Page 1 SINAMICS S120 Function Manual · 01/2012 SINAMICS...
Page 3 ___________________ Drive functions Foreword ___________________ Infeed ___________________ Extended setpoint channel SINAMICS ___________________ Servo control S120 ___________________ Drive functions Vector control ___________________ U/f control (vector control) Function Manual ___________________ Basic functions ___________________ Function modules Monitoring and protective ___________________ functions Safety Integrated basic ___________________ functions ___________________...
Page 4 Note the following: WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems.
Page 5: Foreword
Siemens' content, and adapt it for your own machine documentation: http://www.siemens.com/mdm Training Under the following link there is information on SITRAIN - training from Siemens for products, systems and automation engineering solutions: http://www.siemens.com/sitrain FAQs You can find Frequently Asked Questions in the Service&Support pages under Product Support: http://support.automation.siemens.com...
Page 6 SIZER Configuration Tool • Configuration Manuals, Motors • Deciding/ordering SINAMICS S Catalogs Installation/assembly SINAMICS S120 Equipment Manual for Control Units and • Additional System Components SINAMICS S120 Equipment Manual for Booksize Power • Units SINAMICS S120 Equipment Manual for Chassis Power •...
Page 7 The EC Declaration of Conformity for the EMC Directive can be found on the Internet at: http://support.automation.siemens.com There – as a search term – enter the number 15257461 or contact your local Siemens office. Structure The Function Manual is structured as follows:...
Page 8 Foreword Advice for beginners: First read Chapter Basic information about the drive system (Page 701), followed by the appropriate chapter depending on the particular requirement. Search guides The following help is available for better orientation: ● Contents ● List of abbreviations ●...
Page 9 Foreword ESD Notes CAUTION Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices that can be damaged by electrostatic fields or electrostatic discharges. Regulations for the ESD handling: During the handling of electronic components, pay attention to the grounding of the person, workplace and packaging! Electronic components may be touched by persons only when •...
Page 10 Foreword Safety instructions DANGER • Commissioning is absolutely prohibited until it has been completely ensured that the machine, in which the components described here are to be installed, is in full compliance with the provisions of the EC Machinery Directive. •...
Page 11 Foreword CAUTION • As part of routine tests, SINAMICS devices with three-phase motors are subject to a voltage test in accordance with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of industrial machines to EN 60204-1, Section 18.4, all connectors of SINAMICS equipment must be disconnected/unplugged to prevent the equipment from being damaged.
Page 12 Foreword Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 13: Table Of Contents
Contents Foreword ..............................3 Infeed ..............................21 Active Infeed ..........................21 1.1.1 Active Infeed closed-loop control booksize..................22 1.1.2 Active Infeed closed-loop control chassis..................24 1.1.3 Function diagrams and parameters .....................25 1.1.4 Line and DC link identification......................26 1.1.5 Active Infeed open-loop control ....................27 1.1.6 Reactive current control .......................30 1.1.7...
Page 14 Contents Current setpoint filters ......................... 85 Note about the electronic motor model ..................91 V/f control ............................ 91 3.10 Optimizing the current and speed controller ................95 3.11 Sensorless operation (without an encoder) ................97 3.12 Motor data identification ......................101 3.12.1 Motor data identification induction motor ..................
Page 15 Contents 4.18.3 Pole position identification ......................194 4.18.4 Function diagrams and parameters ...................196 4.19 Instructions for commissioning separately-excited synchronous motors ........196 4.20 Flying restart ..........................197 4.21 Synchronization..........................199 4.22 Voltage Sensing Module ......................200 4.23 Simulation mode ........................202 4.23.1 Description ..........................202 4.23.2 Features .............................203 4.23.3 Commissioning...........................203 4.24...
Page 16 Contents 6.10.2.3 Activation via OFF command ....................254 6.10.2.4 Activation via a speed threshold ....................255 6.10.3 Configuring the fault response ....................255 6.10.4 Function diagrams and parameters ..................256 6.11 Motor Module as braking module....................257 6.11.1 Features ............................ 257 6.11.2 Configuring the resistors ......................
Page 17 Contents 6.22.5 Limit frequencies for TM41 ......................306 6.22.6 Example in the SINAMICS mode....................307 6.22.7 Function diagrams and parameters ...................308 6.23 Upgrade the firmware and project....................309 6.23.1 Firmware/project upgrade using the STARTER ................310 6.23.2 Downgrade lock .........................312 6.24 Pulse/direction interface......................312 6.25 Derating function for chassis units .....................314 Function modules ..........................
Page 18 Contents 7.9.6 Function diagrams and parameters ..................398 7.10 Connecting the motors in parallel ..................... 399 7.11 Parallel connection of power units .................... 401 7.11.1 Applications of parallel connections..................403 7.11.1.1 Parallel connection of Basic Line Modules ................405 7.11.1.2 Parallel connection of Smart Line Modules................407 7.11.1.3 Parallel connection of Active Line Modules ................
Page 19 Contents 8.5.12 Motor Module/Power Module chassis format................447 8.5.13 CU310-2/CUA31/CUA32 ......................448 8.5.14 Motor with DRIVE-CLiQ ......................449 8.5.15 Temperature sensor evaluation ....................449 8.5.16 Function diagrams and parameters ...................450 Safety Integrated basic functions......................453 Latest information ........................453 General information ........................454 9.2.1 Explanations, standards, and terminology.................454 9.2.2 Supported functions ........................457 9.2.3...
Page 20 Contents 10.1.2 Cyclic communication ....................... 509 10.1.2.1 Telegrams and process data ....................509 10.1.2.2 Description of control words and setpoints ................515 10.1.2.3 MOMRED ..........................525 10.1.2.4 Description of status words and actual values................532 10.1.2.5 Control and status words for encoder ..................553 10.1.2.6 Extended encoder evaluation....................
Page 21 Contents 10.3.8 PROFINET with 2 controllers.....................652 10.3.8.1 Control Unit settings........................652 10.3.8.2 Configuring Shared Device ......................655 10.3.8.3 Overview of important parameters.....................664 10.3.9 PROFIenergy ..........................664 10.3.9.1 Function diagrams and parameters ...................666 10.4 Communication via SINAMICS Link ..................667 10.4.1 Basic principles of SINAMICS Link....................667 10.4.2 Topology ............................669 10.4.3...
Page 22 12.12.3 Rules for setting the sampling time................... 769 12.12.4 Default settings for the sampling times ..................771 12.12.5 Examples when changing sampling times / pulse frequencies..........772 12.12.6 Overview of important parameters (see SINAMICS S120/S150 List Manual)......773 12.13 Licensing ........................... 774 12.14...
Page 23: Infeed
Infeed Active Infeed Features ● Controlled DC link voltage whose level can be adjusted (independent of line voltage fluctuations) ● Regenerative feedback capability ● Specific reactive current setting ● Low line harmonics, sinusoidal line current (cos φ = 1) ● Several Active Line Modules connected in parallel ●...
Page 24: Active Infeed Closed-Loop Control Booksize
Infeed 1.1 Active Infeed 1.1.1 Active Infeed closed-loop control booksize Schematic structure Figure 1-1 Schematic structure of Active Infeed booksize Active Infeed closed-loop control for Active Line Modules booksize The Active Line Module can be operated in two different modes depending on the parameterized line supply voltage (p0210): ●...
Page 25 Infeed 1.1 Active Infeed Table 1- 1 Presetting the control type and DC link voltage booksize Supply voltage p0210 [V] 380-400 401-415 416-440 Control type p3400.0 "0" = Active Mode "1" = Smart Mode Vdc_setp p3510 [V] 562-594 Voltages specified for the smart mode are derived from the rectified line supply voltage. The DC link voltage setpoint (p3510) has no effect in this control mode.
Page 26: Active Infeed Closed-Loop Control Chassis
Infeed 1.1 Active Infeed 1.1.2 Active Infeed closed-loop control chassis Schematic structure Figure 1-2 Schematic structure of Active Infeed chassis Operating mode of Active Infeed closed-loop control for Active Line Modules chassis. Active Line Modules chassis only function in Active Mode. In the Active Mode, the DC link voltage is regulated to a variable setpoint (p3510), which results in a sinusoidal line current (cos φ...
Page 27: Function Diagrams And Parameters
● 8920 Control word sequence control infeed ● ... ● 8964 Messages and monitoring, supply frequency and Vdc monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046 CO/BO: Missing enable signals ● p0210 Device supply voltage ●...
Page 28: Line And Dc Link Identification
When the identification function is activated, alarm A06400 is output. Identification methods For additional identification methods, see the SINAMICS S120/S150 List Manual. ● p3410 = 4: An identification run for the total inductance and DC link capacitance is initiated when the pulses are next enabled (two measuring routines with different current magnitudes).
Page 29: Active Infeed Open-Loop Control
It may be necessary to reset the closed-loop controller to the factory settings if an identification run was unsuccessful, for example. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3410 Infeed identification method ● r3411 Infeed inductance identified ●...
Page 30 Infeed 1.1 Active Infeed Switching on the Active Line Module Figure 1-3 Active Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 31 Infeed 1.1 Active Infeed Switching off the Active Line Module The Active Line Module is switched off by the same procedure used to switch it on, but in the reverse order. However, there is no pre-charging at switch off. Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This allows the attached drives to be braked in a controlled manner.
Page 32: Reactive Current Control
● 1774 Overviews - Active Infeed ● 8946 Current pre-control / current controller / gating unit (p3400.0 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3610 Infeed reactive current fixed setpoint ● p3611 CI: Infeed reactive current supplementary setpoint...
Page 33: Harmonics Controller
100 % The phase currents in parameter p0069[0..2] (U, V, W) can be checked using the STARTER trace function. Overview of important parameters (see the SINAMICS S120/150 List Manual) ● p3624[0...1] Infeed harmonics controller order ● p3625[0...1] Infeed harmonics controller scaling ●...
Page 34 Infeed 1.2 Smart Infeed Description The firmware for the Smart Line Modules is on the Control Unit assigned to it. The Smart Line Module and Control Unit communicate via DRIVE-CLiQ. Figure 1-4 Schematic structure of Smart Infeed booksize Figure 1-5 Schematic structure of Smart Infeed chassis Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 35 ● 8850 Interface to the Smart Infeed (control signals, actual values) ● 8860 Supply voltage monitoring ● 8864 Power frequency and Vdc monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046 CO/BO: Missing enable signals ●...
Page 36: Line Supply And Dc Link Identification Routine For Smart Infeed Booksize
Chassis type. Identification methods For additional identification methods, see the SINAMICS S120/S150 List Manual. ● p3410 = 4: An identification run for the total inductance and DC link capacitance is initiated when the pulses are next enabled (two measuring routines with different current magnitudes).
Page 37: Smart Infeed Open-Loop Control
Infeed 1.2 Smart Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3410 Infeed identification method ● p3421 Infeed inductance ● p3422 Infeed DC link capacitance 1.2.2 Smart Infeed open-loop control The Smart Line Module can be controlled via the BICO interconnection, e.g. using terminals or the fieldbus.
Page 38 Infeed 1.2 Smart Infeed Switching on the Smart Line Module Figure 1-6 Smart Infeed power-up Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 39 Infeed 1.2 Smart Infeed Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Switching off the Smart Line Module The Smart Line Module is switched off by the same procedure used to switch it on, but in the reverse order.
Page 40: Basic Infeed
Infeed 1.3 Basic Infeed Basic Infeed Features ● For Basic Line Modules chassis and booksize ● Unregulated DC link voltage ● Intregrated control of external braking resistors with 20 kW and 40 kW Basic Line Modules (with temperature monitoring) Description The Basic Infeed open-loop control can be used to switch on/off the Basic Line Module.
Page 41 Infeed 1.3 Basic Infeed Figure 1-8 Schematic structure of Basic Infeed chassis Commissioning The rated line voltage (p0210) must be parameterized during commissioning. For the 20 kW and 40 kW Basic Line Modules booksize, the temperature switch of the external braking resistor must be connected to X21 on the Basic Line Module. If a braking resistor has not been connected for 20 kW and 40 kW Basic Line Modules booksize, the braking chopper must be deactivated via p3680 = 1.
Page 42: Function Diagrams And Parameters
● 8750 Interface to the Basic Infeed power unit (control signals, actual values) ● 8760 Signals and monitoring functions (p3400.0 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046 CO/BO: Missing enable signals ●...
Page 43: Basic Infeed Open-Loop Control
Infeed 1.3 Basic Infeed ● p0844 BI: 1. OFF2 ● r0898 CO/BO: Control word sequence control infeed ● r0899 CO/BO: Status word sequence control infeed ● p1240[0...n] Vdc controller or Vdc monitoring configuration ● p1280[0...n] Vdc controller or Vdc monitoring configuration (U/f) ●...
Page 44 Infeed 1.3 Basic Infeed Switching on the Basic Line Module Figure 1-9 Basic Infeed power-up Note Under the condition that the drive system was commissioned with STARTER and no PROFIdrive telegram was activated, the infeed can be powered up by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840).
Page 45 Infeed 1.3 Basic Infeed Switching off the Basic Line Module For switching off, carry out the steps for switching on in the reverse order. However, there is no pre-charging at switch off. Control and status messages Table 1- 7 Basic Infeed open-loop control Signal name Internal Binector input...
Page 46: Line Contactor Control
Infeed 1.4 Line contactor control Line contactor control Description This function can be used to control an external line contactor. Opening and closing the line contactor can be monitored by evaluating the feedback contact in the line contactor. The line contactor can be controlled using the following drive objects: ●...
Page 47 ● Enter the monitoring time for the line contactor (100 ms) in p0861. Function diagrams (see SINAMICS S120/S150 List Manual) ● 8934 Missing enables, line contactor control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0860 BI: Line contactor, feedback signal ● r0863.1 CO/BO: Drive coupling status word/control word...
Page 48: Pre-Charging And Bypass Contactor Chassis
Infeed 1.5 Pre-charging and bypass contactor chassis Pre-charging and bypass contactor chassis Description Pre-charging is the procedure for charging the DC link capacitors via resistors. Pre-charging is normally carried out from the feeding supply network, although it can also be carried out from a pre-charged DC link.
Page 49 Infeed 1.5 Pre-charging and bypass contactor chassis Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 50 Infeed 1.5 Pre-charging and bypass contactor chassis Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 51: Extended Setpoint Channel
You can check the current configuration in parameter r0108.8. Once you have set the configuration, you have to download it to the Control Unit where it is stored in a non-volatile memory (see the SINAMICS S120 Commissioning Manual). Note When the "extended setpoint channel" function module for servo is activated, under certain circumstances, the number of drives in the multi-axis group that can be controlled from a Control Unit is reduced.
Page 52: Description
Extended setpoint channel 2.2 Description Description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control. The setpoint for the motor control can also originate from the technology controller, see Chapter Technology controller (Page 317) Figure 2-1 Extended setpoint channel Properties of the extended setpoint channel...
Page 53: Fixed Speed Setpoints
Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Overviews - setpoint channel ● 3010 Fixed speed setpoints Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1001[0...n] CO: Fixed speed setpoint 1 ● ... ● p1015[0...n] CO: Fixed speed setpoint 15 ●...
Page 54: Motorized Potentiometer
Extended setpoint channel 2.4 Motorized potentiometer ● r1024 CO: Fixed speed setpoint effective ● r1197 Fixed speed setpoint current number Parameterization with STARTER In the STARTER commissioning tool, the "Fixed setpoints" parameter screen in the project navigator under the relevant drive is called by double-clicking on Setpoint channel → Fixed setpoints.
Page 55 ● 1550 Setpoint channel ● 2501 Control word sequence control ● 3020 Motorized potentiometer Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1030[0...n] Motorized potentiometer configuration ● p1035[0...n] BI: Motorized potentiometer, setpoint, raise ● p1036[0...n] BI: Motorized potentiometer, setpoint, lower ●...
Page 56 Extended setpoint channel 2.5 Jog Parameterization with STARTER In the STARTER commissioning tool, the "Motorized potentiometer" parameter screen in the project navigator under the relevant drive is activated by double-clicking Setpoint channel → Motorized potentiometer . Description This function can be selected via digital inputs or via a field bus (e.g. PROFIBUS). This means that the setpoint is specified via p1058[0...n] and p1059[0...n].
Page 57 Extended setpoint channel 2.5 Jog Figure 2-3 Function chart: jog 1 and jog 2 Jog properties ● If both jog signals are issued at the same time, the current speed is maintained (constant speed phase). ● Jog setpoints are approached and exited via the ramp-function generator. ●...
Page 58 Extended setpoint channel 2.5 Jog Jog sequence Figure 2-4 Jog sequence Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 59 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2610 Execution control - processor ● 3030 Setpoint channel - Main/additional setpoint, setpoint scaling, jogging Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1055[0...n] BI: Jog bit 0 ● p1056[0...n] BI: Jog bit 1 ●...
Page 60: Main/Supplementary Setpoint And Setpoint Modification
Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Setpoint channel ● 3030 Main/supplementary setpoint, setpoint scaling, jog Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1070[C] CI: Main setpoint ● p1071[C] CI: Main setpoint scaling Drive functions...
Page 61: Direction Of Rotation Limiting And Direction Of Rotation Changeover
Extended setpoint channel 2.7 Direction of rotation limiting and direction of rotation changeover ● r1073[C] CO: Main setpoint effective ● p1075[C] CI: Supplementary setpoint ● p1076[C] CI: Supplementary setpoint scaling ● r1077[C] CO: Supplementary setpoint effective ● r1078[C] CO: Total setpoint effective Parameterization with STARTER The "speed setpoint"...
Page 62 Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Setpoint channel ● 3040 Direction limitation and direction reversal Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1110[C] BI: Block negative direction ● p1111[C] BI: Block positive direction ● p1113[C] BI: Setpoint inversion Parameterization with STARTER The "speed setpoint"...
Page 63: Suppression Bandwidths And Setpoint Limits
Extended setpoint channel 2.8 Suppression bandwidths and setpoint limits Suppression bandwidths and setpoint limits Description In the range 0 U/min to setpoint speed, a drive train (e.g. motor, coupling, shaft, machine) can have one or more points of resonance, which can result in vibrations. The suppression bandwidths can be used to prevent operation in the resonance frequency range.
Page 64 2.8 Suppression bandwidths and setpoint limits Function diagrams (see SINAMICS S120/S150 List Manual) ● 1550 Setpoint channel ● 3050 Suppression bandwidth and speed limiting Overview of important parameters (see SINAMICS S120/S150 List Manual) Setpoint limitation ● p1080[D] Minimum speed ● p1082[D] Maximum speed ●...
Page 65: Ramp-Function Generator
Extended setpoint channel 2.9 Ramp-function generator Ramp-function generator Description The ramp-function generator is used to limit acceleration in the event of abrupt setpoint changes, which helps prevent load surges throughout the complete drive train. The ramp-up time p1120[0...n] and ramp-down time p1121[0...n] can be used to set mutually independent up and down ramps.
Page 66 Extended setpoint channel 2.9 Ramp-function generator ● OFF 3 down ramp: – OFF 3 ramp-down time p1135[0...n] ● Set ramp-function generator: – Setting value ramp-function generator p1144[0...n] – Signal, set ramp-function generator p1143[0...n] ● Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 1) Properties of the extended ramp-function generator Figure 2-13 Extended ramp-function generator...
Page 67 Extended setpoint channel 2.9 Ramp-function generator ● Select ramp-function generator rounding type p1134[0...n] – p1134 = "0": continuous smoothing; rounding is always active. Overshoots can occur. If the setpoint changes, final rounding is carried out and then the direction of the new setpoint is adopted.
Page 68 ● Control signal STW1.5 Start/stop ramp-function generator ● Control signal STW1.6 Enable setpoint ● Control signal STW2.1 Bypass ramp-function generator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0893 ESR speed ● p1051 [0...n] CI: Speed limit in RFG, positive direction of rotation...
Page 69 Extended setpoint channel 2.9 Ramp-function generator ● p1052 [0...n] CI: Speed limit RFG, negative direction of rotation ● p1083[0...n] CO: Speed limit in positive direction of rotation ● p1115 Ramp-function generator selection ● r1119 CO: Ramp-function generator setpoint at the input ●...
Page 70 Extended setpoint channel 2.9 Ramp-function generator Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 71: Servo Control
Servo control This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls.
Page 72 Servo control Subject Servo control Vector control Sampling time, current controller / Booksize: Booksize: • • sampling time, speed controller / 31.25 μs / 31.25 μs / ≥ 8 kHz 250 μs / 1000 μs / ≥ 2 kHz pulse frequency (factory setting, 8 kHz) (factory setting 4 kHz) 500 μs / 2000 μs / ≥...
Page 73 Servo control Subject Servo control Vector control Maximum output frequency with 1300 Hz with 62.5 μs / 8 kHz 300 Hz with 250 μs / 4 kHz • • closed-loop control or with 400 μs / 5 kHz 650 Hz with 125 μs / 4 kHz •...
Page 74: Speed Controller
Servo control 3.1 Speed controller Speed controller The speed controller controls the motor speed using the actual values from the encoder (operation with encoder) or from the calculated actual speed values (operation without encoder). Properties ● Speed setpoint filter ● Speed controller adaptation Note Speed and torque cannot be controlled simultaneously.
Page 75: Speed Setpoint Filter
Filter overview for speed setpoint filters Function diagrams (see SINAMICS S120/S150 List Manual) ● 5020 Speed setpoint filter and speed pre-control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1414[D] Speed setpoint filter activation ● p1415[D] Speed setpoint filter 1 type ●...
Page 76: Speed Controller Adaptation
Servo control 3.3 Speed controller adaptation Parameterization with STARTER The "speed setpoint filter" parameterization screen form is selected via the following symbol in the toolbar of the STARTER commissioning tool: Figure 3-3 STARTER symbol for "speed setpoint filter" Speed controller adaptation Description There are two types of adaptation available: The free Kp_n adaptation and the speed- dependent Kp_n/Tn_n adaptation.
Page 77 Speed controller Kp_n/Tn_n adaptation Function diagrams (see SINAMICS S120/S150 List Manual) ● 5050 Kp_n and Tn_n adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) Free Kp_n adaptation ● p1455[0...n] CI: Speed controller P gain adaptation signal ● p1456[0...n] Speed controller P gain adaptation lower starting point ●...
Page 78: Torque-Controlled Operation
Servo control 3.4 Torque-controlled operation ● p1463[0...n] Speed controller Tn adaptation speed upper scaling ● p1464[0...n] Speed controller lower adaptation speed ● p1465[0...n] Speed controller upper adaptation speed ● p1466[0...n] CI: Speed controller P gain scaling Parameterization with STARTER The "speed controller" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-6 STARTER icon for "speed controller"...
Page 79 Servo control 3.4 Torque-controlled operation 2. Specify torque setpoint – Select source (p1511) – Scale setpoint (p1512) – Select supplementary setpoint (1513) Figure 3-7 Torque setpoint 3. Activate enable signals OFF responses ● OFF1 and p1300 = 23 – Reaction as for OFF2 ●...
Page 80: Torque Setpoint Limitation
Function diagrams (see SINAMICS S120/S150 List Manual) ● 5060 Torque setpoint, control type switchover ● 5610 Torque limiting/reduction/interpolator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1300 Open-loop/closed-loop control operating mode ● r1406.12 Torque control active ● p1501[C] BI: Change over between closed-loop speed/torque control ●...
Page 81 Servo control 3.5 Torque setpoint limitation 2. Generate torque limits The torque setpoint can be limited to a maximum permissible value in all four quadrants. Different limits can be parameterized for motor and regenerative modes. Figure 3-9 Current/torque setpoint limiting Note This function is effective immediately without any settings.
Page 82 Servo control 3.5 Torque setpoint limitation ● Offset of the setting values also possible (see "Example: Torque limits with or without offset"). ● The following torque limits are displayed via parameters: – Lowest of all upper torque limits with and without offset –...
Page 83 Negative values at r1534 or positive values at r1535 represent a minimum torque for the other torque directions and can cause the drives to rotate if no counteractive load torque is generated (see function diagram 5630 in the SINAMICS S120/S150 List Manual). Example: Torque limits with or without offset The signals selected via p1522 and p1523 include the torque limits parameterized via p1520 and p1521.
Page 84: Current Controller
Servo control 3.6 Current controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0640[0...n] Current limit ● p1400[0...n] Speed control configuration ● r1508 CO: Torque setpoint before supplementary torque ● r1509 CO: Torque setpoint before torque limiting ● r1515 Supplementary torque total ●...
Page 85 The parameters for the flux controller are initialized when the system is commissioned for the first time and do not usually need to be adjusted. Function diagrams (see SINAMICS S120/S150 List Manual) ● 5710 Current setpoint filters ● 5714 Iq and Id controller ●...
Page 86 Servo control 3.6 Current controller Overview of important parameters (see SINAMICS S120/S150 List Manual) Closed-loop current control ● p1701[0...n] Current controller reference model dead time ● p1715[0...n] Current controller P gain ● p1717[0...n] Current controller integral time Current and torque limitation ●...
Page 87: Current Setpoint Filters
Servo control 3.7 Current setpoint filters ● p1590[0...n] Flux controller P gain ● p1592[0...n] Flux controller integral time Commissioning with STARTER The "current controller" parameterizing screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-13 STARTER icon for "current controller"...
Page 88 Servo control 3.7 Current setpoint filters Figure 3-14 Current setpoint filter Transfer function: Denominator natural frequency f Denominator damping D Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 89 Servo control 3.7 Current setpoint filters Table 3- 3 Example of a PT2 filter STARTER filter parameters Amplitude log frequency curve Phase frequency curve Characteristic frequency f 500 Hz Damping D 0.7 dB Band-stop with infinite notch depth Table 3- 4 Example of band-stop with infinite notch depth STARTER filter parameters Amplitude log frequency curve...
Page 90 Servo control 3.7 Current setpoint filters Band-stop with defined notch depth Table 3- 5 Example of band-stop with defined notch depth STARTER filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency f = 500 Hz Bandwidth f = 500 Hz Notch depth K = -20 dB Reduction Abs = 0 dB Simplified conversion to parameters for general order filters:...
Page 91 Servo control 3.7 Current setpoint filters ● Numerator natural frequency: ω π ● Numerator damping: ⎛ ⎞ ⎜ ⎟ • • ⎜ − ⎟ ⎜ ⎜ ⎟ ⎟ • ⎝ ⎠ ● Denominator natural frequency: ● Denominator damping: General low-pass with reduction Table 3- 7 Example of general low-pass with reduction STARTER filter parameters...
Page 92 = 0.15 dB Function diagrams (see SINAMICS S120/S150 List Manual) ● 5710 Current setpoint filters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1656[0...n] Current setpoint filter activation ● p1657[0...n] Current setpoint filter 1 type ● p1658[0...n] Current setpoint filter 1 denominator natural frequency ●...
Page 93: Note About The Electronic Motor Model
Servo control 3.8 Note about the electronic motor model Parameterization with STARTER The "current setpoint filter" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 3-15 STARTER icon for "current setpoint filter" Note about the electronic motor model A model change takes place within the speed range p1752*(100%-p1756) and p1752.
Page 94 Servo control 3.9 V/f control Note The operation of synchronous motors with V/f control is allowed only at up to 25 % of the rated motor speed. Structure of V/f control Figure 3-16 Structure of V/f control Prerequisites for V/f control ●...
Page 95 Servo control 3.9 V/f control Note With synchronous motors, V/f mode is normally only stable at low speeds. Higher speeds can induce vibrations. Oscillation damping is activated on the basis of suitable default parameter values and does not require further parameterization in most applications. If you become aware of interference caused by a transient response, you have the option of gradually increasing the value of p1338 and evaluating how this affects your system.
Page 96 Function diagrams (see SINAMICS S120/S150 List Manual) ● 5300 V/f control ● 5650 Vdc_max controller and Vdc_min controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0304[0...n] Rated motor voltage ● p0310[0...n] Rated motor frequency ● p0311[0...n] Rated motor speed ●...
Page 97: Optimizing The Current And Speed Controller
Servo control 3.10 Optimizing the current and speed controller 3.10 Optimizing the current and speed controller General information CAUTION Controller optimization may only be performed by skilled personnel with a knowledge of control engineering. The following tools are available for optimizing the controllers: ●...
Page 98 Servo control 3.10 Optimizing the current and speed controller Figure 3-18 STARTER symbol for "automatic controller setting" Example of measuring the speed controller frequency response By measuring the speed controller frequency response and the control system, critical resonance frequencies can, if necessary, be determined at the stability limit of the speed control loop and dampened using one or more current setpoint filters.
Page 99: Sensorless Operation (Without An Encoder)
Servo control 3.11 Sensorless operation (without an encoder) 3.11 Sensorless operation (without an encoder) NOTICE The operation of synchronous motors without an encoder must be verified in a test application. Stable operation in this mode cannot be guaranteed for every application. Therefore, the user will be solely responsible for the use of this operating mode.
Page 100 Servo control 3.11 Sensorless operation (without an encoder) To accept a high load torque even in the open-loop controlled range, the motor current can be increased via p1612. To do so, the drive torque (e.g. friction torque) must be known or estimated.
Page 101 Servo control 3.11 Sensorless operation (without an encoder) To prevent encoder evaluation alarms in encoderless operation, set p1402.1 = 1 to park the encoder evaluation. Reading in the motor temperature via the encoder evaluation remains active. Operation without an encoder is displayed in parameter r1407.1. Figure 3-20 Area switchover Note...
Page 102 ● 5060 Torque setpoint, control type switchover ● 5210 Speed controller without encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0341[0...n] Motor moment of inertia ● p0342[0...n] Ratio between the total moment of inertia and that of the motor ●...
Page 103: Motor Data Identification
Servo control 3.12 Motor data identification 3.12 Motor data identification Description The motor data identification (MotID) is used as tool to determine the motor data, e.g. of third-party motors and can help to improve the torque accuracy (k estimator). The drive system must have been commissioned for the first time as basis for using motor data identification.
Page 104 Servo control 3.12 Motor data identification The enable signals OFF1, OFF2, OFF3 and "enable operation" remain effective and can be interrupt the motor identification routine. If there is an extended setpoint channel (r0108.08 = 1), parameters p1959.14 = 0 and p1959.15 = 0 and direction limiting (p1110 or p1111) is active there, then this is observed at the instant of the start via p1960.
Page 105 Servo control 3.12 Motor data identification Motor data Motor data input requires the following parameters: Table 3- 9 Motor data Induction motor Permanent-magnet synchronous motor • p0304 Rated motor voltage p0305 Rated motor current • p0305 Rated motor current p0311 Rated motor speed •...
Page 106: Motor Data Identification Induction Motor
Servo control 3.12 Motor data identification Parameters to control the motor data identification The following parameters influence the motor data identification: Table 3- 11 Parameters for control Static measurement (motor data identification) Rotating measurement • p0640 current limit • p0640 current limit p1215 Motor holding brake configuration p1082 Maximum speed •...
Page 107 Servo control 3.12 Motor data identification Determined data (gamma) Data that are accepted (p1910 = 1) r1936 magnetizing inductance identified r0382 motor main inductance, transformed (gamma) p0360 motor main inductance p1590 flux controller P gain p1592 flux controller integral action time r1973 encoder pulse number identified Note: The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and is only suitable for...
Page 108: Motor Data Identification Synchronous Motor
Servo control 3.12 Motor data identification 3.12.2 Motor data identification synchronous motor Table 3- 14 Data determined using p1910 for synchronous motors (stationary measurement) Determined data Data that are accepted (p1910 = 1) r1912 stator resistance identified p0350 motor stator resistance, cold + p0352 cable resistance r1925 threshold voltage identified r1932 d inductance...
Page 109 Servo control 3.12 Motor data identification Determined data Data that are accepted (p1960 = 1) r1973 Encoder pulse number identified Note: The encoder pulse number is only determined with a very high degree of inaccuracy (p0407/p0408) and is only suitable for making rough checks.
Page 110: Pole Position Identification
● Start the one-off pole position identification by setting p1990 = 1, the value in p1982 is not taken into consideration. For Siemens 1FN1, 1FN3 and 1FN6 linear motors, p1990 is automatically set to 1 after commissioning or after an encoder has been replaced.
Page 111 Note Siemens standard motors When using standard Siemens motors, the automatically pre-selected setting should be kept. Notes regarding pole position identification The relevant technique can be selected using parameter P1980. The following techniques are available for pole position identification: ●...
Page 112 Before using the pole position identification routine, the control sense of the speed control loop must be corrected (p0410.0). For linear motors, see SINAMICS S120 Commissioning Manual (IH1). For rotating motors, in encoderless operation with a small positive speed setpoint (e.g. 10 rpm), the speed actual value (r0061) and the speed setpoint (r1438) must have the same sign.
Page 113 Servo control 3.13 Pole position identification Selecting the reference mark for fine synchronization for determining the pole position using zero marks A precondition for determining the pole position using zero marks is that the zero mark distance of the encoder is a multiple integer of the pole pitch/pole pair width of the motor. For example, for linear motors with measuring systems where this is not available, SINAMICS S permits the zero mark, which is used for the reference point approach, to be used for fine synchronization.
Page 114 Servo control 3.13 Pole position identification Saturation-based Motion-based Elasticity-based r1986 r1987 p1990 r1992 p1993 p1994 p1995 p1996 p1997 p3090 p3091 p3092 p3093 p3094 p3095 p3096 r3097 Angular commutation offset commissioning support (p1990) The function for determining the commutation angle offset is activated via p1990=1. The commutation angle offset is entered in p0431.
Page 115 When fault F07414 occurs, p1990 is automatically started; if p1980 ≠ 99 and p0301 does not refer to a catalog motor with an encoder that is adjusted in the factory. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0325[0...n] Motor pole position identification current 1st phase ●...
Page 116: Vdc Control
Servo control 3.14 Vdc control ● r1986 PolID saturation curve 2 ● r1987 PolID trigger curve ● p1990 Determine encoder adjustment commutation angle offset ● p1991[0...n] Motor changeover commutation angle correction ● r1992 Pole ID diagnostics ● p1993[0...n] Pole ID current, motion based ●...
Page 117 Servo control 3.14 Vdc control The Vdc controller is a P controller that influences the torque limits. It only intervenes when the DC link voltage approaches the "upper threshold" (p1244) or "lower threshold" (p1248) and the corresponding controller is activated with p1240. The recommended setting for the P gain is p1250 = 0.5 x DC link capacitance [mF].
Page 118 Servo control 3.14 Vdc control In the event of a power failure, the Line Module can no longer supply the DC link voltage, particularly if the Motor Modules in the DC link line-up are drawing active power. To maintain the DC link voltage in the event of a power failure (e.g. for a controlled emergency retraction), the Vdc_min controller can be activated for one or more drives.
Page 119 ● 5650 Vdc_max controller and Vdc_min controller ● 5300 V/f control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0056.14 CO/BO: Status word, closed loop control: Vdc_max controller active ● r0056.15 CO/BO: Status word, closed loop control: Vdc_min controller active ●...
Page 120: Dynamic Servo Control (Dsc)
(telegrams 6, 106, 116, 118, 136 and 138 or free telegrams). The following PROFIdrive telegrams support DSC: ● Standard telegrams 5 and 6 ● SIEMENS telegrams 105, 106, 116, 118, 125, 126, 136, 138, 139 Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 121 ● Five drives with a current controller cycle of 125 µs ● Two drives with a current controller cycle of 62.5 µs. Operating states The following operating states are possible for DSC (for details, see SINAMICS S120/S150 List Manual, function diagram 3090): Operating state for DSC...
Page 122 Servo control 3.15 Dynamic Servo Control (DSC) Activation If the preconditions for dynamic servo control are fulfilled, then the DSC structure is activated using a logical interconnection of the following parameters via a selected PROFIdrive telegram: ● p1190 "DSC position deviation XERR" ●...
Page 123 ● On the control side, DSC is not active, which causes the value of KPC = 0 to be transmitted to p1191. Function diagrams (see SINAMICS S120/S150 List Manual) ● 2420 PROFIdrive - standard telegrams and process data ● 2422 PROFIdrive - Manufacturer-specific telegrams and process data 1 ●...
Page 124: Travel To Fixed Stop
Servo control 3.16 Travel to fixed stop Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1160 CI: Speed controller, speed setpoint 2 ● p1190 CI: DSC position deviation XERR ● p1191 CI: DSC position controller gain KPC ● p1192[D]: DSC encoder selection ●...
Page 125 Servo control 3.16 Travel to fixed stop Signals When PROFIBUS telegrams 2 to 6 are used, the following are automatically interconnected: ● Control word 2, bit 8 ● Status word 2, bit 8 Also with PROFIdrive telegrams 102 to 106: ●...
Page 126 Servo control 3.16 Travel to fixed stop Signal chart Figure 3-26 Signal chart for "Travel to fixed stop" Commissioning for PROFIdrive telegrams 2 to 6 1. Activate travel to fixed stop. Set p1545 = "1". 2. Set the required torque limit. Example: p1400.4 = 0 →...
Page 127 ● 5620 Motor/generator torque limit ● 5630 Upper/lower torque limit ● 8012 Torque messages, motor blocked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1400[0...n] Speed control configuration ● r1407.7 CO/BO: Status word speed controller; torque limit reached ●...
Page 128: Vertical Axes
● 5060 Torque setpoint, control type switchover ● 5620 Motor/generator torque limit ● 5630 Upper/lower torque limit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0031 Actual torque smoothed ● p1513[0...n] CI: Supplementary torque 2 ● p1520[0...n] CO: Torque limit, upper/motoring ●...
Page 129: Variable Signaling Function
Servo control 3.18 Variable signaling function 3.18 Variable signaling function Using the "Variable signaling" function, BICO interconnections and parameters, which have the attribute traceable, can be monitored. Note Attribute "traceable" A parameter, whose value can be acquired using the trace function of STARTER or SCOUT, is allocated the "traceable"...
Page 130 Variable signaling function Function diagrams (see SINAMICS S120/S150 List Manual) ● 5301 Servo control - variable signaling function Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3290 Variable signaling function start ● p3291 CI: Variable signaling function signal source ●...
Page 131: Central Probe Evaluation
From the sampling values of the position signals of the various axes, the control interpolates the times of the position actual values at the probe instant. Three evaluation techniques are implemented in SINAMICS S120 for this purpose: ● With handshake ●...
Page 132 Servo control 3.19 Central probe evaluation 2. Signal source, synchronization signal in p0681. 3. Signal source, control word probe p0682. 4. Transfer with the communication interface PROFIdrive. 5. Synchronizing and monitoring isochronous PROFIdrive 6. Prerequisite for measurements is the synchronization between the control and drive. 7.
Page 133 Servo control 3.19 Central probe evaluation 3. If the measurement is activated, in data bus cycle (e.g. PROFIBUS cycle: DP cycle) a check is made as to whether a measured value is available. 4. If a measured value is available, then the time stamp is entered into either p0686 or p0687.
Page 134 Servo control 3.19 Central probe evaluation 3. The cyclic measurement is activated with a 0/1 transition of the control bit for the signal edges in the probe control word. 4. After activating the measurement, the measured value buffer is emptied once for initialization.
Page 135 Servo control 3.19 Central probe evaluation Table 3- 21 Assignment, probe time stamp reference to time stamp Probe time stamp reference Probe time stamp Bits MT_ZSB1 Reference ZS1 Bits 0...3 Reference ZS2 Bits 4..7 Reference ZS3 Bits 8..11 Reference ZS4 Bits 12..15 MT_ZSB2 Reference ZS5...
Page 136: Central Probe Evaluation Examples
Servo control 3.19 Central probe evaluation Reference time stamp Probe bit, binary values Edge selection bit Reference MT_ZS4 Bits 12...14 Bit 15 000: MT_ZS4 from MT1 0: MT_ZS4 falling edge 001: MT_ZS4 from MT2 1: MT_ZS4 rising edge 110: MT_ZS4 from MT7 111: MT_ZS4 from MT8 Examples for determining the reference values of the probe evaluation in hex: 0000 = 0H = time stamp from probe 1, falling edge...
Page 137 Servo control 3.19 Central probe evaluation Example 1 MT_STW = 100H: a search is only made for rising edges, probe 1 Figure 3-28 a search is made for rising edges for probe 1 In the DP cycle, all time stamps for rising edges are transferred corresponding to their sequence in time for probe 1.
Page 138 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2424 PROFIdrive, manufacturer-specific/free telegrams and process data ● 4740 Encoder evaluation - probe evaluation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0565[0...15] CO: Probe time stamp ● p0566[0...3] CO: Probe time stamp reference ●...
Page 139 Servo control 3.19 Central probe evaluation ● r0899.0...15 CO/BO: Drive object status word ● p0922 IF1 PROFIdrive telegram selection ● p0925 PROFIdrive isochronous sign of life tolerance Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 140 Servo control 3.19 Central probe evaluation Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 141: Vector Control
Vector control Compared with vector V/f control, vector control offers the following benefits: ● Stability vis-à-vis load and setpoint changes ● Short rise times for setpoint changes (→ better control behavior) ● Short settling times for load changes (→ better response to disturbances) ●...
Page 142 Vector control Comparison of servo control and vector control The table below shows a comparison between the characteristic features of servo and vector controls. Table 4- 1 Comparison of servo control and vector control Subject Servo control Vector control Typical applications Drives with highly dynamic motion Speed and torque-controlled drives with •...
Page 143 Vector control Subject Servo control Vector control Sampling time, current controller / Booksize: Booksize: • • sampling time, speed controller / 31.25 μs / 31.25 μs / ≥ 8 kHz 250 μs / 1000 μs / ≥ 2 kHz pulse frequency (factory setting, 8 kHz) (factory setting 4 kHz) 500 μs / 2000 μs / ≥...
Page 144: Sensorless Vector Control (Slvc)
Vector control 4.1 Sensorless vector control (SLVC) Subject Servo control Vector control Maximum output frequency with 1300 Hz with 62.5 μs / 8 kHz 300 Hz with 250 μs / 4 kHz • • closed-loop control or with 400 μs / 5 kHz 650 Hz with 125 μs / 4 kHz •...
Page 145 Vector control 4.1 Sensorless vector control (SLVC) Three-phase induction motor The changeover between closed-loop/open-loop control is controlled by means of the time and frequency conditions (p1755, p1756, p1758). If the setpoint frequency at the ramp- function generator input and the actual frequency are below p1755 * (1 - (p1756/100 %)) simultaneously, then the system does not wait for the time condition.
Page 146 Vector control 4.1 Sensorless vector control (SLVC) ● Reversing without the need to change into the open-loop controlled mode is possible, if the range of the changeover speed p1755 is passed through in a shorter time than the changeover delay time set in p1758, and the speed setpoint in front of the ramp-function generator lies outside the open-loop controlled speed range of p1755.
Page 147 Vector control 4.1 Sensorless vector control (SLVC) Passive loads In the closed-loop controlled mode, for passive loads, induction motors can be operated under steady-state conditions down to 0 Hz (standstill) without changing over into the open- loop controlled mode. To implement this set 1.
Page 148 Vector control 4.1 Sensorless vector control (SLVC) Figure 4-3 Vector control without an encoder Blocking drives If the load torque is higher than the torque limiting of the sensorless vector control, the drive is braked to zero speed (standstill). In order that the open-loop controlled mode is not selected after the time p1758, p1750.6 can be set to 1.
Page 149 The actual rotor position can be continuously determined down to 0 Hz (standstill). With Siemens 1FW4 and 1PH8 torque motors, the load can be maintained at standstill or, from standstill, the motor can accelerate any load up to rated torque.
Page 150 Only open-loop controlled operation is permitted when using a sine-wave filter. Note 1FW4 torque motors Siemens 1FW4 torque motors can be started from standstill and operated in the closed-loop torque controlled mode. The function is activated with parameter p1750.5 = 1. Third-party motors must be checked on a case-for-case basis.
Page 151 ● 6730 Interface to Motor Module (ASM, p0300 = 1) ● 6731 Interface to the Motor Module (PEM, p0300 = 2) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0305[0...n] Rated motor current ● r0331[0...n] Actual motor magnetizing current/short-circuit current ●...
Page 152: Vector Control With Encoder
Vector control 4.2 Vector control with encoder Vector control with encoder Benefits of vector control with an encoder: ● The speed can be controlled right down to 0 Hz (standstill) ● Constant torque in the rated speed range ● Compared with speed control without an encoder, the dynamic response of drives with an encoder is significantly better because the speed is measured directly and integrated in the model created for the current components.
Page 153 Vector control 4.3 Speed controller Speed controller The speed controller receives its setpoint (r0062) from the setpoint channel and its actual value (r0063) either directly from the speed sensor (control with sensor (VC)) or indirectly via the motor model (control without sensor (SLVC)). The system deviation is increased by the PI controller and, in conjunction with the pre-control, results in the torque setpoint.
Page 154 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6040 Speed controller with/without encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0062 CO: Speed setpoint after the filter ● r0063[0...1] CO: Speed actual value ●...
Page 155: Speed Controller Adaptation
Vector control 4.4 Speed controller adaptation Speed controller adaptation Description With the speed controller adaptation, any speed controller oscillation can be suppressed. The speed-dependent Kp_n/Tn_n adaptation is activated in the factory setting. The required values are automatically calculated when commissioning and for the rotating measurement. If, in spite of this, speed oscillations do occur, then in addition the Kp_n component can be optimized using the free Kp_n adaptation.
Page 156 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6050 Vector control - Kp_n/Tn_n adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1400.0 Speed control configuration: Automatic Kp/Tn adaptation active ● p1400.5 speed control configuration: Kp/Tn adaptation active ●...
Page 157 Vector control 4.4 Speed controller adaptation ● p1470 Speed controller encoderless operation P-gain ● p1472 Speed controller encoderless operation integral-action time Free Tn adaptation ● p1455[0...n] CI: Speed controller P gain adaptation signal ● p1456[0...n] Speed controller P gain adaptation lower starting point ●...
Page 158: Speed Controller Pre-Control And Reference Model
Vector control 4.5 Speed controller pre-control and reference model Speed controller pre-control and reference model The command behavior of the speed control loop can be improved by calculating the accelerating torque from the speed setpoint and connecting it on the line side of the speed controller.
Page 159 Vector control 4.5 Speed controller pre-control and reference model If the speed controller has been correctly adjusted, it only has to compensate for disturbance variables in its own control loop, which can be achieved by means of a relatively small change to the correcting variables.
Page 160 Vector control 4.5 Speed controller pre-control and reference model Reference model Figure 4-11 Reference model The reference model is activated with p1400.3 = 1. The reference model is used to emulate the path of the speed control loop with a P speed controller.
Page 161 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6031 Pre-control balancing for reference/acceleration model ● 6040 Speed controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0311[0...n] Rated motor speed ● r0333[0...n] Rated motor torque ● p0341[0...n] Motor moment of inertia ●...
Page 162: Droop
Vector control 4.6 Droop Droop Droop (enabled via p1492) ensures that the speed setpoint is reduced proportionally as the load torque increases. Figure 4-12 Speed controller with droop The droop has a torque limiting effect on a drive that is mechanically coupled to a different speed (e.g.
Page 163: Open Actual Speed Value
● Only one (1) common ramp-function generator may be used for mechanically coupled drives. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6030 Speed setpoint, droop Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0079 CO: Torque setpoint ● p1488[0...n] Droop input source ● p1489[0...n] Droop feedback scaling ●...
Page 164 ● FP 6040 Vector control – Speed controller with/without encoder ● FP 8012 Signals and monitoring function – Torque messages, motor locked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0063[0...2] Speed actual value ● p1440 CI: Speed controller actual speed value ●...
Page 165: Torque Control
Vector control 4.8 Torque control ● r2169 CO: Actual speed value smoothed messages ● r2199.7 Speed deviation of model / external in tolerance ● p3236 Speed threshold value 7 ● p3237 Hysteresis speed 7 ● p3238 Switch-off delay n_act_motor model= n_act_external Torque control With sensorless speed control SLVC (p1300 = 20) or speed control with sensor VC (p1300 = 21), a changeover can be made to torque control (slave drive) via BICO parameter p1501.
Page 166 Vector control 4.8 Torque control The total of the two torque setpoints is limited in the same way as the speed control torque setpoint. Above the maximum speed (p1082), a speed limiting controller reduces the torque limits in order to prevent the drive from accelerating any further. A "real"...
Page 167: Torque Limiting
Function diagrams (see SINAMICS S120/S150 List Manual) ● 6060 Torque setpoint Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0341 motor moment of inertia ● p0342 Ratio between the total moment of inertia and that of the motor ●...
Page 168 Motor Module, this is indicated via the following diagnostic parameters: ● r1407.8 Upper torque limit active ● r1407.9 Lower torque limit active indicated. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6060 Torque setpoint ● 6630 Upper/lower torque limit ● 6640 Current/power/torque limits...
Page 169: Vdc Control
Vector control 4.10 Vdc control 4.10 Vdc control Description The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. ● Overvoltage in the DC link – Typical cause The drive is operating in regenerative mode and is supplying too much energy to the DC link.
Page 170 Vector control 4.10 Vdc control ● Vdc_min control (kinetic buffering) – With this function, the kinetic energy of the motor is used for buffering the DC link voltage in the event of a momentary power failure, thereby delaying the drive. Description of Vdc_min control Figure 4-16 Switching Vdc_min control on/off (kinetic buffering)
Page 171 Vector control 4.10 Vdc control Description of Vdc_max control Figure 4-17 Switching Vdc_max control on/off The switch-in level for Vdc_max control (r1242) is calculated as follows: ● When the function for automatically detecting the switch-in level is switched off (p1254 = r1242 = 1.15 * p0210 (device connection voltage, DC link).
Page 172 – U/f control: p1280 = 4 or 6 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6220 Vdc_max controller and Vdc_min controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1240[0...n] Vdc controller or Vdc monitoring configuration ● r1242 Vdc_max controller switch-in level ●...
Page 173: Current Setpoint Filter
Function diagrams (see SINAMICS S120/S150 List Manual) ● 6710 Current setpoint filters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1655[0...n] CI: Current setpoint filter natural frequency tuning ● p1656[0...n] Current setpoint filter activation ●...
Page 174: Speed Actual Value Filter
● 4715 Encoder evaluation - Actual speed value and pole position sensing, motor encoder ASM/SM (encoder1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1655[0...4] CI: Speed actual value filter 5 natural frequency tuning ● p1656[0...n].4 speed actual value filter 5 activation ●...
Page 175: Current Controller Adaptation
Function diagrams (see SINAMICS S120/S150 List Manual) ● 6710 Current setpoint filters ● 6714 Iq and Id controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0391 Current controller adaptation starting point KP ● p0392 Current controller adaptation starting point KP adapted ●...
Page 176: Motor Data Identification And Rotating Measurement
Vector control 4.14 Motor data identification and rotating measurement 4.14 Motor data identification and rotating measurement Description There are two motor data identification options, which are based on each other: ● Motor data identification with p1910 (standstill measurement) ● Rotating measurement with p1960 Note For both types of motor data identification the following applies: If there is a motor brake, then this must be open (p1215 = 2).
Page 177 Vector control 4.14 Motor data identification and rotating measurement DANGER During motor data identification, the drive may cause the motor to move. The Emergency Off functions must be fully operational during commissioning. To protect the machines and personnel, the relevant safety regulations must be observed. Motor data identification (p1910) Motor data identification with p1910 is used for determining the motor parameters at standstill (see also p1960: speed controller optimization):...
Page 178 Vector control 4.14 Motor data identification and rotating measurement Entering the cable resistance improves the accuracy of thermal resistance adaptation, particularly when long supply cables are used. This governs behavior at low speeds, particularly during encoderless vector control. Figure 4-20 Equivalent circuit diagram for induction motor and cable If an output filter (see p0230) or series inductance (p0353) is used, the data for this must also be entered before the standstill measurement is carried out.
Page 179 Vector control 4.14 Motor data identification and rotating measurement In addition to the equivalent circuit diagram data, motor data identification (p1910 = 3) can be used for induction motors to determine the magnetization characteristic of the motor. Due to the higher accuracy, the magnetization characteristic should, if possible, be determined during the rotating measurement (without encoder: p1960 = 1, 3;...
Page 180 Vector control 4.14 Motor data identification and rotating measurement Motor data identification sequence ● Enter p1910 > 0. Alarm A07991 is displayed. ● Motor data identification starts the next time that the motor is switched on. ● p1910 resets itself to "0" (successful identification) or fault F07990 is output. ●...
Page 181 Vector control 4.14 Motor data identification and rotating measurement Rotating measurement (p1960 > 0): Sequence The following measurements are carried out when the enable signals are set and a switch- on command is issued in accordance with the settings in p1959 and p1960. ●...
Page 182 Vector control 4.14 Motor data identification and rotating measurement Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0047 motor data identification routine and speed controller optimization ● p1300[0...n] Open-loop/closed-loop control operating mode ● p1900 Motor data identification and rotating measurement ●...
Page 183: Efficiency Optimization
● 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) ● 6723 Field weakening controller, flux controller for induction motor (p0300 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0077 CO: Current setpoints, torque-generating ● r0331 Motor magnetizing current/short-circuit current (actual) ●...
Page 184: Quick Magnetization For Induction Motors
Vector control 4.16 Quick magnetization for induction motors 4.16 Quick magnetization for induction motors Description Application example for the "quick magnetization for induction motors" function: For crane applications, frequently a frequency converter is switched alternately to different motors. After being switched to a different motor, a new data set must be loaded in the frequency converter and the motor magnetized.
Page 185 Vector control 4.16 Quick magnetization for induction motors Figure 4-23 Quick magnetization characteristics Notes When quick magnetization is selected (p1401.6 = 1), smooth starting is deactivated internally and alarm A07416 displayed. When the stator resistance identification function is active (see p0621 "Identification of stator resistance after restart") is active, quick magnetization is deactivated internally and alarm A07416 displayed.
Page 186 Vector control 4.16 Quick magnetization for induction motors The flux control configuration (p1401) settings are inconsistent. Fault codes: 1 = quick magnetization (p1401.6) and smooth starting (p1401.0) 2 = quick magnetization (p1401.6) and flux build-up control (p1401.2) 3 = quick magnetization (p1401.6) and Rs identification (stator resistance identification) after restart (p0621 = 2) Remedy: ●...
Page 187: Instructions For Commissioning Induction Motors (Asm)
● 6722 Field weakening characteristic, Id setpoint (ASM, p0300 = 1) ● 6723 Field weakening controller, flux controller (ASM, p0300 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0320 [0...n] Motor rated magnetizing current/short-circuit current ● p0346 Motor excitation build-up time ●...
Page 188 Vector control 4.17 Instructions for commissioning induction motors (ASM) Induction motors, rotating The following parameters can be entered in STARTER during the commissioning phase: Table 4- 3 Motor data rating plate Parameter Description Remark p0304 Rated motor voltage If this value is not known, a "0" can also be entered.
Page 189 Vector control 4.17 Instructions for commissioning induction motors (ASM) Features ● Field weakening up to approx. 1.2 * rated speed (this depends on the drive converter supply voltage and the motor data, also refer to supplementary conditions). ● Flying restart ●...
Page 190: Instructions For Commissioning Permanent-Magnet Synchronous Motors
Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors 4.18 Instructions for commissioning permanent-magnet synchronous motors Equivalent circuit diagram for synchronous motor and cable Figure 4-25 Equivalent circuit diagram for synchronous motor and cable Permanent-magnet synchronous motors, rotating Permanent-magnet synchronous motors with or without encoder are supported. The following encoder types are supported: ●...
Page 191 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Parameter Description Remark p0310 Rated motor frequency p0311 Rated motor speed If the torque constant k is not stamped on the rating plate or specified in the data sheet, you can calculate this value from the rated motor data (index n) or from the stall current I stall torque M as follows: π...
Page 192 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Features ● Field weakening up to approx. 1.2 * rated speed (this depends on the drive converter supply voltage and the motor data, also refer to supplementary conditions) ● Flying restart (for operation without encoder, only possible with additional VSM) ●...
Page 193: Encoder Adjustment In Operation
Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors ● Depending on the terminal voltage and load cycle, the maximum torque can be taken from the motor data sheets / project design instructions. Commissioning We recommend the following points when commissioning: ●...
Page 194 Vector control 4.18 Instructions for commissioning permanent-magnet synchronous motors Figure 4-27 Encoder adjustment sequence Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 195: Automatic Encoder Adjustment
1FW4 permanent-magnet synchronous motors 1FW4 motors have been optimized for operation with this function. When commissioning with the STARTER commissioning tool, all of the required data are automatically transferred to the Control Unit. (see also SINAMICS S120 Commissioning Manual) 4.18.2 Automatic encoder adjustment...
Page 196: Pole Position Identification
The measurement causes the motor to rotate. The motor turns through a minimum of one complete revolution. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0404.15 Encoder configuration active, commutation with zero mark ● p0431[0...n] commutation angle offset ●...
Page 197 The measurement can electrically trigger a rotation or movement of the motor, by up to a half rotation. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0325 Motor pole position identification current 1st phase ● p0329 Motor pole position identification current ●...
Page 198: Function Diagrams And Parameters
● p1990 determine encoder adjustment commutation angle offset 4.19 Instructions for commissioning separately-excited synchronous motors Note Separately excited synchronous motor Please consult Siemens technical support if you wish to commission a separately-excited synchronous motor. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 199: Flying Restart
25%. A Voltage Sensing Module (VSM) is required for permanent-magnet synchronous motors (for additional information, refer to document: SINAMICS S120 Manual Control Units). When operated with an encoder (speed actual value is sensed), the search phase is eliminated.
Page 200 Vector control 4.20 Flying restart Figure 4-29 Flying restart, example of induction motor with encoder WARNING When the flying restart (p1200) function is active, the drive may still be accelerated by the detection current despite the fact that it is at standstill and the setpoint is 0! For this reason, entering the area around the drive when it is in this condition can cause death, serious injury, or considerable material damage.
Page 201: Synchronization
Vector control 4.21 Synchronization Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0352[0...n] Cable resistance ● p1082[0...n] Maximum speed ● p1200[0...n] Flying restart operating mode ● p1202[0...n] Flying restart search current ● p1203[0...n] Flying restart search rate factor ●...
Page 202: Voltage Sensing Module
Vector control 4.22 Voltage Sensing Module Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3800[0...n] Sync-line-drive activation ● p3801[0...n] Sync-line-drive, drive object number ● p3802[0...n] BI: Sync-line-drive enable ● r3803 CO/BO: Sync-line-drive control word ● r3804 CO: Sync-line-drive target frequency ●...
Page 203 4.22 Voltage Sensing Module Topology view The VSM is used on the encoder side for SINAMICS S120 drives. The VSM is only used at the VECTOR drive object in sensorless operating modes. The VSM is integrated into the topology at the position of the motor encoder.
Page 204: Simulation Mode
Vector control 4.23 Simulation mode Drive object A_INF ● p0140 VSM number of data sets ● p0141[0...n] VSM component number ● p0144[0...n] Voltage Sensing Module identification via LED ● p0145[0...n] Activate/deactivate Voltage Sensing Module ● r0146[0...n] Voltage Sensing Module active/inactive ●...
Page 205: Features
Vector control 4.24 Redundance operation power units 4.23.2 Features ● Automatic deactivation with a DC link voltage greater than 40 V (measurement tolerance ± 4 V) with fault F07826 and immediate pulse inhibit (OFF2) ● Can be activated via parameter p1272 ●...
Page 206: Bypass
● DRIVE-CLiQ star topology (possibly a DMC20 or a DME20, refer to the GH1 manual) ● Motor with one single-winding system (p7003 = 0) ● No Safe Torque Off (STO) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0125 Activate/deactivate power unit component ● r0126 Power unit component active/inactive ●...
Page 207: Bypass With Synchronization With Overlap
Vector control 4.25 Bypass ● When the drive is started up again after POWER ON, the status of the bypass contactors is evaluated. After powering up, the converter can thereby change straight into "Ready to start and bypass" status. This is only possible if the bypass is activated via a control signal, the control signal (p1266) is still present once the system has been ramped up, and the automatic restart function (p1200 = 4) is active.
Page 208 Vector control 4.25 Bypass Figure 4-30 Circuit example: Bypass with synchronization with overlap Activation The bypass function with synchronization with overlap (p1260 = 1) can only be activated using a control signal. It cannot be activated using a speed threshold or a fault. Example The following parameters must be set after the bypass function with synchronization with overlap (p1260 = 1) has been activated.
Page 209 Vector control 4.25 Bypass Figure 4-31 Signal diagram, bypass with synchronization with overlap The motor is transferred to the line supply (the drive converter controls contactors K1 and K2): ● The initial state is as follows: Contactor K1 is closed, contactor K2 is open and the motor is fed from the drive converter.
Page 210: Bypass With Synchronization Without Overlap
Vector control 4.25 Bypass ● Pulses are enabled. Since "Synchronize" is set before "Pulse enable", the converter interprets this as a command to retrieve a motor from the supply and to take it over. ● After the motor has been synchronized to the line frequency, line voltage and line phase, the synchronizing algorithm reports this status.
Page 211: Bypass Without Synchronization
Vector control 4.25 Bypass Figure 4-32 Circuit example, bypass with synchronization without overlap Activation The bypass function with synchronization without overlap (p1260 = 2) can only be activated using a control signal. Activation using a speed threshold or a fault is not possible. Example The following parameters must be set after the bypass function with synchronization without overlap (p1260 = 2) has been activated.
Page 212 Vector control 4.25 Bypass When the motor is switched on in a non-synchronized manner, an equalizing current flows that must be taken into account when the protective equipment is designed. When the converter retrieves the motor from the line supply, initially contactor K2 is opened, and after the excitation time has expired, contactor K1 is closed.
Page 213 = r1261.2 Synchronizer activation is triggered by the bypass function. Function diagrams (see SINAMICS S120/S150 List Manual) ● 7020 Synchronization Overview of important parameters (see SINAMICS S120/S150 List Manual) Bypass function ● p1260 Bypass configuration ● r1261.0...9 CO/BO: Bypass control/status word ●...
Page 214: Asynchronous Pulse Frequency
Vector control 4.26 Asynchronous pulse frequency Synchronization ● p3800[0...n] activate sync-line-drive ● p3801[0...n] sync-line-drive, drive object number ● p3802[0...n] BI: Sync-line-drive enable ● r3803.0 CO/BO: Sync-line-drive control word ● r3804 CO: Sync-line-drive target frequency ● r3805 CO: Sync-line-drive frequency difference ●...
Page 215: Boundary Conditions For Asynchronous Pulse Frequency
Vector control 4.26 Asynchronous pulse frequency Activating the function ● You can activate the function with p1810.12 = 1 ● Set the pulse frequency with p1800 in 50 Hz increments to the desired pulse frequency. The maximum pulse frequency that can be set is twice the current controller clock cycle. ●...
Page 216 5. The motor data identification must be performed with current controller cycles of 250 µs or 500 µs with 2 kHz. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0115[0...6] Sampling times for internal control loops ● p1810 modulator configuration ●...
Page 217: U/F Control (Vector Control)
U/f control (vector control) The U/f control characteristic is the simplest way to control an induction motor. When configuring the drive using the STARTER commissioning tool, U/f control is activated in the "Closed-loop control structure" screen (also see p1300). The stator voltage of the induction motor is set proportional to the stator frequency. This technique is used for many standard applications where the dynamic performance requirements are low, for example: ●...
Page 218 U/f control (vector control) Several variations of the U/f characteristic exist, which are shown in the following table: Table 5- 1 U/f characteristic (p1300) Parameter Meaning Application / property values Linear characteristic Standard (w/o voltage boost) Linear characteristic Characteristic that compensates for with flux current control voltage losses in the stator resistance (FCC)
Page 219 U/f control (vector control) Parameter Meaning Application / property values Programmable Characteristic that takes into account characteristic motor/machine torque curve (e.g. synchronous motor). Linear characteristic Characteristic, see parameter 0 and Eco mode at a constant operating point. and ECO In the Eco mode, the efficiency at a constant operating point is optimized. •...
Page 220: Voltage Boost
U/f control (vector control) 5.1 Voltage boost Function diagram ● FP 6300 U/f characteristic and voltage boost Parameter ● p1300[0...n] Open-loop/closed-loop control operating mode Voltage boost According to the U/f characteristic, at an output frequency of 0 Hz, the control supplies an output voltage of 0 V.
Page 221 U/f control (vector control) 5.1 Voltage boost Figure 5-2 Voltage boost total Note The voltage boost affects all V/f characteristics (p1300). NOTICE If the voltage boost value is too high, this can result in a thermal overload of the motor winding.
Page 222 U/f control (vector control) 5.1 Voltage boost Voltage boost, permanent Figure 5-3 Permanent voltage boost (example: p1300 = 0 and p1310 > 0) Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 223 Voltage boost at acceleration (example: p1300 = 0 and p1311 > 0) Function diagrams (see SINAMICS S120/S150 List Manual) ● 6300 V/f characteristic and voltage boost Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0304[0...n] Rated motor voltage ● p0305[0...n] Rated motor current ●...
Page 224: Slip Compensation
A parameter setting of p1351 > 0 automatically activates the slip compensation (p1335 = 100%). Figure 5-5 Slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1334[0...n] V/f control, slip compensation start frequency ● r0330[0...n] Rated motor slip ● p1335[0...n] Slip compensation –...
Page 225: Resonance Damping
45 Hz. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6310 Resonance damping and slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0066 CO: Output frequency ● r0078 CO: Torque-generating current actual value ●...
Page 226: Vdc Control
U/f control (vector control) 5.4 Vdc control Vdc control Description The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. Figure 5-7 Vdc control V/f 1. Undervoltage in the DC link Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 227 U/f control (vector control) 5.4 Vdc control – Typical cause: Failure of the supply voltage or supply for the DC link. – Remedy: Specify a regenerative torque for the rotating drive to compensate the existing losses, thereby stabilizing the voltage in the DC link (kinetic buffering). 2.
Page 228 U/f control (vector control) 5.4 Vdc control Description of Vdc_min control Figure 5-8 Switching Vdc_min control on/off (kinetic buffering) In the event of a power failure, Vdc_min control is activated when the Vdc_min switch-in level is undershot. This controls the DC link voltage and maintains it at a constant level. The motor speed is reduced.
Page 229 U/f control (vector control) 5.4 Vdc control Description of Vdc_max control Figure 5-9 Switching Vdc_max control on/off The switch-in level for Vdc_max control (r1282) is calculated as follows: p1294 (automatic detection of the Switch-on level of the Comment ON level (U/f)) Vdc_max control (r1282) Value Meaning...
Page 230 U/f control (vector control) 5.4 Vdc control p1294 (automatic detection of the Switch-on level of the Comment ON level (U/f)) Vdc_max control (r1282) Value Meaning DANGER Vdc control with Basic Line Modules If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), the Vdc_max control may only be activated for that Motor Module whose drive has the nominal highest moment of inertia of all connected drives.
Page 231 5.4 Vdc control Function diagrams (see SINAMICS S120/S150 List Manual) ● 6320 Vdc_max controller and Vdc_min controller U/f open-loop control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1280[0...n] Vdc controller configuration (V/f) ● r1282 Vdc_max controller switch-in level (V/f) ●...
Page 232 U/f control (vector control) 5.4 Vdc control Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 233: Basic Functions
Every parameter that can be changed over is assigned to a units group, that, depending on the group, can be changed over within certain limits. This assignment and the unit groups can be read for each parameter in the parameter list in the SINAMICS S120/S150 List Manual. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 234: Reference Parameters/Normalizations
6.2 Reference parameters/normalizations The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and p0595). Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0010 Commissioning parameter filter ● p0100 Motor Standard IEC/NEMA ● p0349 Selecting the system of units, motor equivalent circuit diagram data ●...
Page 235 Basic functions 6.2 Reference parameters/normalizations Figure 6-1 Illustration of conversion with reference values Note If a referenced form is selected and the reference parameters (e.g. p2000) are changed retrospectively, the referenced values of some of the control parameters are also adjusted to ensure that the control behavior is unaffected.
Page 236 Basic functions 6.2 Reference parameters/normalizations Note Operation of motors in the field-weakening range If the motors are to be operated in the field-weakening range > 2:1, the value of parameter p2000 must be set ≤ 1/2 x maximum speed of the drive object. Scaling for the SERVO drive object Table 6- 2 Scaling for the SERVO drive object...
Page 237 Basic functions 6.2 Reference parameters/normalizations Scaling for the A_INF drive object Table 6- 3 Scaling for the A_INF drive object Size Scaling parameter Default when commissioning for the first time Reference frequency 100 % = p2000 p2000 = p0211 Reference voltage 100 % = p2001 p2001 = p0210 Reference current...
Page 238: Modular Machine Concept
Basic functions 6.3 Modular machine concept Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0206[0...4] Rated power unit power ● p0210 Device supply voltage ● p0340 Automatic calculation of motor/control parameters ● p0573 Disable automatic calculation of reference values ●...
Page 239 Basic functions 6.3 Modular machine concept ● Download the project by choosing "Load to drive object". ● Copy from RAM to ROM. Figure 6-2 Example of a sub-topology Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 240: Sinusoidal Filter
Remedy: Remove this drive from the group before you deactivate it. See also: /FH1/ SINAMICS S120 Function Manual, Chapter Safety Integrated Basic Functions. Overview of important parameters (see SINAMICS S120/S150 List Manual) ●...
Page 241 ● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis power units – SINAMICS S120 Liquid Cooled Chassis power units Note If a filter cannot be parameterized (p0230 < 3), this means that a filter has not been provided for the component.
Page 242: Dv/Dt Filter Plus Vpl
● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis power units – SINAMICS S120 Liquid Cooled Chassis power units WARNING When a dv/dt filter with Voltage Peak Limiter is used, the maximum permissible pulse frequency of the Power Module or Motor Module is 4 kHz (chassis power units up to 250 kW at 400 V) or 2.5 kHz (chassis power units from 315 kW to 800 kW at 400 V...
Page 243: Dv/Dt Filter Compact Plus Voltage Peak Limiter
Basic functions 6.6 dv/dt filter compact plus Voltage Peak Limiter dv/dt filter compact plus Voltage Peak Limiter Description The dv/dt filter compact plus Voltage Peak Limiter comprises two components, the dv/dt reactor and the voltage limiting network (Voltage Peak Limiter, VPL). A VPL cuts off the voltage peaks and feeds the energy back into the DC link.
Page 244 ● Other restrictions: Refer to the manuals – SINAMICS S120 AC Drive – SINAMICS S120 Chassis power units – SINAMICS S120 Liquid Cooled Chassis power units Commissioning During commissioning, you must activate the dv/dt filter with p0230 = 2. Drive functions...
Page 245: Pulse Frequency Wobbling
(1000/p0115[0]). These conditions apply to all indices. Note If pulse frequency wobbling is deactivated, parameter p1811 is set to "0" in all of the indices. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1810 modulator configuration ● p1811[0...n] pulse frequency wobbling amplitude...
Page 246: Direction Reversal Without Changing The Setpoint
Basic functions 6.8 Direction reversal without changing the setpoint Direction reversal without changing the setpoint Features ● Not change to the speed setpoint and actual value, the torque setpoint and actual value and the relative position change. ● Only possible when the pulses are inhibited CAUTION If direction reversal is configured in the data set configurations (e.g.
Page 247: Automatic Restart (Vector, Servo, Infeed)
Basic functions 6.9 Automatic restart (vector, servo, infeed) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0069 Phase current, actual value ● r0089 Actual phase voltage ● p1820 Direction of rotation reversal of the output phases (vector) ● p1821 Rotational direction ●...
Page 248 Basic functions 6.9 Automatic restart (vector, servo, infeed) Automatic restart mode Table 6- 7 Automatic restart mode p1210 Mode Meaning Disables automatic restart Automatic restart inactive Acknowledges all faults without Any faults that are present, are acknowledged restarting automatically once the cause has been rectified. If further faults occur after faults have been acknowledged, then these are also again automatically acknowledged.
Page 249 Basic functions 6.9 Automatic restart (vector, servo, infeed) Note A start attempt immediately starts when the fault occurs. The faults are automatically acknowledged in intervals of half the waiting time p1212. After successfully acknowledgment and the voltage returns, then the system is automatically powered-up again.
Page 250: Armature Short-Circuit Braking, Dc Braking
Basic functions 6.10 Armature short-circuit braking, DC braking Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0863 CO/BO: Drive coupling status word/control word ● p1206[0...9] faults without automatic restart ● p1207 BI: Automatic restart (AR) - connection to the following drive object ●...
Page 251: Armature Short-Circuit Braking For Permanent-Magnet Synchronous Motors
Basic functions 6.10 Armature short-circuit braking, DC braking ● it is not possible to ramp-down the drive in a controlled fashion ● an infeed unit is used that is not capable of energy recovery ● no braking resistor is used 6.10.1 Armature short-circuit braking for permanent-magnet synchronous motors Preconditions...
Page 252: External Armature Short-Circuit Braking
Basic functions 6.10 Armature short-circuit braking, DC braking 6.10.1.2 External armature short-circuit braking This function controls an external contactor via output terminals that then short-circuits the motor windings through resistors. Setting The external armature short-circuit braking is activated via p1231 = 1 with contactor feedback signal or via p1231 = 2 without contactor feedback signal.
Page 253 Basic functions 6.10 Armature short-circuit braking, DC braking Calculating the external braking resistors To achieve the highest braking effect, calculate the values of the resistors using the following formula: = 5.2882 × 10 × p0314 × p0356 × n - p0350 = maximum speed used Parameter assignment You can parameterize the Motor Module and the Control Unit using the STARTER...
Page 254 Basic functions 6.10 Armature short-circuit braking, DC braking ● DI 14 is defined as the input for the feedback signal of the short-circuit contactor. In the event of power failure or wire break, the motor should be operated in a safe state. The feedback signal of DI 14 is inverted via p0723.14 for this purpose.
Page 255: Dc Braking
Basic functions 6.10 Armature short-circuit braking, DC braking 6.10.2 DC braking Preconditions ● This function has been released for Motor Modules in the booksize, blocksize and chassis formats. ● An induction motor must be used. With the function "DC braking", after a demagnetization time, a DC current is injected in the stator windings of the induction motor.
Page 256: Activation Via Fault Response
Basic functions 6.10 Armature short-circuit braking, DC braking Deactivation If DC braking is deactivated by setting the signal source of p1230 to "0" and the ON command is still active, then the drive returns to its selected operating mode. The following is applicable: ●...
Page 257: Activation Via A Speed Threshold
Basic functions 6.10 Armature short-circuit braking, DC braking Activation using OFF1/OFF3 DC braking is activated with OFF1 or OFF3. ● If the motor speed ≥ p1234, the motor is braked down to p1234. As soon as the motor speed is < p1234, the pulses are disabled and the motor is demagnetized. ●...
Page 258: Function Diagrams And Parameters
● 7014 External Armature Short-Circuit (EASC, p0300 = 2xx or 4xx) ● 7016 Internal Armature Short-Circuit (IASC, p0300 = 2xx or 4xx) ● 7017 DC brake (p0300 = 1xx) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0046.0...31 CO/BO: Missing enable signals ● p0300[0...n] motor type selection ●...
Page 259: Motor Module As Braking Module
• SINAMICS S120 Motor Modules Chassis (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (380 V - 480 V) > 250 kW • SINAMICS S120 Motor Modules Chassis Liquid Cooled (500 V - 690 V) 6.11.1...
Page 260: Configuring The Resistors
Basic functions 6.11 Motor Module as braking module 6.11.2 Configuring the resistors 1. Under no circumstances may the resistance values for the peak braking power, which are listed in this table, be fallen below! 2. The resistance values apply for each of the 3 resistors in a star connection in the cold state.
Page 261 Basic functions 6.11 Motor Module as braking module Table 6- 9 Resistance table 500 - 690 V line supply voltage Peak Resistance Resistance Motor Rated Rated Braking Continuou DC link Module voltage current current chopper s braking braking at the continuous at the peak frame size threshold...
Page 262 Basic functions 6.11 Motor Module as braking module Motor Rated Rated Braking Continuou Peak Resistance Resistance DC link Module voltage current current chopper s braking braking at the continuous at the peak frame size threshold power power braking power braking power [kW] [kW] [Ω]...
Page 263 Basic functions 6.11 Motor Module as braking module Connecting braking resistors Preferably connect the braking resistors in a star configuration Figure 6-5 Braking resistors Setting the braking module activation threshold The braking module activation threshold is handled by the Basic Line Module (table below). The value of the braking module activation threshold p1362[0] and the hysteresis p1362[1] can be adjusted.
Page 264: Activating The Function
6.11.3 Activating the function You have opened the STARTER commissioning tool and created a new project. 1. Configure the Control Unit and the infeed module as usual (see SINAMICS S120 Commissioning Manual). 2. Select the type "VECTOR" as drive object.
Page 265: Protective Equipment
Basic functions 6.11 Motor Module as braking module Figure 6-6 Parallel connection of Motor Modules as braking module To carry out further checks, double-click on ".../Drives/Drive_1 > Configuration" in the navigation list. A dialog opens allowing you to check the current configuration. The "Current power unit operating values"...
Page 266: Function Diagrams And Parameters
6.11.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● None Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0207[0…4] Power unit rated current ● r0949[0...63] Fault value ● p1300[0...n] Open-loop/closed-loop control operating mode ● p1330[0...n] CI: U/f control independent of voltage setpoint ●...
Page 267: Off3 Torque Limits
Function diagrams (see SINAMICS S120/S150 List Manual) ● 5620 Motor/generator torque limits ● 5630 Upper/lower torque limit ● 6630 Upper/lower torque limit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1520 Torque limit, upper/motoring ● p1521 Torque limit, lower/regenerative 6.13...
Page 268 Function diagrams (see SINAMICS S120/S150 List Manual) ● 5610 Torque limiting/reduction/interpolator ● 6710 Current setpoint filters ● 7010 Friction characteristic curve Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3820 Friction characteristic curve value n0 ● ... ● p3839 Friction characteristic curve value M9 ●...
Page 269: Simple Brake Control
The Motor Module then performs the action and activates the output for the holding brake. The exact sequence control is shown in the SINAMICS S120/S150 List Manual (function diagram 2701 and 2704). The operating principle of the holding brake can be configured via parameter p1215.
Page 270 Function diagrams (see SINAMICS S120/S150 List Manual) ● 2701 Simple brake control (r0108.14 = 0) ● 2704 Extended brake control (r0108.14 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0056.4 Magnetizing complete ● r0060 CO: Speed setpoint before the setpoint filter ●...
Page 271: Runtime (Operating Hours Counter)
Basic functions 6.15 Runtime (operating hours counter) ● r0899.12 BO: Holding brake open ● r0899.13 BO: Command, close holding brake ● p1215 Motor holding brake configuration ● p1216 Holding brake release time ● p1217 Holding brake application time ● p1226 Threshold for zero speed detection ●...
Page 272: Energy-Saving Display
Using the SINAMICS S120 system enables control of the flow rate or the pressure by changing the speed of the continuous-flow machine. As a consequence, the plant or system is controlled close to its maximum efficiency over the complete operating range.
Page 273 Basic functions 6.16 Energy-saving display Solution to optimize the system When using a speed controller, the process-specific flow rate of the continuous-flow machine is controlled by varying the speed. The flow rate changes proportionally with the speed of the continuous-flow machine. Any throttles or valves remain completely open. The entire plant/system characteristic is shifted by the speed controller to achieve the required flow rate.
Page 274 Basic functions 6.16 Energy-saving display Figure 6-8 Energy-saving potential Legend for top characteristic: H[%]: Delivery height, P[%]: Delivery pressure, Q[%]: Delivery rate, V[%]: Flow rate Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 275 Basic functions 6.16 Energy-saving display Legend for bottom characteristic: P[%]: Power drawn by the conveyor machine, n[%]: Speed of the conveyor machine Interpolation points p3320 ... p3329 for the system characteristic with n = 100%: P1 ... P5: Power drawn, n1 ... n5: Speed corresponding to a closed-loop speed control machine Energy-saving function This function determines the amount of energy used and compares it with the interpolated...
Page 276: Encoder Diagnostics
● Displaying the last written BIN file ● Number of still possible write operations (from 10000 downwards). Note BIN files can only be evaluated by Siemens. Alarm A3x930 is output while diagnostics data is being actively recorded. Do not switch off the system during this time.
Page 277: Encoder Dirty Signal
The input is automatically set to a high level if a wire is broken: As a consequence, for a broken wire, the encoder is considered to be "good". Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0437[0...n] Sensor Module configuration extended 6.18...
Page 278: Encoder Track Monitoring
Basic functions 6.18 Tolerant encoder monitoring Some of these supplementary functions can be combined with one another. Terminology Quadrant , Encoder pulse , ¼ encoder pulse , Signal period Increment Negative / falling Track A edge Track B Positive / Rising edge Track R,...
Page 279: Zero Mark Tolerance
If you selected your encoder from the list of parameter p0400, then the values above are pre-selected and cannot be changed (also refer to the information on p0400 in the SINAMICS S120/S150 List Manual). Deactivating track monitoring If encoder track monitoring is activated, you can deactivate the function by setting p0437.26 = 1.
Page 280: Freezing The Speed Raw Value
Basic functions 6.18 Tolerant encoder monitoring Principle of operation The function runs as follows: ● The "zero mark tolerance" function starts to become effective after the 2nd zero mark has been detected. ● After this, if the number of track pulses between two zero marks does not match the configured number of pulses once, then alarms A3x400 (alarm threshold, zero mark distance error) or A3x401...
Page 281: Edge Evaluation Of The Zero Mark
Basic functions 6.18 Tolerant encoder monitoring Parameterization ● In parameter p0438 (squarewave encoder filter time) enter the filter time in the range from 0 to 100 μs. The hardware filter only supports values 0 (no filtering), 0.04 μs, 0.64 μs, 2.56 μs, 10.24 μs and 20.48 μs If a value is set that does not match one of the discrete values specified above, the firmware automatically sets the next closest discrete value.
Page 282: Pole Position Adaptation
Basic functions 6.18 Tolerant encoder monitoring Commissioning ● Set parameter p0437.1 = 1 to activate the "edge evaluation of the zero mark" function. The factory setting p0437.1 = 0 keeps the operation at the known zero mark detection. Parameterization ● Under unfavorable conditions, if the drive oscillates around the zero mark for one revolution, a zero mark error can occur with the rough order of magnitude of the zero mark width.
Page 283: Pulse Number Correction For Faults
Basic functions 6.18 Tolerant encoder monitoring 6.18.7 Pulse number correction for faults Interference currents or other EMC faults can falsify encoder evaluation. However, it is possible to correct the measured signals using the zero marks. Commissioning ● Set p0437.2 = 1 to activate "Pulse number correction for faults". ●...
Page 284: Tolerance Band Pulse Number" Monitoring
Basic functions 6.18 Tolerant encoder monitoring 6.18.8 "Tolerance band pulse number" monitoring This function monitors the number of encoder pulses between two zero marks. An alarm is output if the number lies outside a tolerance band that can be selected. Commissioning ●...
Page 285: Signal Edge Evaluation (1X, 4X)
Basic functions 6.18 Tolerant encoder monitoring 6.18.9 Signal edge evaluation (1x, 4x) The "signal edge evaluation" function allows squarewave encoders with higher production tolerances or older encoders to be used. Using this function, a "steadier" speed actual value is calculated for encoders with an uneven pulse duty factor of the encoder signals. As a consequence, you can keep the old motors together with the encoders - for example when modernizing plants.
Page 286: Setting The Measuring Time To Evaluate Speed "0
Basic functions 6.18 Tolerant encoder monitoring 6.18.10 Setting the measuring time to evaluate speed "0" This function is only necessary for slow-speed drives (up to 40 rpm rated speed) in order to be able to output actual speeds correctly close to 0. For a stationary drive, this prevents that the I component of the speed controller slowly increases and the drive unnecessarily establishes a torque.
Page 287: Troubleshooting
Basic functions 6.18 Tolerant encoder monitoring 6.18.12 Troubleshooting Table 6- 12 Fault profiles and their possible causes Fault profile Fault description Remedy No fault – F3x101 (zero mark Check that the connection failed) assignment is correct (A interchanged with –A or B interchanged with –B) F3x100 (Zero mark Check whether the...
Page 288 Basic functions 6.18 Tolerant encoder monitoring Fault profile Fault description Remedy Zero mark too wide Use edge evaluation of the zero mark EMC faults Use an adjustable hardware filter Zero mark too early/late For faults, use pole position adaptation or (interference pulse or pulse number correction pulse loss on the A/B...
Page 289: Tolerance Window And Correction
Basic functions 6.18 Tolerant encoder monitoring 6.18.13 Tolerance window and correction Reference mark (or zero mark) Correction step per Correction step per zero mark = -1 zero mark = +1 quadrant quadrant Tolerance window zero mark negative Tolerance window zero mark positive Rotor position adaptation (p0430.22 = 1): -30°el.
Page 290 Basic functions 6.18 Tolerant encoder monitoring Parameter Functionality These functions can be freely combined with one These functions another build on one another from left to right, and can be combined with the adjacent ones Indices p0405.2 Track monitoring p0430.20 Speed calculation mode p0430.21 Zero mark tolerance...
Page 291: Overview Of Important Parameters
Number of pulses square-wave encoder outside tolerance 6.18.15 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0404[0...n] Encoder configuration active ● p0405[0...n] Squarewave encoder track A/B / squarewave encoder A/B ● p0408[0...n] Rotary encoder pulse number ●...
Page 292: Parking Axis And Parking Encoder
Basic functions 6.19 Parking axis and parking encoder 6.19 Parking axis and parking encoder The parking function is used in two ways: ● "Parking axis" – Monitoring of all encoders and Motor Modules assigned to the "Motor control" application of a drive are suppressed. –...
Page 293 Basic functions 6.19 Parking axis and parking encoder Parking an encoder When an encoder is parked, the encoder being addressed is switched to inactive (r0146 = ● Control is carried out via the encoder control/status words of the cyclic telegram (Gn_STW.14 and Gn_ZSW.14).
Page 294 In the following example, a motor encoder is parked. To activate motor encoder parking, the drive must be stopped (e.g. via STW1.0 (OFF1). Figure 6-12 Function chart: parking encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ● p0125 Activate power unit component ●...
Page 295: Position Tracking
Basic functions 6.20 Position tracking 6.20 Position tracking 6.20.1 General Information Terminology ● Encoder range The encoder range is the position area that can itself represent the absolute encoder. ● Singleturn encoder A singleturn encoder is a rotating absolute encoder, which provides an absolute image of the position within one encoder revolution.
Page 296: Measuring Gear
Basic functions 6.20 Position tracking ● Encoder pulses per revolution (p0408) ● Fine resolution per revolution (p0419) ● Number of resolvable revolutions of the rotary absolute encoder (p0421), this value is fixed at "1" for singleturn encoders. When position tracking (p0411.0 = 1) is activated, the encoder position actual value r0483 is composed as follows: ●...
Page 297 Basic functions 6.20 Position tracking In order to determine the position at the motor/load, in addition to the position actual value of the absolute encoder, it is also necessary to have the number of overflows of the absolute encoder. If the power supply of the control module must be powered-down, then the number of overflows must be saved in a non-volatile memory so that after powering-up the position of the load can be uniquely and clearly determined.
Page 298 Basic functions 6.20 Position tracking Measuring gear configuration (p0411) The following points can be set by configuring this parameter: ● p0411.0: Activation of position tracking ● p0411.1: Setting the axis type (linear axis or rotary axis) Here, a rotary axis refers to a modulo axis (modulo offset can be activated through higher-level control or EPOS).
Page 299 Basic functions 6.20 Position tracking Tolerance window (p0413) After switching on, the difference between the stored position and the actual position is ascertained and, depending on the result, the following is initiated: ● Difference within the tolerance window → the position is reproduced based on the actual encoder value.
Page 300: Encoder As Drive Object
6.21 ENCODER as drive object Function diagrams (see SINAMICS S120/S150 List Manual) ● 4704 Position and temperature sensing, encoders 1 ... 3 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0402 Gear type selection ● p0411 Measuring gear configuration ●...
Page 301: Creating An Encoder Drive Object With Starter, Offline
Basic functions 6.21 ENCODER as drive object ● Up to 4 DRIVE-CLiQ HUBs (DMC20 or DME20) can be used to establish a star-shaped wiring of the ENCODER drive objects. This means that a maximum of 19 possible ENCODER drive objects can be connected to one Control Unit. (This means that the number of possible ENCODER drive objects is restricted so that a total maximum of 24 drive objects can be connected to one Control Unit.) ●...
Page 302: Terminal Module 41
Basic functions 6.22 Terminal Module 41 6.22 Terminal Module 41 General features ● Pulse encoder emulation, TTL signals according to the RS422 standard (X520) ● 1 analog input ● 4 digital inputs ● 4 bidirectional digital inputs/outputs Terminal Module 41 (TM41) emulates incremental encoder signals (TTL) – and outputs them via interface X520.
Page 303: Sinamics Mode
Basic functions 6.22 Terminal Module 41 Figure 6-18 Function diagram encoder emulation Special features ● PROFIdrive telegram 3 ● Own control word (r0898) ● Own status word (r0899) ● Sequence control (refer to function diagram 9682) ● Settable zero mark position (p4426) ●...
Page 304: Zero Mark Emulation
Basic functions 6.22 Terminal Module 41 The zero mark signal for the TM41 is generated from the zero position of the leading encoder. Parameters p0493, p0494 and p0495 apply to the generation of the zero position of the leading encoder. Special features ●...
Page 305 Basic functions 6.22 Terminal Module 41 ● Referencing to an external zero mark connected via an input terminal (CU - parameter p0495) ● The position of the zero mark that is output is synchronized to the zero position of the original encoder.
Page 306 Basic functions 6.22 Terminal Module 41 Example of a pulse number step-up ratio with three zero positions The leading encoder outputs three pulses and one zero mark per revolution. However, the application requires 8 pulses and 3 zero marks per revolution. By setting p4408 and p4418, the required 8 pulses and the additional 3 zero marks per revolution are available at X520 of the TM41.
Page 307: Zero Mark Synchronization
Basic functions 6.22 Terminal Module 41 Enabling the zero mark output of the TM41 For p4401.1 = 1, the zero mark from the leading encoder is also output from the TM41. For p4401.1 = 0, TM41 outputs the zero pulse at the position at which the TM41 was located when switching on.
Page 308: Limit Frequencies For Tm41
Basic functions 6.22 Terminal Module 41 ● After the SINAMICS system has been powered up, the TM41 drive object requests the zero position of the leading encoder via the encoder interface. The encoder emulation follows the movements of the leading encoder and outputs the track signals A/B. At this point in time, no zero mark is output.
Page 309: Example In The Sinamics Mode
Basic functions 6.22 Terminal Module 41 Following error monitoring If the actual position can no longer follow the entered position setpoint characteristic, then fault F35220 is output. In the SINAMICS mode the frequency setpoint is limited to the maximum output frequency. The maximum output frequency from the TM41 is transferred to the Control Unit.
Page 310: Function Diagrams And Parameters
● 9676 Incremental encoder emulation (p4400 = 1) ● 9678 Control word sequence control ● 9680 Execution control status word ● 9682 Processor Overview of important parameters (see SINAMICS S120/S150 List Manual) General ● r0002 TM41 operating display ● p0408 TM41 encoder emulation pulse number ●...
Page 311: Upgrade The Firmware And Project
Basic functions 6.23 Upgrade the firmware and project ● p0840 BI: ON/OFF1 ● r0898 CO/BO: Control word, sequence control ● r0899 CO/BO: Status word, sequence control ● p1155 CI: Incremental encoder emulation speed setpoint 1 ● p4426 Incremental encoder emulation, pulses for zero mark Incremental encoder emulation using the encoder actual position (p4400 = 1) ●...
Page 312: Firmware/Project Upgrade Using The Starter
Basic functions 6.23 Upgrade the firmware and project The update has been completed if the RDY-LED on the Control Unit stops to flash in a 0.5Hz rhythm. Once the update process has been completed, the RDY-LED of the respective component goes into a steady light condition, for which the upgrade has been completed and the new firmware has been activated.
Page 313 – In the project navigator, right-click on <Drive unit > -> Target device -> Device version / Upgrade device type – Select the required firmware version, e.g. version "SINAMICS S120 firmware version 4.x" -> Change version 4. Transfer the project into the new hardware –...
Page 314: Downgrade Lock
Thanks to the pulse/direction interface, in the SERVO and VECTOR control modes, SINAMICS S120 can be used for simple positioning tasks on a controller. ● The encoder interface of the SMC30 (connector X521) is used to connect the controller to the CU320-2.
Page 315 Basic functions 6.24 Pulse/direction interface Pulse number = (max. clock frequency • 60)/max. speed Example: If the controller has a maximum clock frequency of 100 kHz and the motor being used is to run at its maximum rated speed of 3000 rpm, the resulting pulse number will be 2000.
Page 316: Derating Function For Chassis Units
Basic functions 6.25 Derating function for chassis units Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0010 Drive commissioning parameter filter ● r0061 CO: Actual speed value unsmoothed ● p0400[0...n] Encoder type selection ● p0404[0...n] Encoder configuration active ●...
Page 317 Basic functions 6.25 Derating function for chassis units The following quantities can result in a response to thermal overload: ● Heat sink temperature via r0037.[0] ● Chip temperature via r0037.[1] ● Power unit overload after I2t calculation via r0036 Possible measures to avoid thermal overload: ●...
Page 318 Basic functions 6.25 Derating function for chassis units Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 319: Technology Controller
(CU). The READY LED on the main component of the drive object can be made to flash using parameter p0124. Overview of important parameters (see the SINAMICS S120/150 List Manual) ● p0108[0..23] drive objects function module ● p0124[0...23] main component detection via LED Technology controller Simple closed-loop control functions can be implemented with the technology controller, e.g.:...
Page 320 Function modules 7.1 Technology controller ● Simple closed-loop controls without higher-level controller ● Tension control The technology controller features: ● Two scalable setpoints ● Scalable output signal ● Separate fixed values ● Integrated motorized potentiometer ● The output limits can be activated and deactivated via the ramp-function generator. ●...
Page 321 Function modules 7.1 Technology controller This is carried out by means of a variable-speed pump in conjunction with a sensor for measuring the level. The level is determined via an analog input (e.g. AI0 on TB30) and sent to the technology controller.
Page 322 ● 7954 Motorized potentiometer (r0108.16 = 1) ● 7958 Closed-loop control (r0108.16 = 1) ● 7960 Controller DC-link voltage (r0108.16 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) Fixed setpoints ● p2201[0...n] CO: Technology controller fixed value 1 ●...
Page 323: Extended Monitoring Functions
Function modules 7.2 Extended monitoring functions ● p2258 Technology controller ramp-down time ● p2261 Technology controller setpoint filter time constant ● p2263 Technology controller type ● p2264[0...n] CI: Technology controller actual value ● p2265 Technology controller actual value filter time constant ●...
Page 324 Function diagrams (see SINAMICS S120/S150 List Manual) ● 8010 Speed messages 1 ● 8011 Speed messages 2 ● 8013 Load monitoring Overview of important parameters (see SINAMICS S120/S150 List Manual) Load monitoring ● p2181[D] Load monitoring response ● p2182[D] Load monitoring speed threshold 1 ●...
Page 325: Extended Brake Control
Function modules 7.3 Extended Brake Control Speed setpoint monitoring ● p2150[D] Hysteresis speed 3 ● p2151[C] CI: Speed setpoint ● p2161[D] Speed threshold value 3 ● r2198.4 BO: ZSW monitoring 2, |n_setp| ≤ p2161 ● r2198.5 BO: ZSW monitoring 2, n_setp < 0 Extended Brake Control Features ●...
Page 326 Function modules 7.3 Extended Brake Control Commissioning The extended brake control function can be activated while the commissioning wizard is running. Activation can be checked in parameter r0108.14. Unless you change the default settings, the extended brake control function behaves in exactly the same way as the simple brake control function.
Page 327 Function modules 7.3 Extended Brake Control Operating brake for crane drives For hoisting gear with a manual control, it is important that the drive immediately responds when the control lever is moved (master switch). The drive is switched on with an ON command (p0840) (the pulses are enabled).
Page 328 ● 2704 Zero speed detection (r0108.14 = 1) ● 2707 Release and apply brake (r0108.14 = 1) ● 2711 Signal outputs (r0108.14 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.14 extended brake control ● r0899 CO/BO: Status word, sequence control...
Page 329 Function modules 7.3 Extended Brake Control Standstill (zero-speed) monitoring ● r0060 CO: Speed setpoint before the setpoint filter ● r0063 CO: Actual speed smoothed (servo) ● r0063[0...2] CO: Actual speed value (vector) ● p1224[0...3] BI: Close motor holding brake at standstill ●...
Page 330: Braking Module
Function modules 7.4 Braking Module Braking Module Features ● Braking the motor without any possibility of regenerating into the line supply (e.g. power failure) ● Fast DC link discharge (booksize format) ● The Braking Module terminals are controlled via the drive object infeed (booksize and chassis format) ●...
Page 331: Cooling Unit
A fast DC link discharge requires the use of a line contactor with feedback signal (p0860) that is controlled via r0863.1. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.26 Drive object function module - Braking Module external ●...
Page 332 ● 9794 Cooling unit, control and feedback signals ● 9795 Cooling unit sequence control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0046.29 Missing enable signals - cooling unit ready missing ● r0108.28 drive object function module cooling unit ●...
Page 333: Extended Torque Control (Kt Estimator, Servo)
Function modules 7.6 Extended torque control (kT estimator, servo) Extended torque control (kT estimator, servo) Features ● k estimator (only for synchronous motors) ● Compensation of the voltage emulation error of the drive converter (p1952, p1953) ● Configuration via p1780 Description The "extended torque control"...
Page 334 Function diagrams (see SINAMICS S120/S150 List Manual) ● 7008 kT estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.1 drive objects function module - extended torque control ● p1780.3 selects motor model PEM k adaptation ●...
Page 335: Closed-Loop Position Control
Function modules 7.7 Closed-loop position control Closed-loop position control 7.7.1 General features The position controller essentially comprises the following parts: ● Position actual value conditioning (including the lower-level measuring probe evaluation and reference mark search) ● Position controller (including limits, adaptation and the pre-control calculation) ●...
Page 336 Function modules 7.7 Closed-loop position control The following interconnections are automatically established after the assignment has been made. ● p0480[0] (G1_STW) = encoder control word r2520[0] ● p0480[1] (G2_STW) = encoder control word r2520[1] ● p0480[2] (G3_STW) = encoder control word r2520[2] Figure 7-6 Position actual value sensing with rotary encoders The link between the physical variables and the neutral length unit LU is established via...
Page 337 Function modules 7.7 Closed-loop position control Figure 7-7 Position actual value sensing with linear encoders For linear encoders, the interrelationship between the physical quantity and the neutral length unit LU is configured using parameter p2503 (LU/10 mm). Example: Linear encoder, 10 mm should have a resolution of 1 µm (i.e. 1 LU = 1 µm). ->...
Page 338: Indexed Actual Value Acquisition
Function modules 7.7 Closed-loop position control Using the connector input p2515 (position setting value) and a "1" signal at binector input p2514 (set position actual value), a position setting value can be entered. WARNING When the actual position value is set (p2514 = "1" signal), the actual position value of the position controller is kept at the value of connector p2515 as standard.
Page 339: Load Gear Position Tracking
Function modules 7.7 Closed-loop position control Description The indexed position actual value acquisition permits e.g. length measurements on parts as well as the detection of axis positions by a higher-level controller (e.g. SIMATIC S7) in addition to the position control e.g. of a belt conveyor. Two more encoders can be operated in parallel with the encoders for actual value preprocessing and position control in order to collect actual values and measured data.
Page 340 Function modules 7.7 Closed-loop position control Description Position tracking enables reproduction of the position of the load when gears are used. It can also be used to extend the position area. Position tracking for load gear functions in the same way as position tracking for the measuring gear (see "Position tracking/Measuring gear").
Page 341 Function modules 7.7 Closed-loop position control Figure 7-9 Position tracking (p2721 = 24), setting p2504 = p2505 =1 (gear factor = 1) In this example, this means: ● Without position tracking, the position for +/- 4 encoder revolutions about r2521 = 0 LU can be reproduced.
Page 342 Function modules 7.7 Closed-loop position control Note If position tracking of the load gear is activated with parameter p2720[0] = 1 (position gear load tracking) after the encoder is adjusted (p2507 = 3), the adjustment will be reset. If the encoder is adjusted again when load position tracking is active, the load gear position will be reset (overflows).
Page 343 Function modules 7.7 Closed-loop position control Tolerance window (p2722) After switching on, the difference between the stored position and the actual position is ascertained and, depending on the result, the following is initiated: Difference within the tolerance window -> the position is reproduced based on the current actual encoder value.
Page 344 Function modules 7.7 Closed-loop position control Restrictions ● Position tracking cannot be activated for an encoder data set which is used in different drive data sets as encoder1 for different gears. If an attempt is still made to activate position tracking, fault "F07555 (Drive encoder: Configuration position tracking" will be displayed with fault value 03 hex.
Page 345 Function modules 7.7 Closed-loop position control p0186 p0187 p0188 p0189 Encoder for Mechan. Position Changeover position ratios tracking response (MDS) (encoder_1) (encoder_2) (encoder_3) control p2504/ Load gear p2502 p2505/ p2506/ p2503 EDS0 EDS1 EDS2 encoder_2 Activated Position tracking for EDS0 is continued and the referencing bit is reset.
Page 346 Function modules 7.7 Closed-loop position control p0186 p0187 p0188 p0189 Encoder for Mechan. Position Changeover position ratios tracking response (MDS) (encoder_1) (encoder_2) (encoder_3) control p2504/ Load gear p2502 p2505/ p2506/ p2503 EDS0 EDS1 EDS2 encoder_1 deactivated Pulse inhibit/operation: Referencing bit is reset.
Page 347: Commissioning Position Tracking Load Gear Using Starter
Function modules 7.7 Closed-loop position control The referencing bit (r2684.11) is reset for a DDS changeover. If, in the new DDS, the EDS already has an adjusted encoder, then the referencing bit is set again. Definitions: Position tracking is continued ●...
Page 348: Function Diagrams And Parameters
● 4704 position and temperature sensing, encoders 1...3 ● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2502[0...n] LR encoder assignment ● p2503[0...n] LR length unit LU per 10 mm ●...
Page 349 (factor, speed pre-control) can be disabled via the value 0. Function diagrams (see SINAMICS S120/S150 List Manual) ● 4015 Position controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2533[0...n] LR position setpoint filter time constant ● p2534[0...n] LR speed precontrol factor ●...
Page 350: Monitoring Functions
Function modules 7.7 Closed-loop position control 7.7.4 Monitoring functions Features ● Standstill monitoring (p2542, p2543) ● Positioning monitoring (p2544, p2545) ● Dynamic following error monitoring (p2546, r2563) ● Cam controllers (p2547, p2548, p2683.8, p2683.9) Description Figure 7-10 Zero-speed monitoring, positioning window The position controller monitors the standstill, positioning and following error.
Page 351 Function diagrams (see SINAMICS S120/S150 List Manual) ● 4020 Zero-speed / positioning monitoring ● 4025 Dynamic following error monitoring, cam controllers Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2530 CI: LR position setpoint ● p2532 CI: LR actual position value ●...
Page 352: Measuring Probe Evaluation And Reference Mark Search
Function modules 7.7 Closed-loop position control ● p2551 BI: LR setpoint message present ● p2554 BI: LR travel command message active ● r2563 CO: LR latest following error ● r2683.8 Actual position value <= cam switching position 1 ● r2683.9 Actual position value <= cam switching position 2 ●...
Page 353: Commissioning
● 4720 Encoder interface, receive signals, encoder 1 ... 3 ● 4730 Encoder interface, send signals, encoder 1 ... 3 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2508 BI: LR activate reference mark search ● p2509 BI: LR activate measuring probe evaluation ●...
Page 354: Basic Positioner
● 4015 Position controller ● 4020 Zero-speed / positioning monitoring ● 4025 Dynamic following error monitoring, cam controllers Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108 drive objects, function module ● p1160[0...n] CI: Speed controller, speed setpoint 2 ●...
Page 355 Function modules 7.8 Basic positioner This means that the following functions are available for the position control: ● Standstill (zero-speed) monitoring ● Position monitoring ● Dynamic following error monitoring ● Cam controllers ● Modulo function ● Probe evaluation For further details, see the section "Position control". In addition, the following functions can be carried out using the basic positioner: ●...
Page 356 Function modules 7.8 Basic positioner ● Traversing blocks operating mode – Positioning using traversing blocks that can be saved in the drive unit including block change enable conditions and specific tasks for an axis that was previously referenced – Traversing block editor using STARTER –...
Page 357: Mechanical System
Function modules 7.8 Basic positioner 7.8.1 Mechanical system Features ● Backlash compensation (p2583) ● Modulo offset (p2577) Description Figure 7-13 Backlash compensation When mechanical force is transferred between a machine part and its drive, generally backlash occurs. If the mechanical system was to be adjusted/designed so that there was absolutely no play, this would result in high wear.
Page 358 ● 6. Direct encoder with position tracking for the measuring gear: v = p0412 × p2506 / p2576 With position tracking it is recommended to change p0412 or p2721. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3635 Interpolator ● 4010 Position actual value conditioning...
Page 359: Limits
Function modules 7.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2576 EPOS modulo offset, modulo range ● p2577 BI: EPOS modulo offset activation ● p2583 EPOS backlash compensation ● r2684 CO/BO: EPOS status word 2 ●...
Page 360 Function modules 7.8 Basic positioner This limit is only effective in the positioning mode for: ● Jog mode ● Processing traversing blocks ● Direct setpoint input/MDI for positioning/setting-up ● Reference point approach Maximum acceleration/deceleration Parameter p2572 (maximum acceleration) and p2573 (maximum deceleration) define the maximum acceleration and the maximum deceleration.
Page 361 Function modules 7.8 Basic positioner STOP cam A traversing range can, on one hand, be limited per software using the software limit switches and on the other hand, the traversing range can be limited per hardware. In this case, the functionality of the STOP cam (hardware limit switch) is used. The function of the STOP cams is activated by the 1 signal on the binector input p2568 (activation of STOP cams).
Page 362 F07490 being output. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3630 Traversing range limits Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2571 EPOS maximum velocity ● p2572 EPOS maximum acceleration...
Page 363: Epos And Safe Setpoint Velocity Limitation
Further information can be found in the SINAMICS S120 Safety Integrated Function Manual. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 364: Referencing
Function modules 7.8 Basic positioner 7.8.4 Referencing Features ● Reference point offset (p2600) ● Reversing cams (p2613, p2614) ● Reference cam (p2612) ● Binector input start (p2595) ● Binector input setting (p2596) ● Velocity override (p2646) ● Reference point coordinate (p2598, p2599) ●...
Page 365 Function modules 7.8 Basic positioner Set reference point The reference point can be set using a 0/1 edge at binector input p2596 (set reference point) if no traversing commands are active and the actual position value is valid (p2658 = 1 signal).
Page 366 Further information on commissioning DRIVE-CLiQ encoders is provided in the SINAMICS S120 Commissioning Manual. Reference point approach for incremental measurement systems With the reference point approach (in the case of an incremental measuring system), the drive is moved to its reference point.
Page 367 Function modules 7.8 Basic positioner The velocity override set is only effective during the search for the reference cam (step 1). This ensures that the "cam end" and "zero mark" positions are always overrun at the same speed. If signal propagation delays arise during switching processes, this ensures that the offset caused during establishment of position is the same in each referencing process.
Page 368 Function modules 7.8 Basic positioner If the axis is already located at the cam, when referencing is started, then traversing to the reference cam is not executed, but synchronization to the reference zero mark is immediately started (refer to step 2). Note The velocity override is effective during the search for the cam.
Page 369 Function modules 7.8 Basic positioner ● Encoder zero mark available (p0494 = 0 or p0495 = 0) , no reference cams (p2607 = 0): Synchronization to the reference zero mark begins as soon as the signal at binector input p2595 (start referencing) is detected. The drive accelerates to the velocity, specified in parameter p2608 (zero mark approach velocity) in the direction specified by the signal of binector input p2604 (reference point approach start direction).
Page 370 Function modules 7.8 Basic positioner Flying referencing Inaccuracies in the actual value acquisition are compensated with flying referencing. This increases the load-side positioning accuracy. The mode "flying referencing" (also known as post-referencing, positioning monitoring), which is selected using a "1" signal at binector input p2597 (select referencing type), can be used in every mode (jog, traversing block and direct setpoint input for positioning/setting-up) and is superimposed on the currently active mode.
Page 371 Function modules 7.8 Basic positioner ● If the drive has already been homed and the position difference is more than the outer window (p2602), alarm A07489 (reference point offset outside window 2) is output and the status bit r2684.3 (pressure mark outside window 2) set. No offset to the actual position value is undertaken.
Page 372 For incremental encoders r2684.11 ("Reference point set") is reset, and for absolute encoders the status of adjustment (p2507) is not reset in addition, because the encoder data set is different from the original. xxx, yyy, zzz: different mechanical conditions Function diagrams (see SINAMICS S120/S150 List Manual) ● 3612 Referencing ● 3614 Flying referencing...
Page 373: Referencing With Several Zero Marks Per Revolution
Function modules 7.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0494[0...n] equivalent zero mark input terminal ● p0495 equivalent zero mark input terminal ● p2596 BI: EPOS set reference point ● p2597 BI: EPOS referencing type selection ●...
Page 374 Function modules 7.8 Basic positioner The higher-level control/position control when referencing requires a unique reference between the encoder zero mark and the machine axis (load/spindle). This is the reason that the "correct" zero mark is selected using a BERO signal. Example with a measuring gear PROFIdrive encoder interface...
Page 375 BERO signal ↔ zero mark. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0488 Probe 1 input terminal ● p0489 Probe 2 input terminal ●...
Page 376: Safely Referencing Under Epos
Function modules 7.8 Basic positioner ● p0680 Central probe input terminal ● p2517 LR direct probe 1 ● p2518 LR direct probe 2 7.8.6 Safely referencing under EPOS Basic positioning with safe referencing Some safety functions (e.g. SLP, SP) require safe referencing. If EPOS is active at a drive, when referencing using EPOS, then the absolute position is also automatically transferred to the Safety Integrated functions.
Page 377 Function modules 7.8 Basic positioner Gear unit Motor Encoder Figure 7-21 Example 2: EPOS and safe referencing_linear Safety Integrated Extended function uses the rotating motor encoder. The gearbox is parameterized using p9521/p9522. The spindle pitch is parameterized in p9520. To calculate the load-side absolute position, EPOS directly uses the load-side linear scale.
Page 378: Traversing Blocks
Function modules 7.8 Basic positioner Flying referencing using Safety Integrated Extended functions Flying referencing is frequently used to compensate for any inaccuracies in the actual value sensing, and therefore to optimize positioning accuracy on the load side. The Safety Integrated Extended functions have lower accuracy requirements than the control. For Safety Integrated Extended functions, cyclic adjustment is not necessary.
Page 379 Function modules 7.8 Basic positioner ● Task mode (p2623[0...63]) The execution of a traversing task can be influenced by parameter p2623 (task mode). This is automatically written by programming the traversing blocks in STARTER. Value = 0000 cccc bbbb aaaa –...
Page 380 Function modules 7.8 Basic positioner ● Task parameter (command-dependent significance) (p2622[0...63]) Intermediate stop and reject traversing task The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes with the parameterized deceleration value (p2620 or p2645). The current traversing task can be canceled by a 0 signal at p2641.
Page 381 Function modules 7.8 Basic positioner ENDLESS POS, ENDLESS NEG Using these tasks, the axis is accelerated to the specified velocity and is moved, until: ● A software limit switch is reached. ● A STOP cam signal has been issued. ● The traversing range limit is reached. ●...
Page 382 Function modules 7.8 Basic positioner The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator clock cycles p0115[5]. The minimum delay time is one interpolation clock cycle; this means that if a delay time is parameterized, which is less than an interpolation clock cycle, then the system waits for one interpolation clock cycle.
Page 383: Travel To Fixed Stop
POSITION and WAIT order can be started. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3616 Traversing blocks operating mode Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2616 EPOS traversing block, block number ● p2617 EPOS traversing block, position ●...
Page 384 Function modules 7.8 Basic positioner Fixed stop is reached As soon as the axis comes into contact with the mechanical fixed stop, the closedloop control in the drive raises the torque so that the axis can move on. The torque increases up to the value specified in the task and then remains constant.
Page 385 Function modules 7.8 Basic positioner Fixed stop is not reached If the brake application point is reached without the "fixed stop reached" status being detected, then the fault F07485 "Fixed stop is not reached" is output with fault reaction OFF1, the torque limit is canceled and the drive cancels the traversing block. Note •...
Page 386: Direct Setpoint Input (Mdi)
● 3617 Travel to fixed stop (r0108.4 = 1) ● 4025 Dynamic following error monitoring, cam controllers (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1528 CI: Torque limit, upper/motoring, scaling ● p1529 CI: Torque limit, lower/regenerative scaling ●...
Page 387 Function modules 7.8 Basic positioner ● Connector inputs – CI: MDI position setpoint (p2642) – CI: MDI velocity setpoint (p2643) – CI: MDI acceleration override (p2644) – CI: MDI deceleration override (p2645) – CI: Velocity override (p2646) ● Accept (p2649, p2650) Description The direct setpoint input function allows for positioning (absolute, relative) and setup (endless position-controlled) by means of direct setpoint input (e.g.
Page 388 ● 3618 EPOS - direct setpoint input mode/MDI, dynamic values ● 3620 EPOS - direct setpoint input mode/MDI Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2577 BI: EPOS modulo offset activation ● p2642 CI: EPOS direct setpoint input/MDI, position setpoint ●...
Page 389 SINAMICS S120/S150 List Manual). Function diagrams (see SINAMICS S120/S150 List Manual) ● 3610 EPOS - jog mode Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2585 EPOS jog 1 setpoint velocity ● p2586 EPOS jog 2 setpoint velocity ●...
Page 390: Status Signals
Function modules 7.8 Basic positioner 7.8.11 Status signals The status signals relevant to positioning mode are described below. Tracking mode active (r2683.0) The "Follow-up active mode" status signal shows that follow-up mode has been activated which can be done by binector input p2655 (follow-up mode) or by a fault. In this status, the position setpoint follows the actual position value, i.e.
Page 391 Function modules 7.8 Basic positioner Cam switching signal 1 (r2683.8) Cam switching signal 2 (r2683.9) The electronic cam function can be implemented using these signals. Cam switching signal 1 is 0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if the actual position is greater than p2548 - otherwise 1.
Page 392: Master/Slave For Active Infeed
Function modules 7.9 Master/slave for Active Infeed Velocity limiting active (r2683.1) If the actual setpoint velocity exceeds the maximum velocity p2571 - taking into account the velocity override - it is limited and the control signal is set. Master/slave for Active Infeed 7.9.1 Operating principle This function allows drives to be operated with a redundant infeed.
Page 393: Basic Structure
Function modules 7.9 Master/slave for Active Infeed 7.9.2 Basic structure Description DRIVE-CLiQ can be used to connect an Active Line Module (ALM) to a Control Unit (CU) and Voltage Sensing Module (VSM) to create an infeed train. A Motor Module together with a Sensor Module Cabinet (SMC) or Sensor Module External (SME) forms a drive train.
Page 394 Function modules 7.9 Master/slave for Active Infeed Topology Figure 7-23 Topology structure and communications network based on PROFIBUS for master/slave operation with redundant infeeds (4 infeed trains) Master/slave operation can be implemented for a maximum of 4 Active Line Modules. Electrical isolation of infeeds To successfully implement the structure, a means of electrically isolating the infeeds from the line supply is required in addition to the SINAMICS components.
Page 395: Types Of Communication
Function modules 7.9 Master/slave for Active Infeed Two solutions are possible for the electrical isolation: ● Using an isolating transformer for each slave infeed train. The primary side of the transformer is to be connected to the grounded or ungrounded line transformer. The secondary side must never be grounded.
Page 396: Description Of Functions
Function modules 7.9 Master/slave for Active Infeed Communication using an analog setpoint The analog setpoint between the CUs with Terminal Module 31 (TM31) can also be used as an alternative to bus communication. The factory setting for the sampling time of analog inputs and/or outputs is 4 ms (TM31 inputs/outputs sampling time p4099[1/2]).
Page 397 Structogram of master/slave operation, 3 identical Active Line Modules (ALMs) of identical output rating, PROFIBUS communication system Function diagrams The function of the "Master/slave infeeds" function module is shown in function diagrams 8940 and 8948 (see SINAMICS S120/S150 List Manual). Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 398 Function modules 7.9 Master/slave for Active Infeed Explanations for the function diagrams ● Current setpoint interconnection Parameter p3570 is used to connect the setpoint for the closed-loop current control (active current setpoint from the master). Using parameter p3513, which can be changed in the "ready for operation"...
Page 399: Commissioning
Function modules 7.9 Master/slave for Active Infeed 7.9.5 Commissioning Line supply and DC link identification routine Before the option "Master/slave" operation is enabled in STARTER, the line supply and DC link identification runs (see corresponding section in this function manual) must be executed during commissioning for each infeed train.
Page 400: Function Diagrams And Parameters
Function diagrams (see SINAMICS S120/S150 List Manual) ● 8940 Controller control factor reserve/controller DC link voltage ● 8948 Master/slave (r0108.19 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3513 BI: Disable voltage-controlled operation ● p3516 infeed current distribution factor ●...
Page 401: Connecting The Motors In Parallel
Function modules 7.10 Connecting the motors in parallel 7.10 Connecting the motors in parallel For simple commissioning of group drives (a number of identical motors operating on one power unit) in control modes servo and vector, the number of parallel-connected motors can be entered in STARTER or in the parameter list (p0306) An equivalent motor is computed internally depending on the number of motors specified.
Page 402 Function modules 7.10 Connecting the motors in parallel Figure 7-25 Selection of motors for parallel connection Motors with integrated DRIVE-CLiQ interface (SINAMICS Sensor Module Integrated) can also be connected in parallel. The first motor is connected to DRIVE-CLiQ via the encoder. The additional motors must be identical) Using parameter p0306 and the encoder information obtained via DRIVE-CLiQ, it is possible to determine all the necessary motor data.
Page 403: Parallel Connection Of Power Units
7.11 Parallel connection of power units In order to extend the power range, SINAMICS S120 supports the parallel connection of identical power units such as Line Modules and/or Motor Modules. The prerequisites for connecting power units in parallel are as follows: ●...
Page 404 (p7003 = 0) is possible. CAUTION Additional information and instructions in the Manual SINAMICS S120 Chassis Power Units must be carefully taken into consideration. ● Parallel connection of up to four power units on the infeed side (closed/open loop).
Page 405: Applications Of Parallel Connections
The reduction of the rated current (derating) of a power unit for parallel connection is: ● 7.5% for parallel connections of SINAMICS S120 Basic Line Modules and SINAMICS S120 Smart Line Modules when neither module is equipped with a current compensation control.
Page 406 Function modules 7.11 Parallel connection of power units Figure 7-26 Parallel connection of power units - overview Note For further information about parallel connection of power units, especially instructions on how to configure them, see "SINAMICS Configuration Manual for G130, G150, S120 Chassis, S120 Cabinet Modules, S150".
Page 407: Parallel Connection Of Basic Line Modules
Function modules 7.11 Parallel connection of power units 12-pulse infeed For a 12-pulse infeed, the two redundant infeeds with the same power rating are supplied from a line supply via a three-winding transformer. Depending on the transformer design, the line-side voltages of the two infeeds will include minor tolerances of between about 0.5 % to 1 %.
Page 408 Function modules 7.11 Parallel connection of power units ● With multiple infeeds, power must be supplied to the systems from a common infeed point (i.e. the modules cannot be operated on different line supplies). ● A current reduction (derating) of 7.5 % must be taken into consideration, regardless of the number of modules connected in parallel.
Page 409: Parallel Connection Of Smart Line Modules
Function modules 7.11 Parallel connection of power units DANGER Vdc control with Basic Line Modules If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a Basic Line Module), the Vdc_max control may only be activated for that Motor Module whose drive has the nominal highest moment of inertia of all connected drives.
Page 410: Parallel Connection Of Active Line Modules
Function modules 7.11 Parallel connection of power units ● With multiple infeeds, power must be supplied to the systems from a common infeed point (i.e. the modules cannot be operated on different line supplies). ● A derating factor of 7.5 % must be taken into consideration, regardless of the number of modules connected in parallel.
Page 411 Function modules 7.11 Parallel connection of power units Active Line Modules are available for the following voltages and power ratings: Table 7- 9 Active Line Modules Line supply voltage Rated power 380 to 480 V AC, 3-phase 132 ... 900 kW 500 to 690 V AC, 3-phase 560 ...
Page 412: Parallel Connection Of Motor Modules
Function modules 7.11 Parallel connection of power units 7.11.1.4 Parallel connection of Motor Modules Up to four Motor Modules operating in parallel can supply a single motor in vector control. The motor can have electrically isolated winding systems or a common winding system. The type of winding system defines the following requirements: ●...
Page 413 Function modules 7.11 Parallel connection of power units Parallel connection of two Motor Modules to one motor with double winding system Motors in the power range from about 1 MW to 4 MW, for which power units connected in parallel are generally used, frequently have several parallel windings. If these parallel windings are separately routed to the terminal box of the motor, a motor is obtained with winding systems that can be separately accessed.
Page 414: Commissioning
For further detailed information about commissioning, restrictions regarding operation and parameterization options, please refer to the following references ● SINAMICS S120 Commissioning Manual ● SINAMICS S120/S150 List Manual Parameters r7002 ff. 7.11.3 Additional drive in addition to the parallel connection Frequently, a controlled auxiliary drive is required in addition to the main drives, e.g.
Page 415 Function modules 7.11 Parallel connection of power units For drive units with power units connected in parallel (Line Modules, Motor Modules) an additional drive can be supplied as an auxiliary drive. This drive object is supplied via a separate Motor Module from the common DC link and controlled from the CU320-2 via a dedicated DRIVE-CLiQ socket.
Page 416 7.11 Parallel connection of power units Figure 7-28 Topology with 3 basic Line Modules, 2 Motor Modules and 1 auxiliary drive Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p0120 Power unit data sets (PDS) number ● p0121 Power unit component number ●...
Page 417: Extended Stop And Retract
If extended stop and retract are to activated simultaneously with Safety Integrated Functions, the following conditions must also be satisfied. Further information can be found in the SINAMICS S120 Safety Integrated Function Manual. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 418: Preconditions For Extended Stop And Retract
Function modules 7.12 Extended stop and retract Example For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and various feed drives for a tool. In the case of a fault, it is not permissible that the tool remains inserted in the workpiece.
Page 419: Valid Sources For Triggering The Esr Functions
Function modules 7.12 Extended stop and retract 7.12.3 Valid sources for triggering the ESR functions Axis-related trigger sources Conditions for triggering the function: ● ESR function has been configured in the drive with p0888, e.g. stopping or retraction. ● ESR function has been enabled in the drive with p0889 = 1. ●...
Page 420: Invalid Sources
Function modules 7.12 Extended stop and retract 7.12.4 Invalid sources The following DRIVE-CLiQ communication failures do not produce an ESR trigger: 1. Pulse suppression of the Motor Modules is pending – The drive performs an OFF2 and coasts to a standstill. 2.
Page 421: Extended Retract
Function modules 7.12 Extended stop and retract 7.12.5.2 Extended retract In the case of a fault, the objective is to approach a retraction position. The retraction method is used as long as the drive is still capable of functioning. The function is parameterized and operates on an axis-specific basis.
Page 422: Regenerative Operation
Function modules 7.12 Extended stop and retract 7.12.5.3 Regenerative operation In the case of a fault, the objective is to buffer the DC link until all of the drives connected to the DC link and enabled by ESR have reached their configured final position. To achieve this, a suitable drive in the drive line-up, for example a spindle drive, is braked in generator operation.
Page 423: Profidrive Telegram For Esr
= r0887.12 7.12.8 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 2443 Signal targets for STW1 in interface mode SIMODRIVE 611 universal (p2038 = 1) ● 2456 Signal sources for MELDW ● 2495 Signal targets for CU_STW1 ●...
Page 424: Moment Of Inertia Estimator
Function modules 7.13 Moment of inertia estimator ● p0889 BI: Enable ESR response ● p0890 BI: ESR trigger ● p0891 ESR OFF ramp ● p0892 ESR timer ● p0893 ESR velocity / ESR speed ● p1051 [0...n] CI: Speed limit in RFG, positive direction of rotation ●...
Page 425 Function modules 7.13 Moment of inertia estimator Description If an unknown load is present during the speed change, then the moment of inertia cannot be determined. The complete actual motor torque is known. It is not known what percentage is used to accelerate the motor and what is used to accelerate the load. This is the reason that acceleration or deceleration (using the speed setpoint) must be without load.
Page 426 Function modules 7.13 Moment of inertia estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0108[0...23] drive objects, the function module ● p0341[0...n] Motor moment of inertia ● p1400[0...n] Speed control configuration ● p1402[0...n] Closed-loop current control and motor model configuration ●...
Page 427 Function modules 7.13 Moment of inertia estimator Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 428 Function modules 7.13 Moment of inertia estimator Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 429: Monitoring And Protective Functions
Monitoring and protective functions Power unit protection, general SINAMICS power units offer comprehensive functions for protecting power components. Table 8- 1 General protection for power units Protection against: Precautions Responses Overcurrent Monitoring with two thresholds: A30031, A30032, A30033 First threshold exceeded •...
Page 430 Monitoring and protective functions 8.2 Thermal monitoring and overload responses The following thermal monitoring options are available: ● I t monitoring - A07805 - F30005 t monitoring is used to protect components that have a high thermal time constant compared with semi-conductors. An overload with regard to I t is present when the converter load r0036 is greater than 100% (load in % in relation to rated operation).
Page 431 Control Unit. Function diagrams (see SINAMICS S120/S150 List Manual) ● 8014 Thermal monitoring, power unit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0036 CO: Power unit overload I2t ● r0037 CO: Power unit temperatures ●...
Page 432: Block Protection
Function diagrams (see SINAMICS S120/S150 List Manual) ● 8012 Signals and monitoring functions - Torque messages, motor blocked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2144 BI: Blocked motor monitoring enable (negated) ● p2175 Motor blocked speed threshold ●...
Page 433: Stall Protection (Only For Vector Control)
Function diagrams (see SINAMICS S120/S150 List Manual) ● 6730 Current control ● 8012 Torque messages, motor blocked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r1408 CO/BO: Control status word 3 ● p1744 Motor model speed threshold stall detection ●...
Page 434: Thermal Motor Protection
Monitoring and protective functions 8.5 Thermal motor protection Thermal motor protection The thermal motor protection monitors the motor temperature and responds to overtemperature conditions with alarms or faults. The motor temperature is either measured with sensors in the motor, or is calculated without sensors, using a temperature model from the operating data of the motor.
Page 435: Thermal Motor Model 1
Monitoring and protective functions 8.5 Thermal motor protection Depending on the particular model, the temperature rise is either assigned different motor parts (stator, rotor), or is calculated from the motor current and the thermal time constant. A combination of motor temperature model with additional temperature sensors can also be used.
Page 436: Thermal Motor Model 3
Monitoring and protective functions 8.5 Thermal motor protection ● p0627 = overtemperature, stator winding ● p0628 = rotor winding temperature rise Motor temperature rises are calculated on the basis of motor measured values. The calculated temperature rises are indicated in the parameters: ●...
Page 437 Function diagrams (see SINAMICS S120/S150 List Manual) ● 8016 Thermal motor monitoring ● 8017 Thermal motor models (only for synchronous motor, p0300 = xxx) Overview of important parameters (see SINAMICS S120/S150 List Manual) Thermal motor model 1 ● r0034 CO: Motor utilization ●...
Page 438: Motor Temperature Sensing
The temperature sensor is connected to the Sensor Module at the appropriate terminals (- Temp) and (+Temp) (see the relevant section in the Manual SINAMICS S120 Control Units and Supplementary System Components). The threshold value for switching over to an alarm or fault is 1650 Ω.
Page 439: Sensor Modules
Monitoring and protective functions 8.5 Thermal motor protection Function of the bimetallic NC contact A bimetallic switch at a certain nominal response temperature actuates a switch. The tripping resistance is <100 Ohm. Not every sensor input is bimetal NC contact-capable. ●...
Page 440: Sensor Module External
Monitoring and protective functions 8.5 Thermal motor protection 8.5.5 Sensor Module External A Sensor Module External (SME) is required if the sensor interface is to be installed close to the motor sensor outside a control cabinet. The SME has an IP67 degree of protection. 8.5.6 Sensor Module SME 20/25 Sensor Module External 20/25...
Page 441 Monitoring and protective functions 8.5 Thermal motor protection Temperature measurement ● p0600 = 1/2/3 selects the additional motor temperature measurement via channels 2 to 4. ● p0601 = 10 activates the evaluation via several temperature channels SME12x. KTY84 ● p4601[0...n] to p4603[0...n] = 20 sets temperature sensor type KTY. ●...
Page 442: Terminal Modules
Monitoring and protective functions 8.5 Thermal motor protection 8.5.8 Terminal Modules Terminal Modules provided the drive system with additional analog and digital data inputs and outputs. They are intended for use in control cabinets. The Terminal Modules are connected via DRIVE-CLiQ with the drive system. Terminal Modules TM31, TM120 and TM150 provide inputs for temperature sensors.
Page 443: Terminal Module 120
-48 °C up to 251°C. Temperature sensors are connected at the TM120 at terminal strip X521 according to the table above. You will find additional information on this topic in the SINAMICS S120 Control Units and Additional Components Manual.
Page 444 Monitoring and protective functions 8.5 Thermal motor protection ● p0609[0...3] allocates the temperature channels for the motor temperatures to signal source 3. ● p4100[0...n] = 0 deactivates temperature evaluation. ● r4101[0...3] indicates the actual resistance value of the respective temperature sensor. The maximum measurable resistance is 2170 Ω.
Page 445: Terminal Module 150
The TM150 temperature inputs are not electrically isolated. You can find additional information in the function diagrams 9625, 9626 and 9627 in the SINAMICS S120/S150 List Manual. Selecting the sensor types ● p4100[0...11] sets the sensor type for the respective temperature channel.
Page 446: Measurement With Up To 6 Channels
With p4108[0...5] = 3, you evaluate a sensor in a 4-wire system at a 4-wire connection at terminals 3 and 4. The measuring cable is connected to terminals 1 and 2. You can find additional information in function diagram 9626 in the SINAMICS S120/S150 List Manual.
Page 447: Measurement With Up To 12 Channels
1 and 2. The second sensor (number = first sensor + 6) is connected at terminals 3 and 4. You can find additional information in function diagram 9627 in the SINAMICS S120/S150 List Manual. When connecting two 2-wire sensors to terminal X531, the first sensor is assigned to temperature channel 1 and the second sensor is assigned to channel 7 (1+6).
Page 448: Evaluating Temperature Channels
Monitoring and protective functions 8.5 Thermal motor protection The calculated values from group 1 are available in the following parameters for interconnection: ● r4112[1] = maximum ● r4113[1] = minimum ● r4114[1] = average value NOTICE Forming groups of temperature channels Only form groups of continuously measuring temperature sensors.
Page 449: Motor Module/Power Module Chassis Format
Monitoring and protective functions 8.5 Thermal motor protection 8.5.12 Motor Module/Power Module chassis format Motor Modules have a direct connection for a motor temperature sensor. You can evaluate PTC, KTY84, PT100 or bimetallic NC contact temperature sensors. The terminals of the temperature sensors at a Motor Module depend on their design.
Page 450: Cu310-2/Cua31/Cua32
Monitoring and protective functions 8.5 Thermal motor protection 8.5.13 CU310-2/CUA31/CUA32 The Control Unit Adapter CUA31 and CUA32 have one temperature channel. The terminal strip in the CUA31 has an interface for a motor temperature sensor. The temperature sensor can be alternatively connected at the CUA32 via the encoder interface. The Control Unit CU310-2 DP/PN has two independent temperature channels.
Page 451: Motor With Drive-Cliq
Monitoring and protective functions 8.5 Thermal motor protection 8.5.14 Motor with DRIVE-CLiQ The motor and encoder data are saved as an electronic type plate in a motor equipped with a DRIVE-CLiQ connection. This data is transferred to the Control Unit when commissioning. As a consequence, when commissioning this motor type, all of the necessary parameters are pre-assigned and set automatically.
Page 452: Function Diagrams And Parameters
● 9626 Terminal Module 150 - temperature evaluation 1x2, 3, 4-wire (channel 0...5) ● 9627 Terminal Module 150 - temperature evaluation 2x2 conductor (channel 6...11) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0034 CO: Motor utilization ● r0035 CO: Motor temperature ●...
Page 453 Monitoring and protective functions 8.5 Thermal motor protection ● p0607[0...n] temperature sensor fault timer stage ● p0608[0...3] CI: Motor temperature, signal source 2 ● p0609[0...3] CI: Motor temperature, signal source 3 ● p0610[0...n] motor overtemperature reaction ● p0624[0...n] motor temperature offset PT100 ●...
Page 454 Monitoring and protective functions 8.5 Thermal motor protection ● p4109[0...11] TM150 cable resistance measurement ● p4110[0...11] TM150 cable resistance value ● p4111[0...2] TM150 group, channel assignment ● r4112[0...2] CO: TM150 group temperature actual value ,maximum ● r4113[0...2] CO: TM150 group temperature actual value, minimum ●...
Page 455: Safety Integrated Basic Functions
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Page 456: General Information
General information Note This manual describes the Safety Integrated Basic Functions. The Safety Integrated Extended Functions are described in the following documentation: References: /FHS/ SINAMICS S120 Function Manual Safety Integrated. 9.2.1 Explanations, standards, and terminology Safety Integrated The "Safety Integrated" functions enable the implementation of highly effective application- oriented functions for man and machine protection.
Page 457 Adjustable-speed electrical power drive systems Part 5-2: Safety requirements - Functional Note In conjunction with certified components, the safety functions of the SINAMICS S120 drive system fulfill the following requirements: • Category 3 to EN 954-1/ ISO 13849-1. • Safety integrity level 2 (SIL 2) to IEC 61508.
Page 458 A cyclic cross-check of the safety-related data in the two monitoring channels is carried out. If any data are inconsistent, a stop response is triggered with any Safety function. Overview of parameters (see SINAMICS S120/S150 List Manual) ● r9780 SI Monitoring clock cycle (Control Unit) ●...
Page 459: Supported Functions
In addition, most of the safety functions of the SINAMICS S have been certified by independent institutes. A list of currently certified components is available on request from your local Siemens office. The following Safety Integrated functions (SI functions) are available: ●...
Page 460: Controlling The Safety Integrated Functions
– Safe referencing – Transferring safe position values (SP) The Safety Integrated Extended Functions are described in the following documentation: References: /FHS/ SINAMICS S120 Safety Integrated Function Manual 9.2.3 Controlling the Safety Integrated functions The following options for controlling Safety Integrated functions are available:...
Page 461: Parameter, Checksum, Version, Password
Safety Integrated basic functions 9.2 General information NOTICE PROFIsafe or TM54F Using a Control Unit, control is possible either via PROFIsafe or TM54F. Mixed operation is not permissible. 9.2.4 Parameter, Checksum, Version, Password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ●...
Page 462 Safety Integrated basic functions 9.2 General information ● r9898 SI actual checksum SI parameters (Motor Module) ● p9899 SI reference checksum SI parameters (Motor Module) During each ramp-up procedure, the actual checksum is calculated via the Safety parameters and then compared with the reference checksum. If the actual and reference checksums differ, fault F01650/F30650 or F01680/F30680 is output and an acceptance test requested.
Page 463: Forced Dormant Error Detection
2. Recommission the drive unit and drives. 3. Recommission Safety Integrated. Or contact your regional Siemens office and ask for the password to be deleted (complete drive project must be made available). Overview of important parameters for "Password" (see SINAMICS S120/S150 List Manual) ●...
Page 464: Safety Instructions
Safety Integrated basic functions 9.3 Safety instructions Safety instructions Safety instructions WARNING After hardware and/or software components have been modified or replaced, it is only permissible for the system to run up and the drives to be activated with the protective devices closed.
Page 465: Safe Torque Off (Sto)
Safety Integrated basic functions 9.4 Safe Torque Off (STO) CAUTION The "automatic restart" function may not be used together with the safety functions STO/SBC and SS1. The reason for this is that EN 60204 Part 1 (1998) in chapter 9.2.5.4.2 does not permit this (merely de-selecting a safety shutdown function must not cause the machine to restart).
Page 466 Safety Integrated basic functions 9.4 Safe Torque Off (STO) WARNING Appropriate measures must be taken to ensure that the motor does not undesirably move once the energy feed has been disconnected, e.g. against coasting down or for a hanging/suspended axis, the "Safe Brake Control" (SBC) function should be enabled, also refer to Chapter "Safe Brake Control".
Page 467 Safety Integrated basic functions 9.4 Safe Torque Off (STO) ● Any pending STOP F or STOP A commands are canceled (see r9772 / r9872). ● The messages in the fault memory must be additionally reset using the general acknowledgement mechanism. Note If "Safe Torque Off"...
Page 468: Safe Stop 1 (Ss1, Time Controlled)
Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9601 SI enable, functions integrated in the drive (Control Unit) ● r9772 CO/BO: SI Status (Control Unit) ● r9872 CO/BO: SI Status (Motor Module) ●...
Page 469: Ss1 (Time Controlled) Without Off3
Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) ● When SS1 is selected, the drive is braked along the OFF3 ramp (p1135) and STO/SBC is automatically initiated after the delay time has expired (p9652/p9852). After the function has been selected, the delay timer runs down – even if the function is deselected during this time.
Page 470: Function Diagrams And Parameters
Function diagrams (see SINAMICS S120/S150 List Manual) ● 2810 STO (Safe Torque Off), SS1 (Safe Stop 1) ● 2811 STO (Safe Torque Off), safe pulse cancellation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1135[0...n] OFF3 ramp-down time ● p1217 Holding brake closing time ●...
Page 471 Safety Integrated basic functions 9.5 Safe Stop 1 (SS1, time controlled) ● p9801 SI enable, functions integrated in the drive (Motor Module) ● p9850 SI SGE changeover tolerance time (Motor Module) ● p9851 SI STO/SBC/SS1 debounce time (Control Unit) ● p9852 SI Safe Stop 1 delay time (Motor Module) ●...
Page 472: Safe Brake Control (Sbc)
Safety Integrated basic functions 9.6 Safe Brake Control (SBC) Safe Brake Control (SBC) The "Safe Brake Control" function (SBC) is used to control holding brakes that function according to the closed-circuit principle (e.g. motor holding brake). The command for releasing or applying the brake is transmitted to the Motor Module/Power Module via DRIVE-CLiQ.
Page 473 Safety Integrated basic functions 9.6 Safe Brake Control (SBC) Two-channel brake control Note Connecting the brake The brake cannot be directly applied at the Motor Module of chassis format. The connection terminals are only designed for 24 V DC with 150 mA; the Safe Brake Adapter is required for larger currents and voltages.
Page 474: Response Times
Safety Integrated basic functions 9.7 Response times Response times The Basic Functions are executed in the monitoring clock cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 × r9780). Note You can only see the actual value of the monitoring clock cycle (r9780), if you are connected ONLINE with the drive.
Page 475: Control Via Terminals On The Control Unit And Motor/Power Module
Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module Control of the Basic Functions via PROFIsafe (CU310-2 and CU320-2) The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Table 9- 3 Response times when controlling via PROFIsafe Function...
Page 476 9.8 Control via terminals on the Control Unit and Motor/Power Module Overview of the safety function terminals for SINAMICS S120 The different power unit formats of SINAMICS S120 have different terminal designations for the inputs of the safety functions. These are shown in the following table.
Page 477 Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module Figure 9-2 Example: Terminals for "Safe Torque Off": example for Motor Modules Booksize and CU320-2 Grouping drives (not for CU310-2) To ensure that the function works for more than one drive at the same time, the terminals for the corresponding drives must be grouped together as follows: 1.
Page 478: Simultaneity And Tolerance Time Of The Two Monitoring Channels
Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module Example: Terminal groups It must be possible to select/deselect "Safe Torque Off" separately for group 1 (drives 1 and 2) and group 2 (drives 3 and 4). For this purpose, the same grouping for "Safe Torque Off"...
Page 479: Bit Pattern Test
Safety Integrated basic functions 9.8 Control via terminals on the Control Unit and Motor/Power Module The time delay that is unavoidable due to mechanical switch processes, for example, can be adapted via parameters. p9850/p9650 specifies the tolerance time within which selection/deselection of the two monitoring channels must take place to be considered as "simultaneous".
Page 480: Commissioning The "Sto", "Sbc" And "Ss1" Functions
If the test pulses lead to unintended triggering of the Safety Integrated functions, a filtering (p9651/p9851 SI STO/SBC/SS1 debounce time) of the terminal inputs must be parameterized. Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p9651 SI STO/SBC/SS1 debounce time (Control Unit) ● p9851 SI STO/SBC/SS1 debounce time (Control Unit) Commissioning the "STO", "SBC"...
Page 481 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Prerequisites for commissioning the safety functions 1. Commissioning of the drives must be complete. 2. Non-safe pulse suppression must be present (e.g. via OFF1 = "0" or OFF2 = "0") If the motor holding brake is connected and parameterized, the holding brake is applied.
Page 482: Procedure For Commissioning "Sto", "Sbc" And "Ss1
Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Adapt the reference checksum with the safety screens of STARTER: ● Change settings → ● Enter password → ● Activate settings The checksums are automatically adapted after "activate settings". 9.9.2 Procedure for commissioning "STO", "SBC"...
Page 483 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Enable "Safe Torque Off" function. p9601.0 STO via Control Unit terminals p9801.0 STO via Motor Module terminals The parameters are not changed until safety commissioning mode has been exited •...
Page 484 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Set F-DI changeover tolerance time. p9650 = "Value" F-DI changeover tolerance time on Control Unit p9850 = "Value" F-DI changeover tolerance time on Motor Module The parameters are not changed until safety commissioning mode has been exited •...
Page 485 Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions Parameter Description/comments Set the new Safety password. p9762 = "Value" Enter a new password. p9763 = "Value" Confirm the new password. The new password is not valid until it has been entered in p9762 and confirmed in •...
Page 486: Safety Faults
Safety Integrated basic functions 9.9 Commissioning the "STO", "SBC" and "SS1" functions 9.9.3 Safety faults The fault messages of the Safety Integrated Basic Functions are saved in the standard message buffer and can be read out from there. When faults associated with Safety Integrated Basic Functions occur, the following stop responses can be initiated: Table 9- 7 Stop responses to Safety Integrated Basic Functions...
Page 487 If this action has not eliminated the fault cause, the fault is displayed again immediately after power up. Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated functions are described in the following document: References: SINAMICS S120/S150 List Manual Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 488: Acceptance Test And Certificate
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10 Acceptance test and certificate Note After commissioning the Safety Integrated functions, you can use STARTER to create an acceptance report template containing the parameters to be documented (see STARTER → Drive unit →...
Page 489: Acceptance Test Structure
• Observe the information in the chapter "Procedures for initial commissioning". • The acceptance report presented below is both an example and recommendation. • An acceptance report template in electronic format is available at your local Siemens sales office. Necessity of an acceptance test A complete acceptance test (as described in this chapter) is required after initial commissioning of Safety Integrated functionality on a machine.
Page 490: Content Of The Complete Acceptance Test
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.1.1 Content of the complete acceptance test A) Documentation Documentation of the machine and of safety functions 1. Machine description (with overview) 2. Specification of the controller (if this exists) 3. Configuration diagram 4.
Page 491 Safety Integrated basic functions 9.10 Acceptance test and certificate 1. Extending/changing the hardware data 2. Extending/changing the software data (specify version) 3. Extending/changing the configuration diagram 4. Extending/changing the function table: – Active monitoring functions depending on the operating mode and the protective door –...
Page 492: Test Scope For Specific Measures
Safety Integrated basic functions 9.10 Acceptance test and certificate 1. Extension of checksums (for each drive) 2. Countersignature 9.10.1.3 Test scope for specific measures Scope of partial acceptance tests for specific measures The measures and points specified in the table refer to the information given in ChapterContent of the partial acceptance test.
Page 493: Safety Logbook
Safety Integrated basic functions 9.10 Acceptance test and certificate See also Content of the partial acceptance test (Page 488) 9.10.2 Safety logbook Description The "Safety Logbook" function is used to detect changes to safety parameters that affect the associated CRC sums. CRCs are only generated when p9601/p9801 (SI enable, functions integrated in the drive CU/Motor Module) is >...
Page 494 Safety Integrated basic functions 9.10 Acceptance test and certificate Spindles Overview diagram of machine Table 9- 10 Values from relevant machine data Parameter FW version Control Unit r0018 = Drive number FW version SI version r9770 = r0128 = r9870 = Parameter r0128 = r9870 =...
Page 495 Safety Integrated basic functions 9.10 Acceptance test and certificate Table 9- 11 SI functions for each drive Drive number SI function Table 9- 12 Description of safety equipment Examples: Wiring of STO terminals (protective door, Emergency Off), grouping of STO terminals, holding brake for vertical axis, etc. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 496: Acceptance Tests
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.4 Acceptance tests 9.10.4.1 General information about acceptance tests Note As far as possible, the acceptance tests are to be carried out at the maximum possible machine speed and acceleration rates to determine the maximum braking distances and braking times that can be expected.
Page 497: Acceptance Test For Safe Stop 1, Time Controlled (Ss1)
Safety Integrated basic functions 9.10 Acceptance test and certificate Description Status No Safety faults and alarms (r0945[0...7], r2122[0...7]) • r9772.17 = 1 (STO selection via terminal - DI CU / EP terminal Motor Module); only • relevant for STO via terminal r9772.20 = 1 (STO selection via PROFIsafe);...
Page 498 Safety Integrated basic functions 9.10 Acceptance test and certificate Description Status r9774.5 = r9774.6 = 0 (SS1 deselected and inactive – group); only relevant for grouping • Run the drive Check whether the correct drive is operational Select SS1 when you issue the traversing command and check the following: Drive brakes along the OFF3 ramp (p1135) (not in the case of SS1, without OFF3) •...
Page 499: Acceptance Test For "Safe Brake Control" (Sbc)
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.4.4 Acceptance test for "Safe Brake Control" (SBC) Table 9- 15 "Safe Brake Control" function Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals and/or via PROFIsafe. Initial state Drive in the "Ready"...
Page 500: Completion Of Certificate
Safety Integrated basic functions 9.10 Acceptance test and certificate 9.10.5 Completion of certificate SI parameters Specified values checked? Control Unit Motor Module Checksums Basic functions Drive name Drive number SI reference checksum SI SI reference checksum SI parameters (Control Unit) parameters (Motor Module) p9799 = p9899 =...
Page 501 Safety Integrated basic functions 9.10 Acceptance test and certificate Safety logbook Functional Checksum for functional tracking of changes r9781[0] = Checksum for hardware dependent tracking of changes r9781[1] = Time stamp for functional tracking of changes r9782[0] = Time stamp for hardware dependent tracking of changes r9782[1] = 1) These parameters can be found in the expert list of the Control Unit.
Page 502: Overview Of Parameters And Function Diagrams
● 2804 Status words ● 2810 Safe Torque Off (STO), SS1 (Safe Stop 1) ● 2814 SBC (Safe Brake Control), SBA (Safe Brake Adapter) Overview of parameters (see SINAMICS S120/S150 List Manual) Table 9- 16 Parameters for Safety Integrated No. of Control Unit No.
Page 503: Communication
In order to ensure the safe operation of your systems, you must take suitable measures, e.g. industrial security or network segmentation. You can find more information on Industrial Security on the Internet at: www.siemens.de/industrialsecurity 10.1 Communication according to PROFIdrive PROFIdrive is the PROFIBUS and PROFINET profile for drive technology with a wide range of applications in production and process automation systems.
Page 504 Communication 10.1 Communication according to PROFIdrive Properties of the Controller, Supervisor and drive units Table 10- 2 Properties of the Controller, Supervisor and drive units Properties Controller Supervisor Drive unit As bus node Active Passive Send messages Permitted without external Only possible on request by the request Controller...
Page 505 Communication 10.1 Communication according to PROFIdrive Interface IF1 and IF2 The CU320-2 Control Unit can communicate via two different interfaces (IF1 and IF2). Table 10- 3 Properties of IF1 and IF2 PROFIdrive Standard telegrams Clock cycle synchronization Drive object types Can be used for PROFINET IO, PROFIBUS DP PROFINET IO, PROFIBUS DP,...
Page 506: Application Classes
Communication 10.1 Communication according to PROFIdrive 10.1.1 Application classes Description There are different application classes for PROFIdrive according to the scope and type of the application processes. PROFIdrive features a total of 6 application classes, 4 of which are discussed here. Application class 1 (standard drive) In the most basic case, the drive is controlled via a speed setpoint by means of PROFIBUS/PROFINET.
Page 507 Communication 10.1 Communication according to PROFIdrive Application class 2 (standard drive with technology function) The total process is subdivided into a number of small subprocesses and distributed among the drives. This means that the automation functions no longer reside exclusively in the central automation device but are also distributed in the drive controllers.
Page 508 Communication 10.1 Communication according to PROFIdrive Application class 3 (positioning drive) In addition to the drive control, the drive also includes a positioning control, which means that it operates as a self-contained single-axis positioning drive while the higher-level technological processes are performed on the controller. Positioning requests are transmitted to the drive controller via PROFIBUS/PROFINET and launched.
Page 509 Communication 10.1 Communication according to PROFIdrive Application class 4 (central motion control) This application class defines a speed setpoint interface with execution of the speed control on the drive and of the positioning control in the controller, such as is required for robotics and machine tool applications with coordinated motions on multiple drives.
Page 510 Communication 10.1 Communication according to PROFIdrive Selection of telegrams as a function of the application class The telegrams listed in the table below (see also chapter "Telegrams and process data") can be used in the following application classes: Table 10- 4 Selection of telegrams as a function of the application class Telegram Description...
Page 511: Cyclic Communication
Communication 10.1 Communication according to PROFIdrive Telegram Description Class 1 Class 2 Class 3 Class 4 (p0922 = x) Speed setpoint, 32 bit for metal industry Speed setpoint, 16 bit, PCS7 Infeed Infeed, metal industry Control Unit with digital inputs/outputs Control Unit with digital inputs/outputs and 2 measuring probes Control Unit with digital inputs/outputs and 6 measuring...
Page 512 Communication 10.1 Communication according to PROFIdrive The following standard telegrams can be set via p0922: – 1 Speed setpoint, 16 bit – 2 Speed setpoint, 32 bit – 3 Speed setpoint, 32 bit with 1 position encoder – 4 Speed setpoint, 32 bit with 2 position encoders –...
Page 513 Communication 10.1 Communication according to PROFIdrive Note Telegram 139 is harmonized to WEISS spindle drives. Telegram 139 is based on telegram 136. Telegram compatibility is only guaranteed within WEISS spindles. For other users, incompatibilities can occur when using this telegram. –...
Page 514 Communication 10.1 Communication according to PROFIdrive SERVO, VECTOR CU_S A_INF, TB30, TM31, ENCODER TM41 B_INF, TM15DI_DO, S_INF TM120, TM150 WORD p2051[0 ... p2051[0 ... p2051[0 ... p2051[0 p2051[0 ... 4] p2051[0 ... 11] connector ... 7] input Free p2099[0 ... 1] / r2094.0 ... 15, r2095.0 ... 15 connector- binector converter...
Page 515 Structure of the telegrams You can find the structure of the telegrams in the SINAMICS S120/S150 List Manual in the following function diagrams: ● 2420: Overview of standard telegrams and process data ●...
Page 516 When a telegram that specifies the Interface Mode (e.g. p0922 = 102) is changed to a different telegram (e.g. p0922 = 3), the setting in p2038 is retained. Function diagrams (see SINAMICS S120/S150 List Manual) ● 2410 PROFIdrive - PROFIBUS (PB) / PROFINET (PN), addresses and diagnostics ●...
Page 517: Description Of Control Words And Setpoints
Communication 10.1 Communication according to PROFIdrive 10.1.2.2 Description of control words and setpoints Note This chapter describes the assignment and meaning of the process data in SINAMICS interface mode (p2038 = 0). The reference parameter is also specified for the relevant process data. The process data are generally normalized in accordance with parameters p2000 to r2004.
Page 518 Communication 10.1 Communication according to PROFIdrive Table 10- 6 Overview of control words and setpoints, manufacturer specific, see function diagram [2440] Abbreviation Name Signal Data type Interconnection number parameters MOMRED Torque reduction p1542 M_VST Torque precontrol value p1513 DSC_STW Control word for DSC splines p1194 T_SYMM Symmetrization constant...
Page 519 Communication 10.1 Communication according to PROFIdrive Meaning Remarks BICO Note: Control signal OFF2 is generated by ANDing BI: p0844 and BI: p0845. OFF3 No OFF3 BI: p0848 Enable possible Quick stop (OFF3) Braking with OFF3 ramp p1135, then pulse suppression and switching on inhibited. Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849.
Page 520 Communication 10.1 Communication according to PROFIdrive Meaning Remarks BICO Motorized potentiometer setpoint raise not selected Motorized potentiometer, setpoint, lower Motorized potentiometer, setpoint, lower BI: p1036 Motorized potentiometer setpoint lower not selected Note: If motorized potentiometer setpoint raise and lower are 0 or 1 simultaneously, the current setpoint is frozen. Reserved STW1 (control word 1), positioning mode, r0108.4 = 1 See function diagram [2475]...
Page 521 Acknowledge fault BI: p2103 Acknowledge fault No effect Jog 1 Jog 1 ON BI: p2589 See also SINAMICS S120/S150 List Manual, function diagram 3610 No effect Jog 2 Jog 2 ON BI: p2590 See also SINAMICS S120/S150 List Manual, function diagram 3610...
Page 522 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Deselect "Travel to fixed stop" The signal must be set before the fixed stop is reached Reserved Reserved Motor changeover Motor changeover complete BI: p0828[0] No effect Master sign-of-life bit 0 User data integrity (4-bit counter) CI: p2045 Master sign-of-life bit 1...
Page 523 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Freeze ramp-function generator Note: The ramp-function generator cannot be frozen via p1141 in jog mode (r0046.31 = 1). Enable speed setpoint Enable setpoint BI: p1142 Inhibit setpoint Set ramp-function generator input to zero Acknowledge fault Acknowledge fault BI: p2103...
Page 524 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Enable speed controller Enable the speed controller and the brake. p0856, (incl. brake) Controller enable via r2093.9. Parameter p0856 p2093.9 remains freely interconnectable for "extended brake control". Reserved Speed/torque-controlled operation Slave drive torque control p1501 Set the signal source for switchover between speed and torque control...
Page 525 Communication 10.1 Communication according to PROFIdrive NSET_A (speed setpoint A (16-bit)) ● Speed setpoint with a 16-bit resolution with sign bit. ● Bit 15 determines the sign of the setpoint: – Bit = 0 → Positive setpoint – Bit = 1 → Negative setpoint ●...
Page 526 Communication 10.1 Communication according to PROFIdrive XERR (position deviation) The position deviation for dynamic servo control (DSC) is transmitted via this setpoint. The format of XERR is identical to the format of G1_XIST1. KPC (position controller gain factor) The position controller gain factor for dynamic servo control (DSC) is transmitted via this setpoint.
Page 527: Momred
1 = block selection, bit 4 (2 BI: p2629 1 = block selection, bit 5 (2 BI: p2630 Reserved Activate MDI Activate MDI p2647 Deactivate MDI Note: See also: SINAMICS S120/S150 Function Manual, Chapter "Basic positioner" Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 528 Jog velocity active 6 ... 15 Reserved Note: See also: SINAMICS S120/S150 Function Manual, Chapter "Basic positioner" POS_STW1 (control word 1, positioning mode, r0108.4 = 1) See function diagram [2463]. Table 10- 16 Description of POS_STW1 (control word 1) Meaning...
Page 529 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter selected or deselected, the axis remains EPOS direct setpoint input/MDI, BI: p2652 stationary. negative direction selection During "positioning": BI: p2651 / BI: p2652 Position absolutely via shortest route. Position absolutely in the positive direction. Position absolutely in the negative direction.
Page 530 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Start in positive direction LR measuring probe evaluation, Measuring probe 2 is activated when BI: p2509 = BI: p2510 selection 0/1 edge activated. Set the signal source for selection Measuring probe 1 is activated when BI: p2509 = of the measuring probe.
Page 531 Communication 10.1 Communication according to PROFIdrive MDI_ACC (MDI acceleration) This process data defines the acceleration for MDI sets. Normalization: 4000 hex (16384 dec) = 100 % The value is restricted to 0.1 ... 100% internally. MDI_DEC (MDI deceleration override) This process data defines the percentage for the deceleration override for MDI sets. Normalization: 4000 hex (16384 dec) = 100 % The value is restricted to 0.1 ...
Page 532 Communication 10.1 Communication according to PROFIdrive E_STW1 (control word for infeeds) See function diagram [2447]. Table 10- 19 Description of E_STW1 (control word for infeeds) Meaning Remarks Parameter ON/OFF1 BI: p0840 Pulse enable possible OFF1 Reduce DC link voltage via ramp (p3566), followed by pulse inhibit/line contactor open OFF2 No OFF2...
Page 533 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Master control by PLC BI: p0854 Master control by PLC This signal must be set so that the process data transferred via PROFIdrive are accepted and become effective. No master control by PLC Process data transferred via PROFIdrive are rejected - i.e.
Page 534: Description Of Status Words And Actual Values
Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter No master control by PLC Process data transferred via PROFIdrive are rejected - i.e. assumed to be zero. Note: This bit should not be set "1" until PROFIdrive has returned an appropriate status via E_ZSW_BM.9 = "1". 11...1 Reserved Controller sign of life toggle bit...
Page 535 Communication 10.1 Communication according to PROFIdrive Overview of status words and actual values Table 10- 21 Overview of status words and actual values, profile specific, see function diagram [2449] Abbreviation Name Signal Data type Interconnection number parameter ZSW1 Status word 1 r2089[0] ZSW2 Status word 2...
Page 536 Communication 10.1 Communication according to PROFIdrive Table 10- 22 Overview of status words and actual values, manufacturer specific, see function diagram [2450] Abbreviation Name Signal Data type Interconnection number parameter MELDW Message word r2089[2] MSOLL_GLATT Torque setpoint, smoothed r0079[1] AIST_GLATT Torque utilization smoothed r0081 MT_ZSW...
Page 537 Communication 10.1 Communication according to PROFIdrive ZSW1 (status word 1) See function diagram [2452] Table 10- 23 Description of ZSW1 (status word 1) Meaning Remarks Parameter Ready for switching on Ready for switching on BO: r0899.0 Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited.
Page 538 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Speed BO: r2197.7 Setpoint/actual value monitoring within tolerance setpoint-actual value deviation band within the tolerance bandwidth Actual value within a tolerance band; dynamic overshoot or undershoot for t < t permissible, e.g.
Page 539 Communication 10.1 Communication according to PROFIdrive Table 10- 24 Description of ZSW1 (status word 1, positioning mode) Meaning Remarks Parameter Ready for switching on Ready for switching on BO: r0899.0 Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited. Not ready for switching on Ready for operation Ready for operation...
Page 540 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Control request to PLC BO: r0899.9 Control requested The PLC is requested to assume control. Condition for applications with isochronous mode: Drive synchronized with PLC system. Local operation Control only possible on device Target position reached Target position reached BO: r2684.10...
Page 541 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Data set changeover active Slave sign-of-life bit 0 – User data integrity (4-bit counter) Implicitly interconnected Slave sign-of-life bit 1 – – – Slave sign-of-life bit 2 – – – Slave sign-of-life bit 3 –...
Page 542 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Alarm active BO: r2139.7 Alarm active The drive is operational again. No acknowledgement necessary. The active alarms are stored in the alarm buffer. No alarm active No active alarm in the alarm buffer. Speed Setpoint/actual value monitoring within tolerance BO: r2197.7...
Page 543 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Reserved Reserved Alarm class bit 0 – Bits 5-6: Alarm stage of SINAMICS drives, BO: r2139.11 transferred as attribute in alarm message Alarm class bit 1 – BO: r2139.12 value = 0: Alarm (previous alarm stage) value = 1: Alarm class A value = 2: Alarm class B value = 3: Alarm class C...
Page 544 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Control request to PLC BO: r0899.9 Control requested The PLC is requested to assume control. Condition for applications with isochronous mode: Drive synchronized with PLC system. Local operation Control only possible on device Reserved –...
Page 545 Communication 10.1 Communication according to PROFIdrive ITIST_GLATT The current actual value smoothed with p0045 is displayed. MIST Actual torque value. MIST_GLATT The actual torque value smoothed with p0045 is displayed. PIST_GLATT The active power smoothed with p0045 is displayed. NIST_A_GLATT The speed actual value smoothed with p0045 is displayed.
Page 546 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Ramp-function generator active The ramp-up procedure is still active once the • speed setpoint has been changed. Ramp-up ends. The end of the ramp-up procedure is detected as follows: The speed setpoint is constant, •...
Page 547 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Note: The message is parameterized as follows: p2155 Threshold value p2140 Hysteresis Application: Speed monitoring. Vdc_min controller active Vdc_min controller active r0056.15 (Vdc < p1248) Vdc_min controller inactive Variable signaling function The monitored signal of a SERVO axis has BO: r3294 exceeded the specified threshold value.
Page 548 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Pulses enabled BO: r0899.11 Pulses enabled The pulses for activating the motor are enabled. Pulses inhibited Application: Armature short-circuit protection must only be switched on when the pulses are inhibited. This signal can be evaluated as one of many conditions when armature short-circuit protection is activated. 14.15 Reserved MELD_NAMUR Display of the NAMUR message bit bar.
Page 549 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Axis moves forwards BO: r2683.4 Axis moves forwards Axis stationary or moves backwards Axis moves backwards Axis moves backwards BO: r2683.5 Axis stationary or moves forwards Minus software limit switch Minus SW limit switch actuated BO: r2683.6 actuated Minus SW limit switch not actuated...
Page 550 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Reference point approach active BO: r2094.1 Reference point approach active BO: r2669.1 Reference point approach not active Flying referencing Flying referencing BO: r2684.1 Flying referencing not active Traversing blocks active Traversing blocks active BO: r2094.2 BO: r2669.2 Traversing blocks not active...
Page 551 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Fixed stop is not reached Fixed stop clamping torque Fixed stop clamping torque reached BO: r2683.13 reached Fixed stop clamping torque is not reached Travel to fixed stop active Travel to fixed stop active BO: r2683.14 Travel to fixed stop not active Traversing command active...
Page 552 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter SLS active r9734.4 SLS active SLS not active SOS selected SOS selected r9734.5 SOS not selected SLS selected SLS selected r9734.6 SLS not selected Internal event Internal event r9734.7 No internal event 8…11 Reserved –...
Page 553 Communication 10.1 Communication according to PROFIdrive E_ZSW1 (status word for infeed) See function diagram [2457]. Table 10- 35 Description of E_ZSW1 (status word for infeed) Meaning Remarks Parameter Ready to start Ready to start BO: r0899.0 Not ready to start Ready for operation Ready for operation BO: r0899.1...
Page 554 Communication 10.1 Communication according to PROFIdrive E_ZSW1_BM (status word for infeeds, metal industry) See function diagram [2430]. Table 10- 36 Description of E_ZSW1_BM (status word for infeeds, metal industry) Meaning Remarks Parameter Ready to start Ready to start BO: r0899.0 Not ready to start Ready Ready for operation...
Page 555: Control And Status Words For Encoder
Communication 10.1 Communication according to PROFIdrive 10.1.2.5 Control and status words for encoder The process data for the encoders is available in various telegrams. For example, telegram 3 is provided for speed control with 1 position encoder and transmits the process data of encoder 1.
Page 556 Communication 10.1 Communication according to PROFIdrive Name Signal status, description Function 4 Reference mark 4 If bit 7 = 1, then find flying measurement request applies: Function 1 Probe 1 rising edge Function 2 Probe 2 falling edge Function 3 Probe 3 rising edge Function 4 Probe 4 falling edge...
Page 557 Communication 10.1 Communication according to PROFIdrive Name Signal status, description Acknowledge encoder fault Request to reset encoder errors No request Example 1: Find reference mark Assumptions for the example: ● Distance-coded reference mark ● Two reference marks (function 1/function 2) ●...
Page 558 Communication 10.1 Communication according to PROFIdrive Figure 10-8 Sequence chart for "Find reference mark" Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 559 Communication 10.1 Communication according to PROFIdrive Example 2: Flying measurement Assumptions for the example: ● Measuring probe with rising edge (function 1) ● Position control with encoder 1 Figure 10-9 Sequence chart for "Flying measurement" Encoder 2 control word (G2_STW) ●...
Page 560 Communication 10.1 Communication according to PROFIdrive Table 10- 38 Description of the individual signals in Gn_ZSW Name Signal status, description "Find Status: Valid for "Find reference mark" and "Flying measurement" reference Function 1 - 4 Meaning mark" or active Function 1 Reference mark 1 "Flying Probe 1 rising edge...
Page 561 Communication 10.1 Communication according to PROFIdrive Name Signal status, description Parking encoder Parking encoder active (i.e. parking encoder switched off) No active parking encoder Encoder fault Error from encoder or actual-value sensing is active. Note: The error code is stored in Gn_XIST2. No error is active.
Page 562 Communication 10.1 Communication according to PROFIdrive Figure 10-11 Priorities for functions and Gx_XIST2 ● Resolution: Encoder pulses ∙ 2n n: fine resolution, no. of bits for internal multiplication Figure 10-12 Subdivision and settings for Gx_XIST2 ● Encoder lines of incremental encoder –...
Page 563 Communication 10.1 Communication according to PROFIdrive Error code in Gn_XIST2 Table 10- 39 Error code in Gn_XIST2 n_XIST2 Meaning Possible causes / description Encoder fault One or more existing encoder faults. Detailed information in accordance with drive messages. Zero mark monitoring –...
Page 564: Extended Encoder Evaluation
● 4735 Find reference mark with equivalent zero mark, encoders n ● 4740 Measuring probe evaluation, measured value memory, encoders n Overview of important parameters (see SINAMICS S120/S150 List Manual) Adjustable parameter drive, CU_S parameter is marked ● p0418[0...15] Fine resolution Gx_XIST1 ●...
Page 565: Central Control And Status Words
Communication 10.1 Communication according to PROFIdrive Signal Description Interface information still to be received No further interface information will be received Data in the substructure are invalid Data in the substructure are valid 10.1.2.7 Central control and status words Description The central process data exists for different telegrams.
Page 566 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter ESR trigger Setting the signal sources for the triggers for ESR BI: p0890.0 0 = Trigger for NCK • 1 = Trigger for SI STOP E • 2 = Trigger for SI STOP F •...
Page 567 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Digital input/output 15 – DI/DO 15 on the Control Unit must be parameterized as an output BI: p0745 (DI/DO 15) (p0728.15 = 1). 8 ... 15 Reserved – – – Note: The bidirectional digital inputs/outputs (DI/DO) can be connected as either an input or an output (see also transmit signal E_DIGITAL).
Page 568 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Reserved Reserved Alarm active The active alarms are stored in the alarm buffer BO: 2139.7 No alarm active There are no alarms in the alarm buffer SYNC SYNC bit of TM17 indicates that the slave is synchronized. BO: r0899.8 Slave synchronized Slave not synchronized...
Page 569 Communication 10.1 Communication according to PROFIdrive Meaning Remarks Parameter Digital input/output 13 – DI/DO 13 on the Control Unit must be parameterized as an input BO: p0722.13 (DI/DO = 13) (p0728.13 = 0). Digital input/output 14 – DI/DO 14 on the Control Unit must be parameterized as an input BO: p0722.14 (DI/DO = 14) (p0728.14 = 0).
Page 570 Communication 10.1 Communication according to PROFIdrive MTn_ZS_F and MTn_ZS_S Display of the measuring time determined The measuring time is specified as a 16-bit value with a resolution of 0.25 μs. MT_DIAG The maximum measuring frequency of a probe is up to 8 rising and 8 falling edges per DP cycle.
Page 571 Communication 10.1 Communication according to PROFIdrive Name MT6_ MESSPUFFER_VOLL MT7_ MESSPUFFER_VOLL MT8_ MESSPUFFER_VOLL The measuring function also continues to run after setting the diagnostic bits "Telegram full" or "MESSPUFFER_VOLL". Without handshake, diagnostic bits in MT_DIAG are transferred only one DP cycle before they are overwritten with zero or new states. Probe time stamp For telegram 395, there is no telegram location reference from the time stamp to the probe and edge.
Page 572 Communication 10.1 Communication according to PROFIdrive After activating the measuring function for several measured values per DP cycle, the time stamp references are saved for transfer in the indices of r0566[4]. Only the value of the time stamp can be used to identify as to whether the referenced time stamp is a valid measured value.
Page 573 Communication 10.1 Communication according to PROFIdrive Probe Time stamp Parameter reference 0x2: MT_ZS3 from 0x3: MT_ZS3 from 0x4: MT_ZS3 from 0x5: MT_ZS3 from 0x6: MT_ZS3 from 0x7: MT_ZS3 from Reference ZS4 Bits 12 - 14 Bit 15: r0566[3] 0x0: MT_ZS4 from 1: MT_ZS4 rising edge 0x1: MT_ZS4 from 0: MT_ZS4 falling edge...
Page 574: Motion Control With Profidrive
Communication 10.1 Communication according to PROFIdrive Example, central probe evaluation Assumptions for the example: ● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1 ● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and falling edge of probe 2 ●...
Page 575 Communication 10.1 Communication according to PROFIdrive Properties ● No additional parameters need to be entered in addition to the bus configuration in order to activate this function, the master and slave must only be preset for this function (PROFIBUS). ● The master-side default setting is made via the hardware configuration, e.g. B. HWConfig with SIMATIC S7.
Page 576 Communication 10.1 Communication according to PROFIdrive ● The slaves synchronize their speed and/or current controller cycle with the position controller cycle on the master. ● The speed setpoint is specified by the master. Figure 10-14 Overview of "Motion Control with PROFIBUS" (example: master and 3 slaves) Structure of the data cycle The data cycle comprises the following elements: 1.
Page 577: Diagnostics Channel For Cyclic Communication
Communication 10.1 Communication according to PROFIdrive Figure 10-15 Isochronous drive link/Motion Control with PROFIdrive 10.1.2.9 Diagnostics channel for cyclic communication Alarms and faults can be transferred via two independent diagnostic channels DS0 and DS1. The information transferred is saved in parameters r0945[8] for faults and in r2122[8] for alarms.
Page 578 Communication 10.1 Communication according to PROFIdrive ● The alarms and faults correspond to the error classes defined in the PROFIdrive profile. ● You can select whether alarms and faults are transferred to a higher-level control either as SINAMICS messages or using the error classes of the PROFIdrive profile. ●...
Page 579: Parallel Operation Of Communication Interfaces
Communication 10.1 Communication according to PROFIdrive 10.1.3 Parallel operation of communication interfaces Cyclic process data (setpoints/actual values) are processed using interfaces IF1 and IF2. The following interfaces are used: ● Onboard interfaces of the Control Unit for PROFIBUS DP or PROFINET ●...
Page 580 Communication 10.1 Communication according to PROFIdrive Properties of the cyclic interfaces IF1 and IF2 The following table shows the different features of the two cyclic interfaces: Table 10- 50 Properties of the cyclic interfaces IF1 and IF2 Feature Setpoint (BICO signal source) r2050, r2060 r8850, r8860 Actual value (BICO signal sink)
Page 581 Communication 10.1 Communication according to PROFIdrive Parameter p8839[0,1] is used to set the parallel operation of the hardware interfaces and the assignment to the cyclic interfaces IF1 and IF2 for the Control Unit drive object. The object sequence for process data exchange via IF2 depends on the object sequence from IF1;...
Page 582 Communication 10.1 Communication according to PROFIdrive Interrelationship, clock cycle synchronism, PROFIsafe and SINAMICS Link Table 10- 52 Interrelationship, clock cycle synchronism, PROFIsafe and SINAMICS Link Variant Interface Clock cycle PROFIsafe SINAMICS Link synchronization possible Yes (for CBE20 as IF2) Yes (for CBE20 as IF2) Yes (for CBE20 as IF1) Yes (for CBE20 as IF1) Parameter...
Page 583: Acyclic Communication
● If p8839[x] is set to 2, and the COMM - BOARD is missing/defective, then the corresponding interface is not automatically supplied from the Control Unit onboard interface. Message A08550 is output instead. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0922 IF1 PROFIdrive telegram selection ● p0978[0...24] List of drive objects ●...
Page 584 Communication 10.1 Communication according to PROFIdrive ● PROFIdrive parameter channel with the following data sets: – PROFIBUS: Data block 47 (0x002F) The DPV1 services are available for master class 1 and class 2. – PROFINET: Data block 47 and 0xB02F al global access, data set 0xB02E as local access Note Please refer to the following documentation for a detailed description of acyclic...
Page 585: Structure Of Orders And Responses
Communication 10.1 Communication according to PROFIdrive ● Transfer of different parameters in one access (multiple parameter request). ● Transfer of complete arrays or part of an array possible. ● Only one parameter request is processed at a time (no pipelining). ●...
Page 586 Communication 10.1 Communication according to PROFIdrive Description of fields in DPV1 parameter request and response Field Data type Values Remark Request reference Unsigned8 0x01 ... 0xFF Unique identification of the request/response pair for the master. The master changes the request reference with each new request. The slave mirrors the request reference in its response.
Page 587 Communication 10.1 Communication according to PROFIdrive Field Data type Values Remark Format Unsigned8 0x02 Data type integer8 0x03 Data type integer16 0x04 Data type integer32 0x05 Data type unsigned8 0x06 Data type unsigned16 0x07 Data type unsigned32 0x08 Data type floating point Other values See PROFIdrive profile V3.1 0x40...
Page 588 Communication 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x06 Illegal set operation (only reset Modification access with a value not equal to 0 in a case Subindex allowed) where this is not allowed. 0x07 Description element cannot be Modification access to a description element which cannot Subindex changed...
Page 589 Communication 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x72 Parameter %s [%s]: Write access – – only in the commissioning state, parameter reset (p0010 = 30). 0x73 Parameter %s [%s]: Write access – – only in the commissioning state, Safety (p0010 = 95).
Page 590: Determining The Drive Object Numbers
Communication 10.1 Communication according to PROFIdrive Error Meaning Remark Additional value info 0x83 Parameter %s [%s]: requested BICO BICO output does not supply float values. The BICO input, – interconnection not possible however, requires a float value. 0x84 Parameter %s [%s]: parameter –...
Page 591: Example 1: Read Parameters
Communication 10.1 Communication according to PROFIdrive 10.1.4.4 Example 1: read parameters Requirements 1. The PROFIdrive controller has been commissioned and is fully operational. 2. PROFIdrive communication between the controller and the device is operational. 3. The controller can read and write data sets in conformance with PROFIdrive DPV1. Task description Following the occurrence of at least one fault (ZSW1.3 = "1") on drive 2 (also drive object number 2), the active fault codes must be read from the fault buffer r0945[0] ...
Page 592 Communication 10.1 Communication according to PROFIdrive ● Attribute: 10 hex → The parameter values are read. ● No. of elements: 08 hex → The actual fault incident with 8 faults is to be read. ● Parameter number: 945 dec → p0945 (fault code) is read. ●...
Page 593: Example 2: Write Parameters (Multi-Parameter Request)
Communication 10.1 Communication according to PROFIdrive 10.1.4.5 Example 2: write parameters (multi-parameter request) Preconditions 1. The PROFIdrive controller has been commissioned and is fully operational. 2. PROFIdrive communication between the controller and the device is operational. 3. The controller can read and write data sets in conformance with PROFIdrive DPV1. Special requirements for this example: 4.
Page 594 Communication 10.1 Communication according to PROFIdrive Activity 1. Create the request Parameter request Offset Request header Request reference = 40 Request ID = 02 hex 0 + 1 Axis = 02 hex No. of parameters = 04 hex 2 + 3 1.
Page 595 Communication 10.1 Communication according to PROFIdrive ● No. of parameters 04 hex → The multi-parameter request comprises 4 individual parameter requests. 1. parameter address ... 4th parameter address ● Attribute: 10 hex → The parameter values are to be written. ●...
Page 596: Communication Via Profibus Dp
Communication 10.2 Communication via PROFIBUS DP ● Axis mirrored: 02 hex → The value matches the value from the request. ● No. of parameters: 04 hex → The value matches the value from the request. 10.2 Communication via PROFIBUS DP 10.2.1 General information about PROFIBUS 10.2.1.1...
Page 597 Communication 10.2 Communication via PROFIBUS DP Master and slave ● Master and slave properties Table 10- 54 Master and slave properties Properties Master Slave As bus node Active Passive Send messages Permitted without external Only possible on request by request master Receive messages Possible without any restrictions Only receive and acknowledge...
Page 598 Communication 10.2 Communication via PROFIBUS DP Sequence of drive objects in the telegram On the drive side, the sequence of drive objects in the telegram is displayed via a list in p0978[0...24] where it can also be changed. You can use the STARTER commissioning tool to display the sequence of drive objects for a commissioned drive system in the online mode under →...
Page 599: Example: Telegram Structure For Cyclic Data Transmission
Communication 10.2 Communication via PROFIBUS DP 10.2.1.2 Example: telegram structure for cyclic data transmission Task The drive system comprises the following drive objects: ● Control Unit (CU_S) ● Active Infeed (A_INF) ● SERVO 1 (comprises a Single Motor Module and other components) ●...
Page 600 Communication 10.2 Communication via PROFIBUS DP Configuration settings (e.g. HWConfig for SIMATIC S7) The components are mapped to objects for configuration. Due to the telegram structure shown, the objects in the "DP slave properties" overview must be configured as follows: Telegram 370 •...
Page 601 Communication 10.2 Communication via PROFIBUS DP DP slave properties – details Figure 10-20 Slave properties – details The axis separator separates the objects in the telegram as follows: Object 1 ––> Active Infeed (A_INF) • Slot 4 and 5: Object 2 ––> SERVO 1 •...
Page 602: Commissioning Profibus
Communication 10.2 Communication via PROFIBUS DP 10.2.2 Commissioning PROFIBUS 10.2.2.1 Setting the PROFIBUS interface Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available as standard on the Control Unit. Figure 10-21 Interfaces and diagnostic LED Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 603 Communication 10.2 Communication via PROFIBUS DP ● PROFIBUS interface The PROFIBUS interface is described in the following documentation: References: SINAMICS S120 Equipment Manual for Control Units and Additional System Components ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnostics purposes.
Page 604: Profibus Interface In Operation
Communication 10.2 Communication via PROFIBUS DP Note The rotary coding switches used to set the PROFIBUS address are located beneath the blanking cover Auto-Hotspot. Note Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1 ... 126. When several Control Units are connected to a PROFIBUS line, you set the addresses differently than for the factory setting.
Page 605 10.2 Communication via PROFIBUS DP The GSD files can be found as follows: ● On the Internet: http://support.automation.siemens.com/WW/llisapi.dll?func=cslib.csinfo2&aktprim=99&lan g=de – then search for GSD files using an index search. ● On the CD of the STARTER commissioning tool Order no. 6SL3072-0AA00-0AGx ●...
Page 606: Commissioning Profibus
● The telegram type for each drive object is known by the application. PROFIBUS master ● The communication properties of the SINAMICS S120 slave must be available in the master (GSD file or drive ES slave OM). Commissioning steps (example with SIMATIC S7) 1.
Page 607: Diagnostics Options
Communication 10.2 Communication via PROFIBUS DP 3. Carry out the following in HWConfig: – Connect the drive to PROFIBUS and assign an address. – Set the telegram type. The same telegram type as on the slave should be set for every drive object exchanging process data via PROFIBUS.
Page 608 Communication 10.2 Communication via PROFIBUS DP Table 10- 56 Other parameters Field Value Network parameter profile Network parameter baud rate Communication partner address PROFIBUS address of the drive unit Communication partner don’t care, 0 slot/subrack Table 10- 57 Tags: "General" tab Field Value Name...
Page 609: Monitoring: Telegram Failure
Communication 10.2 Communication via PROFIBUS DP 10.2.2.6 Monitoring: telegram failure When monitoring telegram failure, SINAMICS differentiates between two cases: 1. Telegram failure with a bus fault After a telegram failure and the additional monitoring time has elapsed (p2047), bit r2043.0 is set to "1" and alarm A01920 is output. Binector output r2043.0 can be used for a quick stop, for example.
Page 610 Communication 10.2 Communication via PROFIBUS DP Example: emergency stop with telegram failure Assumption: ● A drive unit with an Active Line Module and a Single Motor Module. ● VECTOR mode is activated. ● After a ramp-down time (p1135) of two seconds, the drive is at a standstill. Settings: ●...
Page 611: Motion Control With Profibus
Communication 10.2 Communication via PROFIBUS DP 10.2.3 Motion Control with PROFIBUS Motion Control /Isochronous drive link with PROFIBUS Figure 10-25 Motion Control/Isochronous drive link with PROFIBUS, optimized cycle with T = 2 ∙ T MAPC Sequence of data transfer to closed-loop control system 1.
Page 612 Communication 10.2 Communication via PROFIBUS DP Designations and descriptions for motion control Table 10- 58 Time settings and meanings Name Limit value Description 250 µsec Time base for T BASE_DP ≥ T DP cycle time DP_MIN = Dx + MSG + RES + GC = multiple integer ∙...
Page 613 Communication 10.2 Communication via PROFIBUS DP Setting criteria for times ● Cycle (T – T must be set to the same value for all bus nodes. – T > T and T > T is thus large enough to enable communication with all bus nodes. NOTICE After T has been changed on the PROFIBUS master, the drive system must be switched...
Page 614: Slave-To-Slave Communication
Communication 10.2 Communication via PROFIBUS DP – Monitoring The master sign of life is monitored on the slave and any sign-of-life errors are evaluated accordingly. The maximum number of tolerated master sign-of-life errors can be set via p0925. If the number of tolerated sign-of-life errors set in p0925 is exceeded, the response is as follows: –...
Page 615 Communication 10.2 Communication via PROFIBUS DP ● Slave-to-slave communication ● Data Exchange Broadcast (DXB.req) ● Slave-to-slave communication (is used in the following) Figure 10-26 Slave-to-slave communication with the publisher-subscriber model Publisher With the "slave-to-slave communication" function, at least one slave must act as the publisher.
Page 616 Communication 10.2 Communication via PROFIBUS DP Links and taps The links configured in the subscriber (connections to publisher) contain the following information: ● From which Publisher the input data are received ● What is the content of the input data ●...
Page 617: Setpoint Assignment In The Subscriber
Communication 10.2 Communication via PROFIBUS DP 10.2.4.1 Setpoint assignment in the subscriber Information about setpoints ● Number of setpoint When bus communication is being established, the master signals the slave the number of setpoints (process data) to be transferred using the configuring telegram (ChkCfg). ●...
Page 618: Commissioning Of The Profibus Slave-To-Slave Communication
Communication 10.2 Communication via PROFIBUS DP Parameterizing telegram (SetPrm) The filter table is transferred, as dedicated block from the master to the slave with the parameterizing telegram when a bus communication is established. Figure 10-27 Filter block in the parameterizing telegram (SetPrm) Configuration telegram (ChkCfg) Using the configuration telegram, a slave knows how many setpoints are to be received from the master and how many actual values are to be sent to the master.
Page 619 1. You have generated a project, e.g. with SIMATIC Manager and HW Config. In the project example, you have defined a CPU 314 controller as master and two SINAMICS S120 Control Units as slaves. For the slaves, one CU320-2 DP is intended as Publisher and one CU310-2 DP as Subscriber.
Page 620 Communication 10.2 Communication via PROFIBUS DP 3. Via its properties dialog in the overview, configure the telegram for the connected drive object. Figure 10-29 Telegram selection for drive object 4. Then switch to the detailed view. – Slots 4/5 contain the actual and setpoint values for the first drive object, e.g. SERVO. –...
Page 621 Communication 10.2 Communication via PROFIBUS DP 5. The "Insert slot" button is used to create an additional setpoint slot 6 for the first drive object behind the existing setpoint slot 5. Figure 10-31 Insert new slot 6. Under the "PROFIBUS Partner" column, change the new setpoint slot 6 from an "output" type to a "slave-to-slave communication"...
Page 622 Communication 10.2 Communication via PROFIBUS DP 8. The "I/O address" column displays the start address for every drive object. Select the start address of the data of the drive object to be read. In the example, "268" is proposed. If the complete data of the Publisher are not to be read, set this using the "Length" column.
Page 623 Communication 10.2 Communication via PROFIBUS DP 10. After the slave-to-slave communication link has been created, instead of showing "Standard telegram 2" for the drive object, "User-defined" appears in the configuration overview under telegram selection. Figure 10-34 Telegram assignment for slave-to-slave communication 11.
Page 624 Communication 10.2 Communication via PROFIBUS DP Commissioning in STARTER Slave-to-slave communication is configured in HWConfig and is simply an extension of an existing telegram. STARTER supports telegram extension. Figure 10-36 Configuring the slave-to-slave communication links in STARTER To complete the configuration of slave-to-slave communication for the drive objects, the telegram portions of the drive objects in STARTER must be matched to those in the HW Config and extended.
Page 625 Communication 10.2 Communication via PROFIBUS DP Procedure 1. In the overview for the PROFIBUS telegram, you can access the telegram components of the drive objects, in the example, SERVO_01. Select the telegram type "Free telegram configuration with BICO" for the configuration. 2.
Page 626 Communication 10.2 Communication via PROFIBUS DP Figure 10-38 Configuring the PROFIBUS slave-to-slave communication in STARTER To connect the drive objects to the process data which is received via slave-to-slave communication, you also need to connect the appropriate connectors to the corresponding signal sinks.
Page 627: Gsd In Operation
PROFIBUS slave-to-slave communication for SINAMICS. The GSD files can be found as follows: ● On the Internet: http://support.automation.siemens.com/WW/llisapi.dll?func=cslib.csinfo2&aktprim=99&lan g=de – then search for GSD files using an index search. ● On the CD of the STARTER commissioning tool Order no.
Page 628 Communication 10.2 Communication via PROFIBUS DP Figure 10-40 Hardware catalog of the generic station description file with slave-to-slave communication functionality Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 629: Diagnosing The Profibus Slave-To-Slave Communication In Starter
Any interruption to the Publisher is also reported by the fault F01946 at the affected drive object. A failure of the Publisher only impacts the respective drive objects. More detailed information on the messages can be found in References: SINAMICS S120/150 List Manual Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 630: Communication Via Profinet Io
● An IO Supervisor is an engineering tool, typically based on a PC, with which the individual IO devices (drive units) are parameterized and diagnosed. IO device: Drive units with PROFINET interface ● SINAMICS S120 with CU320-2 DP and inserted CBE20 ● SINAMICS S120 with CU320-2 PN ● SINAMICS S120 with CU310-2 PN...
Page 631: Real-Time (Rt) And Isochronous Real-Time (Irt) Communication
Communication 10.3 Communication via PROFINET IO Cycle communication using PROFINET IO with IRT or using RT is possible on all drive units equipped with a PROFINET interface. This means that problem-free communication using other standard protocols is guaranteed within the same network. Note PROFINET for drive technology is standardized and described in the following document: PROFIBUS profile PROFIdrive - Profile Drive Technology...
Page 632: Addresses
Communication 10.3 Communication via PROFINET IO Process data and alarms are always transmitted in real time (RT) within the PROFINET IO system. RT communication provides the basis for data exchange with PROFINET IO. Real- time data are treated as a higher priority than TCP(UDP)/IP data. Transmission of time- critical data takes place at guaranteed time intervals.
Page 633 Communication 10.3 Communication via PROFINET IO IP address The TCP/IP protocol is a prerequisite for establishing a connection and parameterization. To allow a PROFINET device to be addressed as a node on Industrial Ethernet, this device requires a unique IP address in the network. The IP address is made up of 4 decimal numbers with a range of values from 0 through 255.
Page 634: Data Transfer
Communication 10.3 Communication via PROFINET IO Note You can enter the address data for the internal PROFINET ports X150 P1 and P2 in STARTER in the expert list using parameters p8920, p8921, p8922 and p8923. You can enter the address data for the ports of the optional CBE20 module in STARTER in the expert list using parameters p8940, p8941, p8942 and p8943.
Page 635: Communication Channels For Profinet
Communication 10.3 Communication via PROFINET IO The following drive objects can exchange process data: ● Active Infeed (A_INF) ● Basic Infeed (B_INF) ● Control Unit (CU_S) ● ENCODER ● Smart Infeed (S_INF) ● SERVO ● Terminal Board 30 (TB30) ● Terminal Module 15 (TM15) ●...
Page 636 Routing is neither possible between the onboard interfaces X127 and X150 – nor between the onboard interfaces of the Control Unit 320-2PN and inserted CBE20. Overview of important parameters (see the SINAMICS S120/S150 List Manual) Integrated PROFINET interface ● p8920[0...239] PN Name of station ●...
Page 637: Drive Control With Profinet
Additional information on ring topologies can be found in the Chapter, Media redundancy. References ● The integration of a SINAMICS S120 with CU310-2 PN/CU320-2 DP/CU320-2PN in a PROFINET IO system is described in detail in the System Manual "SIMOTION SCOUT Communication".
Page 638 SINAMICS S120 Manual for AC Drives. Clock generation via PROFINET IO (isochronous communication) The SINAMICS S120 with CU310-2 PN/CU320-2 DP/CU320-2 PN can only assume the role of a synchronization slave within a PROFINET IO network. For a CU310-2 PN/CU320-2 DP/CU320-2 PN with CBE20 module, the following applies: ●...
Page 639 Communication 10.3 Communication via PROFINET IO STEP 7 routing with CBE20 The CBE20 does not support STEP 7 routing between PROFIBUS and PROFINET IO. Connect a PG/PC with STARTER commissioning tool To commission a Control Unit with a PG/PC using the STARTER commissioning tool, there are the connection options PROFIBUS, PROFINET or Ethernet.
Page 640: Media Redundancy
Communication 10.3 Communication via PROFINET IO 10.3.2.1 Media redundancy To increase the availability of PROFINET, you can create a ring topology for redundancy purposes. If the ring is interrupted at one point, the data paths between the devices are automatically reconfigured. Following reconfiguration, the devices can once again be accessed in the resulting new topology.
Page 641 Communication 10.3 Communication via PROFINET IO Two options are available with this RT class: ● IRT "high flexibility" ● IRT "high performance". Software preconditions for configuring IRT: ● STEP 7 5.4 SP4 (HW Config) Note For further information about configuring the PROFINET interface for the I/O controller and I/O device, please refer to the following document: SIMOTION SCOUT Communication System Manual.
Page 642 Communication 10.3 Communication via PROFINET IO Comparison between RT and IRT Table 10- 60 Comparison between RT and IRT RT class IRT "high flexibility" IRT "high performance" Transfer mode Switching based on the MAC Switching using the MAC Path-based switching address;...
Page 643 Communication 10.3 Communication via PROFINET IO Synchronization domain The sum of all devices to be synchronized form a synchronization domain. The whole domain must be set to a single, specific RT class (real-time class) for synchronization, Different synchronization domains can communicate with one another via RT. For IRT, all IO devices and IO controllers must be synchronized with a common synchronization master.
Page 644 Communication 10.3 Communication via PROFINET IO Table 10- 61 Settable send cycles and update cycles Send cycle Reduction ratio between update and send cycles IRT "high performance" IRT "high flexibility" Range 250, 500, 1.2.4.8.16.32.64.128.256.512 1.2.4.8.16 "even" 1000 µs 2000 µs 1.2.4.8.16.32.64.128.256 1.2.4.8.16 4000 µs...
Page 645: Profinet Gsdml
The names of GSD files for devices which contain IRT end in …PN-V2.2. 10.3.4 PROFINET GSDML To embed a SINAMICS S into a PROFINET network, SINAMICS S120 supports two different PROFINET GSDML versions (generic station description file): ● PROFINET GSDML for compact modules ●...
Page 646 PROFINET GSDML with subslot configuring by the structure of the file name with additional "SL" to identify: GSDML-V2.2-Siemens-Sinamics_S_CU3x0_SL-20090101.xml (example) The following table shows the possible submodules depending on the particular drive object. Table 10- 62 Submodules depending on the particular Drive Object...
Page 647: Motion Control With Profinet
Communication 10.3 Communication via PROFINET IO ● Subslot configuring without new functionality: – Insert a module "DO with telegram xyz". – Insert a submodule "PZD telegram xyz". – Assign the I/O addresses. ● Subslot configuring with optional PROFIsafe and PZD extension: –...
Page 648 Communication 10.3 Communication via PROFINET IO Sequence of data transfer to closed-loop control system 1. Position actual value G1_XIST1 is read into the telegram image at time T before the IO_Input start of each cycle and transferred to the master in the next cycle. 2.
Page 649 Communication 10.3 Communication via PROFINET IO Name Limit value Description T_IO_Output_valid The time after which the new control output data (setpoints) are available for the drive object. Data_Exchange This service is used to implement user data exchange between the IO controller and IO device 1 - n.
Page 650: Communication With Cbe20
The new selection then becomes active. Table 10- 64 UFW files and selected in the pointer file UFW file and folder on the memory card Functionality (p8835) Pointer file content /SIEMENS/SINAMICS/CODE/CB/CBE20_1.UFW PROFINET device /SIEMENS/SINAMICS/CODE/CB/CBE20_2.UFW PN_Gate /SIEMENS/SINAMICS/CODE/CB/CBE20_3.UFW SINAMICS Link /SIEMENS/SINAMICS/CODE/CB/CBE20_4.UFW...
Page 651: Ethernet/Ip
● r8858[0...39] COMM BOARD read diagnostics channel 10.3.6.1 EtherNet/IP SINAMICS S120 supports the communication with the fieldbus EtherNet Industrial Protocol (EtherNet/IP or also EIP). EtherNet/IP is an open standard based on Ethernet, which is predominantly used in the automation industry. EtherNet/IP is supported by the Open DeviceNet Vendor Association (ODVA).
Page 652: Functions Transferred From Pn Gate
Communication 10.3 Communication via PROFINET IO 10.3.7.1 Functions transferred from PN Gate Functions transferred from PN Gate Function Description Communication channels Cyclic data communication: • – IRT – RT Acyclic data communication: • - PROFINET alarms - read/write data set - TCP/IP PROFINET basic services LLDP...
Page 653: Preconditions For Pn Gate
Communication 10.3 Communication via PROFINET IO 10.3.7.2 Preconditions for PN Gate Hardware ● SINAMICS CU320-2PN with firmware version 4.5 or higher ● Communication Board Ethernet 20 (CBE20) ● Short Ethernet cable to connect CBE20 and CU320-2 PN (X 132) Recommendation: Ethernet cable with the order number MLFB: 6SL3060-4AB00-0AA0 ●...
Page 654: Profinet With 2 Controllers
10.3.8.1 Control Unit settings SINAMICS S120 allows two control systems to be simultaneously connected to a Control Unit via PROFINET, e.g. an automation control (A-CPU) and a safety control (F-CPU). SINAMICS S supports, for this communication, standard telegrams 30 and 31, as well as Siemens telegrams 901 and 902 for the safety control.
Page 655 Communication 10.3 Communication via PROFINET IO Figure 10-46 PROFINET topology overview Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 656 Communication 10.3 Communication via PROFINET IO Example The following diagram shows a configuration example of a drive with 3 axes. The A-CPU sends standard telegram 105 for axis 1 and standard telegram 102 for axis 2. The F-CPU sends PROFIsafe telegram 30 for axis 1 and axis 3. Figure 10-47 Example, communication sequence Configuration To configure the connection, proceed as follows:...
Page 657: Configuring Shared Device
Communication 10.3 Communication via PROFINET IO CAUTION CPU failure Communication via the two channels functions independently of one another. In the event of failure of a CPU, communication with the other CPU is not interrupted, it continues to operate without interruption. Error messages are output regarding the components that have failed.
Page 658 Communication 10.3 Communication via PROFINET IO 2. In HW Config, select the CPU 315-2 PN/DP control and connect the PROFINET IO as the communication network. Select an S120 as drive control (in the example a CU320-2 PN). Figure 10-49 Drive control created in HW Config Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 659 Communication 10.3 Communication via PROFINET IO 3. Click on "Station\Save and compile" (Ctrl+S) The previous project is saved. 4. Open the context menu of the S120 drive and click on "Open object with STARTER", in order to configure the drives in STARTER. Figure 10-50 New project transferred from HW Config into STARTER Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 660 Communication 10.3 Communication via PROFINET IO The STARTER window is opened automatically The project is displayed in the navigation window. 1. In the expert list of the Control Unit, set parameter p8929 = 2 Figure 10-51 p8929 from the expert list of the Control Unit 2.
Page 661 Communication 10.3 Communication via PROFINET IO 4. The PROFIsafe telegrams were added to the PROFIdrive table: Figure 10-54 List of telegrams that are available 5. Transfer your telegram changes to HW Config by clicking on "Create addresses". Figure 10-55 The telegrams were aligned with HW Config 6.
Page 662 Communication 10.3 Communication via PROFINET IO Configuring the safety control: 1. In the HW Konfig window click on the "S120" component. Figure 10-56 Updated project in HW Config Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 663 Communication 10.3 Communication via PROFINET IO 2. Access to all telegrams is set to full. You must enable this in order that the PROFIsafe control can access telegram 30. – Open the context menu by right clicking on the S120 component and then left click on "Object properties ..."...
Page 664 Communication 10.3 Communication via PROFINET IO Configuring the F-CPU in HW Config 1. Different than for a drive control, now select a PROFIsafe-compatible control, for example, a CPU 317F-2 PN/DP. We have manually renamed the PROFIsafe control to be "F-CPU". 2.
Page 665 Communication 10.3 Communication via PROFINET IO 8. In the context menu, select "Paste shared". The S120 drive control is connected to the PROFINET of the PROFIsafe control. In the table, the PROFIsafe control has automatically been allocated full access for PROFIsafe telegram 30.
Page 666: Overview Of Important Parameters
10.3.8.3 Overview of important parameters Overview of important parameters (see the SINAMICS S120/S150 List Manual) ● p8929 PN Remote Controller number ● p9601 SI enable, functions integrated in the drive (Control Unit) ● p9801 SI enable, functions integrated in the drive (Motor Module) 10.3.9...
Page 667 Efficiency optimization Sector Industry DT MC RD 16, Dr. Uhl September © Siemens AG 2008 - Subject to change without prior notice Figure 10-61 PROFIenergy applications Tasks of PROFIenergy PROFIenergy increases the efficiency of drives and drive systems. The PLC sends PROFIenergy commands to the devices involved.
Page 668: Function Diagrams And Parameters
● Longer service life by reducing the effective operating times PROFIenergy properties of the SINAMICS S120 drive system SINAMICS S120 drive system devices meet the following requirements: ● SINAMICS S120 devices are certified for PROFIenergy ● SINAMICS S120 devices support PROFIenergy Class Type 3...
Page 669: Communication Via Sinamics Link
● Setpoint cascading for n drives ● Load distribution of drives coupled through a material web ● Master/slave function for infeed units ● Links between SINAMICS DC-MASTER and SINAMICS S120 Preconditions The following preconditions must be fulfilled to operate SINAMICS Link: ●...
Page 670 Communication 10.4 Communication via SINAMICS Link Send and receive data The SINAMICS Link telegram contains 16 slots (0...15) for the process data (PZD1...16). Each PZD is precisely 1 word long (= 16 bits). Slots that are not required are automatically filled with zeros.
Page 671: Topology
Communication 10.4 Communication via SINAMICS Link 10.4.2 Topology Only a line topology with the following structure is permitted for SINAMICS Link. You must manually set the parameters in the expert lists of the Control Units and drive objects. We recommend that you use the STARTER commissioning tool for this purpose. Figure 10-62 Maximum topology ●...
Page 672: Configuring And Commissioning
Communication 10.4 Communication via SINAMICS Link 10.4.3 Configuring and commissioning When commissioning, proceed as follows: 1. Set the Control Unit parameter p0009 = "Device configuration". 2. Set the Control Unit parameter p8835 = 3 (SINAMICS Link). 3. Set parameters p2037 of the drive objects to "2". 4.
Page 673 Communication 10.4 Communication via SINAMICS Link Table 10- 66 Compile send data of drive 2 (DO3) r2051[x] r2061[x] Contents From Slots in the send buffer parameter p8871[x] Index Index ZSW1 r0899 PZD 7 Speed actual value 1 part r0061[0] PZD 8 Speed actual value 2 part PZD 9 Torque actual value 1 part...
Page 674 Communication 10.4 Communication via SINAMICS Link Receiving data The sent telegrams of all nodes are simultaneously available at the SINAMICS Link. Each telegram has a length of 16 PDA. Each telegram has a marker of the sender. From all telegrams, you select those PZD that you wish to accept. You can process a maximum of 16 PZD.
Page 675: Example
Communication 10.4 Communication via SINAMICS Link Tel. word = telegram word Note For double words, 2 PZD must be read in succession. Read a 32-bit setpoint that is at PZD 2+PZD 3 of the telegram from node 2, and map this to PZD 2+PZD 3 of node 1: p8872[1] = 2, p8870[1] = 2, p8872[2] = 2, p8870[2] = 3 Activation To activate SINAMICS Link connections, perform a POWER ON for all nodes.
Page 676 Communication 10.4 Communication via SINAMICS Link Send: ● First telegram: Send data from node 1 – r0898 CO/BO: Control word 1 drive object 1 (1 x PZD) – r0062 CO: Speed setpoint drive object 2 (2 x PZD) – r0079 CO: Total torque setpoint (2 x PZD) ●...
Page 677 Communication 10.4 Communication via SINAMICS Link ● r0079 CO: Torque setpoint drive object: m_set_ and m_set_ A2_b A2_b ● Telegram 1/2/3 = telegram of node 1/2/3 STW and ZSW are each one word (16 bits) long and require in the telegram one PZD. n_act, n_set, m_act and m_set are each 2 words (32 bits) long and require 2 consecutive PZDs.
Page 678 Communication 10.4 Communication via SINAMICS Link Defining the send data Define the send data from node 1 (Control Unit and drive object 1). Control word STW1, speed setpoint and torque setpoint should be sent from drive object 1: 1. Place parameter r0898 in send parameter p2051[0]. p2051[0] is written to the send slot p8871[0] and assigned to PZD 1.
Page 679 Communication 10.4 Communication via SINAMICS Link Send parameters Sent parameters Contents p8871[x] Slot in the telegram m_act_ PZD 5 A2_b Empty 2051[15] Empty PZD 16 Define the send data from node 3 (drive object 3). Status word ZSW1, speed and torque actual values should be sent from drive object 3: 1.
Page 680 Communication 10.4 Communication via SINAMICS Link 2. Specify the slots in the input buffer (p8870) in which the PZDs from the telegrams are to be stored: PZD 1 in p8870[0] = 1 (PZD 1 from telegram 2) PZD 1 in p8870[1] = 2 (PZD 1 from telegram 3) PZD 2 in p8870[2] = 3 (PZD 2 from telegram 2, first part of p2061[1]) PZD 3 in p8870[3] = 3 (PZD 3 from telegram 2, second part of p2061 [1]) PZD 2 in p8870[4] = 4 (PZD 2 from telegram 3, first part of p2061[1])
Page 681 Communication 10.4 Communication via SINAMICS Link Table 10- 74 Receive data for node 2 Transfer to Transfer to Parameter Contents Sender Receive p8872[x] buffer p2050[x] p2060[x] p8870[x] Node PZD 1 r0899 ZSW1_ PZD 2 r0060 n_set_ A2_a PZD 3 n_set_ A2_b Empty PZD 16...
Page 682: Communication Failure When Booting Or In Cyclic Operation
"COMM BOARD: Monitoring time, process data expired" Function diagrams (see SINAMICS S120/S150 List Manual) ● 2211 Data transfer Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r2050[0...19] CO: IF1 PROFIdrive PZD receive word ● p2051[0...14] CI: IF1 PROFIdrive PZD send word ●...
Page 683 Communication 10.4 Communication via SINAMICS Link Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 684 Communication 10.4 Communication via SINAMICS Link Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 685: Applications
Applications 11.1 Switching on a drive object X_INF using a VECTOR drive object Description Figure 11-1 BICO interconnection Using this BICO interconnection, a drive object (DO) X_INF can be switched-in using a VECTOR drive object. This switch on version is mainly used for drive units in the chassis format if a single Infeed Module and one Motor Module can be used.
Page 686: Description
Applications 11.2 Description ● The switch on attempt is interrupted if, during the restart, a fault occurs in the Infeed Module (drive object X_INF). The fault is communicated to the VECTOR drive object via the BICO connection from p1208.0 to r2139.3 shown above. ●...
Page 687 Applications 11.2 Description ● 4 motor contactors with positively-driven auxiliary contacts (3 NC contacts, 1 NO contact) ● 4 motors, 1 Control Unit, 1 infeed, and 1 Motor Module Figure 11-2 Example of motor changeover Table 11- 1 Settings for the example Parameter Settings Remark...
Page 688 Applications 11.2 Description Procedure for changeover between motor data sets 1. Start condition: For synchronous motors, the actual speed must be lower than the speed at the start of field weakening. This prevents the regenerative voltage from exceeding the terminal voltage.
Page 689 Sets the speed at which circuit is to be changed over to delta. Note: Using p2140, you can define an additional hysteresis for the changeover (refer to SINAMICS S120/150 List Manual, function diagram 8010). Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 690 ● 8565 Drive Data Sets (DDS) ● 8570 Encoder Data Sets (EDS) ● 8575 Motor Data Sets (MDS) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0051 0...4 CO/BO: Drive data set DDS effective ● p0130 Motor data sets (MDS) number ●...
Page 691: Application Examples With Dmc20
Applications 11.3 Application examples with DMC20 ● p0827 [0...n] motor changeover status word bit number ● p0828 [0...n] BI: Motor changeover feedback ● r0830.0...15 CO/BO: Motor changeover status word ● p0831 [0...15] BI: Motor changeover contactor feedback ● p0833 Data set changeover configuration 11.3 Application examples with DMC20 Features...
Page 692 Applications 11.3 Application examples with DMC20 Example: Distributed structure Several direct length measuring systems are used in a machine. These are to be combined in a control cabinet and connected to the Control Unit via a DRIVE-CLiQ cable. When using a DMC20, up to five measuring systems can be combined. Figure 11-4 Example, distributed topology using DMC20 Example: Hot plugging...
Page 693 Applications 11.3 Application examples with DMC20 The complete drive object (Motor Module, motor encoder, Sensor Module) is disabled via p0105. STW2.7 is used to set the function "Park axis" for all components that are assigned to the motor control (Motor Module, motor encoders). All components that belong to Encoder_2 or Encoder_3 remain active.
Page 694 1. Configure a drive unit offline 2. Right-click on Topology -> Insert New Object -> DRIVE-CLiQ Hub 3. Configure the topology Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ●...
Page 695: Dcc Axial Winder
● Flexible sensor evaluation (e.g. dancer roll, load cell) Note Documentation for a standard application for the DCC axial winder is available on demand from your responsible SIEMENS distribution partner. Function blocks The "DCC axial winder" function involves the following DCBs (drive control blocks – function...
Page 696 Applications 11.4 DCC axial winder 1. TTCU block: Winding hardness characteristic The block is used for defining the tension setpoint as a function of the actual diameter of the roll being wound. The setpoint is adjusted according to a selectable characteristic curve.
Page 697 Applications 11.4 DCC axial winder Calculation of the moment of inertia for torque pre-control The function diagram section below shows the calculation flow for servo control with encoder [5042] / without encoder [5210]: dn/dt 1493 1497 Figure 11-7 Torque pre-control with servo control The following function diagram section shows the calculation flow for vector control [6031]: dn/dt 1497...
Page 698 In case of a web break, this prevents the tension controller from actively building torque. The winder speed is limited by the speed setpoint. Function diagrams (see SINAMICS S120/S150 List Manual) ● 5042 Servo control, speed controller, torque/speed pre-control with encoder ●...
Page 699: Control Units Without Infeed Control
Applications 11.5 Control Units without infeed control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0341[0...n] motor moment of inertia ● p0342[0...n] ratio between the total moment of inertia and that of the motor ● p1455[0...n] CI: Speed controller P gain adaptation signal ●...
Page 700: Application: Emergency Stop With Power Failure And/Or Emergency Stop (Servo)
Figure 11-11 Example: interconnection with more than one Control Unit 1) X_INF stands for all drive objects "Infeed"; i.e.: A_INF, B_INF, S_INF Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0722 CO/BO: CU digital inputs, status ● r0863.0...2 CO/BO: Drive coupling status word/control word ●...
Page 701 Applications 11.6 Application: emergency stop with power failure and/or emergency stop (Servo) Figure 11-12 Example: interconnection of quick stop due to power failure or emergency off In addition to the component wiring shown above, each drive object that is to carry out a quick stop if the power fails needs to be parameterized.
Page 702 Applications 11.6 Application: emergency stop with power failure and/or emergency stop (Servo) Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 703: Basic Information About The Drive System
Basic information about the drive system 12.1 Parameter The following adjustable and display parameters are available: ● Adjustable parameters (write/read) These parameters have a direct impact on the behavior of a function. Example: Ramp-up and ramp-down time of a ramp-function generator ●...
Page 704 Basic information about the drive system 12.1 Parameter ● EDS Encoder Data Set ● MDS Motor Data Set Figure 12-2 Parameter categories Saving parameters in a non-volatile memory The modified parameter values are stored in the volatile RAM. When the drive system is switched off, these data are lost.
Page 705 = 1; automatically reset to 0 Access level The parameters are subdivided into access levels. The SINAMICS S120/S150 List Manual specifies the access level in which the parameter is displayed and can be changed. The required access levels 0 to 4 can be set in p0003.
Page 706: Data Sets
Basic information about the drive system 12.2 Data sets 12.2 Data sets 12.2.1 CDS: Command Data Set The BICO parameters are combined (binector and connector inputs) in a command data set (CDS). These parameters are used to interconnect the signal sources of a drive. By parameterizing several command data sets and switching between them, the drive can be operated with different pre-configured signal sources.
Page 707: Dds: Drive Data Set
Basic information about the drive system 12.2 Data sets Example: Changeover between command data set 0 and 1 Figure 12-3 Switching the command data set (example) 12.2.2 DDS: Drive Data Set A drive data set (DDS) contains various adjustable parameters that are relevant for open- loop and closed-loop drive control: ●...
Page 708: Eds: Encoder Data Set
Basic information about the drive system 12.2 Data sets ● p0820 BI: Drive data set selection DDS, bit 0 ● p0821 BI: Drive data set selection DDS, bit 1 ● p0822 BI: Drive data set selection DDS, bit 2 ● p0823 BI: Drive data set selection DDS, bit 3 ●...
Page 709: Mds: Motor Data Set
Basic information about the drive system 12.2 Data sets If encoder 1 (p0187) is changed over via DDS, then an MDS must also be changed over. Note Switching over between several encoders In order to be able to switch between two or several encoders using the EDS switchover function, you must connect these encoders via various Sensor Modules or DRIVE-CLiQ ports.
Page 710 The parameters that are grouped together in the motor data set are identified in the SINAMICS S120/S150 List Manual by "Data Set MDS" and are assigned an index [0...n]. A separate motor data set is required for each motor that is controlled by the Control Unit via a Motor Module.
Page 711: Function Diagrams And Parameters
● 8565 Drive Data Sets (DDS) ● 8570 Encoder Data Sets (EDS) ● 8575 Motor Data Sets (MDS) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0120 Power unit data sets (PDS) number ● p0130 Motor data sets (MDS) number ●...
Page 712: Drive Objects
Basic information about the drive system 12.3 Drive objects 12.3 Drive objects A drive object (DO) is an independent, "self-contained" software function that has its own parameters and, in some cases, its own faults and alarms. Drive objects can be provided as standard (e.g.
Page 713 Note Drive object/Drive Object A list of all of the drive objects is provided in the SINAMICS S120/S150 List Manual in the Chapter, Overview of parameters. Configuring drive objects The "Drive objects" processed by the Control Unit are set up in STARTER using configuration parameters during the first commissioning.
Page 714: Bico Technology: Interconnecting Signals
Basic information about the drive system 12.4 BICO technology: interconnecting signals Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0101 Drive object numbers ● r0102 Number of drive objects ● p0107 Drive object type ● p0108[0...23] drive object configuration (only for the "Control Unit" drive object) ●...
Page 715: Interconnecting Signals Using Bico Technology
Basic information about the drive system 12.4 BICO technology: interconnecting signals Connectors, CI: Connector Input, CO: Connector Output A connector is a digital signal, e.g. in 32-bit format. It can be used to emulate words (16 bits), double words (32 bits) or analog signals. Connectors are subdivided into connector inputs (signal sink) and connector outputs (signal source).
Page 716: Internal Encoding Of The Binector/Connector Output Parameters
Example: FloatingPoint32 The possible interconnections between the BICO input (signal sink) and the BICO output (signal source) are listed in the following documents: References: SINAMICS S120/S150 List Manual, section "Explanation of list of parameters" in table "Possible combinations for BICO interconnections".
Page 717: Sample Interconnections
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.4 Sample interconnections Example 1: Interconnection of digital signals Suppose you want to operate a drive via terminals DI 0 and DI 1 on the Control Unit using jog 1 and jog 2. Figure 12-7 Interconnection of digital signals (example) Example 2: connection of OC/OFF3 to several drives...
Page 718: Bico Technology
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.5 BICO technology: BICO interconnections to other drives The following parameters are available for BICO interconnections to other drives: ● r9490 Number of BICO interconnections to other drives ● r9491[0...15] BI/CI of BICO interconnections to other drives ●...
Page 719: Scaling
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.6 Scaling Signals for the analog outputs Table 12- 5 List of signals for analog outputs Signal Parameter Unit Normalization (100 % = ...) Speed setpoint before the setpoint r0060 p2000 filter...
Page 720: Propagation Of Faults
Basic information about the drive system 12.4 BICO technology: interconnecting signals 12.4.7 Propagation of faults Forwarding faults to the Control Unit When faults are triggered on the Control Unit drive object, it is always assumed that central functions of the drive are affected. For this reason, these faults are also forwarded to all other drive objects (propagation).
Page 721: Inputs/Outputs
Note For detailed information about the hardware properties of I/Os, please refer to document: SINAMICS S120 Equipment Manual Control Units. For detailed information about the structural relationships between all I/Os of a component and their parameters, please refer to the function diagrams in document: SINAMICS S120/S150 List Manual.
Page 722 The reference potential of the digital inputs is the ground of the Control Unit. ● Sampling time for digital inputs/outputs can be adjusted (p0799) Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit 320-2: ● 2120 Digital inputs, electrically isolated (DI 0 ... DI 3) ●...
Page 723 – as a connector output Note Before the digital outputs can function, their own electronics power supply must be connected. Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit CU310-2: ● 2038 – digital output (DO 16) TB30: ● 9102 Electrically isolated digital outputs (DO 0 to DO 3) TM31: ●...
Page 724: Use Of Bidirectional Inputs/Outputs On The Cu
● Sharing of bidirectional input/output resources by the CU and higher-level control (see section "Use of bidirectional inputs/outputs on the CU") Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit CU310-2: ● 2030 digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 9) ●...
Page 725 Basic information about the drive system 12.5 Inputs/outputs The setting of parameter p0729 indicates how a digital output of a Control Unit has been assigned, i.e. whether the output of an onboard terminal X122 or X132 is assigned directly to the Control Unit or connected via PROFIBUS to a higher-level control.
Page 726: Analog Inputs
Basic information about the drive system 12.5 Inputs/outputs 12.5.3 Analog inputs Signal processing using the analog inputs is shown in the function diagrams listed below. Properties ● Hardware input filter set permanently ● Simulation mode parameterizable ● Adjustable offset ● Signal can be inverted via binector input ●...
Page 727: Analog Outputs
Basic information about the drive system 12.5 Inputs/outputs Function diagrams (see SINAMICS S120/S150 List Manual) ● 9104 Analog inputs (AI 0 and AI 1) ● 9566 Analog input 0 (AI 0) ● 9568 Analog input 1 (AI 1) ● 9663 Analog input (AI 0) CU310-2: ●...
Page 728: Backing Up The Non-Volatile Memory
0 if the operation was successful. If the operation was not successful, p7775 indicates a corresponding fault value. Further details of the fault values can be found in the SINAMICS S120/150 List Manual. Note NVRAM data change The data in the NVRAM can only be restored or deleted if the pulse inhibit is set.
Page 729 Basic information about the drive system 12.6 Backing up the non-volatile memory When saving, all data are backed up from the NVRAM. NOTICE Backing up NVRAM data The backup of the NVRAM data to the memory card is also possible when the pulses are enabled.
Page 730: General Information About The Bop20
When write protection is activated, p7775 can only be written to from a higher-level control using cyclic communication. More information on fault buffers, diagnostic buffers and message buffers is provided in the SINAMICS S120 Commissioning Manual. 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.7.1...
Page 731 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Displays and keys Figure 12-9 Overview of displays and keys Information on the displays Table 12- 8 Display Meaning top left The active drive object of the BOP is displayed here. 2 positions The displays and key operations always refer to this drive object.
Page 732 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Information on the keys Table 12- 9 Keys Name Meaning Powering up the drives for which the command "ON/OFF1" should come from the BOP. Binector output r0019.0 is set using this key. Powering down the drives for which the commands "ON/OFF1", "OFF2"...
Page 733 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Name Description Unplug while voltage is The BOP can be withdrawn and inserted under voltage. present The ON key and OFF key have a function. •...
Page 734 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Overview of important parameters (see SINAMICS S120/S150 List Manual) All drive objects ● p0005 BOP operating display selection ● p0006 BOP operating display mode ● p0013 BOP user-defined list ●...
Page 735: Displays And Using The Bop20
Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.7.2 Displays and using the BOP20 Features ● Status indicator ● Changing the active drive object ● Displaying/changing parameters ● Displaying/acknowledging faults and alarms ● Controlling the drive using the BOP20 Status indicator The operating display for each drive object can be set using p0005 and p0006.
Page 736 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Parameter display The parameters are selected in the BOP20 using the number. The parameter display is reached from the operating display by pressing the "P" key. Parameters can be searched for using the arrow keys.
Page 737 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Value display To switch from the parameter display to the value display, press the "P" key. In the value display, the values of the adjustable parameters can be increased and decreased using the arrow.
Page 738 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Example: Changing a parameter Precondition: The appropriate access level is set (for this particular example, p0003 = 3). Figure 12-12 Example: Changing p0013[4] from 0 to 300 Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 739 Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) Example: Changing binector and connector input parameters For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected. Figure 12-13 Example: Changing indexed binector parameters Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 740: Fault And Alarm Displays
Basic information about the drive system 12.7 Parameterizing using the BOP20 (Basic Operator Panel 20) 12.7.3 Fault and alarm displays Displaying faults Figure 12-14 Faults Displaying alarms Figure 12-15 Alarms Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 741: Controlling The Drive Using The Bop20
Basic information about the drive system 12.8 Examples of replacing components 12.7.4 Controlling the drive using the BOP20 When commissioning the drive, it can be controlled via the BOP20. A control word is available on the Control Unit drive object (r0019) for this purpose, which can be interconnected with the appropriate binector inputs of e.g.
Page 742 Basic information about the drive system 12.8 Examples of replacing components For the components that have been replaced, the electronic rating plate must match as far as the following data are concerned: ● Component type (e.g. "SMC20") ● Order No. (e.g. "6SL3055–0AA00–5Bxx") Example: Replacing a component with a different order number Precondition: ●...
Page 743 Basic information about the drive system 12.8 Examples of replacing components Example: (p9909 = 0) Replacing a defective component with an identical order number Precondition: ● The replaced component has an identical order number ● Topology comparison component replacement inactive p9909 = 0. Table 12- 13 Example: Replacing a Motor Module Action Reaction...
Page 744: Drive-Cliq Topology
Replacing motors with SINAMICS Sensor Module Integrated or with DRIVE-CLiQ Sensor Integrated If a defect has occurred in a motor with integrated DRIVE-CLiQ interface (SINAMICS Sensor Module Integrated), please contact the Siemens office in your region to arrange for repair. 12.9...
Page 745 Electronic rating plate The electronic rating plate contains the following data: ● Component type (e.g. SMC20) ● Order number (e.g. 6SL3055-0AA0-5BA0) ● Manufacturer (e.g. SIEMENS) ● Hardware version (e.g. A) ● Serial number (e.g. "T-PD3005049) ● Technical specifications (e.g. rated current) Actual topology The actual topology corresponds to the actual DRIVE-CLiQ wiring harness.
Page 746: Rules For Wiring With Drive-Cliq
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Figure 12-16 Topology view in STARTER NOTICE The Control Unit and the Option Board are not monitored. A replacement of components is accepted automatically and not displayed. 12.10 Rules for wiring with DRIVE-CLiQ Rules apply for wiring components with DRIVE-CLiQ.
Page 747: Changing The Offline Topology In Starter
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.1 Changing the offline topology in STARTER The device topology can be changed in STARTER by shifting the components in the topology tree. Table 12- 15 Example: changing the DRIVE-CLiQ topology Topology tree view Remark Select the DRIVE-CLiQ component.
Page 748 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ General DRIVE-CLiQ rules The following generally binding DRIVE-CLiQ rules must be observed to ensure safe operation of the drive. 1. A maximum of 14 DRIVE-CLiQ nodes can be connected to one DRIVE-CLiQ line at a Control Unit, e.g.
Page 749 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 9. The following applies for booksize format: – In the servo control and vector U/f control operating modes, only one Line Module may be connected to the Control Unit. In the vector control operating mode, a maximum of three further Line Modules may be connected in parallel (i.e.
Page 750 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 17. Mixed operation of control cycles: The following combinations are permissible: – Servo with 62.5 µs and servo with 125 µs – Servo with 125 µs servo with 250 µs –...
Page 751 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 26. For current controller clock cycles T < 125 μs, the Motor Modules - also with the same controller clock cycle - must be symmetrically connected to two DRIVE-CLiQ ports. 27.
Page 752 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 33. Example, CU320-2 with 31.25 µs clock level: – Topology 1: 1 ALM (250 µs) on a line, 1 x servo (31.25 µs) on a line, 3 Terminal Modules on a line and in series –...
Page 753: Recommended Drive-Cliq Rules
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 40. The following applies to the DRIVE-CLiQ connection of CX/NX components to a Control Unit: The connection to the Control Unit is obtained from the PROFIBUS address of the CX/NX (10 →...
Page 754 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 4. For the chassis format, Motor Modules with a current controller cycle of 250 μs should be connected to DRIVE-CLiQ socket X101 of the Control Unit. If required, they should be connected in a line.
Page 755 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 13. DRIVE-CLiQ sockets should, as far as possible, be symmetrically wired. Example: Do not connect 8 DRIVE-CLiQ nodes in series at one DRIVE-CLiQ socket of the CU - but instead, connect 2 nodes at each of the 4 DRIVE-CLiQ sockets. 14.
Page 756: Wiring Example For Drives In Vector Control Mode
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Figure 12-19 Example of a topology with VSM for booksize and chassis components Table 12- 16 VSM connection Component VSM connection Active Line Module booksize X202 Active Line Module chassis X402 Power Module chassis X402...
Page 757 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Figure 12-20 Drive line-up (chassis) with identical pulse frequencies Drive line-up comprising four Motor Modules in the chassis format with different pulse frequencies It is advantageous to connect Motor Modules with different pulse frequencies to different DRIVE-CLiQ sockets of the Control Unit.
Page 758: Wiring Example For Parallel Connection Of Motor Modules In Vector Control Mode
X100 or X101 socket. For further information on parallel connection, see the chapter "Parallel connection of power units" in the SINAMICS S120 Function Manual. Note This topology does not match the topology created offline by STARTER and must be changed manually.
Page 759 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Figure 12-22 Drive line-up with parallel-connected power units in the chassis format Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 760: Sample Wiring: Power Modules
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.6 Sample wiring: Power Modules Blocksize Figure 12-23 Wiring example for Power Modules Blocksize Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 761 Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Chassis Figure 12-24 Wiring example for Power Modules chassis format Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 762: Sample Wiring For Servo Drives
Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ 12.10.7 Sample wiring for servo drives The following diagram shows the maximum number of controllable servo drives and extra components. The sampling times of individual system components are: ●...
Page 763: Emergency Operating Mode For Drive-Cliq Components
Basic information about the drive system 12.11 Emergency operating mode for DRIVE-CLiQ components Figure 12-26 Sample topology for vector V/f control 12.11 Emergency operating mode for DRIVE-CLiQ components In order to protect the drive system against excessive voltage when the Control Unit or DRIVE-CLiQ communication fails (e.g.
Page 764 Basic information about the drive system 12.11 Emergency operating mode for DRIVE-CLiQ components Note Autonomous (emergency) operation is only possible for Motor Modules and Basic Line Modules with order numbers which end with the code ..3, e.g. 6SL3130-6TE21-6AA3, . Principle of operation Two task profiles are obtained for autonomous operation: ●...
Page 765: System Sampling Times And Number Of Controllable Drives
Basic information about the drive system 12.12 System sampling times and number of controllable drives Resumption of DRIVE-CLiQ communication when autonomous mode is active A distinction must be made between the two operating states below: ● The DRIVE-CLiQ bus timing, e.g. clock cycle settings, has not changed since the component last booted: The DRIVE-CLiQ component boots in cyclic mode.
Page 766: Notes On The Number Of Controllable Drives
Basic information about the drive system 12.12 System sampling times and number of controllable drives For p0092 = 1, the sampling times are pre-assigned so that isochronous operation together with a control is possible. If isochronous operation is not possible due to incorrect sampling time settings, then an appropriate message is output (A01223, A01224).
Page 767 Basic information about the drive system 12.12 System sampling times and number of controllable drives The following combinations are permissible for current controller cycle mixed operation: ● Servo with 125 µs and servo with 250 µs (max. 2 clock cycle levels can be mixed) ●...
Page 768 Basic information about the drive system 12.12 System sampling times and number of controllable drives Cycle times for U/f control This following table lists the number of axes that can be operated with a Control Unit in the U/f control mode. The number of axes is dependent on the current controller clock cycle: Table 12- 19 Sampling time setting for U/f control Cycle times [µs] Number...
Page 769 Basic information about the drive system 12.12 System sampling times and number of controllable drives Cycle times of the CU310-2 in the servo control mode Table 12- 22 Sampling time setting for servo control Cycle times [µs] Number Via DQ Snapped-on / TB Current...
Page 770: Setting The Sampling Times
12.12 System sampling times and number of controllable drives Using EPOS The following table lists the number of axes that can be operated with a SINAMICS S120 when using a basic positioning system (EPOS). The number of axes is dependent on the current controller clock cycle.
Page 771: Rules For Setting The Sampling Time
Basic information about the drive system 12.12 System sampling times and number of controllable drives Setting the pulse frequency in online operation using STARTER Enter the minimum pulse frequency in p0113. For isochronous operation (p0092 = 1), you can only set the parameter so that a resulting current controller cycle with an integer multiple of 125 μs is obtained.
Page 772 Basic information about the drive system 12.12 System sampling times and number of controllable drives 5. For Active Line Modules (ALM) in chassis format, only a current controller sampling time of 250.0 µs or 400.0 µs / 375.0 µs (375 µs when p0092 = 1) can be set. 6.
Page 773: Default Settings For The Sampling Times
Basic information about the drive system 12.12 System sampling times and number of controllable drives 15. For chassis: – For 3 drives in vector control (speed control: r0108.2 = 1), a minimum current controller sampling time of 250.0 µs can be set (250.0 µs ≤...
Page 774: Examples When Changing Sampling Times / Pulse Frequencies
Basic information about the drive system 12.12 System sampling times and number of controllable drives Construction type Number p0112 p0115[0] p1800 Chassis 400 V / > 355 kW 2 (Low) 250 µs 690 V / > 450 kW 2 (Low) 250 µs Basic Infeed Booksize...
Page 775: Overview Of Important Parameters (See Sinamics S120/S150 List Manual)
ROM" (see also the SINAMICS S120 Commissioning Manual). 10. We recommend that the controller settings are recalculated (p0340 = 4). 12.12.6 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0009 Device commissioning, parameter filter ● p0092 Isochronous PROFIBUS operation, pre-assignment/check ●...
Page 776: Licensing
Licensing Description To use the SINAMICS S120 drive system and the activated options, you need to assign the corresponding licenses to the hardware. When doing so, you receive a license key, which electronically links the relevant option with the hardware.
Page 777 Basic information about the drive system 12.13 Licensing NOTICE The drive can only be operated with an insufficient license for an option during commissioning and servicing. The drive requires a sufficient license in order for it to operate. System response for an insufficient license for a function module An insufficient license for a function module is indicated using the following fault and LED on the Control Unit: ●...
Page 778 ● Memory card serial number (printed on the memory card) ● License number and delivery note number of the license (on the Certificate of License) 1. Call up the "WEB License Manager". http://www.siemens.com/automation/license 2. Choose "Direct access". 3. Enter the license number and delivery note number of the license.
Page 779 Basic information about the drive system 12.13 Licensing Note When changing p9920[x] to the value 0, all of the following indices are also set to 0. After the license key has been entered, it has to be activated as follows: ●...
Page 780: Write And Know-How Protection
● p9976[0...2] system utilization 12.14 Write and know-how protection In order to protect your own projects against changes, unauthorized viewing or copying, SINAMICS S120 has write protection and know-how protection functions (KHP). KHP = Know-how-protection 12.14.1 Write protection Write protection prevents settings from being inadvertently changed. No password is required for write protection.
Page 781 Basic information about the drive system 12.14 Write and know-how protection 7. Left click on "Activate". Figure 12-27 Activating write protection 8. Write protection is now activated. In the expert list you can recognize that write protection is active by the fact that the entry fields of all adjustable parameters are shown with gray shading.
Page 782: Know-How Protection
Certain parameters are excluded from write protection in order not to endanger the functionality and operability of the drives. The list of these parameters can be found in the SINAMICS S120/150 List Manual in the Chapter, Parameters for write protection and know- how protection, subchapter, Parameters with "WRITE_NO_LOCK".
Page 783 In spite of active know-how protection, certain parameters can be changed and read. The list of these parameters can be found in the SINAMICS S120/150 List Manual in the Chapter, Parameters for write protection and know-how protection in the subchapter, Parameters for write protection and know-how protection/parameters with "KHP_WRITE_NO_LOCK".
Page 784: Copy Protection
- \\USER\SINAMICS\DATA. NOTICE Diagnostics under know-how protection When know-how protection is active, if service or diagnostics is required, then Siemens AG can only provide support in collaboration with the OEM partner. 12.14.2.1 Copy protection...
Page 785: Using Know-How Protection
Basic information about the drive system 12.14 Write and know-how protection 12.14.2.2 Using know-how protection Overview Before activating know-how protection, the following conditions must be met: ● The drive unit has been fully commissioned. (Configuration, download into the drive unit, complete commissioning. You then carried out an upload in order to upload the parameters calculated by the drive into the STARTER project) ●...
Page 786 Basic information about the drive system 12.14 Write and know-how protection Activating know-how protection 1. Connect the Control Unit to the programming device. 2. Open STARTER. 3. Open your project. 4. Establish a connection to the target device (go online). 5.
Page 787: Replacing Devices For Know-How Protection With Copy Protection
Basic information about the drive system 12.14 Write and know-how protection Changing the password In order to change the password for know-how protection, you must connect your Control Unit to the programming device. 1. The know-how protection must be activated. 2.
Page 788 Basic information about the drive system 12.14 Write and know-how protection 8. When powering up, the Control unit checks the new serial numbers and deletes the values p7759 and p7769 if they match. 9. After it has powered up without any errors, the Control Unit is ready for operation. The know-how protection is active.
Page 789 Basic information about the drive system 12.14 Write and know-how protection Reading out the serial number of the memory card from parameter r7843: r7843[11] KHP memory card serial number r7843[12] KHP memory card serial number r7843[13] KHP memory card serial number r7843[13] KHP memory card serial number r7843[13] KHP memory card serial number r7843[16] KHP memory card serial number...
Page 790: Overview Of Important Parameters
12.14 Write and know-how protection 12.14.3 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r7758[0...19] KHP Control Unit serial number ● p7759[0...19] KHP Control Unit reference serial number ● r7760 write protection/know-how protection status ●...
Page 791 Basic information about the drive system 12.14 Write and know-how protection Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 792 Basic information about the drive system 12.14 Write and know-how protection Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 793: A.1 Availability Of Hardware Components
Appendix Availability of hardware components Table A- 1 Hardware components available as of 03.2006 HW component Order number Version Revisions AC Drive (CU320, PM340) refer to the Catalog SMC30 6SL3055-0AA00-5CA1 with SSI support DMC20 6SL3055-0AA00-6AAx TM41 6SL3055-0AA00-3PAx SME120 6SL3055-0AA00-5JAx SME125 6SL3055-0AA00-5KAx BOP20 6SL3055-0AA00-4BAx...
Page 794 Appendix A.1 Availability of hardware components HW component Order number Version Revisions Active Interface Module 6SL3100-0BE23-6ABx booksize 36 kW Smart Line Modules booksize 6SL3430-6TE21-6AAx compact Motor Modules booksize 6SL3420-1TE13-0AAx compact 6SL3420-1TE15-0AAx 6SL3420-1TE21-0AAx 6SL3420-1TE21-8AAx 6SL3420-2TE11-0AAx 6SL3420-2TE13-0AAx 6SL3420-2TE15-0AAx Power Modules blocksize liquid 6SL3215-1SE23-0AAx cooled 6SL3215-1SE26-0AAx...
Page 795: A.2 Availability Of Sw Functions
Appendix A.2 Availability of SW functions Table A- 6 Hardware components available as of 04.2011 HW component Order number Version Revisions S120 Combi 3 axes 6SL3111-3VE21-6FA0 Power Module 6SL3111-3VE21-6EA0 6SL3111-3VE22-0HA0 S120 Combi 4 axes 6SL3111-4VE21-6FA0 Power Module 6SL3111-4VE21-6EA0 6SL3111-4VE22-0HA0 S120 Combi 6SL3420-1TE13-0AA0 Single Motor Module 6SL3420-1TE15-0AA0...
Page 796 Appendix A.2 Availability of SW functions SW function Servo Vector HW component Automatic restart for vector and Smart Line Modules 5/10 kW The ability to mix servo and vector V/f control modes on one CU Regulated V up to 480 V input voltage can be parameterized for Active Line Modules Smart Mode for Active Line Modules booksize format Extended setpoint channel can be activated...
Page 797 New functions, firmware 2.4 or 2.4 SP1 SW function Servo Vector HW component SINAMICS S120 functionality for AC DRIVE (CU310 DP/PN) Basic positioning Encoder data set changeover (3 EDS encoder data sets per drive data set) 2 command data sets (CDS)
Page 798 Appendix A.2 Availability of SW functions SW function Servo Vector HW component New hardware components are supported (AC DRIVE, SME120/125, BOP20, DMC20, TM41) Position tracking for torque motors (not for EPOS) CU320, 6SL3040- ..- 0AA1 and Version C or higher 1FW3 torque motors Table A- 12 New functions, firmware 2.5 or 2.5 SP1...
Page 799 Appendix A.2 Availability of SW functions SW function Servo Vector HW component EPOS function extensions: Traversing blocks / new task: "Travel to fixed stop" • Traversing blocks / new continuation conditions: "External block • relaying" Completion of position tracking for absolute encoder (load gear) •...
Page 800 Appendix A.2 Availability of SW functions SW function Servo Vector HW component Automatic speed controller setting since FW2.1 Technological pump functions Simultaneous cyclical operation of PROFIBUS and PROFINET on CU320 Automatic restart also with servo since FW2.2 Operates at 500 μs PROFINET I/O Absolute position information (X_IST2) with resolver DC link voltage monitoring depending on the line voltage Automatic line frequency detection...
Page 801 Appendix A.2 Availability of SW functions SW function Servo Vector HW component Quick magnetization for induction motors Flux reduction for induction motors Component status display Downgrade disable Parallel connection of motors Parallel connection of Motor Modules Parallel connection of power units Master/slave function for infeeds Thermal motor monitoring I2t model for synchronous motors...
Page 802 Appendix A.2 Availability of SW functions SW function Servo Vector HW component U/f diagnostics (p1317) permitted as regular operating mode Setpoint-based utilization display, instead of the previous actual value- based utilization display A performance license is now required from the 4th axis (for servo/vector) or from the 7th U/f axis, instead of from a utilization of 50 % and higher - which was the case up until now.
Page 803: A.3 Functions Of Sinamics S120 Combi
New PROFIsafe telegrams 31, 901, 902 Functions of SINAMICS S120 Combi SINAMICS S120 Combi supports the following functions, which are described in this Function Manual. Any function not shown in this list is not available for SINAMICS S120 Combi Table A- 17...
Page 804 Safely Limited Speed (SLS) Safe Speed Monitor (SSM) Safe Acceleration Monitor (SAM) Communication PROFIBUS DP/PROFINET IO Topology Fixed DRIVE-CLiQ topology rules for SINAMICS S120 Combi. The device must always be connected according to the same principle. Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 805: A.4 Sinamics S120 Functions
● The 24 V electronics power supply is either provided from an external supply or from a Control Supply Module (CSM). ● Use of the Line Modules (ALM, BLM or SLM) from the modular SINAMICS S120 system. ● Every Adapter Module 600 (AM600) opens a line of distributed S120M drives.
Page 806 ● Firmware and parameterization are updated via DRIVE-CLiQ. Figure A-1 Principle of an S120M topology Note Functionality that deviates from SINAMICS S120 • S120M has been released exclusively for servo control. • The pulse frequency is permanently set to 4 kHz. Drive functions...
Page 807 Appendix A.4 SINAMICS S120 Functions S120M safety concept ● Safety functions (Basic and Extended Functions) can be controlled with PROFIsafe, or TM54F Interfaces ● Adapter Module 600 – X1: Hybrid connector – X21: Terminal strip for operating states – X24: Terminal strip for 24 V ext.
Page 808: A.5 List Of Abbreviations
Appendix A.5 List of abbreviations List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 809 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 810 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 811 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 812 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 813 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 814 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 815 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 816 Appendix A.5 List of abbreviations Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 817 Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 818 Basic information about the drive system Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 819: Index
Index Basic Functions SBC, 470 Absolute encoder SS1, 466 Adjusting, 363 STO, 463 Absolute encoder adjustment, 337 Basic Infeed open-loop control, 38 Acceptance test Basic Line Module SBC (Basic Functions), 497 Vdc_max controller, 40, 170, 228, 407 SS1 (Basic Functions), 495 Basic Line Modules STO (Basic Functions), 494 Parallel connection, 405...
Page 820 Index Commissioning Device identification, 604, 627 Safety Integrated, 478 Device name, 631 Communication Diagnostics function about PROFIdrive, 501 V/f control for servo control, 91 via PROFIBUS, 594 Digital inputs Component replacement Bidirectional, 721 Examples, 739 If they are not functioning, 720 Connector, 713 Properties, 719 Controller setting, automatic...
Page 821 Index Encoder range, 293 Flying measurement, 557 Encoder track monitoring, 276 Flying referencing EP terminal EPOS, 368 Sampling time, 474 Flying restart, 197 EPOS, 352 Following error monitoring Direct setpoint input (MDI), 384 Dynamic, 348 Flying referencing, 368 Forced dormant error detection Flying referencing using Safety Integrated Basic Functions, 461 functions, 376...
Page 822 Index Basic Infeed, 38 Pre-charging, 405 License key, 776 Infeed concepts, 404 License manager, 774 Infeeds Licensing, 774 Master/slave, 397 ASCII code, 777 Inputs/outputs Limits Overview, 719 Torque setpoint, 78 Interconnecting signals using BICO technology, 713 Line contactor control, 44 Interconnection using BICO technology, 713 Line supply and DC link identification routine, 397 Intermediate stop...
Page 823 Index Sensor Module, 437 Development kit, 651 SMC, 437 Prerequisites, 651 SMC10, 437 Transferred functions, 650 SMC20, 437 Pole position adaptation, 280 SMC30, 437 Pole position identification SME120/125, 438 Servo, 108 Temperature sensor evaluation, 449 Vector, 195 Terminal Modules, 440 Position controller, 346 Thermal motor model 1, 433 Monitoring functions, 348...
Page 824 Index A_DIGITAL, 508, 515, 564 MT1_ZS_F, 534 CU_STW1, 516, 563 MT1_ZS_S, 534 E_STW1, 516, 530 MTx_ZS_F, 534 E_STW1_BM, 516 MTx_ZS_S, 534 G1_STW, 508, 515 POS_ZSW, 534, 546 G2_STW, 508, 515, 557 POS_ZSW1, 534 G3_STW, 508, 515 POS_ZSW2, 534 Gn_STW, 553 XIST_A, 533 M_ADD, 516 ZSW1, 533, 535...
Page 825 Index Sampling times, 763 Ramp-down generator Acceptance test, 497 Scaling, 65 Basic Functions, 470 Ramp-function generator Safe Brake Control, 470 Scaling, 65 Separately excited synchronous motor ramp-function generator, extended, 63 FESM, 196 Ramp-function generator, extended, 63 Sequence of objects in the telegram, 596, 632 Ramp-up with partial topology, 236 Servo Rating plate, electronic, 743...
Page 826 Index SINAMICS S120 Combi, 801 Fixed speed setpoints, 51 Sine-wave filter, 238 Synchronization (vector control), 199 Singleturn encoder, 293 Synchronization domain, 641 Slave-to-slave communication Synchronous motors Faults, 627 Permanent-magnet, vector, 188 GSD, 625 System runtime, 269 PROFIBUS, 612 System sampling times, 763...
Page 827 Index TM31, 440 Rotating measurement, 174 TM41, 300 Speed controller adaptation, 153 Referencing modes, 302 Torque control, 163 SIMOTION mode, 300 Torque limiting, 165 SINAMICS mode, 301 Vector closed-loop control encoderless Zero mark emulation, 302 Torque setpoint, 143 Tolerant encoder monitoring, 275 Vector control Topology, parallel connection with an auxiliary Automatic restart, 245...
Page 828 Index Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 829 Index Drive functions Function Manual, (FH1), 01/2012, 6SL3097-4AB00-0BP2...
Page 830 Siemens AG Subject to change without prior notice Industry Sector © Siemens AG 2012 Drive Technologies Motion Control Systems P.O. 3180 91050 ERLANGEN GERMANY www.siemens.com/motioncontrol...

Siemens Sinamics S120 Function Manual

1 Infeed

2 Extended Setpoint Channel

3 Servo Control

4 Vector Control

5 U/F Control (Vector Control)

6 Basic Functions

7 Function Modules

8 Monitoring and Protective Functions

9 Safety Integrated Basic Functions

10 Communication

11 Applications

12 Basic Information about the Drive System

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Summary of Contents for Siemens Sinamics S120