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Siemens SIMOTION D410 Commissioning Manual
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Siemens SIMOTION D410 Commissioning Manual

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See also: Manual
SIMOTION
SIMOTION D410
Commissioning Manual
Valid for SIMOTION D410 DP and D410 PN
04/2014
Preface
Safety instructions
Description
Commissioning (hardware)
Parameter assignment /
addressing
Commissioning (software)
Maintenance and service
Diagnostics data
Configuring drive-related I/
Os (without symbolic
assignment)
Standards and approvals
ESD guidelines
1
2
3
4
5
6
7
A
B
C

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Summary of Contents for Siemens SIMOTION D410

  • Page 1 Description SIMOTION Commissioning (hardware) Parameter assignment / SIMOTION D410 addressing Commissioning (software) Commissioning Manual Maintenance and service Diagnostics data Configuring drive-related I/ Os (without symbolic assignment) Standards and approvals ESD guidelines Valid for SIMOTION D410 DP and D410 PN 04/2014...
  • Page 2 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 3: Preface

    This section describes how to start up the device and what you must take into account. ● Configuring SIMOTION D410 This section describes how to integrate SIMOTION D410 in a project and how to configure the interfaces. ● Commissioning (software) This section describes how to configure a plant and how to test the drives and axes you configured.
  • Page 4 My Documentation Manager Click the following link for information on how to compile documentation individually on the basis of Siemens content and how to adapt it for the purpose of your own machine documentation: http://www.siemens.com/mdm Training...
  • Page 5 If you have any further questions about disposal and recycling, please contact your local Siemens representative. Contact details can be found in our contacts database on the Internet Internet address (http://www.automation.siemens.com/partner). Further information / FAQs You can find further information on this manual under the following FAQ: http://support.automation.siemens.com/WW/view/de/27585482...
  • Page 6 Preface ● SIMOTION SCOUT online help Overview of SIMOTION documentation (separate ● For additional documentation, see the document). SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 7: Table Of Contents

    Parameter assignment / addressing......................53 Software requirements........................53 Creating a project and configuring the communication...............53 4.2.1 Creating a SIMOTION project and inserting a SIMOTION D410..........53 4.2.2 Configuring the properties of the PROFINET interface...............55 4.2.3 Configuring the PROFIBUS PG/PC interface (only for D410 DP)..........56 4.2.4...
  • Page 8 Table of contents 4.3.3 Operating SIMOTION D410 on PROFIBUS DP................62 4.3.4 Creating a new PROFIBUS DP subnet..................63 4.3.5 Setting the DP cycle and system cycle clocks................64 4.3.6 Rules for SIMOTION D410 DP....................65 4.3.7 Operating the PROFIBUS interface (X21) as an MPI interface...........66 Configuring PROFINET (only for D410 PN)................67...
  • Page 9 Assignment to drive parameters....................127 5.10 Configuring drive-related I/Os (with symbolic assignment)............131 5.10.1 Configuring I/O terminals......................132 5.10.1.1 Configuration of SIMOTION D410 I/Os (terminal X121)............133 5.10.1.2 Configuration of CU3xx/TB30/TMxx I/Os..................134 5.11 Configuring technology objects and I/O variables..............134 5.11.1 Configuring global measuring inputs..................134 5.11.2...
  • Page 10 Back up diagnostic data and non-volatile SIMOTION data via the web server......211 Additional service and diagnostics options................212 7.3.1 SIMOTION Task Profiler application..................212 7.3.2 Diagnostics via the SIMOTION IT web server................212 Configuring drive-related I/Os (without symbolic assignment)..............215 Overview...........................215 Local and global measuring inputs....................215 Configuring local measuring inputs...................217 SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 11 Table of contents Standards and approvals..........................219 General rules..........................219 Device-specific information.......................220 ESD guidelines............................221 ESD definition..........................221 Electrostatic charging of individuals..................221 Basic measures for protection against discharge of static electricity........222 Index.................................223 SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 13: Safety Instructions

    5. Secure the energy sources against switching on again. 6. Ensure that the correct machine is completely interlocked. After you have completed the work, restore the operational readiness in the inverse sequence. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 14 For missing or incorrectly implemented protective conductor connection for devices with protection class I, high voltages can be present at open, exposed parts, which when touched, can result in death or severe injury. ● Ground the device in compliance with the applicable regulations. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 15 Missing or illegible warning labels can result in accidents involving death or serious injury. ● Check that the warning labels are complete based on the documentation. ● Attach any missing warning labels to the components, in the national language if necessary. ● Replace illegible warning labels. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 16 As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. ● Protect the parameterization (parameter assignments) against unauthorized access. ● Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY STOP or EMERGENCY OFF). SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 17: Safety Instructions For Electromagnetic Fields (Emf)

    – Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring ● Only place electronic components, modules or devices on conductive surfaces (table with ESD surface, conductive ESD foam, ESD packaging, ESD transport container). SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 18: Industrial Security

    Siemens recommends strongly that you regularly check for product updates. For the secure operation of Siemens products and solutions, it is necessary to take suitable preventive action (e.g. cell protection concept) and integrate each component into a holistic, state-of-the-art industrial security concept.
  • Page 19 5. Release of environmental pollutants or emissions as a result of improper operation of the system and/or failure to dispose of components safely and correctly. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 20: Specific Safety Information For Simotion D410

    Damage to the CompactFlash card from electrical fields or electrostatic discharge The CompactFlash card is an ESD-sensitive component. De-energize the SIMOTION D410 device before inserting or removing the CompactFlash card. The SIMOTION D410 is in a de-energized state when all the LEDs are OFF. Comply with the ESD rules. NOTICE...

  • Page 21: Description

    With SIMOTION D, the SIMOTION PLC and motion control functionalities as well as the SINAMICS S120 drive software run on shared control hardware. SIMOTION D410 is a module drive system for single axes, which solves demanding drive tasks for a very wide range of industrial applications. SIMOTION D410 supplements the SIMOTION D4x5/D4x5-2 control units for multi-axis applications.
  • Page 22 Description 2.1 System overview Versions SIMOTION D410 comes in two variants: ● SIMOTION D410 DP with PROFIBUS DP interface. ● SIMOTION D410 PN with PROFINET interface. System integration SIMOTION provides an optimized system platform for automation and drive solutions where the main focus is on motion control applications and technology tasks.

  • Page 23: System Components

    Note: If the SIMOTION D410 is snapped on to a PM340 Power Module, the Power Module may be used as the sole method of supplying power to the SIMOTION D410 in certain cases (e.g. when digital outputs are not used, etc. . .). Also see the Power supply section in the SIMOTION D410 Manual.
  • Page 24 ● DP/AS-Interface link 20E and DP/AS-Interface link Advanced for the PROFIBUS DP gateway to AS-Interface ● DP/DP coupler for connecting two PROFIBUS DP networks Teleservice adapter Remote diagnostics Note Note that only one real axis can be used on a SIMOTION D410. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 25 ● IE/AS-Interface link PN IO for the PROFINET IO gateway to AS- Interface ● PN/PN coupler to connect two PROFINET IO networks Note Note that only one real axis can be used on a SIMOTION D410. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 26 ● Standardized interfaces in all components ● Uniform diagnostics down to the components ● Complete service down to the components ● Mechanical parts are easy to use SIMOTION D410 can communicate via DRIVE-CLiQ interface to the following components: SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 27 Note Please note that components in booksize format (Controller Extension, Motor Modules, Line Modules, etc.) as well as SINAMICS G120 (PM2x0) Power Modules are not supported by SIMOTION D410. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 28: Simotion D410 Dp Display

    Description 2.3 SIMOTION D410 DP display SIMOTION D410 DP display View The following figure shows SIMOTION D410 DP with the interfaces and front elements. Figure 2-2 Location of interfaces and front elements in SIMOTION D410 DP Note The label underneath the mode selector lists the switch settings for the operating states of the SIMOTION D410.
  • Page 29 Description 2.3 SIMOTION D410 DP display Interfaces The SIMOTION D410 DP interfaces are described in the following tables. Table 2-5 SIMOTION D410 interfaces Interface Description Digital inputs/outputs 12-pin Mini Combicon: X121 ● 4 digital inputs: for connecting switches or proximity sensors ●...
  • Page 30 Description 2.3 SIMOTION D410 DP display The type plate below is located on the front of the SIMOTION D410 DP. Figure 2-4 SIMOTION D410 DP nameplate (example) Note The contents of the individual nameplate fields on the current module may differ from those described in this Manual (e.g., updated product status, space for approvals and...

  • Page 31: Simotion D410 Pn Display

    Description 2.4 SIMOTION D410 PN display SIMOTION D410 PN display View The following figure shows SIMOTION D410 PN with the interfaces and front elements. Figure 2-5 Location of interfaces and front elements in SIMOTION D410 PN SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 32 Description 2.4 SIMOTION D410 PN display Interfaces The SIMOTION D410 PN interfaces are described in the following tables. Table 2-6 SIMOTION D410 interfaces Interface Description Digital inputs/outputs 12-pin Mini Combicon: X121 ● 4 digital inputs: for connecting switches and proximity sensors ●...

  • Page 33: The Compactflash Card

    Manual (e.g., updated product status, space for approvals and identifications, etc.). The CompactFlash card CF card CF cards with different storage capactities are available for SIMOTION D410. At the time of writing, these were: ● 1-GB CF, order number 6AU1400-2PA0*-0AA0 ● 512-MB CF, order number 6AU1400-2NA00-0AA0...
  • Page 34 Z option. Available Z options / licenses for SIMOTION D CF cards The following Z options are available for SIMOTION D410: TControl temperature control: ● Txx - TControl license and number (e.g. T03 = 3 TControl licenses) SIMOTION IT: ●...

  • Page 35: Licensing

    Licensing SIMOTION D410 licensing SIMOTION D410 is a modular drive system for single-axis applications. D410 contains the motion control technology functions for precisely one real axis (speed control, positioning, synchronous operation, cam). This means that these technology functions do not require an additional license.

  • Page 37: Commissioning (Hardware)

    Information pertaining to cable lengths for PROFIBUS DP is available in the SIMOTION D410 Manual. ● With the PROFINET interface of SIMOTION D410 PN (X200 or X201 connector) using a twisted pair cable. For information on communication via PROFINET, refer to section Configuring PROFINET (only for D410 PN) (Page 67).
  • Page 38 CF card. Align the CF card with the arrows. 2. Gently push the CF card into the card slot of SIMOTION D410 until it engages. The properly inserted card does not protrude from the SIMOTION D410 housing.

  • Page 39: Switching On The Power Supply

    SIMOTION D410 shuts down if the power supply is interrupted It is imperative to prevent the external 24 VDC power supply to SIMOTION D410 from being interrupted for a duration longer than 3 ms. Operation of SIMOTION D410 is stopped on expiration of these 3 ms and can only be recovered by cycling power Off >...

  • Page 40: Reset Button

    3. All DRIVE-CLiQ connections (with SINAMICS S120 Power Module PM340, for example) are identified automatically. 4. Startup of SIMOTION D410 is completed as soon as its RDY LED is lit in green color and the RUN/STOP LED is lit in yellow or green color. The SIMOTION D410 is ready for configuring after successful completion of the startup.

  • Page 41: User Memory Concept

    User memory concept 3.5.1 SIMOTION D410 memory model The following figure provides an overview of the SIMOTION D410 memory model. Figure 3-2 SIMOTION D410 memory model As a result, the SIMOTION Kernel (D410 firmware) contains the functions required for virtually all applications, and essentially acts as a PLC featuring an IEC 61131-3-compliant command set as well as system functions for controlling various components, such as inputs and outputs.

  • Page 42: Properties Of The User Memories

    Non-volatile data Non-volatile data is used with the objective of retaining user- and system-relevant data when SIMOTION D410 is in de-energized state. You will find information about the area that can be SIMOTION SCOUT Configuration Manual. used for non-volatile data in the...
  • Page 43 The IP and DP parameters are loaded from configuration data on the CF card during startup for use by the SIMOTION device. The SIMOTION D410 can use the addresses defined in these data to go online. The IP and DP parameters on the CF card are also written to non- volatile memory during startup.

  • Page 44: Operator Actions And Their Impact On User Memory

    The IP and DP parameters are furthermore saved to the "non-volatile SIMOTION data" area. The retain variables are set to their initial values, but this depends on the settings in SIMOTION SCOUT. Volatile SIMOTION data are lost if you shut down the SIMOTION D410 module after the download.
  • Page 45 PG" (for the configuration data only) to re-establish a consistent system state. To save the configuration on the CF card with protection against power failures, execute the menu command "Target system" > "Copy RAM to ROM." SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 46 The SIMOTION Kernel is loaded from the CF card to the "volatile SIMOTION data" area during startup of SIMOTION D410. Volatile SIMOTION data are lost if you shut down the SIMOTION D410 module after the download. When the unit is powered up again, the following data are loaded from the CF card: ●...
  • Page 47 1. after replacing a module, see Section Replacing modules (spare part scenario) (Page 167). 2. after an memory reset, see Section Resetting the memory of SIMOTION D410 (Page 152). 3. by switch setting, see Section Deleting/restoring non-volatile SIMOTION data (Page 209).
  • Page 48 PROFIBUS address is used. The non-volatile SIMOTION data are invalid and a SIMOTION D410 copies the contents of the backup file to backup file (PMEMORY.XML) exists and is valid its non-volatile SIMOTION data and starts using this data.
  • Page 49 Requirement for/presence of the battery (from V4.2) System variables can be used to evaluate: ● Whether a battery is required for the operation of the device (or not) ● Whether a battery is present (or not) SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 50 StructDeviceFanBattery (the system variables are of the data type EnumFanBattery) .fannecessary MANDATORY Fan is required for operation of the device. .fanexisting can be used to query whether a fan is installed. Examples: D410, D445, D445‑1, D445‑2 DP/PN, D455‑2 DP/PN SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 51 Examples: D445‑1, D445‑2 DP/PN, D455‑2 DP/ NOT_EXISTING No fan is installed. Example: D425 without optional fan Value is statically set to MANDATORY/SINGLE in the SIMOTION D410. See also SIMOTION D410 memory model (Page 41) Properties of the user memories (Page 42)

  • Page 53: Parameter Assignment / Addressing

    SIMOTION SCOUT engineering system The SIMOTION SCOUT Engineering System must be installed on your programming device / PC in order to commission the SIMOTION D410. Please read the information on the current DVD for "SIMOTION SCOUT." For information on how to install SIMOTION SCOUT on your PG/PC, see the SIMOTION SCOUT Configuration Manual.
  • Page 54 4. In the "Insert SIMOTION device" dialog box, select the device, its version and the SIMOTION version. 5. If required, make further settings: – SINAMICS: for SIMOTION D410 always set SINAMICS S120 Integrated – SINAMICS version: Select the SINAMICS Integrated version if several drive versions are available for a SIMOTION version 6.

  • Page 55: Configuring The Properties Of The Profinet Interface

    After you have closed the "Insert SIMOTION device" dialog box by pressing "OK", the "Properties - Ethernet interface" dialog box is opened on a D410 PN. If you are using the PROFINET interface, set the interface properties in the "Properties - Ethernet interface" dialog box. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 56: Configuring The Profibus Pg/Pc Interface (Only For D410 Dp)

    ● You have completed the "Insert SIMOTION device" dialog box with "OK". ● A PG/PC has not yet been configured in the project. If these prerequisites have been satisfied, you can configure the interface for the PG/PC connection in the "Interface selection ‑ D410" dialog box. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 57 2. Select the interface parameter assignment that you would like to use to go online, and confirm with "OK". The dialog box is closed, the SIMOTION D410 is created in the project navigator, and HW Config is opened automatically (if parameterized). A PROFIBUS subnet with factory settings (1.5 Mbps transmission rate) is created automatically.

  • Page 58: Configuring The Ethernet Pg/Pc Interface (Only For D410 Pn)

    ● A PG/PC has not yet been configured in the project. If these prerequisites have been satisfied, you can configure the interface for the PG/PC connection in the "Interface selection ‑ D410" dialog box. Proceed as follows to configure the PC Ethernet interface: SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 59 2. Select the interface parameter assignment that you would like to use to go online, and confirm with "OK". The dialog box is closed, the SIMOTION D410 is created in the project navigator, and HW Config is opened automatically (if parameterized).

  • Page 60: Representation In Hw Config

    Representation in HW Config The SIMOTION D410 is represented in HW Config Figure 4-5 Image of a SIMOTION D410 PN in HW Config Additional references SIMOTION Utilities & You can find additional information on the subject of going online in Applications .

  • Page 61: Configuring The Profibus Dp Interface (Only D410 Dp)

    Examples: SINAMICS drives, I/O modules Note If a SIMOTION D410 DP is operated as a passive PROFIBUS I-slave, the display, measuring functions and controller optimization engineering functions will be very slow. If possible, use the "active I-slave" setting for local commissioning (which does mean that an equidistance is no longer possible) and for complete commissioning, switch to "passive I-slave".

  • Page 62: Assignment Of The Profibus Addresses In Hw Config

    Reserve address "2" for a SIMOTION D410. This prevents redundancy of the addresses after SIMOTION D410 is installed in the subnet with default settings (for example, when replacing a SIMOTION D410). Assign addresses higher than "2" to any additional devices on the subnet. 4.3.3 Operating SIMOTION D410 on PROFIBUS DP.

  • Page 63: Creating A New Profibus Dp Subnet

    Note The actions outlined below only need to be taken if you have not selected an interface when integrating the SIMOTION D410 into the project (refer to section Creating a project and configuring the communication (Page 53)). Next the connection to the PG/PC must be established via NetPro, refer to: ●...

  • Page 64: Setting The Dp Cycle And System Cycle Clocks

    "Set system clocks" option in the "Target system" > "Expert" menu. The table below shows the ratios you can set for the system clocks of SIMOTION D410 DP based on the DP cycle. Table 4-2...

  • Page 65: Rules For Simotion D410 Dp

    SINAMICS S Parameter Manual. Rules for SIMOTION D410 DP The general rule for SIMOTION D410 specifies that the DP cycle (D410 DP) forms the basic clock of the cycle system. All cycles longer than this basic clock must be an integer multiple of the basic clock.

  • Page 66: Operating The Profibus Interface (X21) As An Mpi Interface

    3 ms, the fact that an integer multiple value is required means that you will need to set 3 ms or 6 ms (for example) for the setpoint channel. Current controller cycle clock With the SIMOTION D410, the following current controller cycle clocks p0115[0] are configured for the SINAMICS Integrated: ● for servo: 125 μs or 250 μs ●...

  • Page 67: Configuring Profinet (Only For D410 Pn)

    PROFINET is an open component-based industrial communication system using Ethernet (IEC 61158) for distributed automation systems. The PROFINET interface supports operation of SIMOTION D410 PN as IO controller and/or as intelligent device. PROFINET distinguishes between the controller and its assigned devices. Controller and devices form a PROFINET IO system, comparable to a master-slave system on PROFIBUS.
  • Page 68 Initializing SIMOTION D410 SIMOTION D410 must be assigned an IP address and a device name in order to enable downloading of the project. This is performed online on the SIMOTION device using the so- called "node initialization". To perform the node initialization, the programming device / PC must be connected with the SIMOTION D410 PN.
  • Page 69 Set the IP address, the subnet mask and, if necessary, the data for a gateway (router address) in order to enable communication over PROFINET with SIMOTION D410. If you want to change the properties in the PROFINET subnet, you can change them using the "Reachable nodes"...

  • Page 70: Setting The Send Cycles And System Clocks

    PROFINET send cycle, depending on the PROFINET real-time class and the type of data transfer. The cycle clock source can be generated "internally" by the SIMOTION D410; otherwise, it is obtained "externally" from the clock signals received at the PROFINET interface.

  • Page 71: Rules For Simotion D410 Pn

    0.5 ms; 1 ms; 2 ms and 4 ms are available. The table below shows which ratios you can set for the system clocks of SIMOTION D410 PN based on the DP cycle of SINAMICS Integrated or on the PROFINET send cycle.
  • Page 72 Rules for SIMOTION D410 PN As a general rule for SIMOTION D410, the send cycle (D410 PN) forms the basic clock of the task system. All cycles longer than this basic clock must be an integer multiple of the basic clock.
  • Page 73 Parameter assignment / addressing 4.4 Configuring PROFINET (only for D410 PN) Current controller cycle clock With the SIMOTION D410, the following current controller cycle clocks p115[0] are configured for the SINAMICS Integrated: ● for servo: 125 μs or 250 μs ●...

  • Page 75: Commissioning (Software)

    ● SIMOTION SCOUT (with integrated STARTER) has been installed and started on the PG / ● Communication between the SIMOTION D410 and the PG / PC is configured. ● You have created a project and installed a SIMOTION D410 in the project. 5.1.1...
  • Page 76 BICO interconnections and determines the addresses. When projects are upgraded they can be converted to symbolic assignment and must be evaluated on a case-by-case basis, since project revisions may be necessary. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 77 TO Axis Electrical/Hydraulic, External Encoder Function Manual ● Requirement Symbolic assignment is supported by the TO axis, TO externalEncoder and the TO outputCam, TO camTrack and TO measuringInput. The onboard I/Os of a SIMOTION D, of a SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 78 Table 5-1 Control units that support a symbolic assignment Module Supports symbolic assignment SIMOTION D ● SIMOTION D410-2 ● As of SIMOTION V4.3 ● SIMOTION D410 ● As of SIMOTION V4.2 ● SIMOTION D4x5‑2 ● As of SIMOTION V4.2 ●...

  • Page 79: Procedure When Commissioning

    9. For information on optimizing the drive and controller, see Section Optimizing the drive and controller (Page 142). When carrying out this procedure, consult the relevant references. This chapter also contains additional configuration information, e.g. for vector drives, Safety Integrated, etc. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 80: Important Functions For The Project Handling During Commissioning

    "Connect target device" context menu on the device. This procedure is also advantageous when the configuration of the drive unit is completed. Without going completely offline, the connection can be simply deselected via the context menu on the drive unit. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 81: Configuring The System In Offline Mode

    (in particular drives) are available. In this way, a SIMOTION project in the office environment can be created up to a point where a basic project specification including a program exists. At a later time, the finished project can then be loaded to the SIMOTION D410 and tested together with the drive.

  • Page 82: Accessing The Drive Wizard

    Integrated drive SIMOTION D410 features an integrated SINAMICS S120 drive (control unit) which is automatically included when you insert the SIMOTION D410 in the Project Navigator. The integrated drive must be operated in equidistant, isochronous mode using PROFIdrive- compliant message frame types.
  • Page 83 1. Enter a drive name in the "Drive Properties" dialog box and select the drive type (servo or vector). Figure 5-1 Drive properties 2. You can select the function modules and the control mode in the "Open-loop Control Structure" dialog box. Figure 5-2 Control-loop structure SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 84 4. In the "Power unit supplementary data", select the component added to the power unit. The selection of the component depends on the construction type: – D410 DP with D410 PN: The SIMOTION D410 snapped directly onto the PM340 power module –...
  • Page 85 (DRIVE- CLiQ). In this way, motor encoder and temperature signals as well as electronic rating plate data, such as unique ID numbers, rated data (voltage, current, torque) can be transferred directly to the control unit. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 86 7. If you are using a motor that is not equipped with a DRIVE‑CLiQ interface, select the encoder order number in the "Encoder Selection via Motor Order Number" dialog box. Figure 5-7 Selecting a motor encoder (1) SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 87 You can also perform the settings for the process data exchange manually by selecting "User- defined". Information about the manual setting options can be found in the online help and in the manuals for the SINAMICS S120 drive system. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 88 A "Summary" dialog box opens with a listing of all settings after you completed all settings in the Drive Wizard. You can now choose to activate your settings by clicking "Finish", or to return to the component configuration for further editing. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 89: Downloading The Project To The Target System

    Motion Control, TO Axis Electric/Hydraulic, External Encoder Function Manual ● SINAMICS S120 Function Manual ● 5.2.4 Downloading the project to the target system Procedure 1. Save and compile the project. 2. Go online to SIMOTION D410. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 90: Loading A Project Created Offline To The Compactflash Card

    3. Remove the CompactFlash Card and insert it in a card adapter. The card adapter must be connected to a programming device/PC. 4. In the SCOUT project, select the SIMOTION D410 device that you want to download to the CompactFlash Card.

  • Page 91: Downloading The Project Incl. Sources And Additional Data

    You intend to perform servicing work on a commissioned system and have placed a project on your PG/PC. This project is not consistent with the project on the SIMOTION D410 in the system. In order to analyze the differences, perform an object comparison via "Start object comparison".

  • Page 92: Archiving A Project On The Compactflash Card (Zip File)

    3. Open the project. 4. Go online to SIMOTION D410. 5. In the project navigator, select the SIMOTION D410 and select the "Target system" > "Load" > "Save archived project to card..." menu command. 6. In the dialog that is displayed, select the project and click "Open". This saves the project to the CF card as Project.zip in the directory USER\SIMOTION\HMI\PRJLOG.

  • Page 93: Performing An Online Configuration

    (for example, adding encoder data if using SMC modules). Prerequisites for online configuration ● You created a project in SIMOTION SCOUT and added a SIMOTION D410 to the project. ● You configured the communication between the the programming device / PC and SIMOTION D410.

  • Page 94: Starting Automatic Configuration

    1. Save and compile the project. 2. Establish an online connection. 3. Select the SIMOTION D410 device in the Project Navigator. 4. Use the "Download CPU / drive unit to target device" function to download the SIMOTION D410 device to the target device. The connection to SINAMICS Integrated is activated automatically.
  • Page 95 4. The drive object types can now be selected via a further dialog box. Figure 5-12 Selecting the drive object type 5. Select whether a servo- or vector-type drive object is to be used. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 96 State of the drive unit: Automatic FW update of DRIVE-CLiQ components. An FW update on the SIMOTION D410 is indicated by the RDY LED flashing yellow, while on the DRIVE-CLiQ components (TM, SMC, etc.) it is indicated by the RDY LED flashing red/green.

  • Page 97: Editing Sinamics Components

    See also Editing SINAMICS components (Page 97) 5.3.4 Editing SINAMICS components Prerequisites ● You have uploaded all connected DRIVE-CLiQ components to the user project. ● You shut down the connection to the target system (offline mode). SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 98: Download The Project To Simotion D410

    DRIVE-CLiQ interface, the motor and encoder type are identified automatically. 5.3.5 Download the project to SIMOTION D410 After you have performed the reconfigurations, you must download the configuration to the SINAMICS Integrated.
  • Page 99 5.4 Additional information on configuring the SINAMICS Integrated ● Synchronize drive to the isochronous DP cycle The SINAMICS Integrated of a SIMOTION D410 can only be operated isochronously. For this reason, this option cannot be deactivated. ● Changing the master application cycle (T...

  • Page 100: Using Vector Drives

    5. Use the "Target system" > "Load" > "Download project to target system" menu command to download the parameterization to the SIMOTION D410. 6. After the download has successfully completed, you should determine the current and speed controller cycles of the drive from the drive's expert list, because the cycle clocks are set in the SINAMICS drive unit after a project has been downloaded.
  • Page 101 ● If the bus is operated isochronously, only cycles with an integer multiple of 125 µs are possible (instead of 400 µs, so 375 µs or 500 µs, for example). ● The PROFIBUS Integrated of a SIMOTION D410 is always isochronous. This means that a current controller sampling time of 400 µs is not possible.

  • Page 102: Set Time Of Day

    SIMOTION D410 features an integrated real-time clock. All events on a module (alarms, messages, etc.) are "time-stamped" based on the time shown by this real-time clock. To set the clock from SIMOTION SCOUT, select the SIMOTION D410 in the project tree, followed by "Target System" > "Set Time".
  • Page 103 Proceed as follows to convert the SINAMICS clock to UTC format and to synchronize this with the SIMOTION clock: 1. In the project navigator, call the context menu of the SIMOTION D410. 2. Select the "Properties" entry in the context menu.

  • Page 104: Sinamics Diagnostic Buffer

    If the drive unit does not have an isochronous connection on SIMOTION, this can result in runtime differences of milliseconds (depending on the set cycle clock ratios). 5.4.4 SINAMICS diagnostic buffer Requirements The SINAMICS Integrated diagnostic buffer can be displayed in SIMOTION SCOUT for SIMOTION version V4.1 SP2 and higher. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 105: Acyclic Communication With The Drive

    SINAMICS Integrated. The start of the SINAMICS Integrated diagnostic buffer entries is identified by the following entry: >>>>>> Start of SINAMICS Integrated diagnostic buffer, station address = x <<<<<< You also have the option of viewing the SIMOTION D410 and SINAMICS Integrated diagnostic buffers via SIMOTION IT web server. 5.4.5...

  • Page 106: Control Properties And Performance Features

    5.4.6 Control properties and performance features With a few exceptions, the integrated drive control of the SIMOTION D410 has the same control properties and performance features as the SINAMICS S120 CU310 Control Unit. However, the following points must be particularly observed:...

  • Page 107: Current Controller Cycle Clocks <> 125 Μs / Use Of Output Cams And Measuring Inputs

    Fault on the SIMOTION D410 when CU parameter p0972 is used With the SIMOTION D410, the drive must not be Reset using the expert list of the Control Unit in parameter p0972 (drive unit RESET). This results in a fault on the SIMOTION D410.

  • Page 108: Testing The Configured Drive Using The Drive Control Panel

    Testing the configured drive using the drive control panel You can test a configured drive using the drive control panel where you can define a speed value by setting a scaling factor. The drive control panel should only be used for commissioning. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 109 2. To display the control area and axis diagnostics, click the "Show/hide control area" and "Show/hide diagnostics area" buttons. 3. Click "Assume control priority". The "Assume Control Priority" dialog box is opened. Figure 5-17 Assuming control priority SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 110: Creating And Testing An Axis

    3. Complete your SIMOTION application, for example, by creating axis functions and SIMOTION execution programs. 4. Compile the project and download it to SIMOTION D410. Note Note that only one real axis can be used on a SIMOTION D410. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 111: Creating An Axis With The Axis Wizard

    ● A real axis including drive is created via the axis wizard and the drive interconnected to the axis ● A real axis is created without assigning this to a drive (assignment is made later) SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 112 1. In the Project Navigator, double-click the entry "Axis" > "Insert Axis." This will access the axis wizard. Set the required technology and then click "OK." Figure 5-19 Inserting an axis 2. Set an axis type and, if required, configure the units. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 113 Commissioning (software) 5.6 Creating and testing an axis Figure 5-20 Defining the axis type 3. Create a new drive or make the assignment to an existing drive. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 114 (e.g. TO axis) and loaded to the device. – The drives to be separately configured and optimized by a drive expert. – The technology objects to be symbolically assigned later to the drive objects via an interconnection dialog box. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 115 TO axis. From this view, the assignments can also be changed via the Interconnection dialog box ( button). Note The methods of the drive and axis configuration, previously available in SCOUT versions < V4.2, are still available. Symbolic assignment must be deactivated for these methods. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 116 SIMOTION technology objects "TO axis" and "TO externalEncoder". Encoder assignment With a position axis, encoder 1 is also created on the TO axis (motor encoder) and automatically assigned to the first encoder on the drive. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 117 For the assignment of I/O signals on the TO axis (e.g. the inputs for the homing output cam or hardware limit switches), call the assignment dialog box from the parameterization dialog boxes of the TOs created or from the address list (view of all addresses) by clicking the button. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 118: Testing An Axis With The Axis Control Panel

    ● The project has been downloaded to the target system. ● SIMOTION SCOUT is in online mode. ● The mode selector switch is at STOPU: Recommendation: Operate the mode selector switch via SIMOTION SCOUT only ("Target system" > "Control operating mode"). SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 119 If the CPU is in RUN mode, confirm the notice that appears with "Yes" to set the controller to STOPU mode. Note In order to move the axis from the PG/PC, you must assume control priority. However, by pressing the SPACER bar, you can stop the axis at any time. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 120: Setting Up Addresses And Message Frames

    Setting up addresses and message frames Overview After all SINAMICS components have been configured, addresses must be determined for the process data exchange between the drive and the controller. This procedure depends on whether symbolic assignments are used. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 121: Setting Up Communication For Symbolic Assignment

    ● Telegrams should be extended manually Procedure Proceed as follows: In the project navigator, open the "Communication" > "Telegram configuration" entry under "SINAMICS_Integrated." The "SINAMICS Integrated - Telegram Configuration" dialog box is displayed with the PROFIdrive PZD telegrams tab. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 122 The dialog box lists all the available drive objects. The possible setting options are described in the following. Note When using the symbolic assignment, the default setting does not have to be changed or configured. Figure 5-25 Telegram configuration SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 123 Display of the individual control and status words of the associated telegram. ⑨ Setting up the addresses (alignment of the addresses with HW Config) Only the addresses for the respective drive unit are determined (no automatic determination of telegrams / BICO interconnections). SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 124 Then compile the project and load it into the CPU. Perform a restart. The FastIO configuration is also used for the telegram of the Terminal Modules TM15 and TM17 High Feature. Proceed in the same way if problems occur. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 125: Integrating Additional Encoders (Optional)

    5.8 Integrating additional encoders (optional) Integrating additional encoders (optional) 5.8.1 General information SIMOTION D410 provides the option of integrating and configuring further encoders in addition to the motor encoder. The following encoders are supported for operation with SIMOTION D410: ● Encoders with DRIVE-CLiQ interface ●...

  • Page 126: Configuring Additional Encoders On The Drive

    ● Encoder interconnection using a PROFIdrive message frame (encoder with message frame types 81 and 83) ● Encoder interface as a direct value in the I/O area Additional references Detailed information is contained in the SIMOTION TO Axis, Electric/Hydraulic, External Encoder Function Manual SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 127: Symbolic Assignment Of I/O Variables (Profidrive Message Frame / Drive Parameters)

    Only parameters suitable for the data type of the I/O variable are displayed. If no data type is specified at the I/O variable, this is determined by the parameter selection. An extension of the standard message frame is created automatically for the transfer of the parameters to/from the drive. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 128 1. Open the assignment dialog box from the address list (view of all addresses). The assignment dialog opens with the corresponding assignment partners. 2. Click the button in the parameter selection line to open the parameter list. Figure 5-28 Assignment dialog for drive parameters SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 129 5.9 Symbolic assignment of I/O variables (PROFIdrive message frame / drive parameters) 3. Select the desired signal source (e.g. DO drive). Then select the required parameter. Figure 5-29 Dialog box for the DO and parameter selection SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 130 ● If the transferred parameter is on another drive object (DO), the DO name precedes the parameter. "#" is used as a separator between the DO name and the parameter. ● Individually transferred bits of a parameter appear in brackets [x] SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 131: Configuring Drive-Related I/Os (With Symbolic Assignment)

    Configuring drive-related I/Os (with symbolic assignment) Overview SIMOTION D410 as well as the SINAMICS S110/S120 control units and additional components (TB30, TMs) have I/Os that can be used by the drive unit and by SIMOTION. So that I/Os, which were originally assigned to SINAMICS can be used by SIMOTION they must be interconnected to a message frame.

  • Page 132: Configuring I/O Terminals

    As of SIMOTION V4.2 ● X122/X132 ● On the drive unit (CU) ● X142 ● On the D4x5-2 (HW Config) SIMOTION D410, D4x5 On the drive unit (CU) As of SIMOTION V4.2 CX32‑2, On the drive unit (CU) As of SIMOTION V4.2...

  • Page 133: Configuration Of Simotion D410 I/Os (Terminal X121)

    ● An input used by SIMOTION can also be interconnected on the drive side. The configuration of the I/O terminals is described in detail in the following: ● Configuration of SIMOTION D410 I/Os (terminal X121) (Page 133) ● Configuration of CU3xx/TB30/TMxx I/Os (Page 134) 5.10.1.1...

  • Page 134: Configuration Of Cu3Xx/Tb30/Tmxx I/Os

    SIMOTION D410, i.e. the I/Os can be ● BICO-interconnected (use as drive I/O) ● Used by SIMOTION See also Section Configuration of SIMOTION D410 I/Os (terminal X121) (Page 133). Note If symbolic assignment is subsequently activated for a project in which telegrams have already been configured and interconnected, these can be changed together with the BICO interconnections.

  • Page 135: Configuring Local Measuring Inputs

    Local measuring inputs are drive-related measuring inputs. The configuration is performed via drive parameters. For further details, see: ● Configuring drive-related I/Os (without symbolic assignment) (Page 215) in the Appendix SIMOTION Output Cams and Measuring Inputs Function Manual ● SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 136: Configuring Output Cams / Cam Tracks

    ● SIMOTION D4x5‑2 (terminal X142): Resolution 1 μs ● TM17 High Feature: Resolution 1 μs ● TM15: Typical resolution 125 μs (DRIVE‑CLiQ cycle clock) ● SIMOTION D410-2 (DI/DO 8 to 15): Resolution of current controller clock cycle (typ. 125 μs for servo drive) High-speed digital output The cam output is performed via onboard outputs of the SIMOTION CPU.

  • Page 137: Configuration Of I/Os (Variables / To Axis)

    O must be configured as "DO"). Figure 5-33 Configuring an output cam for SIMOTION D410 Detailed information on the configuration of the TO output cam / TO cam track can be found SIMOTION Output Cams and measuring inputs Function Manual.
  • Page 138 PZD (e.g. E_Digital or A_Digital). Interconnect the corresponding bit of the PZD with a signal. Alternatively, you can assign a SIMOTION I/O channel when configuring the terminals (e.g. by selecting "DI (SIMOTION)", see section Configuration of SIMOTION D410 I/Os (terminal X121) (Page 133)). TO axis The symbolic assignment of I/Os is also supported by the TO axis (e.g.

  • Page 139: Creating A Dmc20/Dme20

    ● DME20 is the hub for use without a control cabinet (IP67 degree of protection). The modules are especially suitable for applications which require DRIVE‑CLiQ nodes to be removed in groups, without interrupting the DRIVE‑CLiQ line and therefore the data exchange. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 140: Creating A Drive-Cliq Hub

    Note: The SIMOTION D410 has precisely one DRIVE-CLiQ interface. You can use the DMC20/ DME20 to evaluate the motor encoder and an additional encoder by means of SMx. ● Hot plugging is the option for changing motor components while in operation. These components are connected to a star topology using a DRIVE-CLiQ hub.

  • Page 141: Configuring Tm41 At Sinamics Integrated

    Installation Manual. The second application case can only be used with SIMOTION D410 with restrictions, because the TM41 is configured as a real axis. Because SIMOTION D410 supports just one real axis, no additional real axis can be configured. 5.13.2 Configuring TM41 at SINAMICS Integrated TM41 can be configured after you completed the configuration of SINAMICS Integrated.

  • Page 142: Optimizing The Drive And Controller

    Information on the controller structure can be found in the Hydraulic, External Encoder Function Manual. In addition to automatic controller setting, SIMOTION SCOUT also offers the option of optimizing the drive and controller manually by means of measuring functions, trace, and SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 143: Automatic Speed Controller Setting

    2. Select "Target device" > "Copy RAM to ROM" in the context menu. 3. Select "Target device" > "Load to PG" from the context menu. If necessary, the automatic controller settings can be verified with the measuring functions. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 144: Automatic Position Controller Setting

    6. Select the axis data sets to which the Kv factor is to be transferred. 7. Click "Accept values" to transfer the calculated Kv factor to the axis data sets. 8. Disable the drive by clicking the "Drive OFF" button. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 145: Measuring Functions, Trace, And Function Generator

    The function generator and the trace recorder are used. The control loop is supplied with the ramp-function generator signal at a specific point (e.g. speed setpoint), and the signal from the trace recorder is recorded at another point (e.g. speed actual value). SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 146 SINAMICS S120 For additional information about drive optimization, consult the Commissioning Manual. Additional information on trace and measuring functions, as well as on the function generator, SIMOTION SCOUT Online Help . can be found in the SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 147: Manual Speed Controller Optimization

    (Download parameter assignment). Starting the measuring function 1. Click "Assume control priority" to assume control priority. Read the notice that appears and click "Accept" to confirm. 2. Press the "Drive On" button to enable the drive. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 148 The axis is moved during the measurement. For this reason, a safety message that allows the process to be aborted is displayed. 4. The traced signals are represented on the "Time diagram" tab. Figure 5-38 Timing diagram before parameterization SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 149 "Open-loop/closed-loop control" > "Speed controller" to display the "Speed Controller with Encoder" dialog box. 2. Enter an appropriate value in the "P-gain" field and the "Reset time" field. Note The values entered take immediate effect. Figure 5-39 Entering P-gain SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 150: Downloading And Saving Simotion User Data

    Overview It is advisable to backup all SIMOTION user data (programs, configuration data, parameters) to the CF card after having completed commissioning of SIMOTION D410. Loading user data Use the "Target system" > "Load" > "Load to target system" command to transfer the following data from the SIMOTION SCOUT engineering system (ES) to the "non-volatile data"...
  • Page 151 Commissioning (software) 5.15 Downloading and saving SIMOTION user data The hardware configuration of SIMOTION D410 and the retain variables are also saved to the "nonvolatile SIMOTION data" area. Note Using the menu: ● "Target system" > "Load" > "Load project to target system" loads all of the project data to the target system.

  • Page 152: Deleting Data

    ● If the non-volatile SIMOTION data with the project on the CF card do not match and an error occurs (diagnostic buffer entry). You can reset memory either in offline mode using the DIL switch of SIMOTION D410, or in online mode using SIMOTION SCOUT.
  • Page 153 2. Switch the SIMOTION device for which memory reset is to be performed to STOP in the "Control Operating State" dialog box. 3. Select the SIMOTION device under "Memory reset (MRES)." Click the "Run" button. Confirm the command by clicking "Yes." The memory reset will now be performed. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 154 Information pertaining to to the switch positions and corresponding modes of operation is SIMOTION D410 Manual. available in the You can only reset memory using the mode switch if SIMOTION D410 is operating in offline mode. Proceed as follows to reset the memory: 1.

  • Page 155: Deleting User Data From The Compactflash Card

    ● Non-volatile data, with the exception of IP and DP parameters ● User data on the CompactFlash Card (user folders), including the SINAMICS configuration data You can still go online to SIMOTION D410 at your programming device / PC. All licenses on the CompactFlash Card are retained. Deleting user data 1.

  • Page 156: Restoring The Default Settings Of Sinamics Integrated

    5.16.5 Restoring the default settings of SIMOTION D410 Overview SIMOTION D410 is supplied with default parameters such as the transmission rate or PROFIBUS addresses. You can restore the default settings using the DIL switch. This deletes the following data: ● Non-volatile SIMOTION data in the SIMOTION device ●...

  • Page 157: System Shutdown

    (See figure below.) Figure 5-42 MRES switch position 3. Restart the power supply. The SIMOTION user data is deleted. The default settings are loaded. SIMOTION D410 remains in STOP mode. 4. Change to the required mode by setting the DIL switch. Note The default communications parameters are now restored.

  • Page 158: Configuring Safety Integrated Functions

    STO Safe Brake Control Safe brake control For SBC, if you are using a SIMOTION D410 in conjunction with a PM340 Power Module you also require a Safe Brake Relay, which is supported from V4.1 SP4. Safety Integrated Extended Functions Safety Integrated Extended functions generally require a license.
  • Page 159 (SINAMICS Integrated of SIMOTION D410, CU310, CU320, CU320-2...) requires its own TM54F (assuming the relevant safety functions are to be used on the Control Unit concerned). A maximum of one TM54F can be connected to each SIMOTION D410 or SINAMICS S120 Control Unit. SIMOTION D410...
  • Page 160 SIMOTION D, control of F functions via PROFIBUS with PROFIsafe Topologies The section below lists the topologies that may potentially be used with the SIMOTION D410. In each case, the description specifies whether the control of Safety Integrated functions is routed through to the drives.
  • Page 161 (e.g. axis control panel). Additional references Additional information on configuring Safety Integrated functions can be found in SINAMICS S120 Safety Integrated Function Manual ● The TO Axis Electric / Hydraulic, External Encoder Function Manual ● The SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 163: Maintenance And Service

    It is possible to distinguish between the following scenarios when replacing and updating components: ● Replacing modules (spare part scenario) – Spare parts replacement for SIMOTION D410 (Page 167) – Removing and replacing the SIMOTION D410 (Page 168) – Replacing DRIVE-CLiQ components (Page 170) –...
  • Page 164 The upgrade data are generated using the SCOUT function "Start device update tool" and then transferred to the SIMOTION D410 via CF card or the upgrade file for the SIMOTION IT web server. Upgrading modules using upgrade data offers the option of downgrading if the upgrade does not produce the desired result.
  • Page 165 Grayed-out cells mean that a measure is not required. Note If the version is changed and the SIMOTION controller replaced at the same time, then all measures apply; the measures must be performed in the TOP-DOWN sequence according to the table. SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 166 Maintenance and service 6.1 Overview Alternative: Load the project to the CF card using a card reader See Software compatibility list (http://support.automation.siemens.com/WW/view/en/18857317) The versions of SINAMICS Integrated and Controller Extensions are upgraded automatically in the HW Config during device replacement The technology packages are updated automatically.

  • Page 167: Replacing Modules (Spare Part Scenario)

    6.2 Replacing modules (spare part scenario) Replacing modules (spare part scenario) 6.2.1 Spare parts replacement for SIMOTION D410 Use of used modules If a used D410 is used for the module replacement, we recommend that the retained data be deleted from the used D410.

  • Page 168: Removing And Replacing The Simotion D410

    5. If necessary, disconnect the digital I/O cable connectors at interface X121. 6. Disconnect the plug of any encoder connected to the X23 encoder interface. 7. Remove the SIMOTION D410 module from the Power Module or from the mounting panel, SIMOTION D410 depending on the type of assembly (see the "Installation"...
  • Page 169 Maintenance and service 6.2 Replacing modules (spare part scenario) 1. Mount the new SIMOTION D410 onto the Power Module, or onto the mounting panel (see SIMOTION D410 Manual). Chapter "Installation" in the 2. Connect all previously removed connectors. 3. Terminate the load voltage supply cables at the terminal block.

  • Page 170: Replacing Drive-Cliq Components

    In order for this to occur, the components that have been replaced must be of the same type and have the same order number, such as "6SL3055-0AA0-5BA0". The last or last two digits of the order SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 171 Go offline once all the FW updates are complete, then switch the 24 V supply for the upgraded/ downgraded initialization components off/on. The update function can be deactivated using CU parameter p7826 in the expert list. Additional references SINAMICS S120 Commissioning For additional information about this topic, consult the Manual. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 172: Replacing The Fan

    Replace the fan if a warning is output by the temperature monitoring function as a result of a fan defect. The SIMOTION D410 fans switch on depending on the internal module temperature. If the temperature reaches impermissible values, this is signaled by a warning at the drive end:...
  • Page 173 1. Remove all connectors at the front of the modules (X120, X121, X124). 2. Use a flat-bladed screwdriver to release all 7 snap hooks on the plastic enclosure for the SIMOTION D410 (3 on the left, 3 on the right, one at the bottom). Figure 6-2 Releasing the snap hooks (example) 3.

  • Page 174: Replacing The Compactflash Card

    ● Writing to a CompactFlash Card (Page 195) Detailed information about licensing can be found: SIMOTION SCOUT Configuration Manual ● In the ● as well as In the FAQ (http://support.automation.siemens.com/WW/view/en/36947932) Adapting a project (Upgrading the project / Replacing the SIMOTION controller) 6.3.1...

  • Page 175: Creating Backup Copies (Project/Cf)

    SIMOTION retain data can also be easily backed up to a memory card without the use of SIMOTION SCOUT. For this purpose, use: ● The _savePersistentMemoryData function or ● A SIMOTION D410 service selector switch, or SIMOTION IT web server. For information on this, see Section Diagnostic data and non-volatile SIMOTION data (Page 203) Procedure The backup of the user data must be performed before the upgrade of the SCOUT project.
  • Page 176 You can go directly to the PG/PC assignment using the button. The SCOUT project can then be reopened write-protected. Online connection is now possible. Additional references SIMOTION SCOUT Configuration Manual. For further information, see the SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 177: Upgrading A User Project To The New Scout Version

    The project can be edited. The data in the controller and in the project is not consistent after going online. Diagnostic functions cannot be executed directly. The project must be loaded to the controller first. Open as write-protected: SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 178: Platform Replacement Via Xml Export/Import

    Generally, the success of an import always also depends on the specific configurations of the drive units, and whether the configuration is available for the device into which the project is to be imported. Also note any error messages that may occur. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 179: Preparing For A Device Replacement

    D410 V4.1 - PN V2.1 SINAMICS S120 V2.5 ⇒ D410 V4.2 - PN V2.2 SINAMICS S120 V2.6.2). A SIMOTION D can only be replaced with another if the SINAMICS version involved is the same or higher. It is not possible to downgrade to a lower SINAMICS version. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 180: Replacing A Device In Hw Config

    Alternatively, you can: ● Select the rack header and double-click the new module in the module catalog to replace the previous module, or: ● Right-click the rack header and select "Replace object". SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 181: Upgrading Technology Packages

    The updated data is transferred to the project and the entire project saved. If the module hardware changes (e.g. the D410 DP is replaced with the D410 PN), proceed as described in the section titled Removing and replacing the SIMOTION D410 (Page 168). 6.3.8...
  • Page 182 ● "---" means that no version can be determined (e.g. for the TP DCBlib or for older CPU versions < V4.1). If no version can be determined, you must select "---". SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 183 1. Select "Download project to target system" in SIMOTION SCOUT. 2. Under "Additional CPU options", select the "Replace product versions of the technology packages" option and confirm with "OK". For further information, please refer to the online help for SIMOTION SCOUT. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 184: Upgrading The Device Version Of Sinamics S120 Control Units

    Note During device replacement in HW Config, the SINAMICS version of the SINAMICS Integrated of the SIMOTION D410 is automatically upgraded. During the module replacement in HW Config, the SIMOTION and the SINAMICS version is always determined by selection of a D410 module.

  • Page 185: Upgrade The Libraries

    Use this command if you specifically want to convert a project from an earlier SCOUT version to a newer version. In this way, you take over all error corrections and optimizations. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 186: Performing A Firmware And Project Update

    ● Update via SIMOTION IT web server (Page 187) ● Upgrade via device update tool (upgrading SIMOTION devices) (Page 188) The SIMOTION D410 only supports upgrading using the web server or device update tool with version V4.1 SP2 and higher.

  • Page 187: Update Via Simotion It Web Server

    Observe the information in the the Read Me files and the upgrade instructions included in the scope of delivery of new SIMOTION versions. Use only CF cards that have been approved for use with the SIMOTION D410 and whose bootloader version is correct.

  • Page 188: Upgrade Via Device Update Tool (Upgrading Simotion Devices)

    ● The service engineer imports the upgrade data on an operator-guided basis (without any involvement by the application engineer) to the SIMOTION device(s), and upgrades the SIMOTION devices in the process (SIMOTION SCOUT is not required on site). SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 189 6.4 Performing a firmware and project update Upgrading with a CF card 1. Switch off the SIMOTION D410 to be updated. 2. Insert the CF card into the SIMOTION D410. 3. Switch the D410 back on. The D410 starts to process the upgrade data. The SF/BF LED flashes green (0.5 Hz) during the upgrade.

  • Page 190: Update Via Compactflash Card

    If you lose the license key, you can get it back via the Web License Manager on the Internet, at Internet address (http://www.siemens.com/automation/license). You require the hardware serial number printed on the CF card to do this. In the Web License Manager, you have the option of displaying the corresponding license key.

  • Page 191: Update Via Cf Card

    The following procedure describes how to perform the upgrade: 1. Switch off the power supply to the D410. 2. Remove the CompactFlash Card from SIMOTION D410 and insert it into the CompactFlash Card adaptor of your PC. 3. Open Windows Explorer. The CompactFlash Card must be visible as removable data volume Windows Explorer under an arbitrary drive letter.

  • Page 192: Upgrading Sinamics

    SIMOTION SCOUT detail window. An FW update on the SIMOTION D410 is signaled by the RDY LED flashing yellow, while on the DRIVE-CLiQ components (TM, SMC, etc.) it is signaled by the RDY LED flashing red/green.

  • Page 193: Downloading The Project To The Target System

    Once all the changes required for upgrading your project have been made, you must download the project to the SIMOTION D410. You have recompiled the project and checked it for consistency. Refer to section Save project, compile and check consistency (Page 185).

  • Page 194: Simotion Compactflash Card

    The CompactFlash card is an ESD-sensitive component. De-energize the SIMOTION D410 device before inserting or removing the CompactFlash card. The SIMOTION D410 is in a de-energized state when all the LEDs are OFF. Comply with the ESD rules. SIMOTION D410...

  • Page 195: Writing To A Compactflash Card

    You have the following options of writing data to a CompactFlash Card: ● Writing to a CompactFlash Card that is inserted in a SIMOTION D The programming device / PC must be online to SIMOTION D410 in order to execute this function.

  • Page 196: Formatting The Compactflash Card

    A boot loader may need to be written in the following situations: ● When a new boot loader is required for the SIMOTION D410 firmware version being used. ● When a new boot loader is required for the used SIMOTION D410 hardware version.
  • Page 197 6.5 SIMOTION CompactFlash Card A potential fault description could be as follows: The SIMOTION D410 does not power up, the RDY LED flashes red at 0.5 Hz and the RUN/ STOP LED lights up red, or all the LEDs remain off.

  • Page 198: Recommended Method Of Handling Compactflash Cards

    The CompactFlash card is an ESD-sensitive component. De-energize the SIMOTION D410 device before inserting or removing the CompactFlash card. The SIMOTION D410 is in a de-energized state when all the LEDs are OFF. Comply with the ESD rules. ● CF cards are not designed to be rewritten as many times as the user wishes.

  • Page 199: Diagnostics Data

    Diagnostics data Diagnostics by means of LED displays Overview The status LEDs display the operating modes or fault states of SIMOTION D410. Arrangement of LED displays Figure 7-1 LED displays on the D410 device Legend of the LED states Table 7-1...
  • Page 200 SINAMICS Integrated ready for operation (green) SINAMICS Integrated in fault state Λ (red) Startup of the SIMOTION D410 without CF card or with CF card without 0.5/1 valid operating system (the bootloader may be defective) (red) (red) Write access to CF card...
  • Page 201 (yellow) (green) Transition (yellow) ● from RUN to STOP/STOPU ● STOP to STOPU ● STOPU to STOP Memory reset requested by SIMOTION D410, or by means of mode 0.5/1 switch. (yellow) Memory reset in progress Memory reset completed (yellow) Firmware download to the integrated PROFINET interface is busy...
  • Page 202 A different device is connected to port x and the physical connection exists. Yellow Flashing Data is being received or sent at port x. Additional references Upgrading SIMOTION Devices Operating Instructions. Detailed information can be found in the SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 203: Diagnostic Data And Non-Volatile Simotion Data

    ● You can load it with the SIMOTION IT web server or by FTP You can also use them for diagnostic purposes or provide Technical Support with them for evaluation purposes. Various options are available to you for backing up diagnostic data: SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 204: Non-Volatile Simotion Data (Retain Data)

    – Controlling diagnostic data creation using an INI file stored on the CF card Note An Ethernet or PROFINET interface is required for the SIMOTION IT web server. For this reason, the web server is only available on the SIMOTION D410 PN, not the D410 DP. 7.2.2.2...

  • Page 205: Procedure For Backing Up During Startup

    Writing diagnostic data using a switch position 2. The diagnostic data and non-volatile SIMOTION data are backed up to the CF card. The backup process is indicated on the SIMOTION D410 by the status LEDs as follows: – Backup in progress: RUN/STOP LED flickers yellow –...
  • Page 206 The diagnostic data and non-volatile SIMOTION data are backed up to the CF card during power-up, provided that this is still possible and is not prevented by hardware defects, for example. The status LEDs indicate the backup process on the SIMOTION D410 as follows: –...

  • Page 207: Storing Data

    Note: The HTML pages are only stored if diagnostic data are created during operation (STOP / STOPU / RUN) . Other files All other files stored in the directory are only of relevance to Technical Support. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 208: Diagnostics Via Websites

    Information on creating pages of this type can be found in, for example, Utilities & Applications. Figure 7-4 Diagnostic buffer at the point when diagnostic data was created The following points must be noted for the DIAGURLS.TXT file: SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 209: Deleting/Restoring Non-Volatile Simotion Data

    Depiction of DIAGURLS.TXT editor 7.2.4 Deleting/restoring non-volatile SIMOTION data Requirement The diagnostic data and non-volatile SIMOTION data has been backed up to the CF card, see Section Backup of diagnostic data and non-volatile SIMOTION data (Page 203). SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 210 Procedure To restore non-volatile SIMOTION data after a CPU has been replaced, proceed as follows: 1. Insert the CF card into the new SIMOTION D410 (the SIMOTION D410 must be switched off!) 2. Set the switch to the "Delete/restore non-volatile SIMOTION data" setting, i.e. set DIP switch S5 to ON.

  • Page 211: Back Up Diagnostic Data And Non-Volatile Simotion Data Via The Web Server

    This opens the home page of the web server. To back up diagnostic data and non-volatile SIMOTION data, call the "Diagnostic files" page from the "Diagnostics" menu. Figure 7-7 SIMOTION IT web server SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 212: Additional Service And Diagnostics Options

    For detailed information, refer to the 7.3.2 Diagnostics via the SIMOTION IT web server SIMOTION D410 incorporates a Web server. As of firmware version V4.2, it is no longer necessary to purchase licenses for the web server (IT DIAG license) and for SIMOTION OPC‑XML.
  • Page 213 SIMOTION IT web server provides comprehensive device and diagnostic information that can be called up using a standard PC with a web browser. Additional references SIMOTION IT Diagnostics and Configuration You will find detailed information in the Diagnostics Manual. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 215: Configuring Drive-Related I/Os (Without Symbolic Assignment)

    Further information and programming examples for configuring drive-related I/Os without symbolic assignment can be found ● at Internet address (http://support.automation.siemens.com/WW/view/en/29063656) ● in the SIMOTION Utilities & Applications SIMOTION Utilities & Applications is provided as part of the SIMOTION SCOUT scope of delivery.
  • Page 216 SIMOTION Utilities & Applications includes, for example, a tool with the following functions: ● Estimate of the time between initiating a measurement job to the time at which the measuring input job in the drive acts ● Estimate of the minimum time between 2 measurement jobs SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 217: Configuring Local Measuring Inputs

    The settings for the use of the local measuring inputs must be made in the expert list. Procedure To use an I/O terminal on the SIMOTION D410 or SINAMICS Control Unit as a measuring input, proceed as follows: 1. Double-click on the "Inputs/outputs" entry below the Control Unit in the project navigator.
  • Page 218 Enter here which measuring input is used (namely, 1 or 2). Input 1 is the number default setting. SIMOTION Motion Control Output Cams and Detailed information can be found in the Measuring Inputs Function Manual. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 219: Standards And Approvals

    EMC-compliant configuration of the plant are described in this Manual and/or the Configuration Manual "EMC Installation Guideline". Please note that ultimately it is always the label on the device that provides the decisive information on the compliance with standards. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 220: Device-Specific Information

    It is essential to follow the installation instructions in the SINAMICS S120 Manuals in order to ensure compliance with emitted interference and immunity values. The same installation instructions apply for the SIMOTION D410 control unit as for the SINAMICS S120 CU310 control unit with regard to EMC.

  • Page 221: Esd Guidelines

    This figure indicates the maximum electrostatic charges that can accumulate on an operator when he comes into contact with the indicated materials. These values comply with the specifications in IEC 801-2. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 222: Basic Measures For Protection Against Discharge Of Static Electricity

    If you have to take measurements on a module, make sure that you first discharge any static that may have accumulated in your body. To do this, touch a grounded metal object. Only use grounded measuring instruments. SIMOTION D410 Commissioning Manual, 04/2014...

  • Page 223: Index

    Boot loader Overview, 81 Reading, 196 Performance features, 106 Upgrading, 186 Safety Integrated, 158 Writing, 186, 196 SIMOTION D410, 75, 79 Bus cycle, 71 SIMOTION D410, 53 SINAMICS Integrated, 98 Supplementary information, 98 Testing the drive, 108 TM41, 140 Cam output...
  • Page 224 Approval, 219 Hub, 139 Current controller cycle clock, 107 Overview of components, 26 DRIVE-CLiQ components Replacing, 170 Automatic position controller setting, 144 D410 Position controller, 142 Commissioning, 37 Dynamic Servo Control, 142 Power supply, 39 SIMOTION D410 Commissioning Manual, 04/2014...
  • Page 225 Index Automatic position controller setting, 144 HW Config Electromagnetic compatibility, 219 Replacing the module, 180 EMC directives, 219 Settings, 98 Encoder SIMOTION D410, 60 Inserting, 125 Engineering system Create axes., 110 ESD guideline, 221 Ethernet Configuration, 131 Interface, 55, 58...
  • Page 226 Adapting, 174 Archiving to the CF card, 92 Offline configuration Comparing, 91 SIMOTION D410, 81 creating, 53 Onboard I/Os of the SIMOTION D410 Downloading, 193 Overview, 131 Downloading to the target system, 98 Online configuration, 93 Project handling Overview, 93...
  • Page 227 I/O variables, 127 Topology, 160 I/O variables to the drive parameters, 127 With PROFIsafe, 160 I/O variables to the PROFIdrive message frame, SCOUT Insert a SIMOTION D410, 53 Retrospective activation, 76 Send cycle, 70 System clock Service, 199 Ratio, 64, 71...
  • Page 228 Time of day Setting, 102 SIMOTION D410, 102 SINAMICS, 102 TM41 Overview, 140 Type plate CF card, 34 SIMOTION D410 DP, 29 SIMOTION D410 PN, 32 UL certification, 219 Unit data Backing up, 175 Upgrading Automatic, 171 D410 device update tool, 188...

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