 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 239 The binector input REF_FWD_STOP restricts the homing movement in the FWD direction and reverses the direction that was previously selected using D_FWD and Ref ON (or that is indicated on REF_STOP_BWD after the reversal). 6SE7087-6QX70 (Version AK) Siemens AG 7-30 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 240 Homing movement with coarse pulse and zero pulse evaluation This can be implemented if required by means of the basic unit functionality (see position detection, function diagram 330) in the speed controller. Siemens AG 6SE7087-6QX70 (Version AK) 7-31 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 241 DANGER Behavior in accordance with correct control principles also means possible overrunning of the specified target position (oscillation). 6SE7087-6QX70 (Version AK) Siemens AG 7-32 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 242 The effect of the software limit switches can be deactivated or reconfigured by the user (using BICO technology). Example: SWE_MINUS: 1000 LU SWE_PLUS: 150000 LU Permissible range of movement from 1000 to 150000 [LU] Siemens AG 6SE7087-6QX70 (Version AK) 7-33 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 243 The activated STOP cams are evaluated purely statically in this operating mode. Overtravel of the cams is not supported which is why the cams have to be executed up to the end stop! 6SE7087-6QX70 (Version AK) Siemens AG 7-34 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 244 Negative value = negative preferred position → on the first negative movement after switching on the converter, no reverse backlash is taken into account. Parameter value = 0: No reversal backlash compensation takes place. Siemens AG 6SE7087-6QX70 (Version AK) 7-35 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 245 Because of the resolution in 2 steps and the mechanical coupling, a actual-value weighting factor (AVWF) usually results that allows the position setpoint to be converted to mechanical µm or [LU]. 6SE7087-6QX70 (Version AK) Siemens AG 7-36 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 246 Example: -5000 becomes 3192 with AZL = 4096 (5000 MOD 4096) Gearbox Motor Fig. 7-11 Example of rotary axis, the rotary table Siemens AG 6SE7087-6QX70 (Version AK) 7-37 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 247 This may mean that a reversal of direction is possible, especially if the correction value > 1/2 x axis cycle. 6SE7087-6QX70 (Version AK) Siemens AG 7-38 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 248 Window width For the POS_OK representation, a window width (exact positioning Pos OK window) in LU is invoked. The POS_OK checkback is set when the target position is reached. Siemens AG 6SE7087-6QX70 (Version AK) 7-39 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 249 See section about [POS_TYP] control binector. [POS_TYP_ACT] = 0: ABSOLUTE positioning through the [POS_TYP] control binector is transferred/valid. [POS_TYP_ACT] = 1: RELATIVE positioning through the [POS_TYP] control binector is transferred/valid. 6SE7087-6QX70 (Version AK) Siemens AG 7-40 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 250 The binector will only be set HIGH when the software limit switches are Plus software limit active (approached); the movement has been limited by the Plus switch software limit switch. Siemens AG 6SE7087-6QX70 (Version AK) 7-41 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 251 [ARFD] = High at U863.2 for their activation, can be activated by manually setting the signal to high at U863.2. CAUTION The user is responsible for monitoring the signal and ensuring the appropriate interlocks are in place!!! 6SE7087-6QX70 (Version AK) Siemens AG 7-42 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 252 BIT20 = B0864 [RD_ACT] BIT21 = B0866 [FWD_RUN] BIT22 = B0867 [BWD_RUN] BIT23 = B0865 [POS_DELTA] BIT24 = B0868 [SW_E_PLUS] BIT25 = B0869 [SW_E_MINUS] BIT26 = B0888 [ARFD] BIT27 = B0892 [F_REF_WD] Siemens AG 6SE7087-6QX70 (Version AK) 7-43 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 253 The contents of the windows are only used when the axis is referenced (ARFD = 1). The first sensing of the reference mark following runup leads to a setting of the homing point, irrespective of the window settings. 6SE7087-6QX70 (Version AK) Siemens AG 7-44 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 254 Homing on the fly, also referred to as post-homing, appears in the correction value/homing block, function diagram 789c, with window evaluation. Homing as homing movement mode with reversing cam appears in the setting value/setpoint block function diagram 789a. Siemens AG 6SE7087-6QX70 (Version AK) 7-45 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 255 • basic positioner through terminal strip interface, • etc.. NOTE Standard applications are available including parameter assignment and documentation. These can be obtained from your regional SIEMENS AG office and are available from the Application Center for Production Machines. 6SE7087-6QX70 (Version AK) Siemens AG 7-46...
  • Page 256 The user should determine the shutdown strategy for the device using the appropriate operating mode OFF1, OFF2, OFF3 with brake control or pulse disabling through fault message triggering (as in the example). Siemens AG 6SE7087-6QX70 (Version AK) 7-47 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 257 REM ---Insert in time slot WRITE 2950 86 4 REM ---Switch of RFG_RUN axis running WRITE 2176 0 0x862 REM ---Standstill Lag WRITE 2177 1 0x415 REM ---Travel Lag WRITE 2177 2 0x416 6SE7087-6QX70 (Version AK) Siemens AG 7-48 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 258 Trigger fault message [FD710] REM ************************************************************ REM ---Insert in time slot WRITE 2952 59 4 REM ---Wire up OR output WRITE 2061 0 619 REM ************************************************************ SET LOG OFF Siemens AG 6SE7087-6QX70 (Version AK) 7-49 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 259 ♦ An additional speed input U850.5 has been introduced as a V2.10 percentage input for improving the quality of the checkback signals. ♦ The value range of the software limit switch has been adjusted to 6SE7087-6QX70 (Version AK) Siemens AG 7-50 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 260 If the ON command is not given within 30s, friction characteristic recording is interrupted with fault F099. NOTE Measuring can be started only from converter status °008 and °009. Siemens AG 6SE7087-6QX70 (Version AK) 7-51 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 261 ♦ Measured value not plausible (e.g. < 0 in the case of positive direction of rotation) ♦ Cancellation of friction characteristic recording command (U219 = 0) The values acquired up until termination of measuring are not transferred to parameter U216. 6SE7087-6QX70 (Version AK) Siemens AG 7-52 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 262 The friction losses must be compensated by an additional torque derived from the friction characteristic. Siemens AG 6SE7087-6QX70 (Version AK) 7-53 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 263 30 %. The standstill torque constant (P098) is preassigned with the stored value in the case of a Siemens motor, and with the value M_rated/i_rated in the case of a non-Siemens motor. The value can vary as a result of manufacturing tolerances. If the estimator has been...
  • Page 264 (P115 = 2) must be performed to define the values P111.1 to 10, P121, P122, P123. The motor should be at room temperature during identification. In the case of a non-Siemens induction machine (P095 = 4), automatic parameterization (P115 = 1) is necessary before motor identification starts.
  • Page 265 P132 "angular offset" to a position test angle r286 of 0°. Making the correction in the parameters is especially recommended for motors of non-Siemens suppliers who install their encoders in a standard position other than that of SIEMENS. During operation with position test, it is possible to change parameter P132 "angular offset"...
  • Page 266 Depending on the design of the encoder shaft, different screws will be required for forcing off the encoder (see Fig. 7-13 and Fig. 7-14). DANGER If the encoder is adjusted incorrectly, the motor can overspeed. Siemens AG 6SE7087-6QX70 (Version AK) 7-57 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 267 Functions 09.2008 Fig. 7-13 Forcing off an encoder of old design Fig. 7-14 Forcing off an encoder of new design 6SE7087-6QX70 (Version AK) Siemens AG 7-58 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 268 No more than the first two channels can be activated. The "recording interval" or "trigger settings" bear no relevance to the PRBS recording. Recording starts as soon as you click on the "Start" button. Siemens AG 6SE7087-6QX70 (Version AK) 7-59 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 269 "Mathcad 8 ® ". -1.5 Oper_dB -4.5 Frequency fmin fmax Frequency in Hz (no omega!) Phase -135 -180 -180 Frequency fmin fmax Frequency in Hz (no omega!) Fig. 7-15 6SE7087-6QX70 (Version AK) Siemens AG 7-60 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 270 The natural frequencies of the system appear in the diagram as lines of constant frequency. Siemens AG 6SE7087-6QX70 (Version AK) 7-61 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 271 Low pass (P256 = 2; P254 = 50 Hz) -1.5 Ampl -4.5 Frequency fmin fmax Frequency in Hz (no omega!) Phase -135 -180 -180 Frequency fmin fmax Frequency in Hz (no omega!) 6SE7087-6QX70 (Version AK) Siemens AG 7-62 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 272 (P256 = 1; P254 = 50 Hz; P253 = 1.0; P257 = 50 %) -1.5 Ampl -4.5 Frequency fmin fmax Frequency in Hz (no omega!) 67.5 22.5 Phase -22.5 -67.5 Frequency fmin fmax Frequency in Hz (no omega!) Siemens AG 6SE7087-6QX70 (Version AK) 7-63 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 273 (P256 = 1; P254 = 50 Hz; P253 = 3.0; P257 = 0 %) -1.5 Ampl -4.5 Frequency fmin fmax Frequency in Hz (no omega!) 67.5 22.5 Phase -22.5 -67.5 Frequency fmin fmax Frequency in Hz (no omega!) 6SE7087-6QX70 (Version AK) Siemens AG 7-64 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 274 Then reset TN (P240) to its original value. References relevant to reference model: "Electrical Feed Drives in Automation" SIEMENS AG; H.Groß, J.Hamann, G.Wiegärtner (ISBN: 3-89578-058-8) NOTES ♦ When you use the reference model (P238 = 1), the source selected in P228 (Src n (deviation) is inoperative;...
  • Page 275 IMPORTANT The motor short-circuit is significantly higher than the rated motor current. Adjust parameter P128 Max Current accordingly. Adjust the reference variables P350 ... P354 for field weakening operation. 6SE7087-6QX70 (Version AK) Siemens AG 7-66 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 276 S1 (100K) S1 (60K) 1000 1500 2000 2500 3000 3500 4000 4500 Speed [min-1] e.g. 1FT6086-8AF71, 27.5 Nm, 2900 rev/min Enter the calculated field weakening activation speed in P299. Siemens AG 6SE7087-6QX70 (Version AK) 7-67 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 277 6000 Speed [min-1] e.g. 1FT6086-8AF71, 27.5 Nm at 2900 rev/min, 13.3 Nm at 6000 rev/min, U = 296 V, I (P105) = 37 A (no load 2900 to 6000) 6SE7087-6QX70 (Version AK) Siemens AG 7-68 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 278 Speed [min-1] e.g. 1FT6086-8AF71, 27.5 Nm at 2900 rev/min to 4500 rev/min, = 296 V, U = 174 V I (P105) = 60 A (no load 2900) (no load 4500) Siemens AG 6SE7087-6QX70 (Version AK) 7-69 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 279 (function diagram 399) as it is capable of correctly only the inner torque of the machine. Friction losses must be compensated via an additional torque from the friction characteristic. 6SE7087-6QX70 (Version AK) Siemens AG 7-70 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 280 At 0 %, the Vdmax controller is shut down. The factory setting is 25 %. The controller output can be visualized via connector K0271. The activation point for the Vdmax controller can be parameterized in P517. Siemens AG 6SE7087-6QX70 (Version AK) 7-71 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 281 The compensation signal is injected as current upstream of the current limiter. This means that the configuration must allow for the functional correlations between torque ripple and compensation current. The harmonic compensation function block is described in FD630. 6SE7087-6QX70 (Version AK) Siemens AG 7-72 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 282 S IE ME NS Laptop X300 Connecting cable X101 X103 Laptop/PC side:(COM1) Unit side: 9-pole SUB D socket 9-pole SUB D connector Fig. 7-16 Loading firmware by means of laptop or PC Siemens AG 6SE7087-6QX70 (Version AK) 7-73 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 283 DriveMonitor) must be closed from the outset. If problems should occur with the loading program bsl.exe under Windows NT, the program Win BSL.exe is also available after installation of DriveMonitor (Path: \Siemens\DriveMonitor\ P7vrvisx\SYSTEM\WINBSL). Before you load the software, save your parameter settings (upread with OP1S, or upload with DriveMonitor)! If the position after the decimal point of the firmware changes (e.g.
  • Page 284 The first and second position of the firmware version can be read out in r069.01 and the third position corresponds to the first position after the decimal point in r828.01=0.1 (e.g. V2.01 corresponds to r69.01=2.0 and r828.01=0.1). Siemens AG 6SE7087-6QX70 (Version AK) 7-75 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 285 2 to 3 minutes, depending on microprocessor performance. The converters are initialized automatically at the end of the boot procedure, i.e. the parameters are counted up at the PMU. 6SE7087-6QX70 (Version AK) Siemens AG 7-76 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 286 Power Extension sections > 250 kW) can be found in Chapter 11.10 "Power enable F02 Extension PIN F02". Parameterizing After removing the cable, you can make a start with parameterizing. Siemens AG 6SE7087-6QX70 (Version AK) 7-77 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 287 X1 01 X1 01 X1 01 X1 01 X1 03 X1 03 X1 03 X1 03 X1 03 X1 03 X1 03 Operator control and visualization Fig. 8-1 Overview for communication Siemens AG 6SE7087-6QX70 (Version AD) SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 288 NOTE The USS protocol is a simple serial data transfer protocol, defined by Siemens AG, which is fully tailored to the requirements of drive technology. A detailed description of the protocol specifications, the physical interface, the bus structure as well as a definition of the transferred net data for drive applications are documented in the specification "Universal serial interface protocol USS...
  • Page 289 Communication takes place in the half- duplex mode. The master function cannot be transferred (single-master system). The following illustration shows a bus configuration using drive technology as an example. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-2 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 290 (second character). The same applies to double-word data: the high word is sent first followed by the low word. The protocol does not identify tasks in the net characters. The contents of the net data for SIMOVERT MASTERDRIVES drive converters is dealt with in Section 8.1.3. Data coding Information is coded as follows: ♦...
  • Page 291 A point-to-point link can be implemented by means of the circulating list, in which case only one node is entered into the circulating list. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-4 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 292 Communication / USS Example of configuration M aster Circulating list in the master SIMOVERT MASTERDRIVES with the addresses 0, 1, 3, 5, 7 and 21 Nodes 0 and 1 are signalled twice as often as others Fig. 8.1-4 Circulating list Cycle time The length of a cycle time is determined by the time needed for the sequential occurrence of data exchange with the individual nodes.
  • Page 293 If node x does not respond within the maximum permissible reply delay time, an error message is deposited in the master. The master than sends the telegram for the next slave node. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-6 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 294 "Recommended Standard RS-485". For point-to-point links, a sub- quantity of EIA RS-232 (CCITT V.24), TTY (20 mA current loop) or fiber-optic cables can be used as the physical interface. The interfaces for SIMOVERT MASTERDRIVES are always RS 485 with 2-wire cable. Exception:...
  • Page 295 300 V ≥ Test voltage (20°C) 1500 V ≤ ≥ Temperature range -40 °C 80 °C ≥ Load capability ≤ Capacitance 120 pF/m Table 8.1-3 Thermal and electrical characteristics 6SE7087-6QX70 (Version AD) Siemens AG 8.1-8 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 296 Data transfer rate Max. number of nodes Max. cable length 9.6 kbit/s 1200 m 19.2 kbit/s 1200 m 93.75 kbit/s 1200 m 187.5 kbit/s 1000 m Table 8.1-4 Cable lengths Siemens AG 6SE7087-6QX70 (Version AD) 8.1-9 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 297 PZD16 Variable length Variable length The two areas together make up the net data block. This structure applies to telegrams from the master to the slave and vice versa. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-10 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 298 The setting must be made both at the master and at the slave and can no longer be altered during bus operation. Siemens AG 6SE7087-6QX70 (Version AD) 8.1-11 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 299 This setting to variable word-length is made during start-up. NOTICE Do not use a variable word length if a SIMATIC S5 or SIMATIC S7 is the master. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-12 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 300 Task or reply ID SPM: Toggle bit for processing of parameter-change reports PNU: Parameter number NOTE The PKW area is transferred in increasing order, always starting with the 1st word. Siemens AG 6SE7087-6QX70 (Version AD) 8.1-13 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 301 The required element of the parameter description is specified in IND (2 nd word) The required element of the indexed parameter is specified in IND (2 nd word) Table 8.1-5 Task IDs (master -> drive converter) 6SE7087-6QX70 (Version AD) Siemens AG 8.1-14 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 302 ♦ Bits 12 to 15: Value = 12 (= "C" hex); change parameter value (array, word) and save in the EEPROM ♦ Bits 0 to 11: Value = 554 (= "22A" hex); parameter number with a set change-report Siemens AG 6SE7087-6QX70 (Version AD) 8.1-15 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 303 (although it lies within the limits). The parameter has been indexed e.g. task ‘PWE change word’ for indexed parameter Task not implemented Table 8.1-7 Error numbers for the reply ID "Task cannot be executed" 6SE7087-6QX70 (Version AD) Siemens AG 8.1-16 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 304 7, 8, 11 All values of the indexed parameter are to be changed. or 12 These tasks can generate error message 102. Table 8.1-8 Tasks with index value 255 Siemens AG 6SE7087-6QX70 (Version AD) 8.1-17 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 305 PWE1 (most significant word; 3rd word) contains the high-word of the double word PWE2 (least significant word; 4th word) contains the low-word of the double word. 3. PKW area, variable: As 2.; There is no PWE3 or higher! 6SE7087-6QX70 (Version AD) Siemens AG 8.1-18 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 306 In the subsequent process data areas PZD3 to PZDn, additional setpoints and actual values are sent. For SIMOVERT MASTERDRIVES, control word 2 or status word 2, if necessary, is transferred in PZD4. Structure of the PZD...
  • Page 307 PZD2 (technologically useful). Or another actual value can be returned, such as actual torque value, actual position value or actual current value. 8.1.3 Interface overview The following section describes all of the presently available SIMOVERT MASTERDRIVES MC/VC interfaces which use the USS protocol. SCB2 interface board SCB2...
  • Page 308 02.2004 Communication / USS Basic unit with In the SIMOVERT MASTERDRIVES MC series, the control electronics CUMC/CUPM/ board, CUMC (Control Unit Motion Control), CUPM (Control Unit Motion Control Performance 2), CUMP (Control Unit Motion Control CUVC/CUVP Compact PLUS Performance 2), CUVC (Control Unit Vector Control) or CUVP (Control Unit Vector Control Compact PLUS) is used.
  • Page 309 CBP2 The CBP2 interface board (Communication Board PROFIBUS 2) is an supplementary extension board of the SIMOVERT MASTERDRIVES. The board has a board floating RS485 interface. For this interface, either the PROFIBUS protocol or the USS protocol can be used.
  • Page 310 8.1.4.1 Bus cable connection On SIMOVERT MASTERDRIVES, connection of the USS bus cable depends on the control version and, in the case of MC units, it is dependent on the respective type of construction.
  • Page 311 Example of 2 copper cores in a screw terminal Fig. 8.1-9 Connecting up the bus cables NOTE It must be ensured that both copper cores are securely held inside the screw terminal. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-24 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 312 ∅ ≤ 7,5 m m Release the shield clamp Squeeze the shield clamp together with your hand or a screwdriver and pull upwards. Fig. 8.1-10 Using the shield clamps Siemens AG 6SE7087-6QX70 (Version AD) 8.1-25 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 313 Compact PLUS VC: − SIEMEN S X100 Slot A X101 Slot B X103 Shield connection for Shield connection control cables for motor cable Fig. 8.1-11 Position of the shield connecting points 6SE7087-6QX70 (Version AD) Siemens AG 8.1-26 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 314 For more information on electromagnetically compatible installation of systems, see for example Chapter 3 of the Compendium or the description "Instructions for Design of Drives in Conformance with EMC Regulations" (Order No. 6SE7087-6CX87-8CE0). Siemens AG 6SE7087-6QX70 (Version AD) 8.1-27 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 315 If the bus-terminating node is a T100 board, the bus terminating resistors are switched in through the two plug-in jumpers, X8 and X9. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-28 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 316 36 35 34 33 36 35 34 33 Connect shield to Connect converter housing Shield Fig. 8.1-14 Connection of the 2-wire bus cable at terminal strip X100 (Compact PLUS) Siemens AG 6SE7087-6QX70 (Version AD) 8.1-29 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 317 At the last node on the bus cable, Switch S1 "OFF" switch S1 must be in the "ON" position. Fig. 8.1-15 Connection of the 2-wire bus cable at terminal strip X103 (Compact PLUS) 6SE7087-6QX70 (Version AD) Siemens AG 8.1-30 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 318 P690 (SCB actual value) for SCB 2 board • For control words and setpoints: e.g. P554 (control word, bit 0) to P591 (control word, bit 32), P443 (Src Main Setp), P433 (Src Add Setp1), etc. Siemens AG 6SE7087-6QX70 (Version AD) 8.1-31 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 319 3-word PKW (SCom 1) P703 SCom/SCB PcD # i001 = 2 2-word PZD (SCom 1) P704 SCom/SCB TlgOFF i001 = 0 to 6500 No monitoring >0: Monitoring time in ms 6SE7087-6QX70 (Version AD) Siemens AG 8.1-32 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 320 4-word PKW (SCom 2) P703 SCom/SCB PcD # i002 = 6 6-word PZD (SCom 2) P704 SCom/SCB TlgOFF i002 = 0 to 6500 No monitoring >0: Monitoring time in ms Siemens AG 6SE7087-6QX70 (Version AD) 8.1-33 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 321 = 4 4-word PKW P703 SCom/SCB PcD # i003 = 2 2-word PZD P704 SCom/SCB TlgOFF i003 = 0 to 6500 No monitoring >0: Monitoring time in ms 6SE7087-6QX70 (Version AD) Siemens AG 8.1-34 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 322 Bus address CBP2 = 21 P718.x CBP2 Baud 19.2 kbit/s P719.x CBP2 PKW #. 4-word PKW P720.x CBP2 PcD #. 2-word PZD P722.x CBP2 TlgOFF. 0...6500 No monitoring >0: Monitoring time in ms Siemens AG 6SE7087-6QX70 (Version AD) 8.1-35 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 323 (= write) the enable parameters of a SIMOVERT MASTERDRIVES via this interface − this applies to the parameters of the basic unit (P/U parameters) and to the technology-board parameters (H/L parameters).
  • Page 324 The rules for generating the value which is entered in parameter P053 for specifying parameter access is explained with the following example. Example Setting the parameterizing enable for SIMOVERT MASTERDRIVES with SCB2 Setting: Write access to the parameters of the basic units (P parameters) via...
  • Page 325 Source ON/OFF1 i001 = 2001 ON/OFF from SCom1 P555 Source 1 OFF2 i001 = 2001 Operating condition/OFF2 from SCom1 → P565 Source 1 ACK i001 = 2107 Edge 0 etc. 6SE7087-6QX70 (Version AD) Siemens AG 8.1-38 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 326 (index i001 for BICO data set 1) (index i002 for BICO data set 2) P576 Source FDS Bit 0 i001 = 4800 P577 Source FDS Bit 1 i001 = 4801 etc. Siemens AG 6SE7087-6QX70 (Version AD) 8.1-39 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 327 (index i001 for BICO data set 1) (index i002 for BICO data set 2) P443 Source of main setpoint i001 = 2002 Source of supplementary P433 i001 = 4502 setpoint 1 6SE7087-6QX70 (Version AD) Siemens AG 8.1-40 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 328 (index i001 for BICO data set 1) (index i002 for BICO data set 2) P443 Source of main setpoint i001 = 2032 P433 Source of supplementary i001 = 2035 setpoint 1 Siemens AG 6SE7087-6QX70 (Version AD) 8.1-41 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 329 = 0091 2nd word in the PZD area: actual speed/frequency (KK0091, only H-Word) i003 to i016 = 0 3rd to 16th word in the PZD area (if parameterized): "Not interconnected" 6SE7087-6QX70 (Version AD) Siemens AG 8.1-42 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 330 When 32-bit quantities are being transferred, the high word is located in PZD n, the low word in PZD n+1. → For example, 32-bit actual value of KK0091 in PZD2 and PZD3. Siemens AG 6SE7087-6QX70 (Version AD) 8.1-43 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 331 In the following, "CBP" refers to both boards. Any individual features which a board possesses are specially indicated. 8.2.1 Product description of the CBP communications board The CBP communications board (Communications board PROFIBUS) is for linking SIMOVERT MASTERDRIVES® to higher-level automation systems via PROFIBUS-DP. 9-pole Sub-D connection X448 LED (red)
  • Page 332 ♦ Standard telegrams 1 to 6 junction with CBP2 from V2.21 For MASTERDRIVES MC and during use of T100, T300 or T400, please pay attention to the note in Section 2.3.2 "TB Blocks". 6SE7087-6QX70 (Version AK) Siemens AG 8.2-2 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 333 Alternatively, it can communicate with slaves by using a lower- level master-slave procedure. The PROFIBUS-DP mainly uses the master-slave method and data is usually exchanged with the drives cyclically. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-3 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 334 Master class 1 others MSCY_C1 MSAC_C1 MSAC_C2 PROFIBUS DP Acyclical Acyclical Cyclical channel channel channel (only S7) (only DriveMon.) MASTER- MASTERDRIVES - CU DRIVES Fig. 8.2-3 Data-traffic channels of the CBP 6SE7087-6QX70 (Version AK) Siemens AG 8.2-4 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 335 4) is structurally defined in the PROFIBUS profile for variable-speed useful data as PPOs drives version 2 as a parameter process data object (PPO). Frequently, the cyclical MSCY_C1 channel is simply called the STANDARD channel as well. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-5 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 336 The telegrams of cyclical data transfer therefore have the following basic structure: Protocol frame Protocol frame Useful data (Header) (Trailer) Parameters (PKW) Process data (PZD) PKW: Parameter identifier value 6SE7087-6QX70 (Version AK) Siemens AG 8.2-6 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 337 PWE: Parameter value Table 8.2-1 Parameter process data object (PPO types) Dividing the useful data into parameter identifier values and process data enables different tasks to be carried out. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-7 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 338 NOTE not been mounted. If a technology board is used (e.g. T400, T300, T100), the process data wiring in the manual for the technology board is to be used. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-8 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 339 CBP instead of the "3000" connectors, and parameter P736 will be applicable instead of para-meter P734 (see function diagrams for CB/TB boards in Chapter 12). Siemens AG 6SE7087-6QX70 (Version AK) 8.2-9 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 340 ♦ as a result, also reduction of the bus cycle time due to shorter telegrams in cyclical data transfer ♦ simultaneous access by Drive ES (PG/PC) for diagnosis and parameterization by means of the second data transfer 6SE7087-6QX70 (Version AK) Siemens AG 8.2-10 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 341 ♦ CBP2 V2.21 and later only: Instead of DriveES or SIMATIC OP an external master (Class 2 Master) compliant with acyclic parameter channel according to PROFIdrive profile version 3 with data block 47 can also access converter data. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-11 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 342 With the CBP2, version V2.21 and later, a class 1 master automation NOTE (PLC) can also utilize acyclic parameter access according to PROFIdrive V3, cf. Section 8.2.4 "PROFIdrive V3: Acyclic parameter accessing with data block 47". 6SE7087-6QX70 (Version AK) Siemens AG 8.2-12 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 343 Possibly several polling cycles without data until reply with data Function Slot Index Length Data number number Reply telegram Fig. 8.2-5 Sequence of a Read and Write function Siemens AG 6SE7087-6QX70 (Version AK) 8.2-13 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 344 PKW data PWE1 PWE2 PWE101 205 206 Fig. 8.2-6 Structure of PKW data in cyclical data transfer Process data (PZDs) cannot be stipulated via this acyclical MSAC_C1 NOTE channel. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-14 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 345 CBP via the acyclical MSAC_C1 channel. The user is provided with a data block as the data interface. This data block has a TRANSMIT MAILBOX and a RECEIVE MAILBOX, thus considerably reducing the expenditure on the application for the user. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-15 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 346 Drive ES. for the Drive ES SIMATIC S7 Drive ES Basic DPM1 DPM2 Profibus DP MSAC_C2 SIEM ENS MASTERDRIVES X1 01 X1 03 Fig. 8.2-7 Drive ES with Profibus 6SE7087-6QX70 (Version AK) Siemens AG 8.2-16 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 347 (data block offset) for non-indexed parameters for indexed parameters 1 to 101: Length (not activated) Acquisition cycle (as selected) Number of elements Places after the decimal point (as selected) Siemens AG 6SE7087-6QX70 (Version AK) 8.2-17 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 348 Parameter value Low (PWE2) Task ID or reply ID SPM: Toggle bit for processing the parameter change report PNU: Parameter number Table 8.2-3 Structure of the parameter area (PKW) 6SE7087-6QX70 (Version AK) Siemens AG 8.2-18 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 349 Change parameter value (double word) and store in the EEPROM ↓ Change parameter value (word) and store in the EEPROM Read or change text (not with CBP) 7 or 8 Table 8.2-4 Task IDs (master -> converter) Siemens AG 6SE7087-6QX70 (Version AK) 8.2-19 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 350 ♦ Bits 12 to 15: Value = 12 (= "C" Hex); change parameter value (array, word) and store in the EEPROM ♦ Bits 0 to 11: Value = 554 (= "22A" Hex); parameter number without set bit for the parameter change report 6SE7087-6QX70 (Version AK) Siemens AG 8.2-20 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 351 The parameter is indexed e.g. task: "PWE, change word" for indexed parameters Task not implemented Table 8.2-6 Error numbers for the reply "Task cannot be executed" (drive converter parameters) Siemens AG 6SE7087-6QX70 (Version AK) 8.2-21 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 352 (e.g. the number of PKW data for the USS interfaces for which only the explicit values 0, 3, 4 and 127 are allowed). 6SE7087-6QX70 (Version AK) Siemens AG 8.2-22 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 353 The value 255 for the array subindex is of special importance. If the array subindex is transferred with 255, all indices of an indexed parameter are transferred simultaneously in one data block. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-23 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 354 A 16-bit parameter value is transferred in PWE2 (least significant word, 4th word). In this case, you must set PWE1 (most significant word, 3rd word) to 0 in the PROFIBUS-DP master. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-24 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 355 (bit 10 = 1) and a pending ON command (bit 0 = 1) to this converter, this can cause the converter to switch on and go straight into "OPERATION" state when the electronics supply is connected at the converter. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-25 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 356 DB47, the CBP2 thus adds an offset of 1 to the parameter profile version 2 subindex. The cyclical parameter access via PKW and the acyclical parameter access with data block 100 can continue to be used without any changes. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-26 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 357 ♦ Reading of several or all texts from a text array via a parameter task is not supported, i.e. only one text from one text array (subindex) can be read with one parameter task. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-27 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 358 No. of elements parameters (nonindexed (always "1") 8-bit parameters) is defined in DB47 with "No. of elements" = 0. Distinction Attribute value/description/text 8-bit 2 words 5 words Total length 6SE7087-6QX70 (Version AK) Siemens AG 8.2-28 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 359 Error value The coding of the fields in the parameter task/response task is described NOTE in Section 8.2.4.11 "Coding in the parameter task according to PROFIdrive Version 3" . Siemens AG 6SE7087-6QX70 (Version AK) 8.2-29 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 360 Response header Task ref. mirrored Response identifier = Change parameter (-) Axis mirrored No. of parameters = 1 Parameter value Format = error No. of values = 1 Error value 6SE7087-6QX70 (Version AK) Siemens AG 8.2-30 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 361 Response header Task ref. mirrored Response identifier = Request parameter (-) Axis mirrored No. of parameters = 1 Parameter value Format = error No. of values = 1 Error value Siemens AG 6SE7087-6QX70 (Version AK) 8.2-31 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 362 Response identifier = Response header Task ref. mirrored Change parameter (-) Axis mirrored No. of parameters = 1 Parameter value Format = error No. of values = 1 Error value 6SE7087-6QX70 (Version AK) Siemens AG 8.2-32 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 363 Format = word No. of values = 100 Value 1 Value 2 Value 100 parameter value(s) Format = double No. of values = 2 word Value1 Value2 Siemens AG 6SE7087-6QX70 (Version AK) 8.2-33 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 364 No. of values = 1 Value parameter value(s) Format = error No. of values = 1 Error value parameter value(s) Format = double No. of values = 2 word Value1 Value2 6SE7087-6QX70 (Version AK) Siemens AG 8.2-34 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 365 No. of values = 2 word Value1 Value2 Parameter response (+): All part access o.k. Response header Task ref. mirrored Response identifier = Change parameter (+) Axis mirrored No. of parameters = 3 Siemens AG 6SE7087-6QX70 (Version AK) 8.2-35 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 366 No. of values = 0 parameter Format = error No. of values = 2 value(e) Error value Errored subindex parameter value(e) Format = zero No. of values = 0 6SE7087-6QX70 (Version AK) Siemens AG 8.2-36 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 367 No. of parameters = 1 Parameter value Format = error No. of values = 1 Error value For parameter description see PROFIBUS Profile, PROFIdrive (PNO Order No. : 3.172) Siemens AG 6SE7087-6QX70 (Version AK) 8.2-37 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 368 Response header Task ref. mirrored Response identifier = Request parameter (-) Axis mirrored No. of parameters = 1 Parameter value Format = error No. of values = 1 Error value 6SE7087-6QX70 (Version AK) Siemens AG 8.2-38 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 369 Response header Task ref. mirrored Response identifier = Request parameter (-) Axis mirrored No. of parameters = 1 Parameter value Format = error No. of values = 1 Error value Siemens AG 6SE7087-6QX70 (Version AK) 8.2-39 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 370 Unsigned16 0x0000...0x00FF Error numbers (see The higher byte is following table) reserved. See PROFIBUS Profile, PROFIdrive (PNO Order No.: 3.172) Table 8.2-7 Coding of the fields in parameter task/response 6SE7087-6QX70 (Version AK) Siemens AG 8.2-40 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 371 Change access with value that lies 0x14 Non-permissible value Subindex within the value limits but is not acceptable for other permanent reasons (parameter with defined individual values) Siemens AG 6SE7087-6QX70 (Version AK) 8.2-41 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 372 0x64 Reserved 0x65...0xFF Manufacturer-specific (see also 8.2.10.6 "CBP2 diagnostic parameters", PKW error numbers) Table 8.2-8 Error numbers in DPV1 parameter responses 6SE7087-6QX70 (Version AK) Siemens AG 8.2-42 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 373 CB/TB. ♦ If two CBPs are inserted, the CBP which is inserted into the slot with the higher slot letter is considered the second CB/TB. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-43 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 374 Adaption board Mounting pos. 1 Mounting pos. 3 bottom Mounting pos. 2 Fig. 8.2-9 Adaptation board with optional boards and position of the slots for Compact units and chassis-type units 6SE7087-6QX70 (Version AK) Siemens AG 8.2-44 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 375 • A T100/T300/T400 technology board is inserted and the CBP in the electronics box is inserted in slots A to G. • In the case of two CBPs, the one inserted in the slot with the higher slot letter. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-45 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 376 If, in addition to the CBP, a technology board (T100 / T300 or T400) is inserted in the electronics box, it must be inserted in slot +1.B2. In this case, the CBP is inserted in slot +1.B3. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-46 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 377 The maximum cable length can be increased by using repeaters but no more than three repeaters may be connected in series. The maximum cable lengths given in the following table can only be ensured if PROFIBUS bus cables are used (e.g. Siemens PROFIBUS- cable with MRPD 6XV 1830-0AH10). Baud rate Max.
  • Page 378 (EMC). For further information, see for example Chapter 3 of the Compendium or the description "Instructions for Design of Drives in Conformance with EMC Regulations" (Order No. 6SE7087-6CX87-8CE0). 6SE7087-6QX70 (Version AK) Siemens AG 8.2-48 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 379 (See board description in Section "Connecting-up", Fig. "PROFIBUS connector".) Further ordering details and descriptions as well as additional connector types are available in the A&D AS catalog "Industrial Communication" IK 10 (Order No. E86060-K6710-A101-A6). Siemens AG 6SE7087-6QX70 (Version AK) 8.2-49 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 380 VP (PIN 6) 390 Ohm Data line RxD/TxD-P (PIN 3) 220 Ohm Data line RxD/TxD-N (PIN 8) 390 Ohm DGND (PIN 5) Fig. 8.2-13 Bus termination network 6SE7087-6QX70 (Version AK) Siemens AG 8.2-50 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 381 Other bus nodes Last bus node Connection example termination termination From preceding bus node To next bus node Fig. 8.2-14 Bus segment in linear structure (max. 32 stations per segment) Siemens AG 6SE7087-6QX70 (Version AK) 8.2-51 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 382 Considerable cost savings are achieved by using plastic fiber-optic cables which are also easy to fit. Additional grounding is no longer necessary either. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-52 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 383 Optical link module for plastic fiber-optic cables, 4- channel version with signaling contact, including 4 BFOC-connectors For more information on ordering and additional descriptions, see the A&D AS catalog "Industrial Communication" IK 10 (Order No. E86060-K6710-A101-A6). Siemens AG 6SE7087-6QX70 (Version AK) 8.2-53 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 384 ∅ ≤ 7,5 m m Release the shield clamp Squeeze the shield clamp together with your hand or a screwdriver and pull upwards. Fig. 8.2-16 Using the shield clamps 6SE7087-6QX70 (Version AK) Siemens AG 8.2-54 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 385 Fig. 8.2-17 Position of the shield connecting points If so many control cables are used that two shield clamps are insufficient, the "EMC shielded housing" option is to be used. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-55 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 386 For more information on electromagnetically compatible installation of systems, see for example Chapter 3 of the Compendium or the description "Instructions for Design of Drives in Conformance with EMC Regulations" (Order No. 6SE7087-6CX87-8CE0). 6SE7087-6QX70 (Version AK) Siemens AG 8.2-56 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 387 In the case of MASTERDRIVES MC (CUMC) and MC+ (Compact+) from firmware version V1.4 onwards, the CB parameters P918 and P711 to P721 can also be changed in the "Drive setting" status (P060 = 5). Siemens AG 6SE7087-6QX70 (Version AK) 8.2-57 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 388 Parameterization of "Hardware configuration" for FC (CU1), VC (CU2) and SC (CU3) All grayed out parameters are only valid for units with the functions FC NOTE (CU1), VC (CU2) and SC (CU3). 6SE7087-6QX70 (Version AK) Siemens AG 8.2-58 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 389 F080 will be output. An address change only becomes effective after the power supply to the electronics box has been turned off and then turned on again! Siemens AG 6SE7087-6QX70 (Version AK) 8.2-59 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 390 Only CBP2 Write requests of a SIMATIC OP are stored permanently (EEPROM) or temporarily (RAM). P714 / P699 = 0: EEPROM (default setting) P714 / P699 = 1: RAM 6SE7087-6QX70 (Version AK) Siemens AG 8.2-60 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 391 (CB parameter 9) P720.x Number of PZDs P703 (CB parameter 10) P722.x Telegram failure time P704 Further information on the USS protocol can be found in Section 8.1, USS. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-61 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 392 Rewiring from 16 to 32 bit and vice versa should not be done while the NOTICE equipment is in operation, because the changeover takes several milliseconds, during which time the data on the bus are not consistent (high and low can change places). 6SE7087-6QX70 (Version AK) Siemens AG 8.2-62 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 393 PZD10 3010 H S W from analog input SIMOVERT MASTERDRIVES Process data (PZD) - Actual-value channel P Z D 1 P Z D 2 H IW P Z D 3P Z D 4P Z D 5 P Z D 6...
  • Page 394 3004 e. g. P443.1=3002 PZD5 3005/3035 PZD6 3006/3036 Source of PZD10 3010 from analog input SIMOVERT MASTERDRIVES Process data (PZD) - Actual-value channel PZD1 PZD2 PZD3 PZD 4 PZD5 PZD6 Dual-port-RAM To the Master Actual-value channel (CB/TB-Actual values) P694.1 P694.1 P694.2...
  • Page 395 PROFIBUS-DP if P053 has previously been set to an uneven value. Please bear in mind that control word 1 (STW1) has the value 0 during the parameterization phase (process data interconnection)! Siemens AG 6SE7087-6QX70 (Version AK) 8.2-65 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 396 Because the binectors are not included in the interlocking (to ensure compatibility for older configurations), their significance changes according to whether the pertinent word or double word is wired. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-66 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 397 PZD (PZD1 up to, if necessary, PZD10) is not specified. If the main actual value is transferred as a 32-bit value, then it is assigned to PZD2 and PZD3. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-67 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 398 VC (CU 2) or SC (CU 3) If actual values are transferred as a 32-bit data item, you must enter the NOTE appropriate connector number at two consecutive words (indices). 6SE7087-6QX70 (Version AK) Siemens AG 8.2-68 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 399 ZSW1 NIST_B ZSW2 G1_ZSW G1_XIST1 G1_XIST2 G2_ZSW G2_XIST1 G2_XIST2 Standard telegrams 5 and 6 are derived from standard telegrams 3 and 4 for the Dynamic Servo Control (DSC) function. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-69 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 400 Encoder 2 control word G2_STW Encoder 2 status word G2_ZSW Encoder 2 actual position 1 G2_XIST1 Encoder 2 actual position 2 G2_XIST2 Control deviation XERR with Position controller gain factor with 6SE7087-6QX70 (Version AK) Siemens AG 8.2-70 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 401 If the response-monitoring time expires, the CBP ceases to write process data into the dual-port RAM. When this is combined with P722.x / P695, it is therefore possible to plan your process data monitoring. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-71 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 402 MASTERDRIVES MC V1.62 with CBP2 V>=2.21 and standard telegram 5 (PROFIdrive Profile V3 with equidistance) onwards, the process data can be transferred to the dual-port RAM irrespective of the content of the control word. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-72 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 403 CBP and CBP2 V2.1 (SIEM8045.GSD). The type-description file is also available as an ASCII file (SI8045AX.200 Type-description file and SI8045TD.200) on the CD which accompanies the CBP. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-73 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 404 Identification byte Identification byte COMET200 type Version V4.x/V5.x V4.x/V5.x V4.x/V5.x V5.x V4.x/V5.x V4.x/V5.x V4.x/V5.x V4.x/V5.x V4.x/V5.x V5.x V5.x V5.x V4.x/V5.x V4.x/V5.x V5.x Table 8.2-14 Values for the identification bytes 6SE7087-6QX70 (Version AK) Siemens AG 8.2-74 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 405 The type of PPO is selected in the configuration mask of COM ET200 up to Version V4.x by entering identification bytes in accordance with the above table of identification bytes. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-75 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 406 SIMATIC S5 system architecture or of the system functions which may be required. The DVA_S5 module package can be obtained from A&D WKF Fürth/Germany under MLFB 6DD1800-0SW0. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-76 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 407 CBP (see section "Process data interconnection"). When a converter fault occurs, the CBP2 does not generally trigger a NOTE diagnosis alarm. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-77 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 408 SFC14 and SFC15 to all consistent data areas > 4 bytes. The PKW and the PZD parts are regarded as two independent consistent data areas. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-78 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 409 Fürth/Germany under MLFB 6SX 7005-0CB00. 8.2.8.3 Operating the CBP with a non-Siemens system When used with a non-Siemens master system, the CBP can be operated only as a standard DP slave. The equipment master file (GSD file) on the CD contains all the...
  • Page 410 In addition, some parameters in the drive have synchronization to be set (MASTERDRIVES MC only). Detailed help can be obtained in the on-line help for the slave OM. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-80 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 411 (with word granularity). Drives capable of cross traffic can also receive data from themselves (feedback loop). Siemens AG 6SE7087-6QX70 (Version AK) 8.2-81 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 412 Inputs PZD3 values PZD4 Outputs PZD1 Setpoints PZD2 PZD3 Slave 2 PZD4 (Publisher) PZD5 Inputs PZD6 PZD7 PZD8 Slave 3 (Publisher) Inputs Fig. 8.2-25 Example of a cross-traffic configuration 6SE7087-6QX70 (Version AK) Siemens AG 8.2-82 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 413 PROFIBUS and the basic board consistently. ♦ The "Align" button ensures that all MASTERDRIVES MC are given the same settings for clock synchronization and that the DP master adopts the isochronous DP cycle. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-83 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 414 ♦ 1000 µs computing time for CBP2, parallel to acyclical services Clock Clock DP cycle Equi-master Master cl.2 Equi-master acyclical acyclical cyclical CBP2 processing Fig. 8.2-26 Breakdown of the DP cycle at the isochronous PROFIBUS 6SE7087-6QX70 (Version AK) Siemens AG 8.2-84 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 415 31 (no repeater) Number of slaves/cycle 11 / 3.2 ms; 27 / 6.4 ms 100 per ms / < 1 ms Max. telegram length 16 words n times 2 words Siemens AG 6SE7087-6QX70 (Version AK) 8.2-85 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 416 ♦ All the tasks to be synchronized must be in the same time slot, especially the processing of setpoints and actual values to and from the CBP2. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-86 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 417 ♦ The CBP2 must, of course, be inserted directly in the basic board (or via an adapter board). No technology board may be installed between the basic board and the CBP2. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-87 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 418 Version 3 transmission, of cross traffic and a position encoder interface and the standardisation and configuration of the setpoints and actual values for the drives are manufacturer-neutral and openly standardised. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-88 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 419 ♦ Isochronous mode: Profibus service for clock synchronization; produces a time-constant, i.e. equidistant bus cycle with a clock pulse signal at the start of the cycle. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-89 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 420 When the MASTERDRIVES unit is used as PROFIdrive V3 slave, only NOTE application classes 1 and 4 are used! Several MASTERDRIVES can be connected to one PROFIdrive V3 master in class 1 as slave (Monomaster operation). 6SE7087-6QX70 (Version AK) Siemens AG 8.2-90 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 421 Status word + main actual-value + Drive Drive Drive Speed open/closed Speed open/closed Speed open/closed loop control loop control loop control Encoder Encoder Encoder (optional) (optional) (optional) Fig. 8.2-28 Application class 1 Siemens AG 6SE7087-6QX70 (Version AK) 8.2-91 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 422 Control word + speed setpoint + ... Status word + pos.act.value + ... Clock synchronization Drive Drive Drive Closed-loop speed Closed-loop speed Closed-loop speed control control control Encoder Encoder Encoder Fig. 8.2-29 Application class 4 6SE7087-6QX70 (Version AK) Siemens AG 8.2-92 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 423 ♦ a non-cyclical data channel (DPV1) ♦ telegram repeats ♦ diagnosis request A local control device (PU, OP) at the DPM1 must communicate with the slaves via the DPM1 master. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-93 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 424 Slave Slave DP cycle pulse pulse Actual pos. Setpoint sensing transfer Speed/current controller pulse: Slave 1 ... 3- application: Setpoint Actual pos. transfer sensing Fig. 8.2-31 Clock synchronous communication 6SE7087-6QX70 (Version AK) Siemens AG 8.2-94 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 425 Contents of the bits in PROFIdrive control word 2. Control word 2 IMPORTANT This is different from the previous MASTERDRIVES control word 2. Meaning 0 - 11 Device-specific 12 - 15 Master life sign for clock synchronization Siemens AG 6SE7087-6QX70 (Version AK) 8.2-95 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 426 Content of bits in PROFIdrive status word 2. Status word 2 IMPORTANT This differs from the previous MASTERDRIVES status word 2. Meaning 0 - 11 Device-specific 12 - 15 Slave life sign for clock synchronization 6SE7087-6QX70 (Version AK) Siemens AG 8.2-96 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 427 8.2.9.9 actual value-1 G2_XIST2 Encoder-2 position see section 8.2.9.9 actual value-2 XERR Control error Position controller gain factor Table 8.2-16 Standard signals– Abbreviations Standard telegrams, see Subsection 8.2.7.3. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-97 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 428 : position controller sampling time (= T MAPC : position error command : position controller gain Fig. 8.2-32 Structure of the position control circuit based on the speed setpoint interface without DSC 6SE7087-6QX70 (Version AK) Siemens AG 8.2-98 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 429 As a result, the position control circuit is initially open. Feedback branch no. 3 closes the circuit again, but with a shorter delay, so that greater gains can be set. Siemens AG 6SE7087-6QX70 (Version AK) 8.2-99 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 430 The speed filter shown in the structure diagram is optional and has nothing to do with the DSC function. It has been drawn in to make the difference from conventional position control easier to recognize. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-100 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 431 Fig. 8.2-34 shows an overview of the interconnection required for standard telegram 5. This connection is made using the scriptfile on the SIMOTION CD: Fig. 8.2-34 Block diagram: MASTERDRIVES as PROFIdrive version 3 slave Siemens AG 6SE7087-6QX70 (Version AK) 8.2-101 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 432 1 are presented. At the bottom of Fig. 8.2-35 is the monitoring of the master life sign, the creation of the binector “master application pulse“ and the slave life sign. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-102 Compendium Motion Control SIMOVERT MASTERDRIVES...
  • Page 433 09.2008 Communication / PROFIBUS Fig. 8.2-35 PROFIBUS communication Siemens AG 6SE7087-6QX70 (Version AK) 8.2-103 SIMOVERT MASTERDRIVES Compendium Motion Control...
  • Page 434 U401. With the aid of this adder the current position setpoint is calculated from Adder centre right the DSC position Xerr and the delayed actual position value. 6SE7087-6QX70 (Version AK) Siemens AG 8.2-104 Compendium Motion Control SIMOVERT MASTERDRIVES...