Page 1 Function Manual SINAMICS S120 Drive functions Edition 06/2019 www.siemens.com/drives...
Page 3 Introduction Fundamental safety instructions Infeed SINAMICS Extended setpoint channel S120 Drive functions Servo control Vector control Function Manual U/f control (vector control) Basic functions Function modules Monitoring functions and protective functions Safety Integrated Basic Functions Applications Web server Basic information about the drive system Valid as of: Firmware version 5.2...
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: Table Of Contents
Table of contents Introduction..............................17 The SINAMICS converter family ....................17 General information about SINAMICS documentation............18 Usage phases and their documents/tools (as an example) ..........20 Where can the various topics be found?................21 Training and support ......................22 Using OpenSSL ........................23 General Data Protection Regulation ..................24 Fundamental safety instructions.........................25 General safety instructions.....................25 Warranty and liability for application examples ..............26...
Page 6 Supplementary conditions....................151 5.16.2 Important parameters (process-dependent).................155 5.16.3 Setting of the elasticity-based pole position identification ............156 5.16.4 Commutation angle offset commissioning support (p1990) ..........165 5.16.5 Overview of important parameters (see SINAMICS S120/S150 List Manual) .....165 Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 7 Table of contents 5.17 Vdc control ...........................167 5.18 Dynamic Servo Control (DSC) .....................171 5.19 Travel to fixed stop.......................176 5.20 Vertical axes.........................181 5.21 Variable signaling function ....................182 5.22 Central probe evaluation ......................184 5.22.1 Examples ..........................190 5.22.2 Function diagrams and parameters ..................191 5.23 Voltage precontrol ........................193 5.23.1...
Page 8 Table of contents 6.15.2 Efficiency optimization for reluctance motors...............260 6.15.3 Function diagrams and parameters ..................261 6.16 Fast magnetization for induction motors ................262 6.17 Flying restart ........................266 6.17.1 Fast flying restart........................268 6.17.2 Flying restart for a synchronous reluctance motor ...............270 6.17.3 Messages and parameters....................271 6.18 Synchronization........................272...
Page 9 Table of contents 8.12.4 Configuring a fault reaction ....................337 8.12.5 Function diagrams and parameters ..................337 8.13 DC braking ...........................339 8.13.1 Configuring the function via parameters ................339 8.13.2 Activating a function via fault reaction..................341 8.13.3 Activating a function via OFF fault responses..............341 8.13.4 Configuring a function as a response to a speed threshold ..........341 8.13.5...
Page 10 Table of contents 8.25.1 SIMOTION mode .........................396 8.25.2 SINAMICS mode........................397 8.25.3 Zero mark emulation (SINAMICS mode) ................399 8.25.4 Synchronization of the zero marks (SINAMICS mode) ............402 8.25.5 Limit frequencies for TM41....................403 8.25.6 Example in the SINAMICS mode ..................404 8.25.7 Function diagrams and parameters ..................405 8.26 Upgrade the firmware and project..................407 8.26.1...
Page 11 Table of contents 9.8.4.2 Flying referencing.........................482 9.8.4.3 Data set switchover......................483 9.8.4.4 Function diagrams and parameters ..................485 9.8.5 Referencing with several zero marks per revolution ............485 9.8.5.1 Evaluating BERO signals .....................487 9.8.6 Safely referencing under EPOS ...................488 9.8.7 Traversing blocks .........................491 9.8.8 Travel to fixed stop.......................496 9.8.9...
Page 12 Table of contents 9.14.3.1 Activating the function ......................564 9.14.3.2 Measuring the function......................565 9.14.4 APC with encoder combination and differential position feedback: ........565 9.14.4.1 Important notes for parameterization ...................569 9.14.4.2 Measuring the function......................570 9.14.5 APC with acceleration feedback ..................570 9.14.5.1 Important notes for parameterization ...................575 9.14.5.2 Measuring the function......................576 9.14.6...
Page 13 Table of contents 10.2.10 Motor with DRIVE-CLiQ .......................622 10.2.11 Temperature sensor evaluation ...................623 10.2.12 Function diagrams and parameters ..................623 10.3 Blocking protection.......................626 10.4 Stall protection (vector control only)..................627 Safety Integrated Basic Functions......................629 11.1 Latest information.........................629 11.2 General information......................631 11.2.1 Explanations, standards and terminology ................631 11.2.2 Supported functions ......................633 11.2.3...
Page 14 Table of contents 11.11.2 Safety Logbook ........................684 11.11.3 Acceptance test........................684 11.11.3.1 Preparing the acceptance test .....................685 11.11.3.2 Carrying out an acceptance test (example) .................686 11.12 Overview of parameters and function diagrams (WV) ............689 Applications ..............................691 12.1 Application examples ......................691 12.2 Switch on infeed unit via a drive axis ...................694 12.3 Control Units without infeed control ..................697...
Page 15 Table of contents 13.4.1 Overview ..........................747 13.4.2 Creating a parameter list......................747 13.4.3 Adding parameters.......................749 13.4.4 Selecting/entering parameters .....................750 13.4.5 Changing the parameter sequence..................750 13.4.6 Deleting parameters......................750 13.4.7 Changing the list properties ....................750 13.4.8 Deleting a parameter list ......................751 13.5 Backup and restore ......................752 13.5.1 Overview ..........................752 13.5.2...
Page 16 Table of contents 14.5.5 Function diagrams and parameters ..................796 14.6 Inputs/outputs........................798 14.6.1 Digital inputs/outputs......................798 14.6.2 Use of bidirectional inputs/outputs on the CU ..............801 14.6.3 Analog inputs ........................802 14.6.4 Analog outputs ........................804 14.7 Write protection ........................805 14.8 Know-how protection......................808 14.8.1 Overview ..........................808 14.8.2 Know-how protection features....................809 14.8.3...
Page 17 Controlling the drive using the BOP20 .................894 A.4.6 Important functions via BOP20 ....................894 Replacing an encoder for SIMOTICS motors...............896 Availability of hardware components..................898 Availability of SW functions ....................905 Functions of SINAMICS S120 Combi ..................916 Index.................................919 Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 18 Table of contents Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 19: Introduction
With the SINAMICS converter family, you can solve any individual drive task in the low-voltage, medium-voltage and DC voltage range. From converters to motors and controllers, all Siemens drive components are perfectly matched to each other and can be easily integrated into your existing automation system.
Page 20: General Information About Sinamics Documentation
Siemens MySupport/Documentation You can find information on how to create your own individual documentation based on Siemens content and adapt it for your own machine documentation at the following address (https://support.industry.siemens.com/My/ww/en/documentation). Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 21 1.2 General information about SINAMICS documentation Additional information You can find information on the topics below at the following address (https:// support.industry.siemens.com/cs/de/en/view/108993276): ● Ordering documentation/overview of documentation ● Additional links to download documents ● Using documentation online (find and search in manuals/information) Questions relating to the technical documentation Please send any questions about the technical documentation (e.g.
Page 22: Usage Phases And Their Documents/Tools (As An Example)
● SINAMICS S210 Servo Drive System (D 32) ● SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62) Installation/assembly ● SINAMICS S120 Equipment Manual for Control Units and Supplementary System Components ● SINAMICS S120 Equipment Manual for Booksize Power Units ●...
Page 23: Where Can The Various Topics Be Found
SINAMICS S120 Function Manual Communication Safety Integrated Basic and Extended Functions SINAMICS S120 Safety Integrated Function Manual Basic Functions SINAMICS S120 Function Manual Drive Functions Commissioning Of a simple SINAMICS S120 drive with Getting Started STARTER Commissioning With STARTER SINAMICS S120 Commissioning Manual Commissioning...
Page 24: Training And Support
Training and support Training At the following address (http://www.siemens.com/sitrain), you can find information about SITRAIN (Siemens training on products, systems and solutions for automation and drives). Technical Support Country-specific telephone numbers for technical support are provided in the Internet at the following address (https://support.industry.siemens.com/cs/ww/en/sc) in the "Contact"...
Page 25: Using Openssl
Introduction 1.6 Using OpenSSL Using OpenSSL Many SINAMICS products include OpenSSL. The following applies to these products: ● This product contains software (https://www.openssl.org/) that has been developed by the OpenSSL project for use in the OpenSSL toolkit. ● This product contains cryptographic software (mailto:eay@cryptsoft.com) created by Eric Young.
Page 26: General Data Protection Regulation
1.7 General Data Protection Regulation General Data Protection Regulation Compliance with the General Data Protection Regulation Siemens respects the principles of data protection, in particular the data minimization rules (privacy by design). For this product, this means: The product does not process neither store any person-related data, only technical function data (e.g.
Page 27: Fundamental Safety Instructions
Fundamental safety instructions General safety instructions WARNING Danger to life if the safety instructions and residual risks are not observed If the safety instructions and residual risks in the associated hardware documentation are not observed, accidents involving severe injuries or death can occur. ●...
Page 28: Warranty And Liability For Application Examples
Fundamental safety instructions 2.2 Warranty and liability for application examples Warranty and liability for application examples Application examples are not binding and do not claim to be complete regarding configuration, equipment or any eventuality which may arise. Application examples do not represent specific customer solutions, but are only intended to provide support for typical tasks.
Page 29: Industrial Security
In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement – and continuously maintain – a holistic, state-of-the-art industrial security concept. Products and solutions from Siemens constitute one element of such a concept.
Page 30 Fundamental safety instructions 2.3 Industrial security WARNING Unsafe operating states resulting from software manipulation Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in your system that may lead to death, serious injury, and property damage. ● Keep the software up to date. ●...
Page 31: Infeed
● The recommended ON and OFF sequence for activating the SLMs must be adhered to. You can find further information on the wiring of Smart Line Modules with the Control Unit and for the recommended ON/OFF sequence in the Equipment Manual SINAMICS S120 Booksize power units.
Page 32: Active Infeed
Infeed 3.1 Active Infeed Active Infeed Function description The Active Infeed control works in conjunction with the line reactor or an Active Interface Module and the Active Line Module as step-up controller. The level of the DC link voltage can be defined through parameters, and, by means of the control, it is independent of line voltage fluctuations.
Page 33: Active Infeed Closed-Loop Control Booksize
Infeed 3.1 Active Infeed 3.1.1 Active Infeed closed-loop control booksize Overview The following figure gives an overview of the structure of an Active Infeed control. Figure 3-1 Schematic structure of Active Infeed Booksize Active Infeed control for Active Line Modules in Booksize design Active Line Modules of the Booksize format can be operated in the following modes depending on the parameterized line voltage (p0210): ●...
Page 34 Infeed 3.1 Active Infeed The DC link voltage setpoint (p3510) and the control type are preset as follows during commissioning in line with the connection voltage (p0210): Table 3-1 Presetting the control type and DC link voltage Booksize Supply voltage p0210 [V] 380...400 401...415 416...440...
Page 35: Active Infeed Closed-Loop Control Chassis
Infeed 3.1 Active Infeed Note When a Wideband Line Filter is connected, it must be parameterized with p0220 = 1...5. The temperature sensor must be connected to terminal X21 of the Active Line Module. The DC link voltage (p3510) can be set within the following limits: ●...
Page 36 Chassis-2 ALM. The necessary signal interconnections are described in the following manual: ● SINAMICS S120 Device manual for air-cooled Chassis power unit Opening and closing times of the contacts being used can be adjusted in parameter p0255 (power unit contactor monitoring time).
Page 37: Line Supply And Dc Link Identification
Infeed 3.1 Active Infeed The DC link voltage (p3510) can be set for both the ALMs for the Chassis format and the ALMs for the Chassis-2 format within the following limits: ● Upper limit: – Maximum DC link voltage (p0280) –...
Page 38: Active Infeed Open-Loop Control
– Unlike identification over p3410 = 5, the automated controller setting leads to losses in the dynamic response. P3410 = 0 is automatically set when an identification routine is successfully completed. Additional identification methods are listed in the SINAMICS S120/S150 List Manual. 3.1.4 Active Infeed open-loop control...
Page 39 Infeed 3.1 Active Infeed Switching on the ALM Figure 3-3 Active Infeed power-up procedure Note The infeed unit can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Requirement ●...
Page 40 Infeed 3.1 Active Infeed 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. Before the infeed unit is switched off, the drives connected to the DC link should be in pulse inhibit mode. Control and status messages Table 3-2 Active Infeed open-loop control...
Page 41: Reactive Current Control
Infeed 3.1 Active Infeed 3.1.5 Reactive current control Function description A reactive current setpoint can be set to compensate the reactive current or to stabilize the line voltage in infeed operation. The total setpoint is the sum of the fixed setpoint p3610 and the dynamic setpoint via the connector input p3611.
Page 42: Parameterizable Bandstop Filters For Active Infeed Controls In Chassis Format
Infeed 3.1 Active Infeed Example: Setting the harmonics controller The 5th and 7th harmonics harmonics are to be compensated. Table 3-4 Example parameters for the harmonics controller Index p3624 p3625 100 % 100 % The phase currents in parameter p0069[0 ... 2] (U, V, W) can be checked using the trace function of the commissioning tool.
Page 43: Function Diagrams And Parameters
Active Infeed - current precontrol / current controller / gating unit (p3400.0 = 0) ● 8964 Active Infeed - signals and monitoring function, line frequency/Vdc monit. (p3400.0 = 0) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046.0...29 CO/BO: Missing enable signals ●...
Page 44 Infeed 3.1 Active Infeed ● r3411[0...1] Infeed inductance identified ● r3412[0...1] Infeed DC link capacitance identified ● p3508 Infeed step-up factor maximum ● p3510 Infeed DC link voltage setpoint ● p3533 BI: Infeed, inhibit regenerative operation ● p3560 Infeed Vdc controller proportional gain ●...
Page 45: Basic Infeed
Infeed 3.2 Basic Infeed Basic Infeed Overview The following figure gives an overview of the structure of a Basic Infeed in Booksize format. Figure 3-4 Schematic structure of Basic Infeed Booksize The following figure gives an overview of the structure of a Basic Infeed in Chassis format. Figure 3-5 Schematic structure of Basic Infeed Chassis Drive functions...
Page 46 Infeed 3.2 Basic Infeed Description The Basic Infeed open-loop control can be used to switch on/off the Basic Line Module. The Basic Line Module is an unregulated infeed unit without regenerative feedback capability. The open-loop control firmware for the Basic Line Module is on the assigned Control Unit. The Basic Line Module and Control Unit communicate via DRIVE-CLiQ.
Page 47: Basic Infeed Open-Loop Control
Infeed 3.2 Basic Infeed Remedy ● activate the V control: dc_max – Vector control: p1240 = 1 (factory setting) – Servo control: p1240 = 1 – U/f control: p1280 = 1 (factory setting) ● Inhibit V control: dc_max – Vector control: p1240 = 0 –...
Page 48 Infeed 3.2 Basic Infeed Switching on the BLM Figure 3-6 Basic Infeed power-up procedure Note The infeed unit can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Requirement ●...
Page 49: Function Diagrams And Parameters
Line contactor closed ZSWAE.12 r0899.12 E_ZSW1.12 3.2.2 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 8710 Basic Infeed overview ● 8720 Basic Infeed - Control word, sequence control, infeed ● 8726 Basic Infeed - Status word, sequence control, infeed ●...
Page 50 Infeed 3.2 Basic Infeed Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046.0...29 CO/BO: Missing enable signals ● p0210 Device supply voltage ● p0840 BI: ON/OFF (OFF1) ● p0844 BI: No coast down / coast down (OFF2) ●...
Page 51: Smart Infeed
Infeed 3.3 Smart Infeed Smart Infeed Overview The following figure gives an overview of the structure of a Smart Infeed in Booksize format. Figure 3-7 Schematic structure of Smart Infeed Booksize The following figure gives an overview of the structure of a Smart Infeed in Chassis format. Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 52 Infeed 3.3 Smart Infeed Figure 3-8 Schematic structure of Smart Infeed Chassis Description The firmware of the Smart Line Module is located on the assigned Control Unit. The Smart Line Module and Control Unit communicate via DRIVE-CLiQ. Features ● For Smart Line Modules with a power ≥ 16 kW ●...
Page 53: Line Supply And Dc Link Identification Routine For Smart Infeed Booksize
Identification using p3410 = 5 should preferably be used. P3410 = 0 is automatically set when an identification routine is successfully completed. For additional identification methods, see the SINAMICS S120/S150 List Manual. It may be necessary to reset the closed-loop controller to the factory settings if an identification run was unsuccessful, for example.
Page 54: Extended Smart Mode
Infeed 3.3 Smart Infeed 3.3.2 Extended Smart Mode Requirement ● The Smart Mode is active (p3400.0 = 1). Function description The operating mode "Extended Smart Mode" represents and extension of the Smart Mode, and facilitates a higher efficiency no-load operation and partial load operation as well as a more rugged operating behavior.
Page 55 Infeed 3.3 Smart Infeed Switching on the SLM Figure 3-9 Smart Infeed power-up procedure Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 56 Infeed 3.3 Smart Infeed Note The infeed unit can be switched on by issuing an enable signal at the EP terminals and a positive signal edge at OFF1 (p0840). Requirement ● Commissioning takes place via the STARTER commissioning tool. ● No PROFIdrive telegrams activated. Switching off the SLM The Active Line Module is switched off by the same procedure used to switch it on, but in the reverse order.
Page 57: Function Diagrams And Parameters
Smart Infeed - Signals and monitoring functions, line voltage monitoring ● 8864 Smart Infeed - Signals and monitoring functions, line frequency and Vdc mon‐ itoring Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0002 Infeed operating display ● r0046.0...29 CO/BO: Missing enable signals ●...
Page 58: Line Contactor Control
Infeed 3.4 Line contactor control Line contactor control Function 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. For the "Infeed", "Servo"...
Page 59 Note Pay attention to the continuous current-carrying capacity of the digital output (see SINAMICS S120 Equipment Manual for Control Units and Additional System Components). If necessary, use an auxiliary contactor! 2. Parameterize DI/DO 8 as an output (p0728.8 = 1).
Page 60: Pre-Charging And Bypass Contactor Chassis And Chassis-2
Further information You will find more detailed information in the following manual: ● SINAMICS S120 Manual for Chassis Power Units, Air-cooled Procedure during switch-on ● The precharging contactor is closed and the DC link is charged via the precharging resistors.
Page 61: Extended Setpoint Channel
Extended setpoint channel Overview ● Servo control In servo control, the extended setpoint channel is deactivated through the factory setting. If an extended setpoint channel is required, it has to be activated. ● Vector control The extended setpoint channel is always activated in vector control. Function description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control.
Page 62 Extended setpoint channel Features The function is characterized by the following features: ● Main/supplementary setpoint, setpoint scaling ● Direction limitation and direction reversal ● Suppression bandwidths and setpoint limitation ● Ramp-function generator Setpoint sources The closed-loop control setpoint can be interconnected from various sources using BICO technology, e.g.
Page 63 Extended setpoint channel ● Deceleration ramp OFF1 via p1121[D] The deceleration ramp in p1121 is also effective when the "Extended setpoint channel" is deactivated. ● Deceleration ramp OFF3 via p1135[D] ● For PROFIdrive telegrams 2 to 103 and 999 only (free assignment) ●...
Page 64: 4.1 Motorized Potentiometer
Extended setpoint channel 4.1 Motorized potentiometer Motorized potentiometer Function description The "Motorized potentiometer" function is used to simulate an electromechanical potentiometer for setpoint input. You can switch between manual and automatic mode for setpoint input. The specified setpoint is routed to an internal ramp-function generator. Setting values, start values and braking with OFF1 do not require the ramp-function generator of the motorized potentiometer.
Page 65 Setpoint channel overview ● 2501 Internal control/status words - Control word, sequence control ● 3020 Setpoint channel - 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 ●...
Page 66: Fixed Setpoints
Function diagrams (see SINAMICS S120/S150 List Manual) ● 3001 Setpoint channel overview ● 3010 Setpoint channel - 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 67: Speed Setpoint
● 3001 Setpoint channel overview ● 3030 Setpoint channel - Main setpoint / supplementary setpoint, setpoint scaling, jog‐ ging Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1070[0...n] CI: Main setpoint ● p1071[0...n] CI: Main setpoint scaling ● r1073 CO: Main setpoint effective ●...
Page 68: Jogging
Extended setpoint channel 4.3 Speed setpoint ● r1077 CO: Supplementary setpoint effective ● r1078 CO: Total setpoint effective 4.3.2 Jogging Function description The "Jog" function is typically used to slowly move a machine part, e.g. a conveyor belt. The "Jog mode" can also be used to move a drive into the required position independent of the sequence.
Page 69 Extended setpoint channel 4.3 Speed setpoint Figure 4-4 Flow diagram: Jog 1 and jog 2 Features ● 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 70 Extended setpoint channel 4.3 Speed setpoint Flow diagram Figure 4-5 Jog sequence Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 71 Setpoint channel overview ● 2610 Sequence control - Sequencer ● 3030 Setpoint channel - Main/supplementary 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 72: Direction Of Rotation Limiting And Direction Reversal
Function diagrams (see SINAMICS S120/S150 List Manual) ● 3001 Setpoint channel overview ● 3040 Setpoint channel - Direction limitation and direction reversal Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1110[0...n] BI: Block negative direction ● p1111[0...n] BI: Block positive direction ●...
Page 73: Speed Limiting
Skip frequency bands, setpoint limitation, minimum speed Minimum speed Using parameter p1106[0...n], a minimum speed n_min s_src or minimum velocity can be set, which is wired via BICO. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3001 Setpoint channel overview ● 3050...
Page 74 Extended setpoint channel 4.4 Speed limiting Overview of important parameters (see SINAMICS S120/S150 List Manual) Setpoint limitation ● p1080[0...n] Minimum speed ● p1082[0...n] Maximum speed ● p1083[0...n] CO: Speed limit in positive direction of rotation ● r1084 CO: Speed limit positive effective ●...
Page 75: Ramp-Function Generator
Extended setpoint channel 4.5 Ramp-function generator Ramp-function generator Function description The "Ramp-function generator" function is used to limit the acceleration in the event of abrupt setpoint changes and thus helps to prevent load surges throughout the complete drive train. The ramp-up time p1120[0...n] and ramp-down time p1121[0...n] can be used to set mutually independent acceleration and deceleration ramps.
Page 76 Extended setpoint channel 4.5 Ramp-function generator Figure 4-8 Ramp-up and ramp-down with the basic ramp-function generator Specific features of the extended ramp-function generator The extended ramp-function generator is characterized by the following features: ● Ramp-up time T p1120[0...n] ● Ramp-down time T p1121[0...n] ●...
Page 77 Extended setpoint channel 4.5 Ramp-function generator Figure 4-9 Extended ramp-function generator Scaling of the up ramp and the down ramp In order to be able to influence the ramp times set in parameters p1120 and p1121 cyclically via PROFIdrive telegrams, scaling is available for the ramp times. ●...
Page 78: Ramp-Function Generator Tracking
Extended setpoint channel 4.5 Ramp-function generator 4.5.1 Ramp-function generator tracking Overview A ramp-function generator (RFG) can be operated with or without tracking. Figure 4-10 Ramp-function generator tracking Without ramp-function generator tracking ● p1145 = 0 ● Drive accelerates until t2 although setpoint < actual value With standard ramp-function generator tracking ●...
Page 79 Extended setpoint channel 4.5 Ramp-function generator Standard RFG tracking If the load torque exceeds the torque limit of the drive and so causes the actual speed to diminish, the ramp-function generator output is not tracked to the actual speed value. If the torque limit is overshot during the ramp-up because the ramp-up time was selected too small, the effective ramp-up time of the ramp-function generator lengthens.
Page 80: Signal Overview, Function Diagrams And Important Parameters
The tracking continues for a polarity change. 4.5.2 Signal overview, function diagrams and important parameters Signal overview (see SINAMICS S120/S150 List Manual) ● Control signal STW1.2 OFF3 ● Control signal STW1.4 Enable ramp-function generator ● Control signal STW1.5 Start/stop ramp-function generator ●...
Page 81 Extended setpoint channel 4.5 Ramp-function generator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1051[0...n] CI: Speed limit in RFG, positive direction of rotation ● p1052[0...n] CI: Speed limit RFG, negative direction of rotation ● p1083[0...n] CO: Speed limit in positive direction of rotation ●...
Page 82 Extended setpoint channel 4.5 Ramp-function generator Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 83: Servo Control
Servo control Function description The servo control mode enables operation with a high dynamic response and precision for a motor with motor encoder. The motor connected to servo control is simulated in a vector model based on data from the equivalent circuit diagram.
Page 84: Comparison Between Servo Control And Vector Control
Servo control 5.1 Comparison between servo control and vector control Comparison between servo control and vector control The basic features and properties of the SERVO and VECTOR control modes are compared in the following table. Table 5-1 Comparison: Servo control/vector control Subject Servo control Vector control...
Page 85 Servo control 5.1 Comparison between servo control and vector control Subject Servo control Vector control Connectable motors ● Synchronous servomotors ● Synchronous motors (including torque motors) ● Permanent-magnet synchronous motors ● Permanent-magnet synchronous motors ● Induction motors ● Induction motors ●...
Page 86 Servo control 5.1 Comparison between servo control and vector control Subject Servo control Vector control Maximum output frequency with ● 2600 Hz with 31.25 μs / 16 kHz ● 300 Hz with 250 μs/4 kHz closed-loop control or with 400 μs/5 kHz ●...
Page 87 Servo control 5.1 Comparison between servo control and vector control Subject Servo control Vector control Note: Additional information on connecting power units in parallel is provided in Chapter "Parallel connection of power units (Page 515)". Permissible range of the ratio be‐ The permissible range of the ratio be‐...
Page 88: Influencing Calculation Of The Open-Loop Control And Closed-Loop Control Parameters
The value is only used for 1FK2 motors. An overview of the influenced parameters and the set values is provided in the "SINAMICS S120/S150 List Manual". Calling the calculation You call the calculation of the parameters, which influence the technological application, as follows: ●...
Page 89: Setpoint Addition
Servo control 5.3 Setpoint addition Setpoint addition Function description Setpoint addition allows up to 2 speed setpoints to be combined. While main and supplementary setpoints used in the setpoint channel are influenced by speed limits and the ramp-function generator, the speed setpoint is directly active here. As a consequence, up ramps and down ramps of a ramp-function generator are eliminated.
Page 90 3. To activate the interpolator for the down ramp, in the drop-down list for p1189[0], select "Yes". Function diagrams (see SINAMICS S120/S150 List Manual) ● 3080 Setpoint channel - ramp-function generator selection, status word, tracking Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1121[0...n] Ramp-function generator ramp-down time ● p1135[0...n] OFF3 ramp-down time ●...
Page 91: Speed Setpoint Filter
Servo control 5.4 Speed setpoint filter Speed setpoint filter Function description The "Speed setpoint filter" function allows you to hide or to attenuate certain frequency ranges. Speed setpoint filters do not have any effect on the stability of the speed controller, because they lie in the setpoint channel.
Page 92 4. Then save the modified project settings. Function diagrams (see SINAMICS S120/S150 List Manual) ● 5020 Servo control - Speed setpoint filter and speed precontrol Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1414[0...n] Speed setpoint filter activation ● p1415[0...n] Speed setpoint filter 1 type ●...
Page 93: Speed Controller
Servo control 5.5 Speed controller Speed controller Function description For operation with a controller, the speed controller regulates the speed of the motor based on the actual values of the encoder. For operation without a controller, the speed controller regulates the speed of the motor based on calculated speed actual values. Special characteristics of the speed controller include: ●...
Page 94 Servo control 5.5 Speed controller Free K adaptation The free K adaptation is active during operation with encoder, as well as during operation without encoder. The free K adaptation provides an added factor for the speed-dependent adaptation during operation with encoder. Figure 5-4 Overview: free adaptation Speed-dependent K...
Page 95: Torque-Controlled Operation
Function diagrams (see SINAMICS S120/S150 List Manual) ● 5050 Servo control - Speed controller adaptation (K 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 96 Servo control 5.5 Speed controller Activating torque-controlled operation To initiate torque-controlled operation, proceed as follows: 1. Set torque-controlled operation as follows: – p1300 = 2 or p1501 = "1" signal 2. Enter the torque setpoint using the following parameter: – p1511: Signal source for supplementary torque 1 –...
Page 97 ● 5060 Servo control - Torque setpoint, switchover control mode ● 5610 Servo control – torque limiting/reduction, interpolator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1300[0...n] Open-loop/closed-loop control operating mode ● r1406.8...12 CO/BO: Control word, speed controller ●...
Page 98: Torque Setpoint Limitation
Servo control 5.6 Torque setpoint limitation Torque setpoint limitation Function description 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 5-7 Current / torque setpoint limitation The torque setpoint is limited with the following steps: ●...
Page 99 Servo control 5.6 Torque setpoint limitation Features The connector inputs of the function are initialized with fixed torque limits. If required, the torque limits can also be defined dynamically during operation. ● A control bit can be used to select the torque limitation mode. The following alternatives are available: –...
Page 100 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 / without offset...
Page 101 Servo control - Motoring/generating torque limit ● 5630 Servo control - Upper/lower torque limit ● 5640 Servo control - Mode changeover, power/current limiting Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0640[0...n] Current limit ● p1400[0...n] Speed control configuration ●...
Page 102: Current Setpoint Filter
Servo control 5.7 Current setpoint filter Current setpoint filter The current setpoint filters 1 to 4 are activated by default. If more than 4 current setpoint filters are required, you can activate current setpoint filters 5 to 10 in offline mode in the object properties of the drive.
Page 103 Servo control 5.7 Current setpoint filter 10.Make the setting p1699 = 0 to start calculating the filter data. 11.Then save the modified project settings. Parameterization example Four current setpoint filters connected in series can be parameterized as follows, for example: ●...
Page 104 Servo control 5.7 Current setpoint filter Additional examples The following examples demonstrate the features of the parameterizable current setpoint filters. Low-pass 2nd order (PT2 filter) The following figure shows the transfer function for low-pass 2nd order. = Denominator natural fre‐ quency = Denominator damping Table 5-2...
Page 105 Servo control 5.7 Current setpoint filter ● Denominator natural frequency f ● Denominator damping Band-stop filter with defined notch depth Table 5-4 Example: Band-stop filter with defined notch depth Filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency f 500 Hz Bandwidth f = 500 Hz...
Page 106 Servo control 5.7 Current setpoint filter Band-stop filter with defined reduction Table 5-5 Example: Band-stop filter with defined reduction Filter parameters Amplitude log frequency curve Phase frequency curve Blocking frequency f 500 Hz Bandwidth f = 500 Hz Notch depth K = -∞ dB Reduction ABS = -20 dB General conversion to parameters for general order filters: ●...
Page 107 0.02 dB Denominator frequency = 900 Hz Denominator damping D = 0.15 dB Function diagrams (see SINAMICS S120/S150 List Manual) ● 5700 Servo control - Current control, overview ● 5710 Servo control - Current setpoint filters 1 ... 4 ● 5711 Servo control - Current setpoint filters 5 …...
Page 108 Servo control 5.7 Current setpoint filter Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0108[0...n] Drive object function module ● p1400[0...n] Speed control configuration ● 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 109: Current Controller
The P gain of the current controller can be reduced (depending on the current) by means of current controller adaptation. Current controller adaptation can be deactivated with the setting p1402.2 = 0. Function diagrams (see SINAMICS S120/S150 List Manual) ● 5700 Servo control - Current control, overview ●...
Page 110 Servo control 5.8 Current controller Overview of important parameters (see SINAMICS S120/S150 List Manual) 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 111: Autotuning
Servo control 5.9 Autotuning Autotuning Function description The term "Autotuning" comprises all drive-internal functions that adapt controller parameters during operation based on internal measured variables. The set parameters are written in the parameters, but are not saved permanently. Applications The main applications of the autotuning functions are: ●...
Page 112 Servo control 5.9 Autotuning Function description With One Button Tuning (OBT), the mechanical drive train is measured using short test signals and the controller parameters are optimally adapted to the existing mechanics. As this concerns a drive-internal function, no external engineering tool is required. Restrictions Only the motor measuring system is taken into account when optimizing the position controller.
Page 113 Servo control 5.9 Autotuning Configuring the function The following settings are possible via parameter p5301: Effect The speed controller gain is determined and set with the aid of a noise signal. Any required current setpoint filters are determined and set with the aid of a noise signal. In this way, a higher dynamic response can be achieved in the speed control loop.
Page 114 Servo control 5.9 Autotuning Measuring via noise excitation The test signals comprise, on the one hand, a noise excitation during which the drive executes a motion with a superimposed noise signal for a few seconds. The following settings are required for this: ●...
Page 115 Servo control 5.9 Autotuning Additional settings and displays The following table provides an overview of further settings and displays in the parameters. Parameter Adjustment range Factory set‐ Setting / display (with explanations) ting p5271[0... ‑ 0000 1100 bi Configuration of the OBT. The following settings are possible: ●...
Page 116: Online Tuning
Servo control 5.9 Autotuning Parameter Adjustment range Factory set‐ Setting / display (with explanations) ting p5308 0 to 30000 degrees 0 degree Distance limiting for the OBT: 0 to 30000 mm 0 mm ● Following activation of the OBT (p5300), the traversing range in positive and negative direction is restricted to the set distance limiting specified in degrees.
Page 117 Servo control 5.9 Autotuning NOTICE Unstable controller when manually changing the controller parameters during autotuning If you wish to manually change a controller parameter that the online tuning automatically sets, then this can result in an unstable controller and therefore material damage. ●...
Page 118 Servo control 5.9 Autotuning Note Function and supplementary conditions for the inertia estimator Please observe the notes in chapter Moment of inertia estimator (Page 540). Note Resetting the inertia estimator Through deactivation and renewed activation of the online tuning, the estimated load moment of inertia and the load torques are reset.
Page 119 Servo control 5.9 Autotuning ● Do not change the Kp (speed controller gain). ● Activate the torque precontrol. Automatic pre-assignment When the "Online tuning" function is activated, settings are made that ensure the safe operation of the online tuning. Current setpoint filter The natural frequency of the first PT2 filter behaves proportional to the current controller and speed controller cycles.
Page 120: Adaptation Of The Control Parameters
Servo control 5.9 Autotuning Application examples Online tuning is applied in the following cases: ● Positioning axes A positioning axis application can always be used when an axis performs a point-to-point motion independently of other axes. p5302.7 = 0 must be set. The axis is thus optimized for positioning without overshoot.
Page 121: Problem Handling
Servo control 5.9 Autotuning Position controller Two cases can be selected for the position control via bit p5271.0: ● p5271.0 = 0 (not active) In this case, the position controller acts like a normal closed-loop P controller. The position controller gain (servo gain factor) is adapted depending on the estimated dynamic response of the speed control loop and the sample times.
Page 122: Current Setpoint Filter Adaptation
Servo control 5.9 Autotuning Motor hums at very low speeds If the drive has an encoder with poor resolution, the motor may hum at very low speeds or at standstill. Remedy ● Increase the actual speed value smoothing (p1441) or reduce the dynamic response (p5272).
Page 123 Servo control 5.9 Autotuning Function description The function is used to automatically shift a selected current setpoint filter to a mechanical resonant frequency. Detailed descriptions on the principle of operation of the current setpoint filter adaptation as well all of the parameters that are linked with the adaptation can be found later in this chapter.
Page 124 Servo control 5.9 Autotuning Note Deviation with activated online tuning (p5300 = 2) The denominator damping of the adapted filter is set automatically. You can also overwrite this setting. Further explanations for the principle of operation If, after the pulse enable, a resonant frequency has been excited to such a degree that the internal activation threshold is exceeded, the adaptation moves the band-stop filter to this resonant frequency.
Page 125 Servo control 5.9 Autotuning Supplementary conditions ● Due to the operating principle of the adaptation, the base adaptation algorithm can only work reliably with systems that have one single mechanical resonant frequency. Undesirable movements of the adapted filter between the resonances can occur for systems with several mechanical resonant frequencies.
Page 126: Stability Of The Speed Control Loop
Servo control 5.9 Autotuning Start value of the adaptation The frequency with which the adaptation starts at the pulse enable is always the current blocking frequency of the filter. It can be read in parameter r5285 and in the frequency parameters of the filter.
Page 127: Remedy For Insufficient Adaptation
However, observe the stability of the control loop with this setting. 5.9.4 Function diagrams and parameters Overview of important faults (see SINAMICS S120/S150 List Manual) ● F07419 Drive: Incorrect current setpoint filter adaptation Overview of important parameters (see SINAMICS S120/S150 List Manual) ●...
Page 128 Servo control 5.9 Autotuning ● p5284[0...n] Current setpoint filter adaptation activation threshold ● r5285[0...n] Current setpoint filter adaptation current frequency ● p5292 FFT tuning dynamic response factor ● r5293 FFT tuning speed controller P gain identified ● r5294[0...5] FFT tuning zero position identified ●...
Page 129: Notes About The Electronic Motor Model
Servo control 5.10 Notes about the electronic motor model 5.10 Notes about the electronic motor model A model change takes place within the speed range p1752 · (100 % - p1756) and p1752. With induction motors with encoder, the torque image is more accurate in higher speed ranges; the effect of the rotor resistance and the saturation of the main field inductance are corrected.
Page 130: Increased Stall Power At The Voltage Limit
Servo control 5.11 Increased stall power at the voltage limit 5.11 Increased stall power at the voltage limit Function description As a result of a new voltage management, in operation, the spindle power can be briefly increased to the stall power limit. The stall power limit is the range in which the motor power is limited as a result of the maximum converter output voltage.
Page 131 Servo control 5.11 Increased stall power at the voltage limit An increased stall power (p1402.6 = 1) provides an improvement for both synchronous and induction motors in the following ranges: ● For induction motors, the stall power decreases with the speed (see "voltage limiting Characteristics"...
Page 132 (p0327 > 90°, p0328 > 0). The increased power applies both for motors as well as when generating. p1402.3 is not relevant for synchronous motors. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0326[0...n] Motor stall torque correction factor ●...
Page 133: U/F Control
Servo control 5.12 U/f control 5.12 U/f control Overview With U/f control, the following components and data can be checked: ● Motor Module ● Power cable between the Motor Module and motor ● Motor ● DRIVE-CLiQ cable between the Motor Module and motor ●...
Page 134 Servo control 5.12 U/f control Note Restricted applications for U/f control U/f control must only be used as a diagnostic function (e.g. check of the motor encoder function). In order to obtain a pure diagnostic mode without any influence on actual values, the resonance damping must be deactivated (p1338 = 0).
Page 135 Servo control 5.12 U/f control Commissioning U/f control Before commissioning the U/f control, observe the following information: Note The run-up at the current limit (p0640) permits a quick run-up of the drive, e.g. when operating the drive with variable moments of inertia. Only the ramp-function generator stops when the current limit (p0640) is reached.
Page 136 Function diagrams (see SINAMICS S120/S150 List Manual) ● 5300 Servo control - U/f control for diagnostics ● 5650 Servo control - 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 ●...
Page 137: Optimizing The Current And Speed Controller
Servo control 5.13 Optimizing the current and speed controller 5.13 Optimizing the current and speed controller Overview The following tools are available for tuning the controllers: ● Function generator in the commissioning tool ● Trace in the commissioning tool ● Measuring function in the commissioning tool ●...
Page 138 Servo control 5.13 Optimizing the current and speed controller Example 1: Measuring the speed controller frequency response By measuring the speed controller frequency response and the control system, critical resonant 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 139: Encoderless Operation
Servo control 5.14 Encoderless operation 5.14 Encoderless operation Overview Both encoderless and mixed operation (without/with encoder) is possible in the servo control. Encoderless operation with the motor model allows a higher dynamic response and greater stability in the servo control than a standard drive with U/f control. Compared with drives with an encoder, however, speed accuracy is lower and the dynamic response and smooth running features deteriorate.
Page 140 Servo control 5.14 Encoderless operation account the thermal motor load, as the current entered in p1612 is impressed in I/f-controlled operation also without load. Note Encoderless operation is not permitted for vertical axes or similar. Encoderless operation is not suitable for a higher-level closed-loop position control either. The starting behavior of synchronous motors from standstill can be improved further by parameterizing the pole position identification (p1982 = 1).
Page 141 Servo control 5.14 Encoderless operation Figure 5-17 Area switchover Note In closed-loop control operating mode "Speed controller without encoder", a rotor position encoder is not required. Temperature evaluation remains active, even when the encoder is parked. This state can be identified at parameter r0458.26 = 1. When parameter r0458.26 = 0, temperature sensing is also deactivated.
Page 142 Servo control 5.14 Encoderless operation 4. If the total moment of inertia has not already been determined using the rotating measurement, you have the possibility of determining the total moment of inertia as follows: – If an encoder is being used, and the motor has a restricted traversing path (e.g. encoderless operation is only used when an encoder develops a fault or only for the upper speed range): Determine the moment of inertia using the rotating measurement of the motor data...
Page 143 ● 5060 Servo control - Torque setpoint, switchover control mode ● 5210 Servo control - 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 and motor moment of inertia ●...
Page 144: Motor Data Identification
Servo control 5.15 Motor data identification 5.15 Motor data identification Requirement ● The first commissioning has been completed. The following must be fulfilled: – The electrical motor data (motor datasheet) or rating plate data have been entered. – The calculation of the motor and control parameters (p0340) has been completed. Function description The motor data identification (MotID) is used as a tool to determine the motor data, e.g.
Page 145 Servo control 5.15 Motor data identification Note Completion of the individual identification runs can be read via parameters r3925 to r3928. The enable signals OFF1, OFF2, OFF3 and "enable operation" remain effective and can interrupt the MotID routine. If there is an extended setpoint channel (r0108.08 = 1), p1959.14 = 0 and p1959.15 = 0 and direction limiting (p1110 or p1111) is active there, then this is observed at the instant of the start via p1960.
Page 146 Servo control 5.15 Motor data identification Motor data Motor data input requires the following parameters: Table 5-8 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 147: Motor Data Identification For Induction Motors
Servo control 5.15 Motor data identification Parameters to control the MotID The following parameters influence the MotID: Table 5-10 Parameters for control Stationary measurement (MotID) Rotating measurement ● p0640 current limit ● p0640 current limit ● p1215 motor holding brake configuration ●...
Page 148 Servo control 5.15 Motor data identification Determined data (gamma) Data that is accepted (p1910 = 1) r1932 d inductance r0377 motor leakage inductance total (gamma) p0353 motor series inductance p0356 motor leakage inductance p0358 motor rotor leakage inductance p1715 current controller P gain p1717 current controller integral time r1934 q inductance identified r1936 magnetizing inductance identified...
Page 149: Motor Data Identification For Synchronous Motors
Servo control 5.15 Motor data identification Determined data (gamma) Data that is accepted (p1960 = 1) r1969 moment of inertia identified p0341 motor moment of inertia · p0342 ratio between the total moment of inertia and that of the motor + p1498 load moment of inertia r1973 encoder pulse number identified Note:...
Page 150 Servo control 5.15 Motor data identification Table 5-14 Data determined using p1960 for synchronous motors (rotating measurement) Determined data Data that are accepted (p1960 = 1) r1934 q inductance identified p0356 motor stator leakage inductance r1935 q inductance identification current p0391 current controller adaptation starting point Kp p0392 current controller adaptation starting point Kp adapted...
Page 151 Servo control 5.15 Motor data identification Figure 5-19 Equivalent circuit diagram for synchronous motor and cable Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0047 Identification status Standstill measurement ● p1909[0...n] Motor data identification, control word ● p1910...
Page 152: Pole Position Identification
Absolute encoders are automatically identified when commissioning or after an encoder has been replaced based on the saved serial number. As a consequence, for Siemens linear motors 1FN1, 1FN3 and 1FN6, p1990 = 1 is automatically set after commissioning or after an encoder has been replaced.
Page 153: Supplementary Conditions
5.16 Pole position identification Note Use default setting When using standard Siemens motors, the automatically pre-selected setting should be kept. Determining the suitable method On the basis of the following table, you can determine the PolID methods that are suitable for...
Page 154 Servo control 5.16 Pole position identification Saturation-based PolID The following notes and supplementary conditions apply to the saturation-based PolID: ● The technique can be performed for both braked and non-braked motors. ● The technique can only be performed for a speed setpoint = 0 or from standstill. ●...
Page 155 Servo control 5.16 Pole position identification ● Drive axis motion corresponds to the deflection (motion in the μm to mm range). Uncontrollable axis motion is completely ruled out during the measurement. WARNING Uncontrollable axis motion as a result of incorrect settings With incorrect settings during the elasticity-based PolID, uncontrollable axis motion can occur when enabling the axis after the measuring procedure, which can cause death or severe injury.
Page 156 Servo control 5.16 Pole position identification Pole position correction with zero marks The pole position identification routine provides coarse synchronization. If zero marks exist, the pole position can be automatically compared with the zero mark position once the zero mark(s) have been passed (fine synchronization).
Page 157: Important Parameters (Process-Dependent)
Servo control 5.16 Pole position identification 5.16.2 Important parameters (process-dependent) Important parameters (process-dependent) The table below gives you an overview of the important parameters depending on the PolID method selected: Saturation-based Motion-based Elasticity-based p0325 p0329 p1980 Value 0, 1 or 4 Value 10 Value 20 p1981...
Page 158: Setting Of The Elasticity-Based Pole Position Identification
Servo control 5.16 Pole position identification 5.16.3 Setting of the elasticity-based pole position identification Overview The technique described in the following is an example of the setting of the elasticity-based pole position identification (PolID) for linear motors and rotary motors. ●...
Page 159 Servo control 5.16 Pole position identification 6. Select the following signals of the configured drive in the device trace. – r76: Current actual value field-generating – r479[0]: Diagnostics encoder position actual value Figure 5-20 Device trace: Select signals The following figure shows further settings in the device trace. In order to obtain good, useful measurement results, we recommend that you set the displayed values.
Page 160 Servo control 5.16 Pole position identification 9. Set the value "1" in parameter p1982[0] (PolID selection). You have now activated the elasticity-based PolID. Note Setting of further parameters Further parameters do not have to be set. Leave the other parameters in the factory setting. 10.Click the button ("Start trace") to start the trace.
Page 161 Servo control 5.16 Pole position identification 12.Compare the deflection at the starting point of the measurement (2) with the deflection at the end point of the measurement (3). The following figure shows the measurement result. A guide line (1) is shown for the optical alignment and aligned as reference line at the starting point (2) of the measurement.
Page 162 Servo control 5.16 Pole position identification Signal (red/top): Measuring current Signal (blue/bottom): Deflection ① Guide line ② Starting point of the measurement ③ End point of the measurement ④ Amplitudes of measuring currents 1 to 12 (p3093) Figure 5-23 Measurement result: Brake too weak 13.Compare the height of the deflection amplitudes in both directions and determine optically the highest amplitude in the measurement result.
Page 163 Servo control 5.16 Pole position identification 14.Determine the stroke of the maximum deflection. The maximum deflection corresponds to the highest deflection (peak) in the measurement result. The stroke corresponds to the calculated difference between the lowest (3) and the highest point (4) of the deflection amplitude.
Page 164 Servo control 5.16 Pole position identification 15.To calculate the value for parameter p3094[0] (PolID elasticity-based deflection expected), set the determined value (difference) in the appropriate formula. – For linear motors: – For rotary motors: 16.Enter the calculated value in the expert list in parameter p3094[0] (PolID elasticity-based deflection expected) of the configured drive.
Page 165 Servo control 5.16 Pole position identification 18.To check the result, restart the trace and enable the configured drive. The measurement result is displayed. Figure 5-25 Measurement result after the configuration Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 166 If required, change the values in parameters p3090 to p3096 when repeating the technique. Check the measurement results. Also observe all steps of the procedure for the elasticity-based PolID. If repeated attempts to perform the technique fail, please contact the Siemens Support (https://support.industry.siemens.com/cs/ww/en/). Drive functions...
Page 167: Commutation Angle Offset Commissioning Support (P1990)
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. 5.16.5 Overview of important parameters (see SINAMICS S120/S150 List Manual) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0325[0...n] Motor pole position identification current 1st phase ●...
Page 168 Servo control 5.16 Pole position identification ● p1980[0...n] PolID procedure ● p1981[0...n] PolID maximum distance ● p1982[0...n] PolID selection ● p1983 PolID test ● r1984 PolID angular difference ● r1985 PolID saturation curve ● r1986 PolID saturation curve 2 ● r1987 PolID trigger curve ●...
Page 169: Vdc Control
Servo control 5.17 Vdc control 5.17 Vdc control Function description The Vdc control monitors the DC voltage in the DC link for overvoltage and undervoltage. If an overvoltage or undervoltage is identified in the DC link line-up, a subsequent response can be set with the Vdc control via p1240.
Page 170 Servo control 5.17 Vdc control control dc_min Figure 5-26 Switching V control on/off (kinetic buffering) dc_min In the event of a power failure, the Line Module can no longer supply the DC link voltage, particularly if the Motor Modules in the DC link line-up are drawing active power. To maintain the DC link voltage in the event of a power failure (e.g.
Page 171 Servo control 5.17 Vdc control control dc_max Figure 5-27 Switching the V control on/off dc_max With Infeed Modules without feedback or in the event of a power failure, the DC link voltage can increase until it reaches the shutdown threshold when drives in the DC link line-up are decelerated.
Page 172 ● 5300 Servo control - U/f control for diagnostics ● 5650 Servo control - Vdc_max controller and Vdc_min controller 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 173: Dynamic Servo Control (Dsc)
● Standard telegrams 5 and 6 ● SIEMENS telegrams: 5, 6, 105, 106, 116, 118, 125, 126, 136, 138, 139, 146, 148, 149 and Further PZD data telegram types can be used with the telegram extension. It must be observed that SERVO control mode supports a maximum of 20 PZD setpoints and 28 PZD actual values.
Page 174 Servo control 5.18 Dynamic Servo Control (DSC) Operating states The following operating states are possible for DSC (for details, see function diagram 3090 in the SINAMICS S120/S150 List Manual): Operating state for DSC Meaning Speed/torque precontrol with linear As a result of the step-like torque precontrol in the position con‐...
Page 175 Servo control 5.18 Dynamic Servo Control (DSC) Channel p1155 for speed setpoint 1 and channel r1119 for the extended setpoint are disconnected when DSC is active. p1160 for speed setpoint 2 and p1430 for the speed precontrol are added to the speed setpoint from the DSC (see function diagram 3090). Deactivating the DSC If the interconnection is removed at the connector input for KPC or XERR (p1191 = 0 or p1190 = 0), the DSC structure is dissolved and the "DSC"...
Page 176 ● 5020 Servo control - Speed setpoint filter and speed precontrol ● 5030 Servo control - Reference model/pre-control balancing/speed limiting Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1160[0...n] CI: Speed controller, speed setpoint 2 ● p1190 CI: DSC position deviation XERR ●...
Page 177 Servo control 5.18 Dynamic Servo Control (DSC) ● r1407.0...26 CO/BO: Status word, speed controller Speed setpoint from DSC DSC position controller limited DSC with spline on Speed precontrol for DSC with spline on Torque precontrol for DSC with spline on ●...
Page 178: Travel To Fixed Stop
Servo control 5.19 Travel to fixed stop 5.19 Travel to fixed stop Function description This function can be used to move a motor to a fixed stop at a specified torque without a fault being signaled. When the stop is reached, the specified torque is established and is then continuously available.
Page 179 Servo control 5.19 Travel to fixed stop Figure 5-28 Signals for "Travel to fixed stop" When PROFIdrive telegrams 2 to 6 are used, no torque reduction is transferred. When the "Travel to fixed stop" function is activated, the motor ramps up to the torque limits specified in p1520 and p1521.
Page 180 Servo control 5.19 Travel to fixed stop Signal chart Figure 5-29 Signal chart for "Travel to fixed stop" Commission PROFIdrive telegrams 2 to 6 To commission the PROFIdrive telegrams 2 to 6, proceed as follows: 1. Activate the "Travel to fixed stop" function via the parameter setting p1545 = "1". 2.
Page 181 ● 5630 Servo control - Upper/lower torque limit ● 8012 Signals and monitoring functions – Torque messages, motor locked/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;...
Page 182 Servo control 5.19 Travel to fixed stop ● p2194[0...n] Torque threshold value 2 ● p2199.11 CO/BO: Status word monitoring; Torque utilization < torque threshold value 2 Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 183: Vertical Axes
Servo control - Torque setpoint, switchover control mode ● 5620 Servo control - Motoring/generating torque limit ● 5630 Servo control - Upper/lower torque limit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0031 Actual torque smoothed ● p1511[0...n] CI: Supplementary torque 1 ●...
Page 184: Variable Signaling Function
Servo control 5.21 Variable signaling function 5.21 Variable signaling function Function description Using the "Variable signaling" function, BICO interconnections and parameters that have the attribute "traceable" can be monitored; otherwise they can also be recorded using the "Device trace" commissioning function. Note The variable signaling function works with an accuracy of 8 ms.
Page 185 Diagram: 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 186: Central Probe Evaluation
From the sampling values of the position signals of the various axes, the control interpolates the times of the actual position values at the probe instant. Three evaluation procedures are implemented in SINAMICS S120 for this purpose. The evaluation procedures can be set using parameter p0684: ●...
Page 187 Servo control 5.22 Central probe evaluation Central measuring with/without handshake Both measuring procedures have the following points in common: ● Setting the input terminal in p0680. ● Signal source, synchronization signal in p0681. ● Signal source, control word probe p0682. ●...
Page 188 Servo control 5.22 Central probe evaluation = master application cycle time (time frame in which the master application generates MAPC new setpoints) ● Transfer, control word probe (BICO p0682 to PZD3) at the start instant To in the MAPC cycle. ●...
Page 189 Servo control 5.22 Central probe evaluation Central measurement without handshake (max. 16 signal edges) With p0684 = 16, you activate the evaluation procedure without handshake for the central probe evaluation. You can evaluate up to 16 signal edges from a maximum of 2 probes simultaneously within a DP cycle.
Page 190 Servo control 5.22 Central probe evaluation The PZDs of the probe time stamp are BICO parameters, which are automatically connected with the indices of the new parameter r0565[16] when the telegram block is selected. After the measuring function has been activated, for several measured values per DP cycle, the acquired time stamps are saved in the indices of r0565[0...15] for transfer, corresponding to their sequence in time starting with the oldest measured value.
Page 191 Servo control 5.22 Central probe evaluation Reference time stamp Probe bit, binary values Edge selection bit Reference MT_ZS2 Bits 4...6: Bit 7: 000: MT_ZS2 from MT1 0: MT_ZS2 falling edge 001: MT_ZS2 from MT2 1: MT_ZS2 rising edge ‑ 110: MT_ZS2 from MT7 111: MT_ZS2 from MT8 Reference MT_ZS3 Bits 8...10...
Page 192: Examples
Servo control 5.22 Central probe evaluation 5.22.1 Examples Examples of probe evaluation Hex values in MT_ZSB from the above example: ● 0 hex = time stamp from probe 1, falling edge ● 8 hex = time stamp from probe 1 rising edge ●...
Page 193: Function Diagrams And Parameters
● 2423 PROFIdrive - Manufacturer-specific/free telegrams and process data ● 4740 Encoder evaluation - Probe evaluation, measured value memory, encoders 1 ... Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0565[0...15] CO: Probe time stamp ● r0566[0...3] CO: Probe time stamp reference ●...
Page 194 Servo control 5.22 Central probe evaluation ● r0686[0...7] CO: Central probe measuring time, rising edge ● r0687[0...7] CO: Central probe measuring time, falling edge ● r0688 CO: Central probe status word display ● r0898.0...14 CO/BO: Control word, sequence control ● r0899.0...15 CO/BO: Drive object status word ●...
Page 195: Voltage Precontrol
Servo control 5.23 Voltage precontrol 5.23 Voltage precontrol Function description Using voltage precontrol (p1703), the dynamic response of the q current controller can be increased independent of the current controller setting - all the way up to the limit that is physically possible.
Page 196 Servo control 5.23 Voltage precontrol p0391 0.33 A p0392 10.23 A p0393 39.31% p0356 10.16 mH Figure 5-34 Example 1: Adaptation characteristic Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 197 Servo control 5.23 Voltage precontrol p0391 2.09 A p0392 11 A p0393 90.67% p0356 18.24 mH Figure 5-35 Example 2: Adaptation characteristic Determining the voltage feedforward control You determine the voltage feedforward control in several optimization steps. Proceed as follows: 1.
Page 198 Servo control 5.23 Voltage precontrol 3. Measure a current controller setpoint step and correct the value p1703. – Repeat the current controller setpoint step until the current actual value reaches the setpoint without any overshoot or undershoot (see the following sample displays). Figure 5-36 Example: Voltage precontrol p1703 too low Drive functions...
Page 199 Servo control 5.23 Voltage precontrol Figure 5-37 Example: Voltage feedforward control p1703 is okay Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 200 Servo control 5.23 Voltage precontrol Figure 5-38 Example: Voltage precontrol p1703 too high Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 201 Servo control 5.23 Voltage precontrol 4. The result can be improved by compensating the voltage emulation error (only for synchronous motors). – To do this, activate function module "Extended torque control (Page 442)" (r0108.1). – Determine the voltage emulation error with the stationary motor data identification (p1909.14 = 1 and p1910).
Page 202 Servo control 5.23 Voltage precontrol 4. Measure a current controller setpoint step change again (see figure below) Figure 5-40 Example: Prior to optimizing The measurement result in the example indicates that after reaching the setpoint, the current decays according to an exponential function (1-exp(-t/Tsm)). You estimate the smoothing time based on the time from the point of contact of the initial tangent with the final value straight line.
Page 203: Function Diagrams And Parameters
Legend for the measurement diagrams Torque-generating current setpoint Torque-generating current setpoint unsmoothed Quadrature-axis voltage setpoint 5.23.1 Function diagrams and parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0340[0...n] Automatic calculation of motor/control parameters ● p0356[0...n] Motor stator leakage inductance Drive functions...
Page 204 Servo control 5.23 Voltage precontrol ● p0391[0...n] Current controller adaptation, starting point Kp ● p0392[0...n] Current controller adaptation, starting point Kp adapted ● p0393[0...n] Current controller adaptation, P gain adaptation ● p1402[0...n] Current control and motor model configuration ● p1428[0...n] Speed precontrol symmetrizing dead time ●...
Page 205: Vector Control
Vector control Operating principle The motor connected to a vector control is simulated in a vector model based on data from the equivalent circuit diagram. The motor module is emulated as precisely as possible to obtain the best results regarding control precision and control quality. Versions The vector control is available in the following versions: ●...
Page 206 Vector control Differences with respect to vector U/f control Compared with vector U/f control, vector control offers the following benefits: ● Stability for load and setpoint changes ● Short rise times for setpoint changes (→ better control behavior) ● Short settling times for load changes (→ better response to disturbances) ●...
Page 207 Vector control Subject Servo control Vector control Note: Additional information on the sampling conditions is provided in subchapter "Rules regarding sampling times (Page 838)" in this manual. Connectable motors ● Synchronous servomotors ● Synchronous motors (including torque motors) ● Permanent-magnet synchronous motors ●...
Page 208 Vector control Subject Servo control Vector control Maximum output frequency with ● 2600 Hz with 31.25 μs / 16 kHz ● 300 Hz with 250 μs/4 kHz closed-loop control or with 400 μs/5 kHz ● 1300 Hz with 62.5 μs / 8 kHz ●...
Page 209 Vector control Subject Servo control Vector control Note: Additional information on connecting power units in parallel is provided in Chapter "Parallel connection of power units (Page 515)". Permissible range of the ratio be‐ The permissible range of the ratio be‐ The permissible range of the ratio be‐...
Page 210: Technology Application (Application) (P0500)
Vector control 6.1 Technology application (application) (p0500) Technology application (application) (p0500) Function description Using parameter p0500, you can influence the calculation of open-loop control and closed-loop control parameters. The default setting helps you find suitable values for standard applications. You can make preassignments for the following technological applications: Value p0500 Application Standard drive (vector) Pumps and fans...
Page 211: Vector Control Without Encoder (Slvc)
Vector control 6.2 Vector control without encoder (SLVC) Vector control without encoder (SLVC) Function description During operation via the "Sensorless vector control" function (SLVC), the position of the flux and actual speed must be determined using the electric motor model. The motor model is buffered by the incoming currents and voltages.
Page 212 Vector control 6.2 Vector control without encoder (SLVC) setpoint static) and p1611 (additional acceleration torque) to the required maximum torque. The drive can then generate the static or dynamic load torque that occurs. ● If, for induction motors (ASM), p1610 is set to 0%, then only the magnetizing current r0331 is impressed.
Page 213 Vector control 6.2 Vector control without encoder (SLVC) Advantages of the controlled operation down to f = 0 Hz Closed-loop operation to approx. 0 Hz (can be set using parameter p1755) and the possibility to start or reverse at 0 Hz directly in closed-loop operation (can be set using parameter p1750) result in the following benefits: ●...
Page 214 Vector control 6.2 Vector control without encoder (SLVC) As a consequence, the "Passive load" function is automatically activated. Note If p0500 is parameterized when commissioning the motor, the calculation is carried out automatically via p0340 and p3900. p0578is is then set automatically. Closed-loop control without changeover between closed-loop and open-loop speed control is restricted to applications with passive load: A passive load only has a reactive effect on the drive torque of the driving motor at the starting...
Page 215: Permanent-Magnet Synchronous Motors
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 216 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 217: Synchronous Reluctance Motors
Vector control 6.2 Vector control without encoder (SLVC) Commissioning sequence for closed-loop controlled operation to zero speed: ● Perform the commissioning with motor data identification at standstill. ● Enter the parameters for the saturation characteristic and the load characteristic. ● Activate closed-loop controlled operation down to zero speed via parameter p1750.5 = 1. The following advantages are obtained by maintaining closed-loop controlled operation: ●...
Page 218 6.2 Vector control without encoder (SLVC) Note Synchronous reluctance motors are considered to be synchronous motors Generally, the data for "Synchronous motors" provided in the SINAMICS S120 Manuals also applies to "Synchronous reluctance motors". Any deviating behavior/response of synchronous reluctance motors is always explicitly specified.
Page 219 Vector control - interface to the Motor Module (PMSM, p0300 = 2) ● 6792 Vector control - Interface to the Motor Module (RESM, p0300 = 6) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0305[0...n] Rated motor current ●...
Page 220: Vector Control With Encoder
Vector control 6.3 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 221: Speed Controller
Vector control 6.4 Speed controller Speed controller Overview The control modes with/without encoder have the same speed controller structure. The speed controller structure comprises the following components: ● PI controller ● Speed controller precontrol ● Droop The total of the output variables result in the torque setpoint which is reduced to the permissible magnitude by means of the torque setpoint limitation.
Page 222 Vector control 6.4 Speed controller = 4 · T = 0.5 · r0345 / T = 2 · r0345 / T = total of the short delay times (contains p1442 and p1452) If vibration develops with these settings, reduce speed controller gain K manually.
Page 223: Speed Controller Adaptation
6.4 Speed controller Function diagrams (see SINAMICS S120/S150 List Manual) ● 6040 Vector control - Speed controller with/without encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0062 CO: Speed setpoint after filter ● r0063[0...2] CO: Speed actual value ●...
Page 224 Vector control 6.4 Speed controller Figure 6-7 Signal flow: Kp_n-/Tn_n adaptation Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 225 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6050 Vector control - Speed controller adaptation (K 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 226: Speed Controller Precontrol And Reference Model
Vector control 6.4 Speed controller ● p1455[0...n] CI: Speed controller P gain adaptation signal ● p1456[0...n] Speed controller P gain adaptation lower starting point ● p1457[0...n] Speed controller P gain adaptation upper starting point ● p1458[0...n] Lower adaptation factor ● p1459[0...n] Upper adaptation factor ●...
Page 227 Vector control 6.4 Speed controller Figure 6-9 Speed controller with precontrol 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 228 Vector control 6.4 Speed controller If these supplementary conditions are in line with the application, the starting time can be used as the lowest value for the ramp-up or ramp-down time. Note The ramp-up and ramp-down times (p1120; p1121) of the ramp-function generator in the setpoint channel should be set accordingly so that the motor speed can track the setpoint during acceleration and braking.
Page 229 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6031 Vector control - Precontrol balancing reference/acceleration model ● 6040 Vector control - Speed controller with/without encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0311[0...n] Rated motor speed ● r0333[0...n] Rated motor torque ●...
Page 230: Droop
Vector control 6.5 Droop Droop Requirement ● All coupled drives must be operated in vector control and closed-loop speed control, with or without an encoder. ● Only a single common ramp-function generator may be used for mechanically coupled drives. Function description The "Droop"...
Page 231 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6030 Vector control - Speed setpoint, droop Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0079 CO: Torque setpoint ● r1482 CO: Speed controller I torque output ●...
Page 232: Open Actual Speed Value
Vector control 6.6 Open actual speed value Open actual speed value Function description Via the parameter p1440 (CI: Speed controller actual speed value) is the signal source for the actual speed value of the speed controller. In the factory setting, the unsmoothed actual speed value r0063[0] is the default signal source.
Page 233 ● 6040 Vector control - Speed controller with/without encoder ● 8012 Signals and monitoring function - Torque messages, motor locked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0063[0...2] CO: Speed actual value ● p1440[0...n] CI: Speed controller actual speed value input ●...
Page 234: Closed-Loop Torque Control
Vector control 6.7 Closed-loop torque control Closed-loop torque control Function description For speed control without encoder (p1300 = 20) or with encoder (p1300 = 21), a changeover can be made to torque control (following drive) using BICO parameter p1501. A changeover cannot be made between speed and torque control if torque control is selected directly with p1300 = 22 or 23.
Page 235 – Switching-on inhibited is activated. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6060 Vector control - Torque setpoint Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0341[0...n] Motor moment of inertia ● p0342[0...n] Ratio between the total and motor moment of inertia ●...
Page 236 Vector control 6.7 Closed-loop torque control ● p1513[0...n] CI: Supplementary torque 2 ● p1514[0...n] Supplementary torque 2 scaling ● r1515 Supplementary torque total Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 237: Torque Limiting
Vector control 6.8 Torque limiting Torque limiting Function description The torque limiting value specifies the maximum permissible torque. Different limits can be parameterized for motoring and generating operation. Figure 6-13 Signal flow: Torque limitation ● p0640[0...n] Current limit ● p1520[0...n] CO: Torque limit upper/motoring ●...
Page 238 Vector control 6.8 Torque limiting Function diagrams (see SINAMICS S120/S150 List Manual) ● 6060 Vector control - Torque setpoint ● 6630 Vector control - Upper/lower torque limit ● 6640 Vector control - Current/power/torque limits Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 239: Vdc Control
Vector control 6.9 Vdc control Vdc control Function 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 240 Vector control 6.9 Vdc control Vdc_min control In the event of a power failure, V is activated when the V switch-on level is undershot. dc_min dc_min This controls the DC link voltage and maintains it at a constant level. The motor speed is reduced.
Page 241 Vector control 6.9 Vdc control Vdc_max control Figure 6-15 Switching the V control on/off dc_max The switch-on level for V -control (r1242) is calculated as follows: dc_max ● When automatic switch-in level sensing is disabled (p1254 = 0) r1242 = 1.15 · p0210 (Drive unit line supply voltage, DC link) ●...
Page 242: Function Diagrams And Parameters
Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 6220 Vector control - 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_min controller switch-on level ●...
Page 243: Current Setpoint Filter
Chapter "Current setpoint filter (Page 100)". Function diagrams (see SINAMICS S120/S150 List Manual) ● 6710 Vector control - Current setpoint filter Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1655[0...4] CI: Current setpoint filter / actual speed value filter natural frequency tuning ●...
Page 244: Speed Actual Value Filter
Encoder evaluation - vector control, overview ● 4715 Encoder evaluation - speed actual value and pole position sensing, encoder1, n_act_filter5 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1655[0...4] CI: Current setpoint filter / actual speed value filter natural frequency tuning ●...
Page 245: Current Controller Adaptation
< p0391 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6714 Vector control - Iq and Id controller Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0391[0...n] Current controller adaptation, starting point KP ● p0392[0...n] Current controller adaptation, starting point KP adapted ●...
Page 246: Motor Data Identification And Rotating Measurement
Vector control 6.13 Motor data identification and rotating measurement 6.13 Motor data identification and rotating measurement 6.13.1 Overview WARNING Unexpected motor motion during motor data identification Motor movement caused by the motor data identification routine can result in death, severe injury or material damage.
Page 247: Motor Data Identification
Vector control 6.13 Motor data identification and rotating measurement The measurements, parameterized using p1900 are started in the following sequence after the drive has been enabled: Measurements and After successful measurement: conclusion Standstill measurement Pulse inhibit activated and parameter is set to "0": p1910 = 0 Encoder adjustment Pulse inhibit activated and parameter is set to "0": p1990 = 0 Rotating measurement...
Page 248 Vector control 6.13 Motor data identification and rotating measurement Determined data for p1910 = 1 Induction motor Permanent mag‐ Synchronous re‐ luctance motor synchronous mo‐ Magnetizing inductance (p0360) ‑ ‑ Drive converter valve threshold voltage (p1825) Converter valve interlocking times (p1828 ...
Page 249 Vector control 6.13 Motor data identification and rotating measurement The inductance value is then subtracted from the total measured value of the leakage. With sine-wave filters, only the stator resistance, valve threshold voltage, and valve interlocking time are measured. Note With diffusion of more than 35% to 40% of the motor nominal impedance, the dynamic response of the speed and current control is restricted to the area of the voltage limit and to field weakening mode.
Page 250: Rotating Measurement
Vector control 6.13 Motor data identification and rotating measurement Note To set the new controller setting permanently, the data must be saved in a non-volatile memory. Note At the end of the motor data identification, all dependent control parameters are calculated automatically (p0340 = 3) Procedure To perform the motor data identification, proceed as follows:...
Page 251 Vector control 6.13 Motor data identification and rotating measurement The speed controller is set to the symmetrical optimum in accordance with dynamic factor p1967. Parameter p1967 must be set before the optimization run and only affects the calculation of the controller parameters. If, during the measurement, it becomes clear that, with the specified dynamic factor, the drive cannot operate in a stable manner or the torque ripples are too large, the dynamic response is reduced automatically and the result displayed in r1968.
Page 252: Shortened Rotating Measurement
Vector control 6.13 Motor data identification and rotating measurement 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. ● Encoder test If a speed encoder is used, the direction of rotation and the pulse number are checked. ●...
Page 253: Overview Of Important Parameters
If you have set bit 11 in parameter p1959, the recalculation of the speed controller parameters is prevented. 6.13.5 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0047 Motor data identification routine and speed controller optimization ● p0340[0...n] Automatic calculation of motor/control parameters ●...
Page 254 Vector control 6.13 Motor data identification and rotating measurement ● r3928[0...n] Rotating measurement configuration Motor data identification at standstill ● p1909[0...n] Motor data identification, control word ● p1910 Motor data identification selection Rotating measurement ● p0391[0...n] Current controller adaptation, starting point Kp ●...
Page 255: Pole Position Identification
Vector control 6.14 Pole position identification 6.14 Pole position identification Overview For synchronous motors and synchronous reluctance motors, the pole position identification (PolID) determines the electrical pole position that is required for the field-oriented control. When operated with one encoder, which is not adjusted to the pole position, then the identification is used to calibrate and align the encoder.
Page 256: Operation With Encoder
Vector control 6.14 Pole position identification ● Technique p1980 = 4 is recommended if the air gap manifests significant asymmetry (e.g. magnets are embedded in the rotor). Technique p1980 = 1 should be applied if the air gap is constant. ●...
Page 257 Vector control 6.14 Pole position identification Note For encoders, which provide an absolute position (r0404.1 = 1), determining the commutation angle offset can be deactivated (p1990 = 0). Pole position identification is only possible at standstill. If the control mode is only changed over to operation with encoder (p1300 = 21) after the automatic calculation (p3900 = 3 or p0340 = 3), then pole position identification must be manually set (p1982 = 1);...
Page 258: Messages And Parameters
(p0431). Fault F07413 is output if the deviation exceeds 6°. 6.14.3 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) ● F07413 Drive: Commutation angle incorrect (pole position identification) ● A07967 Drive: Automatic encoder adjustment/pole position identification incorrect ●...
Page 259 Vector control 6.14 Pole position identification Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0325[0...n] Motor pole position identification current 1st phase ● p0329[0...n] Motor pole position identification current ● p0404[0...n] Encoder configuration active ● p0430[0...n] Sensor Module configuration ●...
Page 260: Efficiency Optimization
Vector control 6.15 Efficiency optimization 6.15 Efficiency optimization 6.15.1 Efficiency optimization for induction motors Overview Speed and torque are specified by the driven machine. As a consequence, the flux is the remaining variable for optimizing the efficiency. Function description The efficiency of induction motors can be optimized using 2 different techniques. Both techniques optimize the efficiency using the flux.
Page 261 Vector control 6.15 Efficiency optimization Basic efficiency optimization For p1580 = 100%, the flux in the motor under no-load operating conditions is reduced to half of the setpoint (reference flux) (p1570/2). As soon as load is connected to the drive, the setpoint (reference) flux increases linearly with the load and, reaching the setpoint set in p1570 at approx.
Page 262: Efficiency Optimization For Reluctance Motors
Vector control 6.15 Efficiency optimization Extended efficiency optimization The advanced efficiency optimization generally achieves a better efficiency than the basic efficiency optimization. With this technique, the actual motor operating point is determined as a function of the efficiency and flux - and the flux is set to achieve the optimum efficiency. Depending on the motor operating point, the converter either reduces or increases the flux when the motor is operating in the partial load range.
Page 263: Function Diagrams And Parameters
● 6723 Vector control - Field weakening controller, flux controller (p0300 = 1) ● 6790 Vector control - flux setpoint (RESM, p0300 = 6) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0077 CO: Torque-generating current setpoint ● r0331[0...n] Actual motor magnetizing current / short-circuit current ●...
Page 264: Fast Magnetization For Induction Motors
Vector control 6.16 Fast magnetization for induction motors 6.16 Fast magnetization for induction motors Function description 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 265 Vector control 6.16 Fast magnetization for induction motors Commissioning the function Parameter p1401.6 = 1 (flux control configuration) must be set to activate quick magnetization. This setting initiates the following sequence during motor starting: ● The maximum excitation build-up current of the induction motor (in reference to the permitted rated power module current (r0207[0])) is set with parameter p0644 ("Current limit excitation build-up induction motor").
Page 266 Vector control - Field weakening characteristic, Id setpoint (ASM, p0300 = 1) ● 6723 Vector control - Field weakening controller, flux controller (ASM, p0300 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0207[0...4] Rated power unit current ●...
Page 267 Vector control 6.16 Fast magnetization for induction motors ● p1401[0...n] Flux control configuration ● p1570[0...n] CO: Flux setpoint ● p1573[0...n] Flux threshold value magnetization ● p1590[0...n] Flux controller P gain ● p1616[0...n] Current setpoint smoothing time Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 268: Flying Restart
25%. A Voltage Sensing Module (VSM) is required for permanent-magnet synchronous motors (for additional information, see SINAMICS S120 Control Units Manual and SINAMICS S120/S150 List Manual in parameter p1200). ● When operated with an encoder (actual speed value is sensed), the search phase is eliminated.
Page 269 Vector control 6.17 Flying restart 3. For an induction or reluctance motor, immediately after the speed has been determined, magnetization starts (p0346). 4. The current speed setpoint in the ramp-function generator is then set to the current actual speed value. The ramp-up to the final speed setpoint starts with this value.
Page 270: Fast Flying Restart
Vector control 6.17 Flying restart Flying restart in encoderless operation for long cables As a rule, it is important to consider the cable resistance. The cable resistance is required for calculation of the thermal motor model. 1. Enter the cable resistance in parameter p0352 before you perform motor data identification. 2.
Page 271 Vector control 6.17 Flying restart Procedure Proceed as follows to configure the function in the expert list: 1. To switch flying restart to "fast flying restart", make the following setting: "p1780.11 = 1". The normal flying restart had the parameter setting "p1780.11 = 0". For operation with encoder, settings of this bit are ignored because fast flying restart is not possible in this case.
Page 272: Flying Restart For A Synchronous Reluctance Motor
Vector control 6.17 Flying restart Note If the measured voltage amplitude undershoots the 1% limit of the converter rated voltage, the flying restart with voltage measurement is deactivated and the rotating frequency sought. 6.17.2 Flying restart for a synchronous reluctance motor Function description WARNING Unplanned movement of the motor when flying restart is activated...
Page 273: Messages And Parameters
(p1909.22 = 1) so that it is as short as possible. The bit is only reset if a motor data identification routine has been carried out. 6.17.3 Messages and parameters Overview of important faults (see SINAMICS S120/S150 List Manual) ● F07330 Flying restart: Detection current measured too low ● F07331...
Page 274: Synchronization
● Setting a phase difference (p3809) ● Can be activated by parameter (p3802) Function diagrams (see SINAMICS S120/S150 List Manual) ● 7020 Technology functions - Synchronizing 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 ●...
Page 275 Vector control 6.18 Synchronization ● p3815[0...n] Sync-line-drive voltage difference threshold value ● r3819.0...7 CO/BO: Sync-line-drive status word Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 276: Voltage Sensing Module
"Synchronize" function is deactivated (p3800 = 0). Topology view The VSM is used on the encoder side for the 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 277 Vector control 6.19 Voltage Sensing Module VSM parameters are independent of the data set model of the SINAMICS S120 drive. A maximum of two VSMs are permitted for each Vector drive object. Note Use of 2 Voltage Sensing Modules If two Voltage Sensing Modules are connected to one Motor Module, the 1st Voltage Sensing Module (p0151[0]) is used to measure the line voltage (p3801).
Page 278: Simulation Mode
Vector control 6.20 Simulation mode 6.20 Simulation mode Requirement ● Initial commissioning must be complete (default: standard induction motors). ● The DC-link voltage must be less than 40 V (observe the tolerance of the DC-link voltage sensing). Function description Simulation mode allows you to simulate the drive without a connected motor and without the DC-link voltage.
Page 279: Redundancy Mode Power Units
● Redundancy for up to 6 Motor Modules for the Chassis-2 format ● Power unit can be deactivated via parameter (p0125) ● Power unit can be deactivated via binector input (p0895) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0125[0...n] Activate/deactivate power unit component ●...
Page 280: Bypass
Vector control 6.22 Bypass 6.22 Bypass Function description NOTICE Incorrect synchronization as a result of an incorrect phase sequence The target frequency r3804 is specified as an absolute value. It does not contain information about the direction of the rotating field (phase sequence)! If the phase sequence of the line voltage, which must be synchronized with, does not match the motor voltage phase sequence, then this results in incorrect synchronization.
Page 281 Vector control 6.22 Bypass Supplementary conditions The following supplementary conditions apply to the use of the bypass function: ● The bypass switch is also always shut down if one of the control word signals OFF2 or OFF3 is canceled and the motor coasts down. If the control word signal OFF1 is withdrawn, the motor remains connected to the supply system.
Page 282: Bypass With Synchronization With Overlap
Vector control 6.22 Bypass 6.22.1 Bypass with synchronization with overlap Function description The "Bypass synchronized with overlap" function is used for drives with low inertia. These are drives in which the speed would decrease very quickly when contactor K1 is opened. If the function "Bypass with synchronization with overlap (p1260 = 1)"...
Page 283 Vector control 6.22 Bypass Parameterizing the function The following parameters must be set after the bypass function with synchronization with overlap (p1260 = 1) has been activated. Parameter Description r1261.0 = Control signal for contactor K1 r1261.1 = Control signal for contactor K2 p1266 = Setting the control signal P1269[0] =...
Page 284 Vector control 6.22 Bypass ● Since the bit is set while the converter is running, the "Transfer motor to supply" synchronization process is started. ● After the motor has been synchronized to the line frequency, line voltage and line phase, the synchronizing algorithm reports this status (r3819.2).
Page 285: Bypass With Synchronization Without Overlap
Vector control 6.22 Bypass 6.22.2 Bypass with synchronization without overlap Function description If the function "Bypass with synchronization without overlap (p1260 = 2)" is activated, contactor K2 is only closed when contactor K1 has opened (anticipatory type synchronization). During this time, the motor is not connected to the line supply so that its speed is determined by the load and the friction.
Page 286: Bypass Without Synchronization
Vector control 6.22 Bypass process, the angular difference is more than 20°el - or if the load for each bypass operation differs, then the "Bypass with synchronization with overlap (Page 280)" mode must be used. Features ● Operation only with Voltage Sensing Module (VSM10) The VSM10 measures the line voltage for the drive to be synchronized.
Page 287 Vector control 6.22 Bypass Figure 6-28 Circuit example, bypass without synchronization 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. The drive converter then connects to the rotating motor and the motor is fed from the drive converter.
Page 288: Function Diagrams And Parameters
Synchronizer activation is triggered by the bypass function. 6.22.4 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 7020 Technology functions - Synchronizing Overview of important parameters (see SINAMICS S120/S150 List Manual) Bypass function ● p1260 Bypass configuration Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 289 Vector control 6.22 Bypass ● r1261.0...12 CO/BO: Bypass control/status word ● p1262[0...n] Bypass dead time ● p1263 Debypass (revert to drive) delay time ● p1264 Bypass delay time ● p1265 Bypass speed threshold ● p1266 BI: Bypass control command ● p1267 Bypass changeover source configuration ●...
Page 290: Asynchronous Pulse Frequency
Vector control 6.23 Asynchronous pulse frequency 6.23 Asynchronous pulse frequency Function description The pulse frequency is coupled to the current controller cycle, and can only be adjusted in multiple integer steps. For most standard applications, this setting makes sense and should not be modified.
Page 291 ● The motor data identification must be performed with a current controller cycle 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 ●...
Page 292 Vector control 6.23 Asynchronous pulse frequency Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 293: U/F Control (Vector Control)
U/f control (vector control) Function description The U/f control characteristic is the simplest way to control an induction motor. When configuring the drive using the Startdrive commissioning tool, U/f control is activated under “Drive axis > Parameters > Basic parameter assignment > Control mode" screen (also see p1300).
Page 294 U/f control (vector control) Figure 7-1 Operating areas and characteristic curves for the induction motor with converter supply The following table gives an overview of the various versions of the U/f characteristic: Table 7-1 U/f characteristic (p1300) Parame‐ Meaning Application / property ter values Linear characteristic Standard (without voltage boost)
Page 295 U/f control (vector control) Parame‐ Meaning Application / property ter values Parabolic characteris‐ Characteristic that takes into account the motor torque curve (e.g. fan, pump). ● Quadratic characteristic (f characteristic) ● Energy saving because the low voltage also results in small currents and losses Programmable char‐...
Page 296 U/f control (vector control) Parame‐ Meaning Application / property ter values Parabolic characteris‐ Characteristic, see parameter 1 and ECO mode at a constant operating point. tic and ECO ● In the Eco mode, the efficiency at a constant operating point is optimized. This optimization is only effective in steady-state operation and when the ramp-function generator is not bypassed.
Page 297: Technology Application (Application) (P0500)
U/f control (vector control) 7.1 Technology application (application) (p0500) Technology application (application) (p0500) Function description Using parameter p0500, you can influence the calculation of open-loop control and closed-loop control parameters. The default setting helps you find suitable values for standard applications. You can make preassignments for the following technological applications: Value p0500 Application Standard drive (vector)
Page 298: Voltage Boost
U/f control (vector control) 7.2 Voltage boost Voltage boost Function description According to the U/f characteristic, at an output frequency of 0 Hz, the control supplies an output voltage of 0 V. This means that at 0 V the motor cannot generate any torque. For this reason, the use of the "Voltage boost"...
Page 299 U/f control (vector control) 7.2 Voltage boost Figure 7-2 Voltage boost variants Example: Voltage boost, permanent The following applies in this example: ● p1300 = 0 ● p1310 > 0 ● V = P0305 (rated motor current · p0395 (actual stator resistance) · p1310 (permanent permanent voltage boost) Drive functions...
Page 300 U/f control (vector control) 7.2 Voltage boost Example: Voltage boost while accelerating Voltage boost while accelerating is effective if the ramp-function generators provide the feedback signal "ramp-up active" (r1199.0 = 1). The following applies in this example: ● p1300 = 0 ●...
Page 301 U/f control (vector control) 7.2 Voltage boost Function diagrams (see SINAMICS S120/S150 List Manual) ● 6301 Vector control - U/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 302: Slip Compensation
If a motor holding brake is used, a setting value can be specified at the slip compensation output via p1351. A parameter setting of p1351 > 0 automatically activates the slip compensation (p1335 = 100 %). Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0330[0...n] Rated motor slip ●...
Page 303: Resonance Damping
The following figure shows the signal curve of the function. Function diagrams (see SINAMICS S120/S150 List Manual) ● 6310 Vector control - Resonance damping and slip compensation Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0066 CO: Output frequency ● r0078 CO: Torque-generating actual current value ●...
Page 304: Vdc Control
U/f control (vector control) 7.5 Vdc control Vdc control Function description The "Vdc control" function can be activated using the appropriate measures if an overvoltage or undervoltage is present in the DC link. Figure 7-3 dc control Undervoltage in the DC link ●...
Page 305 U/f control (vector control) 7.5 Vdc control Overvoltage in the DC link ● Typical cause: The drive is operating in regenerative mode and is supplying too much energy to the DC link. ● Remedy: Reduce the regenerative torque to maintain the DC link voltage within permissible limits. Features ●...
Page 306 U/f control (vector control) 7.5 Vdc control Once the time threshold (p1295) has elapsed without the line voltage being re-established, a fault is triggered (F07406), which can be parameterized as required (factory setting: OFF3). The V controller can be activated for a drive. Other drives can participate in supporting the dc_min DC link, by transferring to them a scaling of their speed setpoint from the controlling drive via BICO interconnection.
Page 307 – Vector control: p1240 = 4 or 6 – Servo control: p1240 = 4 or 6 – U/f control: p1280 = 4 or 6 Function diagrams (see SINAMICS S120/S150 List Manual) ● 6320 Vector control - Vdc_max controller and Vdc_min controller (V/f)
Page 308 U/f control (vector control) 7.5 Vdc control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1280[0...n] Vdc controller or Vdc monitoring configuration (V/f) ● r1282 Vdc_max controller switch-on level (V/f) ● p1283[0...n] Vdc_max controller dynamic factor (V/f) ● p1285[0...n] Vdc_min controller switch-on level (kinetic buffering) (V/f) ●...
Page 309: Basic Functions
This assignment and the unit groups can be read for each parameter in the parameter list in the SINAMICS S120/S150 List Manual. The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and p0595).
Page 310 Basic functions 8.1 Switching over units Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0010 Infeed, commissioning parameter filter ● p0100 IEC/NEMA motor standard ● p0349 Unit system, motor equivalent circuit diagram data ● p0505 Unit system selection ●...
Page 311: Reference Parameters/Scaling
PROFIdrive controller whenever a new calculation of the reference parameters via p0340 takes place. Parameters p0514 to p0519 are provided for scaling purposes when interconnecting BICO parameters (also see SINAMICS S120/S150 List Manual). Figure 8-1 Conversion with reference variables Note If a referenced form is selected and the reference parameters (e.g.
Page 312 Basic functions 8.2 Reference parameters/scaling Size Scaling parameter Default when commissioning for the first time Reference angle 100% = p2005 90° Reference acceleration 100% = p2007 0.01 1/s Reference frequency 100% = p2000/60 Reference modulation 100% = Maximum output depth voltage without overload Reference flux 100% = Rated motor flux...
Page 313 Basic functions 8.2 Reference parameters/scaling 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 A_INF drive object Table 8-3 Scaling for the A_INF drive object...
Page 314 Reference temperature 100 % = p2006 100°C Reference electrical an‐ 100 % = p2005 90° Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0206[0...4] Rated power module power ● p0210 Device supply voltage ● p0340[0...n] Automatic calculation of motor/control parameters ●...
Page 315: Checking For A Short-Circuit/Ground Fault At A Motor
Basic functions 8.3 Checking for a short-circuit/ground fault at a motor Checking for a short-circuit/ground fault at a motor Overview The function is only available for vector control. Function description When switching on the power unit, test pulses can be generated that check the connection between the power unit and motor - or the motor winding itself - for a short-circuit or ground fault.
Page 316: Modular Machine Concept
Basic functions 8.4 Modular machine concept Modular machine concept Function description The modular machine concept is based on a maximum target topology created in the offline mode in the engineering tool. The maximum design of a particular machine type is referred to as the maximum configuration in which all the machine components that may be used are pre- configured in the target topology.
Page 317 Basic functions 8.4 Modular machine concept Figure 8-2 Example of a sub-topology Note Defective Safety Integrated status indicator If a drive in a Safety Integrated drive line-up is deactivated using p0105, then r9774 is not correctly output. The signals of a deactivated drive are no longer updated. Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 318 Basic functions 8.4 Modular machine concept Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ● p0125[0...n] Activate/deactivate power unit component ● r0126[0...n] Power unit components active/inactive ● p0145[0...n] Enable/disable sensor interface ●...
Page 319: Sine-Wave Filter
– Shielded cables: Max. 300 m ● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 air-cooled Chassis power units – SINAMICS S120 Chassis power units, liquid-cooled Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 320 Basic functions 8.5 Sine-wave filter Note If a filter cannot be parameterized (p0230 < 3), this means that a filter has not been provided for the component. In this case, the drive converter must not be operated with a sine-wave filter. Table 8-6 Parameter settings for sine-wave filters Parameter number...
Page 321: Motor Reactors
● SINAMICS S120 AC Drive ● SINAMICS S120 Booksize power units ● SINAMICS S120 air-cooled Chassis power units ● SINAMICS S120 Chassis power units, liquid-cooled The maximum permissible pulse frequency for the motor reactor is defined as follows for the SINAMICS power units: ●...
Page 322 Configuring the function 1. Activate the motor reactors during commissioning (p0230 = 1). 2. Enter the number of motor reactors connected in series via p0235. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0230 Drive filter type, motor side ●...
Page 323: Dv/Dt Filter Plus Voltage Peak Limiter
– Unshielded cables: Max. 450 m ● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 air-cooled Chassis power units – SINAMICS S120 Chassis power units, liquid-cooled Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 324 Basic functions 8.7 dv/dt filter plus Voltage Peak Limiter The maximum permissible pulse frequency when using a du/dt filter: ● For 2.5 kHz – Chassis power units from 315 kW to 800 kW at 400 V – Chassis power units from 75 kW to 1200 kW at 690 V –...
Page 325: Dv/Dt Filter Compact Plus Voltage Peak Limiter
Basic functions 8.8 dv/dt filter compact plus Voltage Peak Limiter dv/dt filter compact plus Voltage Peak Limiter Overview The "du/dt filter compact plus Voltage Peak Limiter" function is only available for vector control. Descriptions of functions The dv/dt filter compact plus Voltage Peak Limiter consists of the following components: ●...
Page 326 – Unshielded cables: Max. 150 m ● Further restrictions are contained in the following device manuals: – SINAMICS S120 AC Drive – SINAMICS S120 air-cooled Chassis power units – SINAMICS S120 Chassis power units, liquid-cooled Configuring the function During commissioning, you must activate the dv/dt filter with p0230 = 2.
Page 327: Pulse Frequency Wobbling
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]...
Page 328: Direction Reversal Without Changing The Setpoint
Basic functions 8.10 Direction reversal without changing the setpoint 8.10 Direction reversal without changing the setpoint Function description WARNING Excessively high torque due to an inappropriate phase sequence of the motor after direction reversal If a drive is synchronized to the line supply, when the direction is reversed, high torques can be generated when connecting to the line supply if the phase sequence of the line voltage does not match the phase sequence of the rotating motor.
Page 329 ● No 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. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0069[0...8] CO: Phase current actual value ●...
Page 330: Automatic Restart
Basic functions 8.11 Automatic restart 8.11 Automatic restart Function description The automatic restart function is used to automatically restart the drive/drive system, e.g. when the power is restored after a power failure. In this case, all of the faults present are automatically acknowledged and the drive is powered-up again.
Page 331 Basic functions 8.11 Automatic restart Configuring the function Proceed as follows to configure the function: 1. Activate the function for drive objects "Servo", "Vector" or X_INF (all drive objects "Infeed"; i.e. A_INF, B_INF, S_INF). – Automatic restart: Set mode (p1210). –...
Page 332 After the cause of the fault has been removed, the drives must be switched-on in another way. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0863.0...2 CO/BO: Drive coupling status word / control word ●...
Page 333: Armature Short-Circuit
Basic functions 8.12 Armature short-circuit 8.12 Armature short-circuit Overview You set the "Armature short-circuit" function in the parameter p1231[0...n]. You can determine the current status of the function in r1239. Requirement ● Operation with permanent-magnet synchronous motors Function description WARNING Motor accelerates uncontrollably for pulling loads For pulling loads, for an armature short circuit, the motor can uncontrollably accelerate if a mechanical brake is not additionally used.
Page 334: Internal Armature Short-Circuit Braking
Basic functions 8.12 Armature short-circuit 8.12.1 Internal armature short-circuit braking Overview With the "Internal armature short-circuit braking" function, the motor windings are short- circuited via a Motor Module. Supported Motor Modules The function has been released for Motor Modules in the Booksize and Chassis formats. Requirement ●...
Page 335: External Armature Short-Circuit Braking
Basic functions 8.12 Armature short-circuit 8.12.2 External armature short-circuit braking Overview Via output terminals, the "External armature short-circuit braking" function controls an external contactor, which then short-circuits the motor windings through resistors. Requirement ● Short-circuit-proof motors (p0320 < p0323): Use only short-circuit proof motors, or use suitable resistors to short-circuit the motor. ●...
Page 336 Basic functions 8.12 Armature short-circuit If the function is activated, then the following responses are executed: 1. Pulse cancellation is first activated, 2. then the external armature short-circuit braking is initiated. If the function has been triggered, r0046.4 indicates a "1". Example The function is activated if the signal source of p1230 is set to "1".
Page 337 Basic functions 8.12 Armature short-circuit Example of external armature short-circuit braking The following diagram shows the interconnections connected between the converter and Control Unit (see function diagram 7014 in the List Manual). In this diagram, the main contacts for the contactor are shown as NO contacts. Note No protection against power failure When using NO contacts as main contacts for the contactor, then the drive is no longer...
Page 338: Internal Voltage Protection
Basic functions 8.12 Armature short-circuit Parameter assignment 1. Set p1231 = 1. 2. Define DI 14 as input with p0728.14 = 0. 3. Connect the feedback signal of the external armature short-circuit contactor with terminal 12 of terminal strip X132 (DI 14). 4.
Page 339: Configuring A Fault Reaction
8.12.5 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 7014 Technology functions - External armature short circuit (EASC, p0300 = 2xx or 4xx) ● 7016 Technology functions - Internal armature short-circuit (IVP, p0300 = 2xx or 4xx) ●...
Page 340 Basic functions 8.12 Armature short-circuit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0046.0...31 CO/BO: Missing enable signals ● p0300[0...n] Motor type selection ● p0347[0...n] Motor de-excitation time ● p0491 Motor encoder fault response: ENCODER ● r0722.0...21 CO/BO: CU digital inputs, status ●...
Page 341: Dc Braking
Basic functions 8.13 DC braking 8.13 DC braking Overview You set the "DC braking" function in the parameters p1231[0...n]. You can determine the current status of the function in r1239. Supported Motor Modules The function has been released for Motor Modules in the Booksize and Chassis formats. Requirement ●...
Page 342 Basic functions 8.13 DC braking Setting the function DC braking is set with parameter p1231 = 4. ● Setting the braking current for DC braking with p1232[0..n] ● Setting the braking current duration for DC braking with p1233[0..n] ● Setting the start speed for DC braking with p1234[0..n] Activating the function The function is activated if the signal source of p1230 is set to "1".
Page 343: Activating A Function Via Fault Reaction
Basic functions 8.13 DC braking 8.13.2 Activating a function via fault reaction Procedure If DC braking is activated as fault response, then the following responses are executed: 1. The motor is braked along the braking ramp up to the threshold in p1234. The gradient of the braking ramp corresponds to the gradient of the down ramp (can be set using p1121).
Page 344: Internal Voltage Protection
Basic functions 8.13 DC braking Setting the function If p1231 is set to 14, DC braking as a response is activated as soon as the actual speed falls below p1234. Activating the function Before activation, the actual speed must be > p1234. The DC braking can then be activated when both of the following conditions are met: ●...
Page 345: Configuring A Fault Reaction
Basic functions 8.13 DC braking Configuring the function Carry out the following steps to configure the function: Setting the function The internal voltage protection is set with p1231 = 3. Activating the function The function is activated and initiated if the signal source of p1230 is set to a "1" signal. Deactivating the function The function is deactivated if the signal source of p1230 is set to a "0"...
Page 346: Function Diagrams And Parameters
● 7016 Technology functions - Internal armature short-circuit (IVP, p0300 = 2xx or 4xx) ● 7017 Technology functions - DC braking (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 347: Motor Module As A Braking Module
● SINAMICS S120 Motor Modules Chassis (380 V - 480 V) > 250 kW ● SINAMICS S120 Motor Modules Chassis Liquid Cooled (380 V - 480 V) > 250 kW ● SINAMICS S120 Motor Modules Chassis Liquid Cooled (500 V - 690 V) Features ●...
Page 348: Configuring Resistors
Basic functions 8.14 Motor Module as a Braking Module 8.14.1 Configuring resistors Rules and values Note Undershooting of the resistance values is not permitted Under no circumstances may the resistance values for the peak braking power, which are listed in the following table, be undershot! Observe the following rules and follow the instructions specified therein: ●...
Page 349 Basic functions 8.14 Motor Module as a Braking Module Resistance table 380 - 480 V supply voltage Motor Rated volt‐ Rated Braking Continu‐ Peak Resistance for Resistance at DC link Module current current chopper ous brak‐ braking continuous brak‐ peak braking frame size threshold ing power...
Page 350 Basic functions 8.14 Motor Module as a Braking Module Motor Mod‐ Rated volt‐ Rated Braking Continu‐ Peak Resistance for Resistance at DC link ule frame current current chopper ous brak‐ braking continuous brak‐ peak braking size threshold ing power power ing power power [kW]...
Page 351: Activating The "Braking Module" Function
To activate the braking module and set the operation threshold as well as hysteresis for the braking module, proceed as follows: 1. Configure the Control Unit and the infeed unit as usual (see SINAMICS S120 Commissioning Manual with STARTER). 2. Select “VECTOR" as drive object type.
Page 352 Basic functions 8.14 Motor Module as a Braking Module 11.Follow the wizard from "Continue >" up to "Complete". Deselect the provided motor data identification (MotID) by entering the value “0” into the parameter p1900 (motor data identification and rotating measurement). 12.Allocating a freely selectable BICO signal of p0840[0...n] (BI: ON/OFF (OFF1)), the chopper is activated if there is DC link voltage present.
Page 353 Basic functions 8.14 Motor Module as a Braking Module 4. Check the number of Motor Modules that you have set in the topology. The braking resistors must be dimensioned for each Motor Module according to the table of resistances above. Figure 8-5 Parallel connection of Motor Modules as Braking Modules 5.
Page 354: Protective Equipment
(p0601 = 4). 5. Parameterize the temperature sensor evaluation of the Motor Module as "external fault". 8.14.4 Overview of the important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0207[0…4] Rated power unit current ● r0949[0...63] Fault value ●...
Page 355 Basic functions 8.14 Motor Module as a Braking Module ● p1362[0…1] Braking Module activation threshold ● r1363 CO: Braking Module output voltage ● p1364 Braking Module non-symmetrical resistance Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 356: Off3 Torque Limits
Servo control - Motoring/generating torque limit ● 5630 Servo control - Upper/lower torque limit ● 6630 Vector control - Upper/lower torque limit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1520[0...n] Torque limit upper/motoring ● p1521[0...n] CO: Torque limit lower/regenerative...
Page 357: Technology Function Friction Characteristic
Basic functions 8.16 Technology function friction characteristic 8.16 Technology function friction characteristic Function description The friction characteristic curve is used to compensate the friction torque for the motor and the driven machine. A friction characteristic enables the speed controller to be precontrolled and improves the response.
Page 358 Servo control – torque limiting/reduction, interpolator ● 6710 Vector control - Current setpoint filter ● 7010 Technology functions - Friction characteristic Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3820[0...n] Friction characteristic, value n0 ● p3839[0...n] Friction characteristic, value M9 ●...
Page 359: Simple Brake Control
Motor Module. The Motor Module then performs the action and activates the output for the holding brake accordingly. The exact sequence control is shown in function diagrams 2701 and 2704 (see SINAMICS S120/S150 List Manual). Enable pulses...
Page 360 Brake control - Simple brake control (r0108.14 = 0) ● 2704 Brake control - Extended brake control, standstill detection (r0108.14 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0056.4 CO/BO: Status word, closed-loop control; magnetizing complete ●...
Page 361 Basic functions 8.17 Simple brake control ● p1216 Motor holding brake opening time ● p1217 Motor holding brake closing time ● p1226[0...n] Threshold for standstill detection ● p1227 Standstill detection monitoring time ● p1228 Pulse suppression delay time ● p1278 Brake control diagnostics evaluation Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 362: System Runtime / Operating Hours Counter
Basic functions 8.18 System runtime / operating hours counter 8.18 System runtime / operating hours counter Total system runtime The total system runtime is displayed in p2114 (Control Unit). Index 0 indicates the system runtime in milliseconds. After reaching 86,400,000 ms (24 hours), the value is reset. Index 1 indicates the system runtime in days.
Page 363 If a control system and several drive devices are connected through a bus, then the different time stamps can be synchronized to the time stamp of the control system (= time-of-day master). Detailed information on this is provided in the manual “SINAMICS S120 Function Manual Communication” in the chapter “Time synchronization between the control and converter.”...
Page 364: 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 365 Basic functions 8.19 Energy-saving display Configuring the function Carry out the following steps to configure the function: 1. The function is automatically activated after the pulses have been enabled. 2. Enter five interpolation points for the load characteristic in parameters p3320 to p3329: Interpolation point Parameter Factory setting:...
Page 366 Basic functions 8.19 Energy-saving display system characteristic is shifted by the speed controller to achieve the required flow rate. As a consequence, the complete system operates close to the optimum efficiency - and especially in the partial load range, uses significantly less energy than when using a throttle or valve to control the flow rate.
Page 367: 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 368: Encoder Dirty Signal
Basic functions 8.20 Encoder diagnostics 8.20.2 Encoder dirty signal Function description Some encoders have an additional output, which switches from "high" to "low", if the evaluation electronics in the encoder can no longer determine a reliable position. In order to inform you about this, the drive only outputs alarm A3x470 when an SMC30 is used.
Page 369: Function Diagrams And Parameters
● If the rate at which the encoder becomes dirty is not known, then a practical threshold value is 230 mV. x = encoder number (x = 1, 2 or 3) 8.20.4 Function diagrams and parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0437[0...n] Sensor Module extended configuration Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 370: Tolerant Encoder Monitoring
Basic functions 8.21 Tolerant encoder monitoring 8.21 Tolerant encoder monitoring Function description The tolerant encoder monitoring offers the following expanded functionality regarding the evaluation of encoder signals: ● Encoder track monitoring (Page 369) ● Zero mark tolerance (Page 370) (also for other sensor modules) ●...
Page 371: Encoder Track Monitoring
Set p0405.2 = 1 to activate the function. 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).
Page 372: Zero Mark Tolerance
Basic functions 8.21 Tolerant encoder monitoring If a fault is detected, then fault F3x117 is output. The faulty tracks are included in the fault value bit-coded. Note For modules CU310-2, CUA32, D410-2 and SMC30 (only article numbers 6SL3055‑0AA00‑5CA0 and 6SL3055‑0AA00‑5CA1), there is only a common signal. If you connect a square-wave encoder without R track to one of these modules, then if track monitoring is activated, fault F3x117 is output.
Page 373: Freezing The Speed Raw Value
Basic functions 8.21 Tolerant encoder monitoring 8.21.3 Freezing the speed raw value Overview If, for high speed changes, the dn/dt monitoring function responds, then the function extension "freeze speed raw value" gives you the opportunity of briefly specifying the actual speed value therefore equalizing the speed change.
Page 374: Edge Evaluation Of The Zero Mark
Basic functions 8.21 Tolerant encoder monitoring Commissioning the function You commission the function as follows: 1. Set parameter p0438 ≠ 0 to activate the function. 2. In parameter p0438 (square-wave encoder filter time) enter the filter time in the range from 0 to 100 μs.
Page 375: Pole Position Adaptation
Basic functions 8.21 Tolerant encoder monitoring For a positive direction of rotation, the positive edge of the zero mark is evaluated and for a negative direction of rotation, the negative edge. As a consequence, for encoders where the zero mark is wider than one pulse, it is possible to parameterize them with equidistant zero marks (p0404.12 = 1), i.e.
Page 376: Pulse Number Correction For Faults
Basic functions 8.21 Tolerant encoder monitoring Commissioning the function Set p0430.22 = 1 to activate the function. 8.21.7 Pulse number correction for faults Overview Interference currents or other EMC faults can falsify encoder evaluation. However, it is possible to correct the measured signals using the zero marks. Commissioning the function Carry out the following steps to start the function: 1.
Page 377: Tolerance Band Pulse Number" Monitoring
Basic functions 8.21 Tolerant encoder monitoring 8.21.8 "Tolerance band pulse number" monitoring Overview The function extension "Tolerance band pulse number monitoring" 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.
Page 378: Signal Edge Evaluation (1X, 4X)
Basic functions 8.21 Tolerant encoder monitoring ● Number of pulses outside the tolerance band If ... Then ... If the tolerance band is violated, ... then in addition to alarm A3x4221) r4689.1 = 1 is set. Note: This value remains for a minimum of 100 ms so that a control system can detect sev‐...
Page 379: Setting The Measuring Time To Evaluate Speed "0
Basic functions 8.21 Tolerant encoder monitoring Further information on the procedure ● For the 4x evaluation, both the rising and falling edges of a contiguous pulse pair on the A and B tracks are evaluated. ● For the 1x evaluation, only the first or the last edge of a contiguous pulse pair on the A and B tracks are evaluated.
Page 380: Troubleshooting
Basic functions 8.21 Tolerant encoder monitoring Commissioning the function Carry out the following steps to start the function: 1. Enter the value "0" (edge time measurement) in parameter p0430.20 for the sliding mean value generation. 2. In parameter p4685, enter the number of current controller cycles over which the average value should be formed to calculate the speed.
Page 381 Basic functions 8.21 Tolerant encoder monitoring Fault profile Fault description Remedy F3x100 (Zero mark dis‐ Check whether the con‐ tance error) nection assignment is correct (R interchanged with –R) Interjected zero mark Use zero mark tolerance Zero mark too wide Use edge evaluation of the zero mark Drive functions...
Page 382 Basic functions 8.21 Tolerant encoder monitoring Fault profile Fault description Remedy EMC faults Use an adjustable hard‐ ware filter Zero mark to early/too For faults, use pole posi‐ late (interference pulse tion adaptation or pulse or pulse loss on the A/B number correction track) Drive functions...
Page 383: Tolerance Window And Correction
Basic functions 8.21 Tolerant encoder monitoring 8.21.13 Tolerance window and correction Overview The following figure gives an overview of the settable tolerance window and offsets. Figure 8-8 Overview: Tolerance window and correction Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 384: Dependencies
Basic functions 8.21 Tolerant encoder monitoring 8.21.14 Dependencies Overview The table below gives you an overview of the dependencies between the individual function extensions. Parameter Functionality These functions can be freely combined with one These functions another build on one an‐ other from left to right, and can be combined with...
Page 385 Basic functions 8.21 Tolerant encoder monitoring Parameter Functionality These functions can be freely combined with one These functions another build on one an‐ other from left to right, and can be combined with the adjacent ones Indices p4689 Square-wave encoder diagnostics Messages F3x117 Inversion signal A and B error...
Page 386: Overview Of Important Parameters
Basic functions 8.21 Tolerant encoder monitoring 8.21.15 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0404[0...n] Encoder configuration active ● p0405[0...n] Square-wave encoder track A/B / square-wave encoder A/B ● p0408[0...n] Rotary encoder pulse No.
Page 387: Parking Axis / Parking Encoder
Basic functions 8.22 Parking axis / parking encoder 8.22 Parking axis / parking encoder Function description 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 388 Basic functions 8.22 Parking axis / parking encoder Example: Parking axis In the following example, an axis is parked. To ensure that the axis parking is effective, the drive must be brought to a standstill (e.g. via STW1.0 (OFF1). All components assigned to the motor control (e.g.
Page 389 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 8-10 Function chart: parking encoder Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ●...
Page 390: Position Tracking
Basic functions 8.23 Position tracking 8.23 Position tracking Overview Position tracking enables the load position to be reproduced when using gearboxes. It can also be used to extend the position area. Explanation of used terms ● Encoder range The position area that can itself represent the absolute encoder. ●...
Page 391: Position Tracking With A Measuring Gearbox
Basic functions 8.23 Position tracking When position tracking (p0411.0 = 1) is activated, the encoder actual position value r0483 is composed as follows: ● Encoder pulses per revolution (p0408) ● Fine resolution per revolution (p0419) ● Virtual number of resolvable motor revolutions of a rotary absolute encoder (p0412) If the measuring gear is absent (n = 1), the actual number of the stored revolutions of a rotary absolute encoder p0421 is used.
Page 392 Basic functions 8.23 Position tracking Figure 8-13 Drive with odd-numbered gearboxes without position tracking In this case, for each encoder overflow, there is a load-side offset of of a load revolution, after 3 encoder overflows, the motor and load zero position coincide again. The position of the load can no longer be clearly reproduced after one encoder overflow.
Page 393 Basic functions 8.23 Position tracking You can activate the position tracking of the measuring gear during the configuration of the drive. Measuring gear configuration (p0411) The following points can be set by configuring this parameter: ● p0411.0: Activation of position tracking ●...
Page 394 4.25, ratio = 4). Function diagrams (see SINAMICS S120/S150 List Manual) ● 4704 Encoder evaluation - Position and temperature sensing, encoders 1 ... 3 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0402[0...n] Gear unit type selection ● p0411[0...n] Measuring gear configuration ●...
Page 395: Encoder As Drive Object
● New or existing project with a CU320-2 Note The project can also be created offline. Further information on this can be found in Section "Commissioning" in the SINAMICS S120 Commissioning Manual with STARTER. ● Completely configured drive system Function description The function "Encoder as a drive object"...
Page 396 Basic functions 8.24 Encoder as drive object Figure 8-15 Project navigator: "Insert encoder" Supplementary conditions To be able to create an "Encoder" drive object, the following conditions must be fulfilled: ● All encoders that can be assigned to a drive can be used. ●...
Page 397 Basic functions 8.24 Encoder as drive object 5. Click "OK". The configuration window for encoders opens. 6. Select your encoder from the "List of standard encoders", or enter the basis data of the encoder under "Enter data". 7. Follow the configuration wizard to set-up the encoder. 8.
Page 398: Terminal Module 41
● 4 digital inputs ● 4 bidirectional digital inputs/outputs Further information You can find further information about Terminal Module 41 as hardware component in Chapter "Terminal Module TM41" in the "SINAMICS S120 Control Units and Additional System Components" Equipment Manual. 8.25.1 SIMOTION mode Function description The SIMOTION mode of the incremental encoder emulation is set using parameter p4400 = 0.
Page 399: Sinamics Mode
Basic functions 8.25 Terminal Module 41 Figure 8-16 Function diagram encoder emulation 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 400 Basic functions 8.25 Terminal Module 41 Features ● The runtime of the encoder actual position value up to the pulse encoder emulation can be compensated using the deadtime compensation with p4421. ● The pulse number ratio between the encoder to be emulated and the emulating TM41 can be set as required.
Page 401: Zero Mark Emulation (Sinamics Mode)
Basic functions 8.25 Terminal Module 41 8.25.3 Zero mark emulation (SINAMICS mode) Function description The referencing mode set for the leading encoder is used to determine the zero mark position for the zero mark emulation of the TM41. Possible referencing modes are: ●...
Page 402 Basic functions 8.25 Terminal Module 41 Example: Pulses per revolution ratio The leading encoder emits 12 pulses and a zero mark per revolution. However, the application requires 32 pulses per revolution. By setting p4408 and p4418, the required 32 pulses a revolution are available at X520 of the TM41.
Page 403 Basic functions 8.25 Terminal Module 41 Example: Pulses per revolution with several zero positions If the original encoder has several zero positions/marks per revolution (e.g. resolver with several pole pairs), the correct zero mark must be selected via an additional condition. Otherwise, there is no reproducible relationship between the position of the original encoder and the zero mark position of the encoder emulation.
Page 404: Synchronization Of The Zero Marks (Sinamics Mode)
Basic functions 8.25 Terminal Module 41 8.25.4 Synchronization of the zero marks (SINAMICS mode) Overview After the drive has been powered up, a static offset is obtained as a result of the random switch- on instant of the incremental encoder emulation. Function description The function "Synchronization of the zero marks"...
Page 405: Limit Frequencies For Tm41
Basic functions 8.25 Terminal Module 41 Zero mark synchronization process ● 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.
Page 406: Example In The Sinamics Mode
Basic functions 8.25 Terminal Module 41 The following table shows the maximum output frequency for Terminal Module 41 at 1024 kHz (p4401.7 = 1). Table 8-11 Maximum output frequencies for TM41 = 1024 kHz Higher setpoint resolution activated (p4401.5 = 1) Sampling time p4099[3] 125 µs 250 µs...
Page 407: Function Diagrams And Parameters
CO/BO: Status word faults/alarms 1 must be interconnected via a BICO with a digital output (TM41 or CU) which can be read by the external controller. 8.25.7 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 9659 Terminal Module 41 (TM41) - Overview ● 9660 Terminal Module 41 (TM41) - digital inputs, isolated (DI 0 ...
Page 408 Basic functions 8.25 Terminal Module 41 Overview of important parameters (see SINAMICS S120/S150 List Manual) General ● r0002 TM41 status display ● p0408 TM41 encoder emulation pulse number ● p0418 TM41 encoder emulation fine resolution Gx_XACT1 (in bits) ● p4099[0...3] TM41 inputs/outputs sampling time ●...
Page 409: Upgrade The Firmware And Project
Basic functions 8.26 Upgrade the firmware and project 8.26 Upgrade the firmware and project Overview The firmware must be upgraded if a more recent firmware version provides an extended functional scope that you would like to use. Requirement ● Requirement for safe upgrading is a new memory card as of Runtime version V4.6. This memory card has more memory and thus enables the duplication of the data as a backup copy.
Page 410: Updating The Firmware And Starter Project Data Using The Web Server
Upgrade for SINAMICS S120 Chassis Upgrading S120 Chassis devices is more complex and involves more settings than for Booksize devices. You can find a detailed description of the procedure when upgrading Chassis devices at the following SIEMENS internet site Upgrading S120 Chassis. (https:// support.industry.siemens.com/cs/ww/en/view/60494864) 8.26.1...
Page 411: Downgrade Lock
Basic functions 8.26 Upgrade the firmware and project Further information You can find further information on updating the firmware and STARTER project files in Chapter "Updating the firmware via the web server (Page 764)". 8.26.2 Downgrade lock Function description The downgrade lock prevents the downgrade of firmware upgrades that have already been performed to correct errors.
Page 412 Basic functions 8.26 Upgrade the firmware and project Amended data on the memory card If the data on the working partition of the memory card and the backup partition is no longer consistent, the warning "A01073: POWER ON for backup copy on memory card required" is emitted.
Page 413: Essential Service Mode (Esm) For Cu310-2 On Blocksize Power Units
Basic functions 8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units 8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units Requirement ● CU310-2 PN or CU310-2 DP ● Vector control ● PM240-2 Power Module ● Blocksize power units Function description When the Essential Service Mode (ESM) is used, a drive can still be operated for as long as possible as needed, even if faults occur.
Page 414 Basic functions 8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units Signal p3880 = 0 deactivates the essential service mode: ● If one of the OFF1, OFF2 or OFF3 commands is active, the converter switches off the motor. ●...
Page 415 Basic functions 8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units Speed setpoint when the essential service mode is active ● p3881 specifies the speed setpoint. If you have defined an analog input as setpoint source using p3881, then for wire breakage, the converter can switch over to setpoint p3882. ●...
Page 416: Configuring The Essential Service Mode
Basic functions 8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units 8.27.1 Configuring the essential service mode Procedure To start essential service mode (ESM), proceed as follows: 1. Interconnect a free digital input as signal source to activate ESM. You must use a negated digital input if the essential service mode should also be active for a ground fault –...
Page 417: Function Diagrams And Parameters
● 3040 Setpoint channel - Direction limitation and direction reversal ● 7033 Technology functions - Emergency operation (ESM, Essential Service Mode Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0491 Motor encoder fault response ENCODER ● p1210 Automatic restart mode ●...
Page 418: Pulse/Direction Interface
● More information on the Control Unit CU320-2 and the SMC30 is provided in the SINAMICS S120 Control Units Manual. ● More information on the Control Unit CU310-2 is provided in the SINAMICS S120 AC Drive Manual. Commissioning the function...
Page 419 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. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0010 Drive, commissioning parameter filter ●...
Page 420: Derating Function For Chassis Units
Units that are connected in parallel operate in the same manner as single units. The dependency of the output current on the pulse frequency for the Chassis power units is described in the SINAMICS S120 Chassis Power Units Manual. Function description...
Page 421: Parallel Connection Of Motors
Basic functions 8.30 Parallel connection of motors 8.30 Parallel connection of motors Requirement ● STARTER commissioning tool for vector control Function description For simple commissioning of group drives (a number of identical motors operating on one power unit), the number of parallel-connected motors can be entered via STARTER (only vector control) or via the expert list (for servo and vector control) (p0306).
Page 422 Basic functions 8.30 Parallel connection of motors reference current (p2002). Parameter p0306 has a value range of 1 to 50, and is it dependent on the motor data set (MDS). 1. To connect motors in parallel, select the corresponding motor in the selection screen and activate the "Parallel motor connection"...
Page 423 The motor must then be decoupled from the parallel grouping. Parameter p0306 is changed by the DDS/MDS changeover. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0300[0...n] Motor type selection ●...
Page 424 Basic functions 8.30 Parallel connection of motors Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 425: Function Modules
Function modules Overview When required, during the basic parameterization you can switch-in various function modules for the selected drive axis. Requirement ● The drive axis is offline. Note You can activate or deactivate function modules only offline. Function description Note The display of the function modules that can be activated is dynamic and depends on the selected drive axis and the configuration of this drive axis.
Page 426 When the "basic positioner" function module is activated, then the "position control" function module is automatically activated as well. 2. Save the project to back up the settings. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0108[0..n] Drive object function module ●...
Page 427: Technology Controller
Function modules 9.1 Technology controller Technology controller Overview Simple control functions can be implemented with the technology controller. These include: ● Level control ● Temperature control ● Dancer roll position control ● Pressure control ● Flow control ● Simple closed-loop controls without higher-level controller ●...
Page 428 Function modules 9.1 Technology controller ● The D component can be switched into the control deviation or actual value channel. ● The motorized potentiometer of the technology controller is only active when the drive pulses are enabled. Commissioning the function The "Technology controller"...
Page 429 ● 7959 Technology controller - Kp/Tn adaption (r0108.16 = 1) ● 7960 Technology controller - 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 430 Function modules 9.1 Technology controller ● p2247[0...n] Technology controller motorized potentiometer ramp-up time ● p2248[0...n] Technology controller motorized potentiometer ramp-down time ● r2250 CO: Technology controller motorized potentiometer, setpoint after Closed-loop control ● p2200[0...n] BI: Technology controller enable ● p2253[0...n] CI: Technology controller setpoint 1 ●...
Page 431 Function modules 9.1 Technology controller ● p2310 Technology controller Kp adaptation input value signal source ● p2311 Technology controller lower Kp adaptation factor ● p2312 Technology controller upper Kp adaptation factor ● p2313 Technology controller lower Kp adaptation activation point ●...
Page 432: Extended Monitoring Functions
Function modules 9.2 Extended monitoring functions Extended monitoring functions Overview When the extension is activated, the monitoring functions are extended as follows: ● Speed setpoint monitoring: |n_set | ≤ p2161 ● Speed setpoint monitoring: n_set > 0 ● Load monitoring Function description This function monitors power transmission between the motor and the working machine.
Page 433 ● 8011 Signals and monitoring functions - Speed messages 2 ● 8013 Signals and monitoring functions - Load monitoring (r0108.17 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) Load monitoring ● p2181[0...n] Load monitoring, response ● p2182[0...n] Load monitoring, speed threshold 1 ●...
Page 434: Extended Brake Control
Function modules 9.3 Extended Brake Control Extended Brake Control Function description The "Extended brake control" allows complex brake controls, such as for motor holding brakes and service brakes. The brake is controlled in the following manner. The order represents the priority: ●...
Page 435 Function modules 9.3 Extended Brake Control To start the function, proceed as follows: 1. Activate the "Extended brake" function module using the commissioning Wizards. You can check that it has been activated in parameter r0108.14. Brake control will be activated automatically (p1215 = 1) when the Motor Module has an internal brake control and a connected brake has been found.
Page 436 Function modules 9.3 Extended Brake Control Example 1: Service brake on crane drives For cranes with manual control, it is important that the drive responds immediately when the control lever is moved (master switch). The drive is switched on with an ON command (p0840) (the pulses are enabled).
Page 437 Function modules 9.3 Extended Brake Control Example 3: Starting against a closed brake When the device is switched on, the setpoint is enabled immediately (if the required enable signals are issued), even if the brake has not yet been released (p1152 = 1). The factory setting p1152 = r0899.15 must be separated here.
Page 438 Brake control - Extended brake control, open/close brake (r0108.14 = 1) ● 2711 Brake control - Extended brake control, signal outputs (r0108.14 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.14 Drive objects, function module; Extended brake control ● r0899.0...15...
Page 439 Function modules 9.3 Extended Brake Control ● p1215 Motor holding brake configuration ● r1229.1...11 CO/BO: Motor holding brake status word ● p1275 Motor holding brake control word ● p1276 Motor holding brake standstill detection bypass ● p1278 Brake control diagnostics evaluation Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 440: Braking Module External
Function modules 9.4 Braking Module external Braking Module external Function description This function module can be activated via the infeed commissioning wizard. You can check the current configuration in parameter r0108.26. The appropriate binectors must be interconnected via digital inputs/outputs (e.g.: Control Unit, TM31 or TB30) with the Braking Module.
Page 441 Note A fast DC link discharge requires the use of a line contactor with feedback signal (p0860) that is controlled via r0863.1. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.26 Drive object function module; Braking Module External ●...
Page 442: Cooling Unit
Function modules 9.5 Cooling unit Cooling unit Overview A cooling unit is responsible for the cooling and the (non-)conductivity in the de-ionized water cooling circuit of a liquid-cooled power unit. The cooling unit is controlled and monitored from a PLC that is part of the cooling unit. Function description The "cooling unit"...
Page 443 Auxiliaries - Cooling unit, control and feedback signals (r0108.28 = 1) ● 9795 Auxiliaries - Cooling unit, sequence control (r0108.28 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0046.29 CO/BO: Missing enables; cooling unit ready missing ●...
Page 444: Extended Torque Control (Kt Estimator, Servo)
Function modules 9.6 Extended torque control (kT estimator, servo) Extended torque control (kT estimator, servo) Overview Function module "Extended torque control" increases the torque accuracy. It comprises the following modules: ● k estimator (only for synchronous motors) ● Compensation of the voltage emulation error of the converter (p1952, p1953, p1954) ●...
Page 445 ● k characteristic: p1780.9 = 1 Function diagrams (see SINAMICS S120/S150 List Manual) ● 7008 Technology functions - kT estimator Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108.1 Drive object function module; extended torque control ● p1780.3 Motor model adaptation configuration;...
Page 446 Function modules 9.6 Extended torque control (kT estimator, servo) ● p1780.8 Motor model adaptation configuration; compensation of the voltage emulation error in the drive converter ● p1780.9 Motor model adaptation configuration; (iq) characteristic active Motor/drive converter identification ● p0352[0...n] Cable resistance ●...
Page 447: Position Control
Function modules 9.7 Position control Position control Function description The "Position controller" function module is made up of the following subfunctions: ● 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 448 Function modules 9.7 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 9-6 Actual position value sensing with rotary encoders Features...
Page 449 Function modules 9.7 Position control Example Rotary encoder, ball screw with a pitch of 10 mm/revolution. 10 mm should have a resolution of 1 µm (i.e. 1 LU = 1 µm). ● One load revolution corresponds to 10000 LU ● p2506 = 10000 Note The effective actual value resolution is obtained from the product of the encoder pulses (p0408) and the fine resolution (p0418) and a measuring gear that is possibly being used (p0402,...
Page 450 Function modules 9.7 Position control p2730[0...1] – Figure 9-8 Signal flow: Actual position value preprocessing for a linear encoder A correction can be made using connector input p2513 (correction value, actual position value processing) and a positive edge at binector input p2512 (activates the correction value). When the "basic positioning"...
Page 451: Indexed Actual Value Acquisition
Function modules 9.7 Position control 9.7.1.1 Indexed actual value acquisition Function description The indexed actual position 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.
Page 452: Load Gear Position Tracking
Function modules 9.7 Position control ● Actual velocity value (r2522[0...3]) ● Measuring probe evaluation/Reference mark search (p2523[0..3]) ● Encoder adjustment, offset (p2525[E]) ● Status word position controller (r2526) ● Status word encoder1 (r2527) ● Status word encoder2 (r2528) ● Status word encoder3 (r2529) ●...
Page 453 The permissible position tracking range is mapped on the reproducible encoder range of EPOS. It is possible to activate position tracking for several DDS. Further information Further information on the parameterization of the load gear position tracking is provided in the "SINAMICS S120 Startdrive Commissioning Manual". Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 454 Function modules 9.7 Position control Example: Position range extension With absolute encoders without position tracking, it must be ensured that the traversing range around 0 is less than half the encoder range, because beyond this range, no unique reference remains after switching on and off (see description on parameter p2507). This traversing range can be extended using the virtual multiturn (p2721).
Page 455 Function modules 9.7 Position control subsequently, e.g. the user can program p2721 = 5. As a result, the encoder evaluation initiates five load rotations before the same absolute value is achieved again. In the case of linear axes, the virtual multiturn resolution (p2721) is preset to the multiturn resolution value of the encoder (p0421), which is extended by six bits, (max.
Page 456 Function modules 9.7 Position control ● If position tracking is to be continued in different drive data sets with the same mechanical relationships and the same encoder data sets, it must be activated explicitly in all relevant drive data sets. Possible applications for drive data set changeover with continued position tracking: –...
Page 457 Function modules 9.7 Position control Mechanical relationships p2504/p2505/p2506/ p2503 A, B, C and D designate different mechanical rela‐ tionships. Load gear position tracking Activa‐ Activa‐ Deacti‐ Activa‐ Activa‐ Activa‐ Activa‐ Activa‐ Deacti‐ Activa‐ vated vated Table 9-5 DDS changeover response Changeover response ‑...
Page 458: Function Diagrams And Parameters
Encoder evaluation - Position and temperature sensing, encoders 1 ... 3 ● 4710 Encoder evaluation - Actual speed value and pole position sensing encoder 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 459: Position Controller
Function diagrams (see SINAMICS S120/S150 List Manual) ● 4015 Position control - Position controller (r0108.3 = 1) 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 460: Monitoring Functions
Function modules 9.7 Position control 9.7.3 Monitoring functions Function description The position controller monitors the standstill, positioning and following error. Standstill monitoring is activated via binector inputs p2551 (setpoint stationary) and p2542 (standstill window). If the standstill window is not reached once the monitoring time (p2543) has elapsed, fault F07450 is triggered.
Page 461 Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1) ● 4025 Position control - Dynamic following error monitoring, cam controllers (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2530 CI: LR position setpoint ● p2532 CI: LR actual position value ●...
Page 462: Measuring Probe Evaluation And Reference Mark Search
(for search for reference point) and "measurement probe evaluation" (for the flying referencing function) functions are initiated by the "basic positioner" function module and feedback (r2526, r2523) returned to this. Function diagrams (see SINAMICS S120/S150 List Manual) ● 4010 Position control - Actual position value processing (r0108.3 = 1) ●...
Page 463: Commissioning The Function
Function modules 9.7 Position control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2508[0...3] BI: LR activate reference mark search ● p2509[0...3] BI: LR activate measuring probe evaluation ● p2510[0...3] BI: LR measuring probe evaluation, selection ● p2511[0...3] BI: LR measuring probe evaluation edge ●...
Page 464 Function modules 9.7 Position control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108 Drive object function module ● p1160[0...n] CI: Speed controller, speed setpoint 2 ● p2550 BI: Position control enable 2 Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 465: Basic Positioner
Function modules 9.8 Basic positioner Basic positioner Function description The basic positioner (EPOS) is used to position linear and rotary axes (modulo) in absolute/ relative terms with motor encoder (indirect measuring system) or machine encoder (direct measuring system). EPOS is available for servo control and vector control. For the basic positioner functionality, the Startdrive engineering tool provides graphic guides through the configuration, commissioning and diagnostic functions.
Page 466 Function modules 9.8 Basic positioner Functions of the basic positioner In addition, the following functions can be carried out using the basic positioner: ● Mechanical system – Backlash compensation – Modulo offset – Position tracking of the load gear (motor encoder) with absolute encoders ●...
Page 467: Mechanical System
"connection" to the basic positioner ● Control using PROFIdrive telegrams 7 and 110 For additional information, see the following manuals: – “SINAMICS S120 Function Manual Communication” manual, “Cyclical Communication” chapter – SINAMICS S120/S150 List Manual 9.8.1...
Page 468 Function modules 9.8 Basic positioner If a stationary axis is referenced by setting the reference point or an adjusted axis is powered- up with an absolute encoder, then the setting of parameter p2604 (reference point approach, starting direction) is relevant for switching-in the compensation value. Table 9-6 The compensation value is switched in as a function of p2604 p2604...
Page 469 ● 3635 EPOS - Interpolator (r0108.4 = 1) ● 4010 Position control - Actual position value processing (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2576 EPOS modulo offset modulo range ● p2577 BI: EPOS modulo offset activation ●...
Page 470: Limits
Function modules 9.8 Basic positioner 9.8.2 Limits Overview The following list provides an overview of the functions that can be limited and their parameters. ● Limiting the traversing profiles – Maximum velocity (p2571) – Maximum acceleration (p2572) / maximum deceleration (p2573) ●...
Page 471: Limit Traversing Range
Function modules 9.8 Basic positioner Both values are relevant for: ● Jog mode ● Processing traversing blocks ● Direct setpoint specification / MDI for positioning and setting up ● Reference point approach The parameters do not have any effect when faults occur with the fault responses OFF1/OFF2/ OFF3.
Page 472 Function modules 9.8 Basic positioner The traversing range is limited using software limit switches only if the following requirements are met: ● The software limit switches are activated (p2582 = 1). ● The reference point is set (r2684.11 = 1). ●...
Page 473 Function modules 9.8 Basic positioner To ensure the ability for the axis to traverse beyond the hardware limit switches in position- controlled operation, proceed as follows: 1. Deactivate the corresponding hardware limit switch (minus or plus). 2. Have the axis with position control traverse beyond the hardware limit switch. NOTICE Damaging the machine by traveling past a hardware limit switch Traveling past a hardware limit switch may damage the machine.
Page 474: Jerk Limitation
Function modules 9.8 Basic positioner 9.8.2.4 Jerk limitation Function description Acceleration and deceleration can change suddenly if jerk limiting has not been activated. The diagram below shows the traversing profile when jerk limitation has not been activated. The maximum acceleration (a ) and deceleration (d ) are effective immediately.
Page 475: Starting Against A Closed Brake
9.8.2.6 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 3630 EPOS - Traversing range limits (r0108.4 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2571 EPOS maximum speed ● p2572 EPOS maximum acceleration ●...
Page 476: Epos And Safe Setpoint Velocity Limitation
Function modules 9.8 Basic positioner Jerk limitation ● p2574 EPOS jerk limitation ● p2575 BI: EPOS jerk limitation activation 9.8.3 EPOS and safe setpoint velocity limitation Function description If safe speed monitoring (SLS) or the safe direction motion monitoring (SDI) is also to be used at the same time as the EPOS positioning function, EPOS must be informed about the activated monitoring limits.
Page 477 Function modules 9.8 Basic positioner ● Flying referencing (passive; p2597 = 1) ● Absolute encoder – Absolute encoder adjustment – Absolute encoder adjustment with offset acceptance – Flying referencing (passive; p2597 = 1) Note Observe the information about the parameters in Chapter "Function diagrams and parameters (Page 485)".
Page 478 Function modules 9.8 Basic positioner Absolute encoder adjustment When commissioning an absolute encoder for the first time, a mechanical axis position is aligned with the encoder absolute position and then the system is synchronized. After the drive has been switched off the encoder position information is retained. This means that the axis does not have to be readjusted when the drive powers up.
Page 479 Function modules 9.8 Basic positioner If the reference point (p2599) is in the encoder range, the actual position value is set to the reference point during adjustment. Otherwise, adjustment is canceled with F07443. NOTICE Unplanned movement of the machine when using the encoder outside the defined encoder range If a rotary absolute encoder is used outside the defined encoder range, then after switching off/ switching on, motion can occur that was not planned.
Page 480: Reference Point Approach (Incremental Measuring System)
Function modules 9.8 Basic positioner Procedure Proceed as follows to carry out the "Absolute encoder adjustment with offset acceptance" procedure: 1. Enter the offset value, determined when commissioning the drive for the first time, into parameter p2525. 2. Call "Absolute encoder adjustment with offset acceptance" using parameter p2507 = 4 to accept the offset value and to link with the adjustment point.
Page 481 Function modules 9.8 Basic positioner approach, the drive can be reproducibly moved to its reference point. The geometry with a positive starting direction (p2604 = "0") is shown in the following. Figure 9-18 Example: Reference point approach with reference cam The signal on binector input p2595 (start referencing) is used to trigger travel to the reference cam (p2607 = 1) if search for reference is selected at the same time (0 signal at binector input p2597 (referencing type selection)).
Page 482 Function modules 9.8 Basic positioner If a signal at binector input p2613 (reversing cam, MINUS) or at binector input p2614 (reversing cam, PLUS) is detected during reference point approach, the search direction is reversed. If the minus reversing cam is approached in the positive direction of travel or the plus reversing cam in the negative direction of travel, fault F07499 (EPOS: reversing cam approached with the incorrect traversing direction) is output.
Page 483 Function modules 9.8 Basic positioner reference (refer to step 3). The distance moved between the end of the cam and the zero mark is displayed in diagnostics parameter r2680 (difference between the cam - zero mark). ● 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.
Page 484: Flying Referencing
The following must always apply to the "Flying referencing mode" windows: p2602 (outer window) > p2601 (inner window). You can obtain more information on the "Flying referencing" function in the SINAMICS S120/ S150 List Manual in function diagram 3614. Drive functions...
Page 485: Data Set Switchover
Function modules 9.8 Basic positioner The following then happens: ● If the drive has not yet been referenced, status bit r2684.11 (reference point set) is set to "1". ● If the drive has already been referenced, status bit r2684.11 (reference point set) is not reset when starting flying referencing.
Page 486 Function modules 9.8 Basic positioner The following table contains a few examples for data set changeover. The initial data set is always DDS0. Table 9-7 DDS changeover without load gear position tracking p0186 (MDS) p0187 (encoder 1) EDS0 EDS0 EDS0 EDS0 EDS0 EDS4...
Page 487: Function Diagrams And Parameters
(p2597 = 0 signal) ● 3614 EPOS - flying referencing mode (r0108.4 = 1) (p2597 = 1 signal) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0494[0...n] Equivalent zero mark, input terminal ● p0495 Equivalent zero mark, input terminal ●...
Page 488 Function modules 9.8 Basic positioner Figure 9-19 Gearbox between motor and spindle By using a reduction gear between the motor and the load or spindle, the drive detects several revolutions of the motor per mechanical revolution of the load - and therefore also several encoder zero marks.
Page 489: Evaluating Bero Signals
Function modules 9.8 Basic positioner 9.8.5.1 Evaluating BERO signals Requirement ● The position of the zero mark that has the shortest distance to the position when the BERO signal switches is to be determined. ● The appropriate mechanical preconditions must be fulfilled when mounting the BERO. ●...
Page 490: Safely Referencing Under Epos
BERO signal ↔ zero mark. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0488 Probe 1, input terminal ●...
Page 491 Function modules 9.8 Basic positioner Example 1 Safety Integrated Extended functions monitor the rotating load. EPOS and Safety Integrated Extended functions use the same rotary encoder at the motor. The rotating load is coupled to the motor via a gear. The speed/position values of the spindle are calculated. ●...
Page 492 Function modules 9.8 Basic positioner Example 3 Safety Integrated Extended functions monitor the linear axis using the rotating motor encoder. EPOS referenced using the same rotary motor encoder. ● p2506 = 10000, p9520 = 5 mm/revolution => a position of 10000LU (r2521) corresponds to 5 mm (r9708) ●...
Page 493: Traversing Blocks
Function modules 9.8 Basic positioner 9.8.7 Traversing blocks Function description Up to 64 different traversing tasks can be saved. The maximum number is set using parameter p2615 (maximum number of traversing tasks). All parameters which describe a traversing task are effective during a block change if: ●...
Page 494 Function modules 9.8 Basic positioner ● Task mode (p2623[0...63]) Processing a traversing task can be affected by the parameter p2623 (task mode). Value = 0000 cccc bbbb aaaa – aaaa: Identifiers 000x → hide/show block (x = 0: show, x = 1: hide) A hidden block cannot be selected binary-coded via binector inputs p2625 to p2630.
Page 495 Function modules 9.8 Basic positioner – cccc: positioning mode The POSITION task (p2621 = 1) defines how the position specified in the traversing task is to be approached. 0000, ABSOLUTE: The position specified in p2617 is approached. 0001, RELATIVE: The axis is traveled along the value specified in p2617 0010, ABS_POS: For rotary axes with modulo offset only.
Page 496 Function modules 9.8 Basic positioner The following parameters are relevant: ● p2616[x] Block number ● p2617[x] Position ● p2618[x] Velocity ● p2619[x] Acceleration override ● p2620[x] Deceleration override ● p2623[x] Task mode ● p2622[x] Task parameter clamping torque [0.01 Nm] with rotary motors or clamping force in [1 N] with linear motors.
Page 497 Function modules 9.8 Basic positioner All continuation conditions are possible. WAITING The WAIT task can be used to set a waiting period which should expire before the following task is processed. The following parameters are relevant: ● p2616[x] Block number ●...
Page 498: Travel To Fixed Stop
POSITION and WAIT task can be started. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3616 EPOS - Traversing blocks mode (r0108.4 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2616[0...n] EPOS traversing block, block number ● p2617[0...n] EPOS traversing block, position ●...
Page 499 Function modules 9.8 Basic positioner parameterized position, speed, acceleration override and delay override, the required clamping torque can be specified as task parameter p2622. From the start position onwards, the target position is approached with the parameterized speed. The fixed stop (the workpiece) must be between the start position and the braking point of the axis;...
Page 500 Function modules 9.8 Basic positioner As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual position value (position setpoint = actual position value). Fixed stop monitoring and controller enable are active. Note If the drive is in fixed stop, it can be referenced using the control signal "Set reference point". If the axis leaves the position that it had at detection of the fixed stop by more than the selected monitoring window for the fixed stop p2635, then the status bit r2683.12 is reset.
Page 501: Direct Setpoint Input (Mdi)
EPOS - Travel to fixed stop (r0108.4 = 1) ● 4025 Position control - Dynamic following error monitoring, cam controllers (r0108.3 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p1528[0...n] CI: Torque limit upper/motoring scaling ● p1529[0...n] CI: Torque limit, lower/regenerative scaling ●...
Page 502 – Positive edge on p2650 or – Positive edge on p2649 An overview of the setpoint transfer / direct setpoint specification can be found in the function diagram 3620 (see SINAMICS S120/S150 List Manual). Features ● Select direct setpoint specification (p2647) ●...
Page 503 The "intermediate stop" and "reject traversing task" functions are only effective in "traversing blocks" and "direct setpoint specification / MDI" modes. Function diagrams (see SINAMICS S120/S150 List Manual) ● 3618 EPOS - Direct setpoint specification / MDI mode, dynamic values (r0108.4 = 1) ●...
Page 504: Jog
(jog incremental). For p2591 = "0" then the axis moves to the start of the traversing range or to the end of the traversing range with the specified velocity. An overview of the "Jog" function can be found in function diagram 3610 (see SINAMICS S120/ S150 List Manual).
Page 505: Status Signals
Function modules 9.8 Basic positioner Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2585 EPOS jog 1 setpoint velocity ● p2586 EPOS jog 2 setpoint velocity ● p2587 EPOS jog 1 travel distance ● p2588 EPOS jog 2 travel distance ●...
Page 506 Function modules 9.8 Basic positioner Axis moves forwards (r2683.4)Axis moves backwards (r2683.5)Axis accelerates (r2684.4)Drive decelerates (r2684.5)Drive stationary (zero speed) (r2199.0) These signals display the current motion status. If the actual absolute speed is less or equal to p2161, then the status signal "drive stationary" is set - otherwise it is deleted. The signals are appropriately set if jog mode, reference point approach or a traversing task is active.
Page 507 Function modules 9.8 Basic positioner Acknowledgement, traversing block activated (r2684.12) A positive edge is used to acknowledge that in the mode "traversing blocks" a new traversing task or setpoint was transferred (the same signal level as binector input p2631 activate traversing task).
Page 508: Master/Slave Function For Active Infeed
Function modules 9.9 Master/slave function for Active Infeed Master/slave function for Active Infeed Overview The "Master/Slave" function module allows drives to be operated with a redundant infeed unit. Redundancy can only be implemented in the components specified below, such as Line Modules, Motor Modules and Control Units.
Page 509 Function modules 9.9 Master/slave function for Active Infeed If the Active Line Module is used for reactive power compensation with external reactive current setpoint, then the reactive current setpoint must also be wired for the slave. The master-to- slave setpoint specifies only the active current. When Active Line Modules have been deactivated, make sure that the maximum DC-link capacitance C for the remaining Active Line Modules is not exceeded during the switch-on...
Page 510: Basic Structure
Function modules 9.9 Master/slave function for Active Infeed 9.9.1 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 511 Function modules 9.9 Master/slave function for Active Infeed Topology The following figure shows the Master/Slave mode with redundant infeed units in the PROFIBUS communication variant. Figure 9-25 Topology structure: Master/Slave mode with redundant infeed units in the PROFIBUS communication variant Restrictions ●...
Page 512: Commissioning The Function
DC-link identification (see Chapter Line supply and DC link identification (Page 35)) must be put into operation during commissioning for each infeed train. The corresponding instructions for the commissioning of infeed units in the SINAMICS S120 with Startdrive Commissioning Manual apply.
Page 513 Function modules 9.9 Master/slave function for Active Infeed adapted in this way, then the change in capacitance will affect the dynamic response of the V control. Note Aligning the setpoints of the DC link voltage The setpoints of the DC link voltage V from p3510 of the master and the slaves must be set to the same values to ensure that the V tolerance bandwidth monitoring functions correctly.
Page 514: Types Of Communication
Function modules 9.9 Master/slave function for Active Infeed Shutting down an ALM from an operating group Shutting down an ALM from the group should be realized in the slave state and with OFF2 (pulse inhibit). If a master fails with a fault (OFF2 response, pulse inhibit), one of the slaves must be immediately switched as master.
Page 515: Explanations For The Function Diagrams
Explanations for the function diagrams The function of the "Master/Slave infeed units" function module is shown in function diagrams 8940 and 8948 (see SINAMICS S120/S150 List Manual). Individual function block diagrams are explained in the following. ● Current setpoint interconnection Parameter p3570 is used to connect the setpoint for the closed-loop current control (active current setpoint from the master).
Page 516: Function Diagrams And Parameters
Active Infeed - Controller modulation depth reserve / controller DC link voltage (p3400.0 = 0) ● 8948 Active Infeed - Master/slave (r0108.19 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p3513 BI: Voltage-controlled operation disable ● p3516 Infeed current distribution factor ●...
Page 517: Parallel Connection Of Power Units
9.10 Parallel connection of power units 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 518 – Parallel connection of up to 6 Chassis-2 Motor Modules on one motor is possible. Note Additional information and instructions in the SINAMICS S120 Equipment Manual Chassis Power Units must be carefully taken into consideration. ● Parallel connection of up to 4 power units of the Chassis format on the infeed side (controlled/uncontrolled).
Page 519 Implementation is only permissible with the associated line reactors. Additional information Detailed information on the specified conditions is provided in "SINAMICS - Low Voltage Engineer‐ ing Manual (https://support.industry.siemens.com/cs/ww/en/view/83180185)". ● Smart Line Modules (SLM) Carefully observe the subsequently described conditions under which SLMs can be connected in parallel.
Page 520: Applications Of Parallel Connections
The reduction of the rated current (derating) of a power unit for parallel connection is: ● 7.5 % when connecting SINAMICS S120 Basic Line Modules and SINAMICS S120 Smart Line Modules in parallel, each of which has no current compensation control.
Page 521 Additional information on parallel power unit connections, particularly with regard to their configuration, can be found in the "SINAMICS Low Voltage Configuration Manual (http:// www.automation.siemens.com/mcms/infocenter/dokumentencenter/ld/ Documentsu20Catalogs/lv-umrichter/sinamics-engineering-manual-lv-en.pdf)". Infeed concepts - parallel (one CU) and parallel redundant (two CUs) Some applications require redundant infeeds for a DC line-up. This requirement can be fulfilled through the implementation of multiple, independent infeeds which are connected in parallel to the DC line-up.
Page 522: Parallel Connection Of Basic Line Modules
DC link can be fully charged by a single converter system. Otherwise a separate pre-charging device must be provided. Configuring a parallel connection Additional information on configuring parallel power units connections can be found in the "SINAMICS Low Voltage Configuration Manual (http://www.automation.siemens.com/mcms/ infocenter/dokumentencenter/ld/Documentsu20Catalogs/lv-umrichter/sinamics-engineering- manual-lv-en.pdf)". 9.10.1.1 Parallel connection of Basic Line Modules Description Basic Line Modules are used in cases where regenerative feedback capability is not required.
Page 523 Function modules 9.10 Parallel connection of power units ● With multiple infeed units, 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 524: Parallel Connection Of Smart Line Modules
Function modules 9.10 Parallel connection of power units subsystems are controlled by a common Control Unit - even though the input voltages are 30° out of phase. There is also the redundant version with which two BLMs in each case are controlled by one Control Unit.
Page 525: Parallel Connection Of Active Line Modules
Function modules 9.10 Parallel connection of power units Features ● The DC-link voltage is greater than the rms value of the line rated voltage by a factor of 1.3. Rules The following rules must be observed when connecting Smart Line Modules in parallel: ●...
Page 526 Function modules 9.10 Parallel connection of power units The parallel connection of a maximum of 4 identical ALMs of the Chassis format or a maximum of 6 identical ALMs of the Chassis-2 format is supplied by a shared two-winding transformer and controlled synchronously by a shared Control Unit.
Page 527 Function modules 9.10 Parallel connection of power units ● In the case of multiple infeed units, the systems must be supplied by a common infeed point. Different networks are, as a result, not permissible. ● A derating factor of 5% must be taken into consideration, regardless of the number of ALMs connected in parallel.
Page 528: Parallel Connection Of Motor Modules
● In conjunction with the type of infeed, the modulation systems define the maximum attainable output voltage or the motor voltage. Winding systems for motors in SINAMICS S120 parallel connections The following motors are permissible: ● Motors with electrically isolated winding systems (multi-winding system) in which the individual systems are not electrically coupled.
Page 529 Function modules 9.10 Parallel connection of power units Parallel connection of two Motor Modules to one motor with double winding system Motors in the power range from about 1 MW to 4 MW, for which power units connected in parallel are generally used, frequently have several parallel windings. If these parallel windings are separately routed to the terminal box of the motor, a motor is obtained with winding systems that can be separately accessed.
Page 530: Commissioning The Parallel Connection
ONLINE topology is inconsistent. Load the project now to the programming device. This resolves the inconsistency. For further detailed information about commissioning, restrictions regarding operation and parameterization options, please refer to the following manuals: ● SINAMICS S120 Commissioning Manual with Startdrive ● SINAMICS S120/S150 List Manual Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 531: Additional Drive In Addition To The Parallel Connection
Function modules 9.10 Parallel connection of power units 9.10.3 Additional drive in addition to the parallel connection Overview Frequently, a controlled auxiliary drive is required in addition to the main drives, e.g. as excitation controller for shaft-mounted generators in shipbuilding or as lubricating pump drive, fan drive etc.
Page 532 Figure 9-28 Topology with 3 basic Line Modules, 2 Motor Modules and 1 auxiliary drive Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0120 Power Module data sets (PDS) number ●...
Page 533 Function modules 9.10 Parallel connection of power units ● r7000 Par_circuit number of active power units ● p7001[0..n] Par_circuit enable power units ● r7002[0..n] CO: Par_circuit status power units ● p7003 Par_circuit winding system ● p7010 Par_circuit current unbalance alarm threshold ●...
Page 534: Extended Stop And Retract
If extended stop and retract are to activated simultaneously with Safety Integrated Functions, the following conditions must also be satisfied. Further information can be found in the SINAMICS S120 Function Manual Safety Integrated. Example For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and various feed drives for a tool.
Page 535: Commissioning The Function
Function modules 9.11 Extended stop and retract 9.11.1 Commissioning the function Requirement ● PG/PC and drive are connected with one another via PROFIBUS or PROFINET. Procedure To start the function, proceed as follows: 1. Select the ESR function with parameter p0888: –...
Page 536: Invalid Trigger Sources
Function modules 9.11 Extended stop and retract Triggering for all drives of a Control Unit Conditions for triggering the function: ● ESR function has been configured in the drive, e.g. stopping or retraction. ● ESR function has been enabled in the drive. ●...
Page 537: Extended Retract
Function modules 9.11 Extended stop and retract Procedure To configure the response for extended shutdown, proceed as follows: 1. Configure the stopping response with the parameter setting p0888 = 1 (N-set) or p0888 = 4 (N-actual). 2. Set the time in parameter p0892 for which the last setpoint from r1438 and the last actual value from r0063 are frozen before braking is initiated.
Page 538: Regenerative Operation
Function modules 9.11 Extended stop and retract 3. Use parameter p0892 to specify how long the retraction speed is to be applied. 4. Select the OFF ramp with parameter p0891. Figure 9-30 OFF ramp with "extended retract" The retraction speed is not approached suddenly. It is approached via the OFF3 ramp. Parameter p0893 supplies the ramp-function generator with the setpoint for the ESR retraction speed which is actuated by an OFF3 ramp in the case of drive-autonomous motions.
Page 539: Restrictions For Esr
Function modules 9.11 Extended stop and retract Procedure To configure the response for generator operation, proceed as follows: 1. Set the generator operation of the drive with the parameter setting p0888 = 3. 2. Parameterize the V controller. 3. Activate the monitoring of the DC-link voltage for the generator operation with the parameter setting p1240 = 2.
Page 540: Profidrive Telegram For Esr
● 2495 PROFIdrive - CU_STW1 control word 1, Control Unit interconnection ● 3082 Setpoint channel - extended stop and retract (ESR, r0108.9 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0063 CO: actual speed value ● p0108[0...n] Drive object function module ●...
Page 541 Function modules 9.11 Extended stop and retract ● p0891 ESR OFF ramp ● p0892 ESR timer ● p0893 ESR velocity / ESR speed ● p1051[0...n] CI: Speed limit in RFG, positive direction of rotation ● p1052[0...n] CI: Velocity limit RFG, negative direction ●...
Page 542: Moment Of Inertia Estimator
Function modules 9.12 Moment of inertia estimator 9.12 Moment of inertia estimator Overview The "Moment of inertia estimator" function is preferably applied for cases in which a constant repetition of the rotating motor data identification for determining moment of inertia is either too complex or is not possible.
Page 543 Function modules 9.12 Moment of inertia estimator Operation without an encoder Operation without encoder is possible in both servo control mode and vector control mode. The following applies: ● For operation without encoder, the total moment of inertia of the motor and driven machine must be known.
Page 544 Function modules 9.12 Moment of inertia estimator The load torque has stabilized (settled) once one of the following conditions is satisfied. ● Condition 1: Requirement Condition Direction: Measurement is performed in the di‐ If the load was measured for a minimum duration rection of travel.
Page 545 Function modules 9.12 Moment of inertia estimator ① Acceleration torque M ② Speed p1755 ③ Motor torque M (≙ setpoint acceleration) Figure 9-34 Parameters for calculating the moment of inertia Optimizing traversing For optimization of traversing, refer to the information in the following table. If ...
Page 546: Commissioning The Function
Function modules 9.12 Moment of inertia estimator Saving the results permanently The results of the moment of inertia and load estimator can be taken over by permanently saving (RAM to ROM) after the system has settled (r1407.26 = 1). If there are no significant changes to the moments of inertia, the inertia estimator can be deactivated after saving.
Page 547: Supplementary Functions For Vector Control
Function modules 9.12 Moment of inertia estimator To activate the "Moment of inertia estimator" function module, proceed as follows: 1. Call the configuration of the drive in the Startdrive engineering tool in offline mode. Activate the "Moment of inertia estimator / OBT" function module. You can then check under r0108.10 in the parameter view whether the moment of inertia estimator is activated.
Page 548 Function modules 9.12 Moment of inertia estimator Function description In applications in which the motor runs predominantly at constant speed, the converter can only rarely calculate the moment of inertia using the "Moment of inertia estimator" (see Chapter "Moment of inertia estimator (Page 540)"). Moment of inertia precontrol is available for situations such as these.
Page 549: Additional Functions
● 5035 Servo control - moment of inertia estimator (r0108.10 = 1) ● 6035 Servo control - moment of inertia estimator (r0108.10 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108 Drive object function module ● r0333[0...n] Rated motor torque ●...
Page 550 Function modules 9.12 Moment of inertia estimator ● p1560[0...n] Moment of inertia estimator accelerating torque threshold value ● p1561[0...n] Moment of inertia estimator change time moment of inertia ● p1562[0...n] Moment of inertia estimator change time load ● p1563[0...n] CO: Moment of inertia estimator load torque positive direction of rota‐ tion ●...
Page 551: Additional Controls For Active Infeed
3. Activate the "Additional closed-loop controls" function module in the function modules selection with a mouse click. Parameter r0108.03 indicates whether the function module has been activated. Function diagrams (see SINAMICS S120/S150 List Manual) ● 8940 Active Infeed - controller modulation depth reserve / controller DC link voltage (p3400.0 = 0)
Page 552: Advanced Position Control (Including Active Vibration Suppression)
Requirement ● The "Advanced Position Control" (APC, r0108.7) and "Active Vibration Suppression (AVS/ APC-ECO)" (APC, r0108.19) function modules for SINAMICS S120 are only available for servo drives. ● Several APC functions require that a 2nd measuring system is used. Additional information is provided in the description of the various subfunctions.
Page 553 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Mechanical oscillations are always dampened using the motor speed controller (P gain, integrator). When dampening an axis, two counteracting adjustment principles are available. 1. In order to efficiently suppress disturbances, the speed controller is optimally set using a high speed controller gain.
Page 554 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Note Intervention of APC in the speed control loop that can be critical for system stability The functions integrated in APC represent their own control loop - or provide the possibility of intervening in the speed control loop.
Page 555 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Subfunctions The APC function module is subdivided into the following subfunctions: ● Active Vibration Suppression (APC without sensor on the load side) (Page 556): – Is a rugged function to dampen oscillation. –...
Page 556: Commissioning The Function Module
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) 9.14.1 Commissioning the function module Activating function modules in SINUMERIK 2 APC function modules that require a license are available for SINUMERIK applications ("Advanced Positioning Control(APC)" and "Active Vibration Suppression(AVS/APC-ECO)"). The function modules for SINUMERIK applications cannot be activated using the Startdrive commissioning tool.
Page 557 APC speed limit Setting the limit for the APC output value. For standard Siemens motors (1FT, 1FK) with rated speeds in the range 2000 to 6000 rpm, we recom‐ mend that a speed limit of 500 rpm is set. Set the speed limit so that the required manipulated variable of the APC controller is reached.
Page 558: Active Vibration Suppression (Apc Without Sensor On The Load Side)
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Parameter Default value Explanation p3700.1 Using an external accelera‐ An external acceleration sensor must first be integrated into the system tion sensor (e.g. using a TM31 module). The function is activated in the APC using p3700.1 = 1.
Page 559 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Function diagram The following figure is an excerpt from function diagram 7012. Figure 9-36 APC without sensor on the load side Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 560 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Examples The effect of the functions on the frequency response is very similar in both examples. ● The following figure shows how the measurement of an open APC circuit may appear. The stability of the control loop can be identified based on the amplitude reserve at the frequency where the phase goes through -180°...
Page 561 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Red: APC inactive: The closed-loop control is at the limit of its stability. The position control gain is too high. Yellow: APC active (p3761 = 3 ms): The oscillation is dampened. The position control gain can be kept - or even increased slightly.
Page 562: Activating The Function
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Orange: r0061[0] motor speed/velocity Brown: r3771[0] load speed/velocity Blue: r3777[1] APC output 9.14.2.1 Activating the function Procedure If the "Advanced Position Control (APC)" function module is activated, then activate AVS using p3700.2 = 1.
Page 563: Measuring The Function
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) ● A first optimization of the function can be performed by parameterizing the oscillation frequency of the axis using parameter p3752[0...n] (AVS controller preassignment natural oscillation frequency). Dependent on the parameterization of the oscillation frequency, parameters p3709 (PT1 lowpass filter), p3751 (highpass filter) and p3761 (controller gain) are automatically overwritten with a preassigned default setting.
Page 564: Apc To Reduce Machining-Related Oscillation
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) 9.14.3 APC to reduce machining-related oscillation Function description The "APC function to reduce machining-related oscillation" allows this type of oscillation to be specifically dampened. General data ● The function is especially suitable for axes equipped with linear motors. ●...
Page 565 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Examples The following figure shows an example of the position controller reference frequency response sequence for measurement with and without APC. Blue APC is inactive. APC is active with p3754 = 0.5. Figure 9-39 Example: Measuring the position controller reference frequency response with and without APC The following figure shows an example of the time domain sequence for measurement with and...
Page 566: Activating The Function
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Blue APC is inactive. APC is active with p3754 = 0.5. Figure 9-40 Example: Measuring the time domain with and without APC 9.14.3.1 Activating the function Procedure Before activating the "APC to reduce the machining-related oscillation" function, determine and parameterize the oscillation frequency.
Page 567: Measuring The Function
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Important notes for parameterization ● The "APC to reduce machining-related oscillation" uses the parameters of torque setpoint filter 1 (p3740 to p3743, p3704.12, p3705.12). The function acts directly in the speed control loop, and modifies the speed controller response.
Page 568 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Applications 1. The ratio between the load moment of inertia and the motor moment of inertia is very high. The oscillation frequency is relatively low. In this case, only very minimal speed controller gain can be set.
Page 569 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Speed Position APC s_Dif DT1 T APC s_Dif Kp Motor side p3767[D] p3768[D] p3700.0 – [5040.7] to the torque setpoint Speed Position r1482 Load side Figure 9-42 APC with differential position feedback Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 570 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Examples ● The following figure shows an example of the effect the "APC with encoder combination" has on the speed controlled system. Yel‐ Speed controlled system without encoder combination low: Red: Speed controlled system with encoder combination (p3702 = 0.3) Figure 9-43...
Page 571: Important Notes For Parameterization
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Yel‐ Reference frequency response speed controller without differential position feedback low: Red: Reference frequency response speed controller with differential position feedback Figure 9-44 Effect on the speed controller reference frequency response As a result of the differential position feedback, the resonant position is shifted to a higher frequency.
Page 572: Measuring The Function
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) ● The weighting factor for encoder combination p3702 has, for compatibility reasons to previous software releases, a default value of "1". For most applications, this value cannot be activated. This value should be set to "0" before activating the encoder combination. Negative values for p3702 are permissible.
Page 573 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) stability. It must also be taken into consideration that resonance effects such as these are dependent on axis positions, for example. The parameterization selected must be stable in the complete machining space of the machine. This is also the reason that using the function without a direct measuring system (see Chapter "Active Vibration Suppression (APC without sensor on the load side) (Page 556)") is frequently a more rugged solution.
Page 574 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Figure 9-45 APC with acceleration feedback Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 575 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Examples ● The following figure shows an example of the effect the function has on the reference frequency response. Yellow Speed controller reference frequency response APC closed circuit (speed load / speed motor), p3761 = 3 ms Green APC open circuit (filter1 output / speed motor), measured with APC active Figure 9-46 APC circuit closed...
Page 576 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Blue Load speed Green Motor speed Figure 9-47 APC with acceleration input At the beginning, the motor must move more in order to combat oscillation. ● The following figures show an example of the effect of combined APC feedbacks. Figure 9-48 Control loop with two APC feedbacks Figure 9-49...
Page 577: Important Notes For Parameterization
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Figure 9-50 Load frequency response with APC: 1 feedback closed Figure 9-51 Load frequency response with APC: 2 feedbacks closed 9.14.5.1 Important notes for parameterization The function always requires a direct measuring system. If an axis is equipped with a measuring system (encoder 2 or encoder 3), then this can be selected using p3701.
Page 578: Measuring The Function
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) 9.14.5.2 Measuring the function Procedure The following measuring functions can be used to measure the "APC with acceleration feedback" function: ● APC open circuit ● APC closed circuit ● Speed controller reference frequency response ●...
Page 579 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Figure 9-52 APC with load velocity control Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 580: Important Notes For Parameterization
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Example The following figure shows an example of the effect the function has on the motor and load speed in the time range. Blue Load speed Green Motor speed Figure 9-53 APC with speed input The motor speed with APC with speed input manifests a significant level of fluctuating loads, which can result in more significant stressing of the mechanical components.
Page 581: Additional Information
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) You can find detailed information on how to perform these measurements in Chapter "Measuring frequency responses (Page 582)". 9.14.7 Additional Information Setting parameter p3700 The following table provides an overview of the individual bits of parameter p3700 "AVS/APC configuration"...
Page 582 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Using APC in conjunction with One Button Tuning (OBT) When using APC in conjunction with One Button Tuning function (OBT), the APC function must first be deactivated. Note It is only permissible that the APC function is executed after OBT has been applied. Procedure: Proceed as follows to deactivate the APC function: 1.
Page 583 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) For the "APC without sensor on the load side" function, parameters p0341, p0342 and p1498 are used to calculate to the moment of inertia. Parameters p0341 and p0342 are dependent on the motor data set.
Page 584: Measuring Frequency Responses
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) 9.14.8 Measuring frequency responses 9.14.8.1 Use case SINUMERIK Overview This chapter describes which measuring functions are available to measure the relevant frequency responses, and how these can be executed. As APC constitutes its own control loop, we recommend measuring the open circuit with a higher bandwidth (e.g.
Page 585 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) Setting the measuring function To set the measuring function for the additional signals, proceed as follows: 1. Select the measurement function and the additional signals. Figure 9-54 Example: Measurement functions and signals 2.
Page 586: Configuring Measuring Functions
Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) 9.14.8.3 Configuring measuring functions Description The following table provides an overview of the available measuring functions and their configurability. Measuring function Configuration APC open circuit Procedure 1. Select “Speed controller reference frequency response” as the measuring function. 2.
Page 587: Function Diagrams And Parameters
Technology functions - Advanced Positioning Control (APC, r0108.7 = 1) ● 7013 Technology functions - APC differential position gain (APC, r0108.7 = 1) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0341[0...n] Motor moment of inertia ● p0342[0...n] Ratio between the total and motor moment of inertia ●...
Page 588 Function modules 9.14 Advanced Position Control (including Active Vibration Suppression) ● p3737[0...n] Advanced Positioning Control filter 3.2 denominator damping ● p3738[0...n] Advanced Positioning Control filter 3.2 counter natural frequency ● p3739[0...n] Advanced Positioning Control filter 3.2 counter damping ● p3740 to APC torque setpoint filters 1 + 2 p3747 ●...
Page 589: Cogging Torque Compensation
Function modules 9.15 Cogging torque compensation 9.15 Cogging torque compensation Overview Due to the fixed relationship between absolute position and cogging force for synchronous motors, the "Cogging torque compensation" function is particularly suited to these motors for the improvement of radial eccentricity. On the other hand, this function is not suitable for induction motors.
Page 590 Function modules 9.15 Cogging torque compensation Example 1: steady, supplementary learning for linear motors The entire traversing distance cannot be measured for linear motors in a single operation. A learning process can only be initiated once a linear motor has been brought up to speed. We therefore recommend that the traversing distance be measured over several steps.
Page 591 Function modules 9.15 Cogging torque compensation Procedure To perform the cogging torque compensation, proceed as follows: 1. So that a compensation table is used for each direction of motion, activate p5250.1 = 1 (prerequisite: p5250.0 = 1). 2. Define the length of the compensation table using p5252. 3.
Page 592: Activating The Function Module
Function modules 9.15 Cogging torque compensation 9.15.1 Activating the function module Procedure To activate the function module, proceed as follows: 1. In Startdrive, select “Drive axis > Parameters > Basic parameter assignment > Function modules.” 2. Activate the function module “Cogging torque compensation.” You can check that it has been activated in parameter r0108.22.
Page 593 Function modules 9.15 Cogging torque compensation Making the settings The following parameter settings are important when filling the compensation tables: Parame‐ Index Value Meaning p5251 ‑ Activate the option “New slow learning” By activating the option, the corresponding compensation table is deleted with the learning process. During the learning proc‐ ess, the cogging torque compensation is automatically deactivated.
Page 594 Function modules 9.15 Cogging torque compensation Parame‐ Index Value Meaning r5254 Shows the mean values per point in the table during slow learning. If a point in the table is passing through several times during slow learning, the newly calculated torques are taken into account under the mean value.
Page 595: Compensating Periodic Position Errors
Function modules 9.15 Cogging torque compensation 9.15.4 Compensating periodic position errors Procedure You can also compensate periodic position errors using the "Cogging torque compensation" function module. As a result of how the encoder is mounted (not centrally mounted, encoder coupling, encoder radial runout), measuring errors can occur in the speed and position actual value with 1 or 2 periods per revolution.
Page 596: Messages And Parameters
9.15.5 Messages and parameters Faults and alarms (see SINAMICS S120/S150 List Manual) A07354 Drive: Cogging torque compensation not possible Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0108 Drive object function module ● p5250[0...n] Cogging torque compensation configuration ●...
Page 597: Monitoring Functions And Protective Functions
Monitoring functions and protective functions 10.1 Power unit protection SINAMICS power units offer comprehensive functions for protecting power components. Table 10-1 General protection for power units Protection against: Precautions Responses Overcurrent Monitoring with 2 thresholds: ● 1. Threshold exceeded A30031, A30032, A30033 Current limiting of a phase has responded.
Page 598 Monitoring functions and protective functions 10.1 Power unit protection The following thermal monitoring functions are active: ● I t monitoring - A07805 - F30005 t monitoring is used to protect components that have a high thermal time constant compared with semiconductors. 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 599 Monitoring functions and protective functions 10.1 Power unit protection Responses The Control Unit sets the desired responses using p0290. Through this parameter, the described procedures can be used in various combinations in order to reduce the thermal stress. Depending on the configured procedure, the following ●...
Page 600 I2t monitoring have been exceeded. Function diagrams (see SINAMICS S120/S150 List Manual) ● 8021 Signals and monitoring functions - thermal monitoring power unit Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0036 CO: Power unit overload I2t ● r0037[0...19] CO: Power unit temperatures ●...
Page 601: Thermal Motor Protection
Monitoring functions and protective functions 10.2 Thermal motor protection 10.2 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 602: Thermal Motor Model 1
Monitoring functions and protective functions 10.2 Thermal motor protection constant. A combination of thermal motor model with additional temperature sensors can also be used. NOTICE Damage to the motor when operated without temperature sensors The thermal model cannot protect the motor in the event of incorrect installation, elevated ambient temperature, or incorrect parameter assignment, and as a consequence, the motor can be damaged.
Page 603 Monitoring functions and protective functions 10.2 Thermal motor protection Important settings The most important parameters for thermal motor model 1 and/or for the expansion of this model are subsequently explained. When the expansion is subsequently activated, the corresponding parameters of the expansion are preassigned with the parameter values before activating the expansion.
Page 604: Thermal Motor Model 2
10.2.1.3 Thermal motor model 3 Thermal motor model 3 is only intended for certain Siemens motors, which do not have their own integrated temperature sensors. Thermal motor model 3 is a thermal 3-mass model. It is activated with p0612.02 = 1. The necessary parameters are automatically transferred when commissioning via DRIVE-CLiQ.
Page 605: Motor Overload Protection According To Iec/Ul 61800-5-1
Overview The thermal motor models described comply with the motor overload protection according to IEC/UL 61800-5-1. For Siemens motors from the database, the parameters are set automatically for the corresponding motor model. For third-party motors on the other hand, a standard motor data set is created, which may have to be adapted to guarantee conformity with the motor overload protection.
Page 606 – Synchronous motors: p0612.0 = Yes (thermal motor type 1) – Induction motors: p0612.1 = Yes (thermal motor type 2) – For specific Siemens motors without installed temperature sensors: p0612.2 = Yes (thermal motor type 3) 3. Activate the extension for thermal motor type 1 with p0612.8 = Yes.
Page 607: Function Diagrams And Parameters
● 8018 Signals and monitoring functions - motor temperature model 2 ● 8019 Signals and monitoring functions - motor temperature model 3 Overview of important parameters (see SINAMICS S120/S150 List Manual) Thermal motor model 1 ● r0034 CO: Motor utilization thermal ●...
Page 608: Motor Temperature Sensing
Monitoring functions and protective functions 10.2 Thermal motor protection ● p0625[0...n] Motor ambient temperature during commissioning ● p0626[0...n] Motor overtemperature, stator iron ● p0627[0...n] Motor overtemperature, stator winding ● p0628[0...n] Motor overtemperature rotor ● r0630[0...n] Mot_temp_mod ambient temperature ● r0631[0...n] Mot_temp_mod stator iron temperature ●...
Page 609 The temperature sensor is connected to the Sensor Module at the appropriate terminals (- Temp) and (+Temp) (see the relevant chapter in the SINAMICS S120 Control Units and Supplementary System Components Manual). The threshold value for switching over to an alarm or fault is 1650 Ω.
Page 610: Sensor Modules
Monitoring functions and protective functions 10.2 Thermal motor protection 10.2.3 Sensor Modules Sensor Modules are needed when additional temperature sensors are to be connected via DRIVE-CLiQ. Various Sensor Modules are available to do this: ● Sensor Module Cabinet-Mounted (SMC) for rail mounting in control cabinets ●...
Page 611: Sensor Module External
Monitoring functions and protective functions 10.2 Thermal motor protection 10.2.3.2 Sensor Module External A Sensor Module External (SME) is required if the sensor interface is to be installed close to the motor sensor outside a control cabinet. The SME has an IP67 degree of protection. 10.2.3.3 Sensor Module SME 20/25 The SME20 and SME25 evaluate encoder and sensor data.
Page 612 Monitoring functions and protective functions 10.2 Thermal motor protection KTY84 ● p4601[0...n] to p4603[0...n] = 20 sets temperature sensor type KTY. ● If the value in parameter r4620[0...3] is not equal -200 °C, then the temperature display is valid. The actual value of the temperature sensors is displayed: –...
Page 613: Terminal Modules
Monitoring functions and protective functions 10.2 Thermal motor protection 10.2.4 Terminal Modules Terminal Modules provided the drive system with additional analog and digital data inputs and outputs. They are intended for use in control cabinets. The Terminal Modules are connected via DRIVE-CLiQ with the drive system.
Page 614: Terminal Module 31
Monitoring functions and protective functions 10.2 Thermal motor protection 10.2.5 Terminal Module 31 A Terminal Module 31 (TM31) is used when additional digital and analog inputs/outputs required. The temperature sensor is connected at terminal X522. The values of the fault and/or alarm thresholds can be set in parameter p4102[0..1] from -48 °C to 251 °C.
Page 615: Terminal Module 120
Fault messages for an individual temperature channel in the TM120 are propagated to all other drive objects connected with the TM120. As such all other drive objects (connected with the TM120) also trigger a fault. You will find additional information in the SINAMICS S120 Control Units and Supplementary System Components Manual. Temperature measurement ●...
Page 616 Monitoring functions and protective functions 10.2 Thermal motor protection ● r4620[0...3] ≠ -200° C means: – A KTY84/PT1000 is connected. – The temperature display is valid. ● r4620[0...3] = -200° C means: – A PTC or a bimetal NC contact is connected. –...
Page 617: Terminal Module 150
TM150. As such all other drive objects (connected with the TM150) also trigger a fault. You can find additional information in the function diagrams 9625, 9626 and 9627 in the SINAMICS S120/S150 List Manual. Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 618: Measurement With Up To 6 Channels
To do this, short-circuit the sensor cable as close as possible to the sensor. The procedure is described in the SINAMICS S120/150 List Manual under p4109[0...11]. The measured cable resistance is then taken into account when evaluating the temperature.
Page 619: Measurement With Up To 12 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 at terminals 1 and 2. You can find additional information in function diagram 9626 in the SINAMICS S120/S150 List Manual.
Page 620: Forming Groups Of Temperature Sensors
Monitoring functions and protective functions 10.2 Thermal motor protection 10.2.7.3 Forming groups of temperature sensors You can combine the temperature channels to form groups using parameter p4111[0...2]. For each group, the following calculated values are provided from the temperature actual values (r4105[0...11]): ●...
Page 621: Setting The Smoothing Time For Temperature Channels
Monitoring functions and protective functions 10.2 Thermal motor protection If the evaluation of the temperature actual value from p4105[0...11] has exceeded the fault threshold set in p4102[0...23], then the corresponding fault is immediately activated. Using p4118[0...11], a hysteresis for p4102[0...23] can be set for each channel. Using p4119[0...11], a filter can be activated to smooth the temperature signal for each channel.
Page 622: Motor Module / Power Module Chassis
Monitoring functions and protective functions 10.2 Thermal motor protection 3. Click on the “Smoothing” button in the circuit diagram of the displayed temperature sensor/ channel (for sensor 5: p4119[5] = 1). Figure 10-1 Smoothing time of a temperature sensor/channel. Thus the filter to smooth the temperature signal is activated. Under the "Smoothing" button, an entry field for the necessary smoothing time constant (p4122[0...11]) is displayed.
Page 623: Connection Of The Cu310-2 And The Cua31/Cua32 Adapters
Monitoring functions and protective functions 10.2 Thermal motor protection Setting the temperature sensor The temperature sensor type is set using p0601[0...n]. When connecting a temperature sensor to terminal X41 of a chassis unit, you must specify to which power unit the temperature sensor is to be connected when power units are connected in parallel.
Page 624: Motor With Drive-Cliq
Monitoring functions and protective functions 10.2 Thermal motor protection Device Interface +Temp -Temp PT100 CUA32 Terminal strip X210 ‑ Encoder interface X220 ‑ CUA31 Setting the temperature measurement and the temperature channels: ● p0600[0...n] = 11 sets the temperature channel via CU terminals. ●...
Page 625: Temperature Sensor Evaluation
● If the motor temperature sensor set in p0600 is not connected, alarm A07820 "Temperature sensor not connected" is triggered. 10.2.12 Function diagrams and parameters Function diagrams (see SINAMICS S120/S150 List Manual) ● 8016 Signals and monitoring functions - thermal monitoring motor, Mot_temp ZSW F/ ● 8017 Signals and monitoring functions - motor temperature model - 1 (I2t) ●...
Page 626 Terminal Module 150 (TM150) - Temperature evaluation 1x2-, 3-, 4-wire (channel 0 ... 5) ● 9627 Terminal Module 150 (TM150) - Temperature evaluation 2x2-wire (channel 0 ... 11) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0034 CO: Thermal motor load ● r0035 CO: Motor temperature ●...
Page 627 Monitoring functions and protective functions 10.2 Thermal motor protection ● r4101[0...3] TM120 sensor resistance ● p4102[0...7] TM120 fault threshold / alarm threshold ● p4103[0...3] TM120 temperature evaluation delay time ● r4104.0...7 BO: TM120 temperature evaluation status ● r4105 [0...3] CO: TM120 actual temperature value Additional parameters for TM150 ●...
Page 628: Blocking Protection
Blocking protection Function diagrams (see SINAMICS S120/S150 List Manual) ● 8012 Signals and monitoring functions - Torque messages, motor locked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p2144[0...n] BI: Blocked motor monitoring enable (negated) ● p2175[0...n] Motor locked speed threshold ●...
Page 629: Stall Protection (Vector Control Only)
Vector control - Interface to Motor Module (ASM, p0300 = 1) ● 8012 Signals and monitoring functions - Torque messages, motor locked/stalled Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r1408.0...15 CO/BO: Status word, current controller ● p1744[0...n] Motor model speed threshold stall detection ●...
Page 630 Monitoring functions and protective functions 10.4 Stall protection (vector control only) Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 631: Safety Integrated Basic Functions
● You should subscribe to and carefully read the corresponding newsletter in order to obtain the latest information and to allow you to modify your equipment accordingly. To subscribe to the newsletter, please proceed as follows: 1. Go to the following Siemens internet site in your browser: Siemens Drives (http://www.industry.siemens.com/drives/global/en/pages/drive- technology.aspx)
Page 632 Safety Integrated Basic Functions 11.1 Latest information 6. Open the topic "Products and solutions". You will now be shown which newsletter is available for this particular subject area or topic. You can subscribe to the appropriate newsletter by clicking on the "Subscribe" entry. If you require more detailed information on the newsletters, then please use the supplementary function on the website.
Page 633: General Information
● To reset the password to the factory setting, you require the valid password. ● The probability of failure (PFH) and certification of the safety functions apply even if no password has been set. ● More information can be found in the SINAMICS S120 Safety Integrated Function Manual. 11.2.1 Explanations, standards and terminology Safety Integrated The "Safety Integrated"...
Page 634 Part 5-2: Safety requirements - Functional Note Certifications In conjunction with certified components, the safety functions of the SINAMICS S120 drive system fulfill the following requirements: ● Safety integrity level 2 (SIL 2) to IEC 61508 ● Category 3 according to DIN EN ISO 13849‑1 ●...
Page 635: Supported Functions
Since Startdrive generates the safety-relevant parameters of the second channel by copying, this manual contains only the parameters of the first channel. You will find the relevant parameters of the 2nd channel in the parameter description, e.g. in SINAMICS S120/S150 List Manual.
Page 636 Safety Integrated Basic Functions 11.2 General information Safety Integrated Basic Functions The following functions are part of the standard scope of the drive and can be used without any additional license: ● Safe Torque Off (STO) STO is a safety function that prevents the drive from restarting unexpectedly, in accordance with EN 60204-1:2006 Section 5.4.
Page 637: Control Possibilities
Safety Integrated Basic Functions 11.2 General information ● Safe Speed Monitor (SSM) ● Safe Acceleration Monitor (SAM) ● Safe Brake Ramp (SBR) ● Safe Direction (SDI) ● Safe gearbox stage switchover ● Safety Info Channel (SIC) ● Safe homing ● Safe Brake Test (SBT) ●...
Page 638: Parameters, Checksum, Version
Safety Integrated Basic Functions 11.2 General information Note PROFIsafe or TM54F Using a Control Unit, control is possible either via PROFIsafe or TM54F. Mixed operation is not permissible. 11.2.4 Parameters, checksum, version Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ●...
Page 639: Handling The Safety Password
Safety Integrated Basic Functions 11.2 General information Basic Functions ● r9798 SI actual checksum SI parameters (Control Unit) ● p9799 SI reference checksum SI parameters (Control Unit) ● r9898 SI actual checksum SI parameters (Motor Module) ● p9899 SI reference checksum SI parameters (Motor Module) During each ramp-up procedure, the actual checksum is calculated via the Safety parameters and then compared with the reference checksum.
Page 640 Safety Integrated Basic Functions 11.2 General information Details on handling the safety password If a password is set, in commissioning mode for Safety Integrated (p0010 = 95), you cannot change safety parameters until you have entered the valid safety password in p9761 for the drives or p10061 for the TM54F.
Page 641 – Set the new password = 0. – Click "Change password" to accept the new password. – SINAMICS S120 responds with the message "Please change the password!" – Close the message. – In the "Change password" dialog box, then click the "Cancel" button.
Page 642: Forced Checking Procedure (Test Stop)
Safety Integrated Basic Functions 11.2 General information 11.2.6 Forced checking procedure (test stop) 11.2.6.1 Forced checking procedure or test of the switch-off signal paths (test stop) for Safety Integrated Basic The forced checking procedure (test stop) at the switch-off signal paths is used to detect software/hardware faults at both monitoring channels in time and is automated by means of activation/deactivation of the "Safe Torque Off"...
Page 643: Forced Checking Procedure (Test Stop) With Power On
Safety Integrated Basic Functions 11.2 General information 11.2.6.2 Forced checking procedure (test stop) with POWER ON Forced checking procedure (test stop) can be automatically executed at POWER ON. ● If the forced checking procedure (test stop) as well as the test of the F‑DO for the CU310-2 are to be executed automatically, then set p9507.6 = 1.
Page 644: Safety Instructions
Safety Integrated Basic Functions 11.3 Safety instructions 11.3 Safety instructions Additional safety information and residual risks not specified in this chapter are included in the relevant sections of this Function Manual. DANGER Risk minimization through Safety Integrated Safety Integrated can be used to minimize the level of risk associated with machines and plants.
Page 645 Safety Integrated Basic Functions 11.3 Safety instructions WARNING Danger to life as a result of undesirable motor motion when the system powers up and the drives are activated after changing or replacing hardware and/or software After hardware and/or software components have been modified or replaced, it is only permissible for the system to run up and the drives to be activated with the protective devices closed.
Page 646: Safe Torque Off (Sto)
Safety Integrated Basic Functions 11.4 Safe Torque Off (STO) 11.4 Safe Torque Off (STO) In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO) function is used to safely disconnect the torque-generating energy supply to the motor. A restart is prevented by the two-channel pulse suppression.
Page 647 Safety Integrated Basic Functions 11.4 Safe Torque Off (STO) WARNING Unplanned motor motion After the energy feed has been disconnected (STO active) the motor can undesirably move (e.g. the motor can coast down), therefore presenting risk to persons. ● Take suitable measures to prevent undesirable movement, e.g. by using a brake with safety-relevant monitoring.
Page 648 Safety Integrated Basic Functions 11.4 Safe Torque Off (STO) ● STO via TM54F: – p9601.0 = 0 – p9601.2 = 0 – p9601.3 = 0 – p9601.6 = 1 ● STO via TM54F and onboard terminals: – p9601.0 = 1 –...
Page 649 The "STO" safety function has the higher priority when simultaneously selected. If the "STO" function is initiated, then an activated "internal armature short-circuit" is disabled. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0799[0...2] CU inputs/outputs, sampling time ●...
Page 650: Safe Stop 1 (Ss1, Time Controlled)
Safety Integrated Basic Functions 11.5 Safe Stop 1 (SS1, time controlled) 11.5 Safe Stop 1 (SS1, time controlled) 11.5.1 SS1 with OFF3 The "Safe Stop 1" (SS1) function allows the drive to be stopped in accordance with EN 60204-1, Stop Category 1. The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is selected and switches to "Safe Torque Off"...
Page 651 Safety Integrated Basic Functions 11.5 Safe Stop 1 (SS1, time controlled) Functional features of Safe Stop 1 SS1 is enabled by p9652 (delay time) ≠ 0. ● Setting parameter p9652 has the following effect: – p9652 = 0 SS1 is not enabled. Only STO can be selected via TM54F, the onboard terminals and/or PROFIsafe.
Page 652: Ss1 With External Stop
SI Basic Functions - STO (Safe Torque Off), SS1 (Safe Stop 1) ● 2811 SI Basic Functions - 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 Motor holding brake closing time ●...
Page 653: Safe Brake Control (Sbc)
Safety Integrated Basic Functions 11.6 Safe Brake Control (SBC) 11.6 Safe Brake Control (SBC) The "Safe Brake Control" function (SBC) is used to safely control holding brakes that function according to the closed-circuit principle (e.g. motor holding brake). The opening and closing of the brake is controlled by the Motor Module / Power Module. Terminals are available for this on the device in booksize format.
Page 654 Safety Integrated Basic Functions 11.6 Safe Brake Control (SBC) Functional features of "Safe Brake Control" ● SBC is executed when "Safe Torque Off" (STO) is selected. ● In contrast to conventional brake control, SBC is executed via two channels. ● SBC is executed regardless of the brake control or mode set in p1215. However, SBC does not make sense for p1215 = 0 or 3.
Page 655: Sbc For Motor Modules In The Chassis Format
Safety Integrated Basic Functions 11.6 Safe Brake Control (SBC) The brake diagnosis can only reliably detect a malfunction in either of the switches (TB+, TB-) when the status changes, i.e. when the brake is released or applied. If the Motor Module or Control Unit detects a fault, the brake current is switched off. The brake then closes and a safe state is reached.
Page 656 Safety Integrated Basic Functions 11.6 Safe Brake Control (SBC) There are two options for registering this power unit with the system: ● Automatic brake identification when commissioning the system for the first time – Requirements: - No Safety Integrated functions enabled - p1215 = 0 (no motor holding brake available) –...
Page 657: Response Times
Safety Integrated Basic Functions 11.7 Response times 11.7 Response times The Safety Integrated Basic Functions are executed in the monitoring cycle (p9780). PROFIsafe telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring clock cycle (PROFIsafe scan cycle = 2 · r9780). Note Actual value of the monitoring cycle (r9780) You can only see the actual value of the monitoring cycle (r9780) if you are connected ONLINE...
Page 658: Controlling Via Terminals On The Control Unit And Motor Module
Safety Integrated Basic Functions 11.7 Response times 11.7.1 Controlling via terminals on the Control Unit and Motor Module The following table lists the response times from the control via terminals until the response actually occurs. Table 11-1 Response times for control via terminals on the Control Unit and the Motor Module. Function Worst case for Drive system has no fault...
Page 659: Control Via Profisafe
Safety Integrated Basic Functions 11.7 Response times 11.7.2 Control via PROFIsafe The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response. Note Internal SINAMICS response times The specified response times are internal SINAMICS response times. Program run times in the F‑host and the transmission time via PROFIBUS or PROFINET are not taken into account.
Page 660: Control Via Tm54F
Safety Integrated Basic Functions 11.7 Response times 11.7.3 Control via TM54F The following table lists the response times from the control via TM54F until the response actually occurs. Table 11-3 Response times for control via TM54F Function Worst case for Drive system has no fault A fault is present 3 ·...
Page 661: Controlling Via Terminals On The Control Unit And Motor/Power Module
● The F-DI 0 is available on the CU310-2 Overview of the safety function terminals for SINAMICS S120 The different power unit formats of SINAMICS S120 have different terminal designations for the inputs of the safety functions. These are shown in the following table.
Page 662 Safety Integrated Basic Functions 11.8 Controlling via terminals on the Control Unit and Motor/Power Module Module 1st switch-off signal path 2nd switch-off signal path (EP terminals) (p9620[0]) Blocksize Power Module (see CU310-2) STO_A and STO_B with CU310-2 (for more detailed information, see "SI‐ NAMICS S120 AC Drive Manual ") SIMOTION CX32-2 control‐...
Page 663 Safety Integrated Basic Functions 11.8 Controlling via terminals on the Control Unit and Motor/Power Module 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 664: Simultaneity And Tolerance Time Of The Two Monitoring Channels_Basic_Functions
Safety Integrated Basic Functions 11.8 Controlling 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" must be realized both for the Control Unit and the Motor Modules.
Page 665 + p9658 has elapsed. Further notes for setting the discrepancy time (also see the following diagram "Discrepancy time") are provided in the "SINAMICS S120/S150 List Manual" for the following message: ● F01611 (Basic Functions) ● C01770 (Extended / Advanced Functions)
Page 666: Bit Pattern Test
Switching interval Discrepancy time Response time Figure 11-4 Discrepancy time Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9650 SI SGE switchover discrepancy time (Control Unit) ● p9652 SI Safe Stop 1 delay time (Control Unit) ● p9658 SI transition time STOP F to STOP A (Control Unit) ●...
Page 667 F-DI input filter (p9651 for Basic Functions). To do this, a value must be entered in p9651 or p10017 that is greater than the duration of a test pulse. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p9651 SI STO/SBC/SS1 debounce time (Control Unit) ●...
Page 668: Control Via Tm54F
24 VDC switching output, an output switching to ground and a digital input for reading back the switching state. A fail-safe digital input is made up of 2 digital inputs. Function diagrams (see SINAMICS S120/S150 List Manual) ● 2890...
Page 669: Fault Acknowledgment
Additional information for the forced checking procedure (test stop) is provided in Chapter "Forced checking procedure or test of the switch-off signal paths (test stop) for Safety Integrated Basic (Page 640)". Table 11-6 Overview of the fail-safe inputs in the SINAMICS S120/S150 List Manual: Module Function diagram Inputs...
Page 670 2 switching events (ON/OFF, OFF/ON) (see also the following diagram "Discrepancy time"). Further notes for setting the discrepancy time are contained in the "SINAMICS S120/S150 List Manual" for the following messages: ●...
Page 671: Function Of The F-Do
SI TM54F - fail-safe digital inputs (F-DI 0 … F-DI 4) ● 2894 SI TM54F - fail-safe digital inputs (F-DI 5 … F-DI 9) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p10002 SI TM54F F-DI switchover discrepancy time ●...
Page 672 (test stop). See Chapter "Forced checking procedure or test of the switch-off signal paths (test stop) for Safety Integrated Basic (Page 640)". Table 11-7 Overview of the fail-safe outputs in the SINAMICS S120/S150 List Manual: Module Function diagram Outputs Associated checking in‐...
Page 673 SI TM54F - Extended Functions Safe State selection ● 2907 SI TM54F - Extended Functions assignment (F-DO 0 ... F-DO 3) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p10039[0...3] SI TM54F Safe State signal selection ● p10042[0...5] SI TM54F F-DO 0 signal sources ●...
Page 674: Commissioning The Functions "Sto", "Sbc" And "Ss1
● The following applies to safety-related functions that have been enabled (p9501 > 0): The parameters are checked against their corresponding encoder parameters (e.g. p0410, p0474, ...). Further information can be found in the parameter descriptions in the SINAMICS S120/S150 List Manual. Drive functions...
Page 675: Commissioning With Startdrive
Safety Integrated Basic Functions 11.10 Commissioning the functions "STO", "SBC" and "SS1" Note Copying a drive with enabled Safety Integrated Functions If a drive with enabled Safety Integrated Functions is copied offline, fault F01656 can occur when the project is downloaded. This behavior occurs whenever component numbers change during copying (e.g.
Page 676 Safety Integrated Basic Functions 11.10 Commissioning the functions "STO", "SBC" and "SS1" 3. In this screen form, configure the controls via the fail-safe inputs and outputs and/or PROFIsafe. Figure 11-9 Example: Control of STO 4. Call up “STO/SS1/SBC” again. 5. To configure the "SS1" function, set the delay time until the start of "STO" in the "Safe stop 1 delay time"...
Page 677: Commissioning Via Direct Parameter Access
Safety Integrated Basic Functions 11.10 Commissioning the functions "STO", "SBC" and "SS1" 11.10.3 Commissioning via direct parameter access To commission the Basic Functions "STO", "SBC" and "SS1" via terminals, proceed as follows: Table 11-8 Commissioning the "STO", "SBC" and "SS1" Basic Functions Parameter Description/comments p0010 = 95...
Page 678 Safety Integrated Basic Functions 11.10 Commissioning the functions "STO", "SBC" and "SS1" Parameter Description/comments p9620 = "fast DI on Set terminals for "Safe Torque Off (STO)". CU" Wire terminal "EP" (enable pulses) on the Motor Module. Terminal "EP" ● Control Unit monitoring channel: By appropriately interconnecting BI: p9620 for the individual drives, the following is possible: –...
Page 679: Safety Faults
Safety Integrated Basic Functions 11.10 Commissioning the functions "STO", "SBC" and "SS1" Parameter Description/comments Parameterizing Safe Brake Adapter. p9621 = "value" ● Set with p9621 the signal source for the Safe Brake Adapter. p9622[0...1] = "val‐ ● Set with p9622 the wait times for switching on and switching off the Safe Brake Adapter relay. ue"...
Page 680 Safety Integrated Basic Functions 11.10 Commissioning the functions "STO", "SBC" and "SS1" When faults associated with Safety Integrated Basic Functions occur, the following stop responses can be initiated: Table 11-9 Stop responses for Safety Integrated Basic Functions Stop re‐ Triggered ... Action Effect sponse...
Page 681 If this action has not eliminated the fault cause, the fault is displayed again immediately after power-up. Description of faults and alarms Note The faults and alarms for SINAMICS Safety Integrated functions are described in SINAMICS S120/S150 List Manual Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 682: Acceptance Test And Acceptance Report
Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report 11.11 Acceptance test and acceptance report Note Responsibilities The machine manufacturer is responsible for carrying out and documenting the acceptance test: In Chapter "Acceptance test (Page 684)" you will find examples of how the acceptance test is carried out and documented for the individual safety functions.
Page 683 Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report ● List of all safety-relevant parameters and their values in the PDS(SR) ● Checksum, test date and confirmation by testing personnel Acceptance test The acceptance test comprises 2 parts: ● Checking whether the safety functions in the converter are correctly set: –...
Page 684: Acceptance Test Structure
Note Further information ● The procedure in Chapter "Acceptance test (Page 684)" is an example and a recommendation. ● An acceptance report template in electronic format is available at your local Siemens sales office. Note PFH values The PFH values of the individual SINAMICS S120 safety components can be found at: PFH values (PFH values (https://support.industry.siemens.com/cs/ww/en/view/76254308))
Page 685 Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report 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. The acceptance tests must be carried out for each individual drive.
Page 686: Safety Logbook
Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report 11.11.2 Safety Logbook The "Safety Logbook" function is used to detect changes to Safety Integrated parameters that affect the associated CRC sums. CRCs are only generated when p9601 (SI enable, functions integrated in the drive CU/Motor Module) is >...
Page 687: Preparing The Acceptance Test
Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report Note Trace recordings The trace recordings for the Extended Functions allow the analysis of the machine behavior during the test execution. Here, you can use the signal curves to check whether the machine’s behavior matches your expectations.
Page 688: Carrying Out An Acceptance Test (Example)
Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report 3. In the secondary navigation for the desired drive, select all Safety Integrated Functions being tested. The active functions are automatically pre-selected. You can change this pre-selection and select/deselect functions. 4.
Page 689 Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report Starting and performing the acceptance test Subsequently, the acceptance test is to be explained using the “SS1” example. 1. Click on one of the functions being tested (SS1 in this case). In the working area, the test tool is started.
Page 690 Safety Integrated Basic Functions 11.11 Acceptance test and acceptance report 12.The test has been carried out successfully. Click “Finish” to close the wizard. The test status in the secondary navigation is updated. 13.Execute the wizards of all further functions similarly through the tests. Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 691: Overview Of Parameters And Function Diagrams (Wv)
SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation ● 2814 SI Basic Functions - SBC (Safe Brake Control), SBA (Safe Brake Adapter) Overview of important parameters (see SINAMICS S120/S150 List Manual) Table 11-10 Parameters for Safety Integrated Functions Parame‐...
Page 692 Safety Integrated Basic Functions 11.12 Overview of parameters and function diagrams (WV) Parame‐ Name Changeable to ... ters p9799 SI reference checksum SI parameters Safety Integrated commissioning (p0010 = 95) p10039[0. SI TM54F Safe State signal selection ..3] p10040 SI TM54F F-DI input mode p10041 SI TM54F F-DI test enable p10042[0.
Page 693: Applications
Applications 12.1 Application examples You can find SINAMICS application examples on the Internet page "SINAMICS application examples". We can offer you efficient system strategies, especially as a result of the optimum interaction between SIMATIC control technology and SINAMICS drive systems. The application examples provide you with: ●...
Page 694 3. The first details of the required application description can then be displayed in a tooltip. To do this, click the appropriate entry in the result list. The required tooltip is then displayed in the Siemens Industry Online Support. Drive functions...
Page 695 Applications 12.1 Application examples Generally, you can download a detailed application description as PDF via the tooltip. Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 696: Switch On Infeed Unit Via A Drive Axis
Applications 12.2 Switch on infeed unit via a drive axis 12.2 Switch on infeed unit via a drive axis Using this BICO interconnection, a drive object (DO) "X_INF" (= all drive objects "Infeed"; i.e.: A_INF, B_INF, S_INF) can be activated by a "SERVO/VECTOR" drive object. This switch-on version is mainly used for drive units in the "chassis"...
Page 697 Applications 12.2 Switch on infeed unit via a drive axis Figure 12-2 BICO interconnection: Switching on an infeed by a drive - in addition with automatic restart ● The "automatic restart" function is only activated on the "SERVO/VECTOR" drive object (p1210).
Page 698 ● Take the appropriate measures on the plant/system side so that there is no safety risk as a result of an unexpected restart. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0863.0...2 CO/BO: Drive coupling status word / control word ●...
Page 699: Control Units Without Infeed Control
Applications 12.3 Control Units without infeed control 12.3 Control Units without infeed control To ensure that the drive line-up functions satisfactorily, you must ensure, among other things, that the drives only draw power from the DC link when the infeed is in operation. In a DC link line-up that is controlled by precisely one Control Unit and which includes a drive object X_INF , the BICO interconnection p0864 = p0863.0 is established automatically during...
Page 700 Applications 12.3 Control Units without infeed control Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0722.0...21 CO/BO: CU digital inputs, status ● r0863.0...2 CO/BO: Drive coupling status word / control word ● p0864 BI: Infeed operation Drive functions...
Page 701: Quick Stop In The Event Of A Power Failure Or Emergency Stop (Servo)
Applications 12.4 Quick stop in the event of a power failure or emergency stop (servo) 12.4 Quick stop in the event of a power failure or emergency stop (servo) A drive line-up generally responds when the power fails with an OFF2, even when a Control Supply Module and a Braking Module is being used.
Page 702 Applications 12.4 Quick stop in the event of a power failure or emergency stop (servo) ● p2100[x] = 7403 Here you change the response to fault F07403. ● p2101[x] = 3 (OFF3) response to the fault entered in p2100[x] Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 703: Motor Changeover
Applications 12.5 Motor changeover 12.5 Motor changeover Description The motor changeover is used in the following cases, for example: ● Changing over between different motors and encoders ● Changing over different windings in a motor (e.g. star-delta changeover) ● Adapting the motor data If several motors are operated alternately on a Motor Module, a matching number of drive data sets must be created.
Page 704 Applications 12.5 Motor changeover ● 4 motor contactors with positively driven auxiliary contacts (3 NC contacts, 1 NO contact) ● 4 motors, 1 Control Unit, 1 infeed, and 1 Motor Module Figure 12-6 Example of motor changeover Table 12-1 Settings for the example Parameter Settings Remark...
Page 705 Applications 12.5 Motor changeover 3. Open the motor contactor: Motor contactor 1 is opened (r0830 = 0) and the status bit "Motor changeover active" (r0835.0) is set. 4. Change over the drive data set: The requested data set is activated (r0051 = requested data set). 5.
Page 706 Note: Using p2140, you can define an additional hyste‐ resis for the changeover (refer to function diagram 8010 in the SINAMICS S120/150 List Manual). Procedure for star-delta changeover 1. Start condition: For synchronous motors, the actual speed must be lower than the star field-weakening speed.
Page 707 ● 8570 Data sets - Encoder Data Sets (EDS) ● 8575 Data sets - 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 708: Application Examples With Dmc20
Applications 12.6 Application examples with DMC20 12.6 Application examples with DMC20 The DRIVE-CLiQ Hub Module Cabinet 20 (DMC20/DME20) is used for the star-shaped distribution of a DRIVE-CLiQ line. With the DMC20, an axis grouping can be expanded with five DRIVE-CLiQ sockets for additional subgroups. The component is especially suitable for applications which require DRIVE-CLiQ nodes to be removed in groups, without interrupting the DRIVE-CLiQ line and, therefore, the data exchange process.
Page 709 Applications 12.6 Application examples with DMC20 Figure 12-8 Example, distributed topology using DMC20 Example: Hot-plugging Using the hot-plugging function, components can be withdrawn from the operational drive line- up (the other components continue to operate) on the DRIVE-CLiQ line. This means that all of the drive objects or components involved must first be deactivated/parked using parameter p0105 or STW2.7.
Page 710 Applications 12.6 Application examples with DMC20 Encoder_3 remain active. The "Park axis" function is only enabled by setting the ZSW2.7 bit in combination with pulse inhibit. Note Drives with enabled Safety functions must not be deactivated, see Section "Safety Integrated" for further details.
Page 711 Applications 12.6 Application examples with DMC20 Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ● p0151[0...1] DRIVE-CLiQ Hub Module component number ● p0154 DRIVE-CLiQ Hub Module detection via LED ●...
Page 712: Dcc And Dcb Extension Applications
Overview of the DCC applications with application descriptions 3. Click the required DCC application. A tooltip on the required DCC application is then displayed in the Siemens Industry Online Support. Generally, you can download a detailed application description as PDF via the tooltip.
Page 713 Applications 12.7 DCC and DCB extension applications Example: Synchronous operation applications with DCC You require the "Synchronous operation" drive function and the "DCC" feature as filter settings. Figure 12-11 The most important synchronous operation application examples are marked in red in the figure.
Page 714 Applications 12.7 DCC and DCB extension applications Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 715: Web Server
Web server 13.1 Overview The web server provides information on a SINAMICS device via its web pages. The server is accessed using an Internet browser (see Chapter "Supported browsers (Page 716)"). The most important functions of the web server are described below. Note The display areas "Files", "User Area Configuration"...
Page 716 Additional information Additional information regarding configuring the web server in the Startdrive commissioning tool is provided in the SINAMICS S120 Commissioning Manual with Startdrive. Data transfer In addition to unsecured transmission using the HTTP protocol, the web server also supports secure transmission using the HTTPS protocol.
Page 717 Web server 13.1 Overview Access rights The normal protection mechanisms of SINAMICS apply for the web server, including password protection. Further protective mechanisms have been implemented especially for the web server. Different access options have been set for the defined users "Administrator" and "SINAMICS", depending on the function.
Page 718: Fundamentals
You can display the content of the web server either on a PC/laptop screen, a tablet PC or a smart phone. List of supported browsers The web server integrated in the SINAMICS S120 converter supports the following browsers: Commissioning device Operating system...
Page 719: Access Via Service Interface X127
Web server 13.2 Fundamentals 13.2.2.1 Access via service interface X127 The web server is accessed per default via the service interface X127. The service interface has the following default setting: ● IP address: 169.254.11.22 ● Subnet mask: 255.255.0.0 ● Accessing the web server Access via the service interface is activated as default setting in the web server.
Page 720: Preparations
Web server 13.2 Fundamentals PROFINET interface X150 is preset as follows: ● Accessing the web server Access via the PROFINET interface is deactivated as default setting in the web server. ● Communication Communication via the PROFINET interface is always established via the secure HTTPS connection.
Page 721: Access Protection
Web server 13.2 Fundamentals 13.2.3 Access protection The complete access protection in the web server comprises the following components: ● Access protection in the web server Access to the converter is possible via 2 defined users with different access rights ("Administrator"...
Page 722: Users And Access Rights
Web server 13.2 Fundamentals 13.2.4 Users and access rights Access to the converter is possible via 2 defined users in the web server. ● Administrator Access rights The "Administrator" user has full access to the converter data displayed in the web server.
Page 723: Dialog Screen Forms In The Web Server
Web server 13.2 Fundamentals Functions of the web server Access rights Administrator SINAMICS Save permanently (copy RAM to ROM) Write Write Call support information Read Read This function is reserved for the "Administrator” user and is not displayed for a "SINAMICS" user. 13.2.5 Dialog screen forms in the web server You make most of the important converter settings in the dialog screen forms of the web server.
Page 724: Changing Parameter Values
Web server 13.2 Fundamentals 13.2.6 Changing parameter values The parameters are subdivided into adjustable parameters and display parameters. Individual parameters in the parameter list are shown in precisely the same way as in the dialog screen forms. More information about adapting the parameter list is provided in Chapter "Creating and adjusting the parameter list (Page 747)".
Page 725 Web server 13.2 Fundamentals Assigning the administrator password You must log in as administrator to obtain complete access to the converter. A password is required for access as administrator. Note Remember the password or store it in a secure place that cannot be accessed by unauthorized persons.
Page 726 Web server 13.2 Fundamentals 3. Open the browser in your commissioning device and call up the web server of the converter using the standard IP address (e.g. https://169.254.11.22). Note Standard IP address changed If you have changed the standard IP address (169.254.11.22) for accessing the web server in the converter, then enter the address that you have specified instead of the standard IP address.
Page 727: Login/Logout
Web server 13.2 Fundamentals 4. Enter an administrator password in the "Password" field. Note Secure passwords To protect against unauthorized access, by an attacker, for example, select a secure password that consists of: ● At least 8 characters ● Uppercase and lowercase letters ●...
Page 728 Web server 13.2 Fundamentals Logging in to the web server 1. Enter the IP address for the converter in the entry line of your browser (default IP address: 169.254.11.22). The password prompt appears in the browser. Figure 13-6 Login screen 2.
Page 729 Web server 13.2 Fundamentals Logging out from the web server 1. In the window, click the icon with the user name at the top right. 2. Click "Logout". If have changed the converter settings, a save prompt appears. You can select here whether to save or discard the changes.
Page 730: Layout Of The Start Page
Web server 13.2 Fundamentals 13.2.9 Layout of the start page After you have logged in, the web server will display the following start page: ① Navigation bar ② Status bar ● Top: Device designation, drop-down list for the language selection and to log out, display of the security level ●...
Page 731 Web server 13.2 Fundamentals Navigation via the navigation bar Navigation via drop-down lists (drop-down menus) The navigation bar of the web server has a Alternatively, the screen forms can also be called in the multi-level structure. active view of the web server via drop-down lists. This also allows easy navigation in small displays (e.g.
Page 732: Calling Support Information
13.2 Fundamentals 13.2.9.2 Calling Support information Using the footer of the web server, you can call up the support addresses for SINAMICS S120. 1. Click "Support" in the footer of the web server. The following information is shown: Figure 13-9 Support addresses You can use the links to open or copy the desired support addresses.
Page 733: Certificates For The Secure Data Transfer
Web server 13.2 Fundamentals 13.2.10 Certificates for the secure data transfer 13.2.10.1 Overview The "Transport Layer Security" (TLS) protocol enables encrypted data transfer between a client and the SINAMICS drive. HTTPS access of the browser to the drive is based on the "Transport Layer Security"...
Page 734 Web server 13.2 Fundamentals Using the certificate default configuration Procedure 1. First open an HTTPS web server connection to your drive in the browser. 2. The firmware then creates a new server certificate and a private server key from the root certificate and the private key, if they are not already available.
Page 735 Web server 13.2 Fundamentals Figure 13-12 Opera2 Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 736 Web server 13.2 Fundamentals Mozilla Firefox Figure 13-13 Mozilla 1. Click "Extended". The information for the security certificate is displayed. 2. Click "Add exception" in order to be able to communicate via a secure HTTPS connection. Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 737 Web server 13.2 Fundamentals Microsoft Internet Explorer 11 Figure 13-14 Internet Explorer 11 Click "Continue to this website" in order to be able to communicate via a secure HTTPS connection. Google Chrome Figure 13-15 Google 1 1. Click "EXTENDED". The information for the security certificate is displayed. 2.
Page 738: Generating Your Own Certificates
Web server 13.2 Fundamentals Figure 13-16 Google 2 13.2.10.3 Generating your own certificates You can either generate your own certificates for the secured data connection or purchase them from a certification authority (CA). In these cases, a server certificate and a private server key are supplied.
Page 739 Web server 13.2 Fundamentals Procedure 1. Copy the server certificate and the private server key into the following directory on the SD card of your converter: OEM\SINAMICS\HMICFG\CERTSTORES\SERVERCERTS 2. Rename the files in SINAMICS.key and SINAMICS.crt. 3. Create a backup copy of both files. 4.
Page 740: Diagnostic Functions
Web server 13.3 Diagnostic functions 13.3 Diagnostic functions 13.3.1 “Drive objects and components” display area In the “Drive objects and components” display area, you can view information on the drive objects and components as well as on DRIVE-CLiQ wiring errors. View drive objects To display of drive objects for your drive, proceed as follows: Procedure...
Page 741 Web server 13.3 Diagnostic functions Procedure 1. Click in the “Drive objects and components” display area on the “Components” tab. Then, the information and messages regarding the components are displayed in a list. Figure 13-18 Example: “Components” display area 2. In order to carry out an LED flash test for individual components, click on in the corresponding line.
Page 742: Alarms" Display Area
Web server 13.3 Diagnostic functions Procedure 1. Click in the “Drive objects and components” display area on the “Topology” tab. Then the diagnostic information about the components is shown in a list. Using the information in the “Separate Port,” “Uplink to Port” and “Uplink to number” columns, you can diagnose wiring errors on the individual components.
Page 743 Web server 13.3 Diagnostic functions Meaning of the symbols The symbols indicate the following states of individual drive objects: Alarm Fault Acknowledged fault Viewing messages and additional information In order to call up the list of messages, proceed as follows: 1.
Page 744: Filtering Messages
Web server 13.3 Diagnostic functions 13.3.2.1 Filtering messages You can set filters in the message list and therefore limit the display of the messages. You can configure the filter settings using the error bar above the message list. All filters are linked by a logical conjunction (AND).
Page 745: Acknowledging Faults
Note Detailed information on the diagnostic buffer or fault and warning buffer can be found in the “Messages - Faults and warnings” chapter of the SINAMICS S120 commissioning manual with Startdrive. Displaying the diagnostic buffer...
Page 746 Web server 13.3 Diagnostic functions Filtering diagnostic buffers In the event list of the diagnostic buffer, you can set filters, narrowing down the events that are displayed. The filter settings can be configured using the filter list above the event list. All filters are linked by a logical conjunction (AND).
Page 747: Communication" Display Area
Web server 13.3 Diagnostic functions Procedure 1. Click "Reset all filters" at the top right in the filter bar. You have now re-set all configured filters. The event list then displays the unfiltered view of the operating events again. 13.3.4 “Communication”...
Page 748 Detailed information on the activation and parameter assignment of a multiple trace can be obtained in the following documentation: ● SINAMICS S120 Commissioning Manual with Startdrive ● Startdrive Online Help Here, you can also obtain detailed information about how you can load trace files into your PC file system.
Page 749: Creating And Adjusting The Parameter List
Web server 13.4 Creating and adjusting the parameter list 13.4 Creating and adjusting the parameter list 13.4.1 Overview In the web server, you can manage up to 20 parameter lists with 40 parameters each. The created parameter lists are saved on the memory card of the drive. As a result, created parameter lists are available for further access even after the drive is switched off.
Page 750 Web server 13.4 Creating and adjusting the parameter list 5. If needed, change the access rights for the "SINAMICS" user. For the access rights of the "SINAMICS" user, the "Read parameter values" function is pre- configured. Observe the following instructions whenever you want to change the access rights of the "SINAMICS"...
Page 751: Adding Parameters
Web server 13.4 Creating and adjusting the parameter list 13.4.3 Adding parameters You can add individual parameters to a previously existing parameter list by proceeding as follows: 1. Click anywhere in the "Add parameters" field. ③ The entry and selection boxes in the "Add parameters" field are then displayed. The ④...
Page 752: Selecting/Entering Parameters
1. Select the desired value for a parameter from the corresponding drop-down list. Enter the desired value for a parameter into the corresponding entry field. Note Adjustable parameter values For more information on adjustable parameter values, refer to the SINAMICS S120/S150 list manual. 13.4.5 Changing the parameter sequence In an existing parameter list, you can change the parameter sequence by appropriately dragging &...
Page 753: Deleting A Parameter List
Web server 13.4 Creating and adjusting the parameter list 13.4.8 Deleting a parameter list Proceed as follows to delete a previously existing parameter list: 1. Click on the “List properties” button. The “List properties" dialog opens. 2. Click on the “Delete this list” button. The “Delete list”...
Page 754: Backup And Restore
Web server 13.5 Backup and restore 13.5 Backup and restore 13.5.1 Overview The “Back up and restore” function provides you with the following options: ● Backing up parameters that have been configured. ● Assigning a name to the backup file. ●...
Page 755: Backing Up Parameters
Web server 13.5 Backup and restore Procedure 1. Select "Backup and Restore" in the navigation. The “Back up and restore” screen is open. Figure 13-25 Backing up and restoring data 13.5.2 Backing up parameters You can back up the converter settings externally using the web server. You can perform the data backup at any time.
Page 756: Restore File Parameters
Web server 13.5 Backup and restore Procedure 1. Save the settings in a non-volatile fashion using 2. Click "Back up parameters" in the "Parameter Backup" setting area. The data backup of the parameters is performed. A message is displayed when the data backup is successful.
Page 757 Web server 13.5 Backup and restore Note Communication settings If you reset the converter to the factory settings, the IP address of the service interface, the PROFINET IP address and the PROFINET device name are not cleared. Procedure In order to reset the converter in the web server to factory settings, proceed as follows: 1.
Page 758: System Settings
13.6 System settings 13.6.1 Setting or changing user accounts With SINAMICS S120, both user accounts "SINAMICS" and "Administrator" have been predefined and cannot be changed. You can make the following settings in the user accounts: ● Changing the Administrator password.
Page 759 Web server 13.6 System settings Procedure To change the password for the "Administrator" user, proceed as follows: 1. Select "System > Settings" in the navigation. 2. Select the "User Accounts" tab. Figure 13-26 Changing the password 3. To change the Administrator password, click "Change password" for the "Administrator" user.
Page 760: Password Forgotten
Web server 13.6 System settings 7. Confirm the password input with "Assign". The dialog closes. 8. Click to save the data permanently. You have created the password for the "SINAMICS" user. Changing/deleting the password for the "SINAMICS" user. Before changing or deleting the password for the "SINAMICS" user, you must enable the "SINAMICS"...
Page 761: Configuring The Ip Connection
Web server 13.6 System settings Requirements ● An existing LAN connection between the commissioning device (device/computer, tablet or smartphone) and the interface X127 on the converter. ● An empty CF memory card with a maximum of 2 GB of storage capacity must be available. ●...
Page 762: Using Functions That Require A License
Web server 13.6 System settings 3. If you want to switch to a secured connection, activate the "Only permit secure access using HTTPS protocol" option. Figure 13-27 IP connections Note Switchover from HTTP to HTTPS If you were logged-in via HTTP, you will be logged-out after activating the option "Only permit secure access using HTTPS protocol".
Page 763 Web server 13.6 System settings System responses in case of insufficient licensing The system responses in case of insufficient licensing are demonstrated using 2 case examples. Use case 1 The following system responses are displayed on the converter and via the web server if: ●...
Page 764 Web server 13.6 System settings Via the web server ● Fault F13000, "Licensing is insufficient" ● System > Licenses Use case 2 The following system responses are displayed on the converter and via the web server if: ● Licenses for functions that require them are missing. ●...
Page 765 Web server 13.6 System settings Via the web server ● Message A13030 "Trial License activated" ● System > Licenses Note Insufficient licensing Operation without an adequate license is only permissible when commissioning the drive and when carrying out service work. To do this, activate the Trial License Mode The drive requires a sufficient license in order for it to operate.
Page 766: Displaying/Entering The License Key
Web server 13.6 System settings 13.6.5 Displaying/entering the license key You can view the current license key on the license overview page of the web server and enter a new key as required. 1. Select "System > Licenses" in the navigation. The license overview page is displayed.
Page 767: Updating The Firmware And Starter Project Files
The data should be backed up in this memory card directory: \OEM\SINAMICS\HMI Further information Additional information is provided in the SINAMICS S120 Commissioning Manual and in the Startdrive information system. Available firmware versions...
Page 768 Web server 13.6 System settings Procedure 1. Click on "Firmware update" in the "System" navigation. The "Firmware update" dialog window opens. Note Before continuing, refer to the instructions and information from the first infobox and ensure the following for the duration of the firmware update: ●...
Page 769: Loading Starter Project Data Into The Drive
Web server 13.6 System settings 7. Start the firmware update. During the update, a check is made as to whether there is sufficient free space on the memory card of the converter. The state of the drive objects of the Control Unit is also checked.
Page 770: Transferring The Configuration Using The Web Server
Web server 13.6 System settings Procedure 1. Click on "Firmware update" in the "System" navigation. The "Firmware update" dialog window opens. Note Before continuing, refer to the instructions and information from the first infobox and ensure the following for the duration of the firmware update: ●...
Page 771: System Restoration
Web server 13.6 System settings 3. Execute the "Load to file system" function in the STARTER. Use the "Save compressed (.zip archive)" option. 4. Download the master configuration via the web browser on the other drives (cloning). 13.6.8 System restoration Using the "System restoration"...
Page 772 Web server 13.6 System settings Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 773: Basic Information About The Drive System
Basic information about the drive system 14.1 Parameter Overview 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 774 Basic information about the drive system 14.1 Parameter The CDS and DDS can be switched over during normal operation. Further types of data set also exist, however these can only be activated indirectly by means of a DDS changeover. ● EDS (Encoder Data Set) ●...
Page 775 (parameter reset) and p0976 = 1. Parameter p0976 is 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 776: Drive Objects
Basic information about the drive system 14.2 Drive objects 14.2 Drive objects Description 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 777 Note Drive objects A list of all drive objects is provided in the SINAMICS S120/S150 List Manual in Chapter "Overview of parameters". Configuring drive objects Various DOs can be created within a Control Unit. When commissioning for the first time, these DOs can be set up using Startdrive.
Page 778: Licensing
14.3.1 Overview To use the SINAMICS S120 drive system and the activated options, you must assign the purchased licenses to the hardware. When making this assignment, users receive a License Key, which electronically links the relevant option with the hardware.
Page 779 Basic information about the drive system 14.3 Licensing Note The drive can only be operated with an insufficient license for an option during commissioning and servicing. For this purpose, the Trial License Mode must be activated explicitly. The drive requires a sufficient license in order for it to operate. Not all options support the Trial License Mode.
Page 780: Overview Of Licenses
Basic information about the drive system 14.3 Licensing Information on performance expansion The "Performance" option (Article number: 6SL3074-0AA01-0AA0) is required as of the 4th axis (for SERVO/VECTOR) or as of the 7th V/f axis for the CU320-2 is (see Availability of SW functions (Page 905)).
Page 781 Basic information about the drive system 14.3 Licensing ● Display and copy the serial numbers of the memory cards being used. ● Activating the Trial License Mode (see Chapter "Activating Trial License Mode (Page 781)"). Trial License Mode General Information The Trial License Mode comprises a total of 3 Trial License Periods.
Page 782 Basic information about the drive system 14.3 Licensing Activating the Trial License Mode Trial License Mode can only be activated once. This applies independent of any functions that the user added during the course of the Trial License Mode and the individual Trial License Periods .
Page 783: Activating Trial License Mode
Basic information about the drive system 14.3 Licensing Purchasing a full license There are 2 options to purchase licenses for functions requiring a license. ● Licenses are ordered together with a memory card. ● When subsequently ordered, licenses can be assigned to your memory card using the "Web License Manager".
Page 784 Basic information about the drive system 14.3 Licensing 1. Call the license overview page on: – STARTER: Select the "License overview" subentry in the project navigator. – Web server S120: Call "Licenses" in the navigation. 2. Click on the "Activate Trial License Mode" button. Figure 14-6 Example with STARTER: ActivatingTrial License Mode 3.
Page 785: Creating A License Key
(inhibit) becomes active. Subfunctions can only be used with a full license! 5. Proceed as follows, to use SINAMICS S120 or subfunctions after the Trial License Mode has expired: – Purchase a full license for the affected subfunctionalities.
Page 786: Displaying/Entering The License Key
WEB License Manager. 1. Call the following link: WEB License Manager (https://workplace.automation.siemens.com/pls/swl-pub/ SWL_MAIN_MENU.NAVIGATION_HEAD?a_lang_id=E&a_action=) 2. In the navigation, click the "Display license key" option in the "User menu". Several input fields can be found on the right of the "Display license key" view.
Page 787: Messages And Parameters
Web server ● Here, see Chapter "Displaying/entering the license key (Page 764)". 14.3.6 Messages and parameters Overview of important alarms and faults (see SINAMICS S120/S150 List Manual) ● F13000 Licensing is not sufficient ● F13010 Licensing, function module not licensed.
Page 788: Bico Technology: Interconnecting Signals
Basic information about the drive system 14.4 BICO technology: Interconnecting signals 14.4 BICO technology: Interconnecting signals Every drive contains a large number of interconnectable input and output variables and internal control variables. BICO technology (Binector Connector Technology) allows the drive to be adapted to a wide variety of requirements.
Page 789: Interconnecting Signals Using Bico Technology
The possible interconnections between the BICO input (signal sink) and BICO output (signal source) are listed in the table titled "Possible combinations for BICO interconnections" , which can be found in the "Explanations on the parameter list" section of the SINAMICS S120/ S150 List Manual.
Page 790: Internal Coding Of The Binector/Connector Output Parameters
Basic information about the drive system 14.4 BICO technology: Interconnecting signals 14.4.3 Internal coding of the binector/connector output parameters Internal coding is required for writing BICO input parameters via PROFIBUS, for example. Figure 14-9 Internal coding of the binector/connector output parameters 14.4.4 Sample interconnections Example 1: Interconnection of digital signals...
Page 791: Notes On Bico Technology
Basic information about the drive system 14.4 BICO technology: Interconnecting signals Figure 14-11 Connection of OFF3 to several drives (example) 14.4.5 Notes on BICO technology BICO interconnections to other drives The following parameters are available for BICO interconnections to other drives: ●...
Page 792: Scaling
Basic information about the drive system 14.4 BICO technology: Interconnecting signals Fixed values for interconnection using BICO technology The following connector outputs are available for interconnecting any fixed value settings: ● p2900[0...n] CO: Fixed value_%_1 ● p2901[0...n] CO: Fixed value_%_2 ●...
Page 793: Propagation Of Faults
Basic information about the drive system 14.4 BICO technology: Interconnecting signals Changing scaling parameters p2000 to p2007 Note If a per unit representation is selected and the reference parameter is subsequently changed (e.g. p2000), the per unit values of some control parameters are automatically adapted so that the control behavior does not change.
Page 794: Data Sets
Basic information about the drive system 14.5 Data sets 14.5 Data sets 14.5.1 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 795: Dds: Drive Data Set
The parameters that are grouped together in the drive data set are identified in the SINAMICS S120/S150 List Manual by "Data Set DDS" and are assigned an index [0...n]. It is possible to parameterize several drive data sets. You can switch easily between different drive configurations (control type, motor, encoder) by selecting the corresponding drive data set.
Page 796: Eds: Encoder Data Set
Basic information about the drive system 14.5 Data sets Binector inputs p0820 to p0824 are used to select a drive data set. They represent the number of the drive data set (0 to 31) in binary format (where p0824 is the most significant bit). ●...
Page 797: Mds: Motor Data Set
Basic information about the drive system 14.5 Data sets If encoder 1 (p0187) is switched over via DDS, then an MDS must also be switched over. Note Switching over between several encoders In order to be able to switch between two or more encoders using the EDS switched function, you must connect these encoders via various Sensor Modules or DRIVE-CLiQ ports.
Page 798: Function Diagrams And Parameters
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 799 ● 8570 Data sets - Encoder Data Sets (EDS) ● 8575 Data sets - Motor Data Sets (MDS) Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0120 Power Module data sets (PDS) number ● p0130 Motor data sets (MDS) number ●...
Page 800: Inputs/Outputs
Detailed information on the hardware properties of the inputs/outputs can be found in the SINAMICS S120 Control Units Manual. For detailed information about the structural relationships between all I/Os of a component and their parameters, please refer to the function diagrams in the SINAMICS S120/S150 List Manual: 14.6.1 Digital inputs/outputs Signal processing using the digital inputs is shown in the function diagrams listed below.
Page 801 – Jumper closed, non-isolated. The reference potential of the digital inputs is the ground of the Control Unit. ● Sampling time for digital inputs/outputs can be adjusted (p0799). Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit 320-2 ● 2120 CU320-2 input/output terminals - isolated digital inputs (DI 0...DI 3, DI 16, DI 17)
Page 802 – As a binector output – 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) TB30 ● 9102 Terminal Board 30 (TB30) - isolated digital inputs (DI 0 ...
Page 803: Use Of Bidirectional Inputs/Outputs On The Cu
Basic information about the drive system 14.6 Inputs/outputs Function diagrams (see SINAMICS S120/S150 List Manual) Control Unit CU310-2 ● 2030 CU310-2 input/output terminals - digital input/outputs, bidirectional (DI/DO 8 … DI/DO 9) ● 2031 CU310-2 input/output terminals - digital input/outputs, bidirectional (DI/DO 10 ... DI/DO 11) ●...
Page 804: Analog Inputs
Basic information about the drive system 14.6 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 controller.
Page 805 The characteristic of the analog input can be scaled using parameters p0757 to P0760. The value of the analog input can be read out from r0755. Function diagrams (see SINAMICS S120/S150 List Manual) ● 9104 Terminal Board 30 (TB30) - Analog inputs (AI 0 ... AI 1) ●...
Page 806: Analog Outputs
Basic information about the drive system 14.6 Inputs/outputs Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r0752[0] CO: CU analog input current input voltage/current ● p0753[0] CU analog input smoothing time constant ● p0761[0] CU analog input wire-break monitoring response threshold ●...
Page 807: Write Protection
Basic information about the drive system 14.7 Write protection 14.7 Write protection Note Write protection is only available with the STARTER commissioning tool. The write protection prevents unauthorized changing of the drive unit settings. If you are working with a commissioning tool, such as STARTER, then write protection is only effective online.
Page 808 Basic information about the drive system 14.7 Write protection 3. Call the shortcut menu "Write protection drive unit > Activate". Figure 14-13 Activating write protection Active write protection can be identified as in the expert list the input fields of adjustable parameters p …...
Page 809 The parameters where write protection does not apply can be found in the SINAMICS S120/150 List Manual in Chapter "Parameters for write protection and know-how protection", Subsection "Parameters with WRITE_NO_LOCK". Overview of important parameters (see SINAMICS S120/S150 List Manual) ●...
Page 810: Know-How Protection
Setting options for know-how protection Know-how protection without copy protection is possible with or without memory card Know-how protection with copy protection is only possible with a Siemens memory card. Know-how protection without copy protection The drive unit can be operated with or without a memory card. You can transfer drive unit settings to other drive units using a memory card, an operator panel, or STARTER.
Page 811: Know-How Protection Features
Several adjustable parameters can be read but not changed when know-how protection is active. You can find a list of the adjustable parameters that can be read in the SINAMICS S120/ S150 List Manual in Chapter "Parameters for write protection and know-how protection" under "KHP_ACTIVE_READ".
Page 812 "\\USER\SINAMICS\DATA" directory. Note Diagnostics under know-how protection If service or diagnostics is to be performed when know-how protection is active, then Siemens AG can only provide support in collaboration with the OEM partner. Functions locked using know-how protection Active know-how protection inhibits the following functions: ●...
Page 813: Configuring Know-How Protection
Basic information about the drive system 14.8 Know-how protection Optional functions that can be executed: The functions listed below can be executed despite activated know-how protection provided diagnostic functions were permitted when it was activated: ● Trace function ● Function generator ●...
Page 814: Activate Know-How Protection
Basic information about the drive system 14.8 Know-how protection You must reset the drive unit to factory settings in order to regain access to the drive unit's adjustable parameters. When restoring the factory settings, you lose what you have configured in the drive unit, and you must recommission the drive unit.
Page 815 Basic information about the drive system 14.8 Know-how protection 4. In the shortcut menu, select "Drive unit know-how protection > Activate". The "Activate Know-how Protection for Drive Object" dialog box opens. Figure 14-15 Activating 5. The "Without copy protection" option is active by default. When an appropriate memory card is inserted in the Control Unit, you can choose from two copy-protection options: –...
Page 816: Deactivating Know-How Protection
Basic information about the drive system 14.8 Know-how protection 8. Enter it again in the "Confirm password" field and click "OK" to confirm the entry. The dialog box is closed and the password is shown in encrypted form in the "Activate Know- how Protection for Drive Object"...
Page 817: Changing The Password
Basic information about the drive system 14.8 Know-how protection 4. In the shortcut menu, select "Drive unit know-how protection > Deactivate" The "Deactivate Know-how Protection for Drive Unit" dialog box opens. Figure 14-17 Deactivating 5. Select the required option: – "Temporarily" deactivating: Know-how protection is active again after switching off and switching on.
Page 818: Loading Know-How Protected Data To The File System
Basic information about the drive system 14.8 Know-how protection 3. Select the required drive unit in the project navigator of your STARTER project. 4. Call the shortcut menu "Drive unit know-how protection > Change password". The "Change Password" dialog box opens. Figure 14-18 Changing the password 5.
Page 819 Basic information about the drive system 14.8 Know-how protection Sequence: 1. The end user sends the OEM the serial numbers of the new Control Unit (r7758) and the new memory card (r7843), and specifies the machine in which the Control Unit is installed. 2.
Page 820 Basic information about the drive system 14.8 Know-how protection 3. Select the required drive unit in the project navigator of your STARTER project. 4. Call the "Load to file system" function. The "Load to File System" dialog box opens. Figure 14-19 Load to file system (default setting) Specifying the general memory data The "General"...
Page 821 Basic information about the drive system 14.8 Know-how protection Configuring know-how protection Make the settings for the know-how protection on the "Drive unit know-how protection" tab. 1. Click the "Drive unit know-how protection" tab. Figure 14-20 Load to file system know-how protection By default, the "Without know-how protection"...
Page 822: Overview Of Important Parameters
With the aid of this encrypted data, an end user can install a new memory card for the drive unit. 14.8.5 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 ●...
Page 823 Basic information about the drive system 14.8 Know-how protection ● p7765 KHP configuration ● p7766[0...29] KHP password input ● p7767[0...29] KHP password new ● p7768[0...29] KHP password confirmation ● p7769[0...20] KHP memory card reference serial number ● r7843[0...20] Memory card serial number Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 824: Component Replacement
Replacing motors with SINAMICS Sensor Module Integrated or with DRIVE-CLiQ Sensor Integrated If a defect has occurred in a motor with integrated DRIVE-CLiQ interface (SINAMICS Sensor Module Integrated), please contact the Siemens office in your region to arrange for repair. Drive functions...
Page 825: Examples Of Replacing Components
Basic information about the drive system 14.9 Component replacement 14.9.2 Examples of replacing components Example: Replacing a component with different article number Requirement: ● The replaced component has a different article number. Table 14-7 Example: Component with a different article number Action Reaction Remark...
Page 826 Basic information about the drive system 14.9 Component replacement Table 14-8 Example: Motor Module Action Reaction Remark ● Switch off the power supply ● Replace the defective component and connect the new one ● Switch on the power supply ● Alarm A01425 The serial number is stored in ●...
Page 827: Data Backup
0 if the operation was successful. If the operation was not successful, p7775 indicates a corresponding fault value. Further details of the fault values can be found in the SINAMICS S120/S150 List Manual. Note NVRAM data change The data in the NVRAM can only be restored or deleted if the pulse inhibit is set.
Page 828 Basic information about the drive system 14.10 Data backup There are two reasons that necessitate the NVRAM data being restored. ● Replacing the Control Unit. ● Specific restoration of the NVRAM data as it is possible that there are data errors. When restoring, the Control Unit always searches first for the "PMEMORY.ACX"...
Page 829: Redundant Data Backup On Memory Card
Basic information about the drive system 14.10 Data backup You can find additional information on fault, diagnostic and message buffers in the SINAMICS S120 Commissioning Manual with Startdrive. 14.10.2 Redundant data backup on memory card In conjunction with the "Firmware update via web server" and the associated remote access, the "Redundant data backup on memory card"...
Page 830 ≥ E CU320-2 DP ≥ G CU320-2 PN ≥ D Overview of important faults and alarms (see SINAMICS S120/S150 List Manual) ● F01072 Memory card restored from backup copy ● A01073 (N) POWER ON required for backup copy on memory card...
Page 831: Drive-Cliq
Electronic rating plate The electronic rating plate contains the following data: ● Component type (e.g. SMC20) ● Article 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 832: Drive-Cliq Diagnostics
As a result of the interconnectability, you can record when data transfer errors occur and correlate them with other events in the drive. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● r9936[0...199] DRIVE-CLiQ diagnostics, error counter connection ●...
Page 833: Emergency Operating Mode For Drive-Cliq Components
Basic information about the drive system 14.11 DRIVE-CLiQ ● p9939 DRIVE-CLiQ detailed diagnostics time interval ● p9942 DRIVE-CLiQ detailed diagnostics individual connection selection ● r9943 DRIVE-CLiQ detailed diagnostics individual connection error counter 14.11.3 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 834 Basic information about the drive system 14.11 DRIVE-CLiQ with respect to the old parameterization, then synchronization is possible. The time-slice system remains the same as before. Note All algorithms for autonomous operation are executed as a background process for the component.
Page 835 Basic information about the drive system 14.11 DRIVE-CLiQ Reconfigurations, which must be linked to the DRIVE-CLiQ slave with a message "Timing change" are: ● Changes to the DRIVE-CLiQ clock cycle for the component. ● Changes to oversampling settings which require internal reconfiguration of the time-slice system.
Page 836: System Rules, Sampling Times And Drive-Cliq Wiring
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring 14.12 System rules, sampling times and DRIVE-CLiQ wiring 14.12.1 Overview of system limits and system utilization The number and type of controlled axes, infeeds and Terminal Modules as well as the additionally activated functions can be scaled by configuring the firmware.
Page 837: System Rules
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring 14.12.2 System rules A maximum of 24 drive objects (DOs) can be connected to one Control Unit. Control Units ● The Control Unit CU310-2 is a single-axis control module for operating the AC/AC Power Modules in Blocksize format (PM240-2 or PM340) and Chassis format.
Page 838 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring The following applies when connecting Motor Modules in parallel: ● Parallel connection is only permitted in the Chassis or Chassis-2 formats. ● When commissioning Motor Modules in the Chassis-2 format, a firmware version of ≥ V5.2 must be available.
Page 839: Special Configurations And Topologies
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring The following rules apply to the parallel connection of Line Modules of the Booksize format: ● In the Booksize format, a maximum of two Active Line Modules (ALM) from the 55 kW, 80 kW or 120 kW power class are permissible for each parallel connection.
Page 840: Rules On The Sampling Times
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Preconditions ● Double Motor Module ● A Control Unit suitable for multi-axis operation Supplementary conditions ● When using drives with servo control and U/f control together on one Double Motor Module, for servo control, the higher current controller dynamic response must be deactivated.
Page 841 ● The current controller sampling times of the drives and infeeds must be synchronous with the set pulse frequency of the power unit (see also p1800 in the SINAMICS S120/S150 Lists Manual). Increasing the current controller cycle time in an integer ratio that is not equal to the configured pulse frequency requires reducing the sampling times.
Page 842 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Vector control/U/f control ● For drives with vector control, a current controller sampling time between 125 µs and 500 µs can be set (125 µs ≤ p0115[0] ≤ 500 µs). This also applies to operation with U/f control. ●...
Page 843: Rules For Isochronous Mode
● The setting rules for the safety actual value acquisition cycle and the safety monitoring cycle must be observed (for details, see SINAMICS S120 Safety Integrated Function Manual): – The monitoring cycle (p9500) must be an integer multiple of the actual value acquisition cycle (p9511).
Page 844: Default Settings For The Sampling Times
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Cycle settings for SINAMICS Link SINAMICS Link permits only three cycle settings: Table 14-10 Settings for activated isochronous operation [µs] [µs] [µs] 1000 1000 1500 1500 1500 14.12.4.3 Default settings for the sampling times...
Page 845: Setting The Pulse Frequency
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Construction type Number p0112 p0115[0] p1800 Chassis 400 V / ≤ 355 kW 2 (Low) 250 µs 690 V / ≤ 450 kW 2 (Low) 250 µs Chassis 400 V / >...
Page 846: Setting Sampling Times
● Technology controller (p0115[6]) The performance levels range from xLow to xHigh. Details of how to set the sampling times are given in the SINAMICS S120/S150 List Manual. Setting the pulse frequency using the commissioning tool in online operation Enter the minimum pulse frequency in p0113. For isochronous operation (p0092 = 1), you can only set the parameter so that a resulting current controller sampling time with an integer multiple of 125 μs is obtained.
Page 847: Overview Of Important Parameters
5. Then check the maximum speed p1082, the set pulse frequency p1800 and start an automatic calculation of the controller data (p0340 = 4). 14.12.4.6 Overview of important parameters Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0009 Device commissioning parameter filter ● p0092 Isochronous mode, pre-assignment/check ●...
Page 848: Binding Drive-Cliq Interconnection Rules
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring ● The computing power of the Control Unit in question ● The set processing and communication cycles Below you will find the binding wiring rules and some other recommendations as well as a few sample topologies for DRIVE-CLiQ wiring.
Page 849 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring ● With the CU310-2 Control Unit the connection to the AC/AC Power Modules in Chassis format is made via the DRIVE-CLiQ connection X100. ● The TM54F must not be operated together on the same DRIVE-CLiQ line as Line Modules or Motor Modules.
Page 850: Recommended Interconnection Rules
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring ● The connection to the Control Unit is obtained from the PROFIBUS address of the CX/NX (10 → X100, 11 → X101, 12 → X102, 13 → X103, 14 → X104, 15 → X105). ●...
Page 851 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring ● If the Motor Modules need to be distributed across two DRIVE-CLiQ lines (e.g. on account of the predetermined current controller sampling times), the next higher DRIVE-CLiQ socket on the Control Unit should be used.
Page 852: Rules For Automatic Configuration
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Voltage Sensing Modules ● When used for the infeed control, the Voltage Sensing Module (VSM) should be connected to DRIVE-CLiQ socket X202 (Booksize format) or X402 (Chassis format) of the associated Line Module.
Page 853 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring The subsequently added components and drive objects are always located at the first position ① ② in the following list (e.g. DRIVE-CLiQ connection between encoder and Motor Module).
Page 854: Changing The Offline Topology In The Starter Commissioning Tool
Changing the offline topology in the STARTER commissioning tool You can change the device topology in the Startdrive commissioning tool by shifting the components in the topology tree. Please refer to SINAMICS S120 Commissioning Manual and the Startdrive online help for details and examples.
Page 855 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring 3. Transfer the project with "Download to drive unit". 4. Then execute a "Copy RAM to ROM". Figure 14-24 Example of a sub-topology Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 856: Notes On The Number Of Controllable Drives
"1" to "0". The deactivated components remain inserted, however, they are deactivated. Errors are not displayed from deactivated components. Overview of important parameters (see SINAMICS S120/S150 List Manual) ● p0105 Activating/deactivating drive object ●...
Page 857 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Cycle times for servo control and HLA The following table lists the number of axes that can be operated with a Control Unit in servo control and HLA. The number of axes is also dependent on the cycle times of the controller: Table 14-13 Sampling time setting for servo control Cycle times [µs] Number...
Page 858 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Pulse frequen‐ Current controller sampling time [µs] cy [kHz] 250.0 187.5 150.0 125.0 100.0 93.75 75.0 62.5 50.0 37.5 31.25 3.555 ‑ ‑ ‑ ‑ ‑ ‑...
Page 859 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Note Restriction when connecting Active Line Modules of the Chassis-2 format in parallel If an Active Line Module (ALM) of the Chassis-2 format is driven in a parallel connection together with VECTOR drives, the sampling times within the Motor Modules must be set to 400 μs.
Page 860 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Pulse fre‐ Current controller sampling time [µs] quency [kHz] 500.0 375.0 312.5 250.0 218.75 200.0 187.5 175.0 156.25 150.0 137.5 125.0 5.333 ‑ ‑ ‑ ‑ ‑...
Page 861 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Mixed operation of servo control and U/f control In mixed operation with servo control and U/f control, one axis in servo control at 125 µs uses exactly as much computing power as two axes in U/f control at 500 µs.
Page 862 "SINAMICS/SIMOTION Editor Description DCC" manual. Use of EPOS The following table shows the number of axes that can be operated with a SINAMICS S120 when using a "basic positioner" (EPOS) function module. The number of axes depends on the current controller sampling time.
Page 863: Cycle Mix For Servo Control And Vector Control
Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Use of the SINAMICS Web server The available computation time can be used for the SINAMICS Web server. The following boundary condition applies here: ● The utilization of the system (r9976) must be less than 90%. ●...
Page 864 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Cycle mix: Current controller sampling times Base cycle for T [µs] Base cycle for T [µs] mapc [µs] 75.00 +125.00 62.50 +125.00 50.00 +125.00 37.50 +125.00 31.25 +125.00 Base cycles for the isochronous PROFIBUS for a cycle mix with 125 μs...
Page 865 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Asynchronous node on the isochronous PROFIBUS For cycle mix, lengthened base cycles with the following effects often result on the isochronous PROFIBUS: ● Because the isochronous PROFIBUS can no longer be operated with the default setting, adaptations must be made to the hardware configuration.
Page 866 Basic information about the drive system 14.12 System rules, sampling times and DRIVE-CLiQ wiring Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 867: Appendix
Appendix List of abbreviations Note The following list of abbreviations includes all abbreviations and their meanings used in the entire SINAMICS family of drives. Abbreviation Derivation of abbreviation Meaning A… Alarm Warning Alternating Current Alternating current Analog Digital Converter Analog digital converter Analog Input Analog input Active Interface Module...
Page 868 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Basic Line Module Basic Line Module Binector Output Binector output Basic Operator Panel Basic operator panel Abbreviation Derivation of abbreviation Meaning Capacitance Capacitance C… Safety message Controller Area Network Serial bus system Communication Board CAN Communication Board CAN Communication Board Ethernet...
Page 869 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Dynamic Drive Control Dynamic Drive Control Drive Data Set Drive Data Set DHCP Dynamic Host Configuration Protocol Dynamic Host Configuration Protocol (Communica‐ tion protocol) Digital Input Digital input DI/DO Digital Input/Digital Output Digital input/output, bidirectional Deutsches Institut für Normung Deutsches Institut für Normung (German Institute...
Page 870 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Electrostatic Sensitive Devices Electrostatic sensitive devices Essential Service Mode Essential service mode Extended Stop and Retract Extended stop and retract Abbreviation Derivation of abbreviation Meaning F… Fault Fault Frequently Asked Questions Frequently Asked Questions FBLOCKS Free Blocks...
Page 871 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Hochlaufgeber Ramp-function generator Hydraulic Module Hydraulic Module Human Machine Interface Human Machine Interface High-Threshold Logic Logic with high interference threshold HTTP Hypertext Transfer Protocol Hypertext Transfer Protocol (communication proto‐ col) HTTP Hypertext Transfer Protocol Secure Hypertext Transfer Protocol Secure (communica‐...
Page 872 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Kreuzweiser Datenvergleich Data cross-check Know-how protection Know-how protection Kinetische Pufferung Kinetic buffering Proportional gain KTY84-130 Temperature sensor Abbreviation Derivation of abbreviation Meaning Symbol for inductance Light Emitting Diode Light emitting diode Linearmotor Linear motor Lageregler...
Page 873 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Motorstromrichter Motor-side converter Messtaster Probe Abbreviation Derivation of abbreviation Meaning N. C. Not Connected Not connected N… No Report No report or internal message NAMUR Normenarbeitsgemeinschaft für Mess- und Regel‐ Standardization association for measurement and technik in der chemischen Industrie control in chemical industries...
Page 874 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning PROFIdrive PROFIdrive Precision Drive Control Precision Drive Control Power unit Data Set Power unit data set Power Drive System Drive system Protective Earth Protective ground PELV Protective Extra Low Voltage Safety extra-low voltage Probability of dangerous failure per hour Probability of dangerous failure per hour...
Page 875 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning RESM Reluctance synchronous motor Synchronous reluctance motor Ramp-Function Generator Ramp-function generator RJ45 Registered Jack 45 Term for an 8-pin socket system for data transmis‐ sion with shielded or non-shielded multi-wire copper cables Rückkühlanlage Cooling unit...
Page 876 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Safety Integrity Level Safety Integrity Level SITOP Siemens power supply system Safely-Limited Acceleration Safely limited acceleration Smart Line Module Smart Line Module Safely-Limited Position Safely Limited Position Safely-Limited Speed Safely limited speed...
Page 877 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning Terre Neutre Grounded three-phase line supply Integral time TPDO Transmit Process Data Object Transmit Process Data Object Time-Sensitive Networking Time-Sensitive Networking Terre Terre Grounded three-phase line supply Transistor-Transistor-Logic Transistor-transistor logic Rate time Abbreviation Derivation of abbreviation...
Page 878 Appendix A.1 List of abbreviations Abbreviation Derivation of abbreviation Meaning No entries Abbreviation Derivation of abbreviation Meaning Zwischenkreis DC link Zero Mark Zero mark Zustandswort Status word Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 879: Documentation Overview
Appendix A.2 Documentation overview Documentation overview Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 880: Supported Sample Topologies
Appendix A.3 Supported sample topologies Supported sample topologies Example topologies: Drives in vector control The following topology examples demonstrate configurations with Motor Modules in Booksize and Chassis design in vector control. 3 Motor Modules with identical pulse frequencies A drive line-up with 3 Motor Modules in Booksize or Chassis format with identical pulse frequencies in vector control.
Page 881 Appendix A.3 Supported sample topologies In the following diagram, two Motor Modules (400 V, output ≤ 250 kW, pulse frequency 2 kHz) are connected to interface X101 and two Motor Modules (400 V, output > 250 kW, pulse frequency 1.25 kHz) are connected to interface X102. Note The OFFLINE topology automatically generated in the Startdrive commissioning tool must be manually modified, if this topology was wired.
Page 882 Appendix A.3 Supported sample topologies Figure A-3 Power units in Chassis format connected in parallel Further information Further information can be obtained in the Chapter "Parallel connection of power units (Page 515)". Example topologies: Power Modules The following topology examples demonstrate configurations with Power Modules in Blocksize and Chassis format.
Page 883 Appendix A.3 Supported sample topologies Power modules of the Blocksize format Figure A-4 Power modules of the Blocksize format Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 884 Appendix A.3 Supported sample topologies Power Modules in Chassis format Figure A-5 Power Modules in Chassis format Example topologies: Drives in servo control The following topology examples demonstrate configurations with Line Modules, Motor Modules and additional components in servo control. Sampling time 125 µs The maximum number of controllable drives in servo control with additional components is shown in the following figure.
Page 885 Appendix A.3 Supported sample topologies Active Line Module Single Motor Module Double Motor Module Motor encoder Direct measuring system TM31, TM15, TB30 Figure A-6 Topology example of a servo drive line-up Sampling time 62.5 µs Examples, CU320-2 with 62.5 µs sampling time: ●...
Page 886 Appendix A.3 Supported sample topologies Sampling time 31.25 µs Examples, CU320-2 with 31.25 µs sampling time: ● Topology 1: 1 ALM (250 μs) on a line, 1 servo (31.25 μs) on a line, 3 TM15 Base (p4099[0] = 2000 µs) on a line and in series.
Page 887: Parameterization Using The Bop20
Faults can be diagnosed as well as acknowledged. The BOP20 is connected to the Control Unit. To do this, the blanking cover must be removed (for additional information on mounting, please refer to the SINAMICS S120 Manual Control Units and Supplementary System Components).
Page 888 Appendix A.4 Parameterization using the BOP20 Displays and keys Figure A-9 Overview of displays and keys Information on the displays Table A-1 Display Meaning top left (2 positions) The active drive object of the BOP is displayed here. The displays and key operations always refer to this drive object. Lit if at least one drive in the drive line-up is in the RUN state (in operation).
Page 889 Appendix A.4 Parameterization using the BOP20 Information on the keys Table A-2 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" or "OFF3" should come from the BOP.
Page 890: Displays And Using The Bop20
Actuating keys The following applies to the "P" and "FN" keys: ● When used in a combination with another key, "P" or "FN" must be pressed first. Overview of important parameters (see SINAMICS S120/S150 List Manual) All drive objects ● p0005[0...1] BOP status display selection ●...
Page 891 Appendix A.4 Parameterization using the BOP20 Status indicator The operating display for each drive object can be set using p0005 and p0006. Using the operating display, you can change into the parameter display or to another drive object. The following functions are possible: ●...
Page 892 Appendix A.4 Parameterization using the BOP20 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. The parameter value is displayed by pressing the "P" key again. You can toggle between the drive objects by simultaneously pressing the "FN"...
Page 893 Appendix A.4 Parameterization using the BOP20 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. The cursor can be selected using the "FN" key. Figure A-11 Value display Drive functions...
Page 894 Appendix A.4 Parameterization using the BOP20 Example: Change a parameter Requirement: The appropriate access level is set (for this particular example, p0003 = 3). Figure A-12 Example: Changing p0013[4] from 0 to 300 Example: Changing parameters for the binector and connector input For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected.
Page 895: Fault And Alarm Displays
Appendix A.4 Parameterization using the BOP20 A.4.4 Fault and alarm displays Fault display Figure A-14 Faults Warning display Figure A-15 Warnings Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 896: Controlling The Drive Using The Bop20
Appendix A.4 Parameterization using the BOP20 A.4.5 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 897 Appendix A.4 Parameterization using the BOP20 Copy RAM to ROM You can initiate the saving of all parameters to the non-volatile memory (memory card) in the drive object Control Unit: ● Press the P key for 3 seconds. ● p0009 = 0 ●...
Page 898: Replacing An Encoder For Simotics Motors
To replace an existing encoder, you need its article number. You have several options of obtaining this article number: ● Read off the article number at the encoder ● Determine the article number through Spares on Web (https://www.sow.siemens.com/) ● Determine the article number using assignment tables (see the service instructions) Drive functions...
Page 899 Detailed information related to these questions and on the complete encoder replacement process is provided in service instructions "SIMOTICS S-1FK7 G2, S-1FG1 and S-1FT7", which you can download through the SIOS portal at no charge. See: SIMOTICS servomotors (https://support.industry.siemens.com/cs/ww/en/ps/13348/man) Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 900: Availability Of Hardware Components
Appendix A.6 Availability of hardware components Availability of hardware components Table A-5 Hardware components available as of 03.2006 Hardware component Article number Version Revisions AC Drive (CU320, PM340) refer to the Catalog SMC30 6SL3055-0AA00-5CA1 With SSI support DMC20 6SL3055-0AA00-6AA. TM41 6SL3055-0AA00-3PA.
Page 901 Appendix A.6 Availability of hardware components Hardware component Article number Version Revisions Motor Modules booksize compact 6SL3420-1TE13-0AA. 6SL3420-1TE15-0AA. 6SL3420-1TE21-0AA. 6SL3420-1TE21-8AA. 6SL3420-2TE11-0AA. 6SL3420-2TE13-0AA. 6SL3420-2TE15-0AA. Power Modules blocksize liquid 6SL3215-1SE23-0AA. cooled 6SL3215-1SE26-0AA. 6SL3215-1SE27-5UA. 6SL3215-1SE31-0UA. 6SL3215-1SE31-1UA. 6SL3215-1SE31-8UA. Reinforced DC-link busbars for 6SL3162-2DB00-0AA. 50 mm components Reinforced DC-link busbars for 6SL3162-2DD00-0AA.
Page 902 Appendix A.6 Availability of hardware components Hardware component Article number Version Revisions S120 Booksize Compact power 6SL3420-1TE13-0AA0 units 6SL3420-1TE15-0AA0 Single Motor Module 6SL3420-1TE21-0AA0 6SL3420-1TE21-8AA0 S120 Booksize Compact power 6SL3420-2TE11-7AA0 units 6SL3420-2TE13-0AA0 Double Motor Module 6SL3420-2TE15-0AA0 Braking Module booksize 6SL3100-1AE31-0AB0 Table A-11 Hardware components available as of 01.2012 Hardware component Article number...
Page 903 Appendix A.6 Availability of hardware components Table A-15 Hardware components available as of 04.2015 Hardware component Article number Version Revisions TM31 Terminal Module 6SL3055-0AA00-3AA1 4.7 SP2 Revised TM41 Terminal Module 6SL3055-0AA00-3PA1 4.7 SP2 Revised DRIVE-CLiQ Hub Module 6SL3055-0AA00-6AA1 4.7 SP2 Revised DMC20 Table A-16...
Page 904 Appendix A.6 Availability of hardware components Hardware component Article number Version Revisions VSM10 Voltage Sensing Module 6SL3053-0AA00-3AA1 Revised Temperature sensor PT1000 PT1000 is supported by modules with 4.7 HF17 the following article numbers: 6SL312x-xTExx-xAA3 6SL312x-xTExx-xAA4 6SL3120-xTExx-xAC0 6SL3120-xTExx-xAD0 6SL3055-0AA00-5AA3 6SL3055-0AA00-5BA3 6SL3055-0AA00-5CA2 6SL3055-0AA00-5EA3 6SL3055-0AA00-5JA3 6SL3055-0AA00-5KA3...
Page 905 Appendix A.6 Availability of hardware components Hardware component Article number Version Revisions Power Modules PM240-2 Push Through for FSD-FSF 200 V FSD 6SL3211-1PC26-8UL0 200 V FSE 6SL3211-1PC31-1UL0 200 V FSF 6SL3211-1PC31-8UL0 400 V FSD 6SL3211-1PE27-5UL0, 400 V FSE 6SL3211-1PE27-5AL0 400 V FSF 6SL3211-1PE31-1UL0, 6SL3211-1PE31-1AL0 690 V FSD...
Page 906 Appendix A.6 Availability of hardware components Table A-20 Hardware components available from December 2018 Hardware component Article number Version Revisions Booksize format Line reactor for 16 kW Smart Line 6SL3100-0EE21-6AA0 Previously: Modules 6SL3000-0CE21-6AA0 Chassis format Power Module Liquid Cooled 6SL3315-1TE36-1AA7 6SL3315-1TE37-5AA7 6SL3315-1TG35-8AA7 Chassis-2 format...
Page 907: Availability Of Sw Functions
Appendix A.7 Availability of SW functions Availability of SW functions Table A-21 New functions, firmware 2.2 SW function SERVO VECTOR HW component Technology controller Two command data sets Extended brake control Automatic restart for vector and Smart Line Modules 5/10 kW The ability to mix servo and vector U/f control modes on one CU Regulated V up to 480 V input voltage can be parameterized for...
Page 908 New functions, firmware 2.4 or 2.4 SP1 SW function SERVO VECTOR HW component SINAMICS S120 functionality for AC DRIVE (CU310 DP/PN) Basic positioning Encoder data set changeover (three EDS encoder data sets per drive data set) Two command data sets (CDS)
Page 909 Appendix A.7 Availability of SW functions SW function SERVO VECTOR HW component Drive converter/drive converter, drive converter/line supply (bypass) For Chassis drive synchronizing units Voltage Sensing Module (VSM) for Active Line Module including Booksize units Armature short-circuit braking, synchronous motors CANopen extensions (vector, free process data access, profile DS301) PROFINET IO communication with Option Module CBE20...
Page 910 Appendix A.7 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 911 Appendix A.7 Availability of SW functions SW function SERVO VECTOR HW component Simultaneous cyclical operation of PROFIBUS and PROFINET on CU320 Automatic restart also with servo As of FW2.2 Operates at 500 μs PROFINET IO Absolute position information (X_IST2) with resolver DC link voltage monitoring depending on the line voltage Automatic line frequency detection Acceleration signal at the ramp-function generator output...
Page 912 Appendix A.7 Availability of SW functions SW function SERVO VECTOR HW component Parallel connection of Motor Modules Parallel connection of power units Master/slave function for Active Infeed Thermal motor monitoring I2t model for synchronous motors New PROFIdrive telegrams 116, 118, 220, 371 New RT classes for PROFINET IO Use of bidirectional inputs/outputs on the CU Autonomous operating mode for DRIVE-CLiQ components...
Page 913 Appendix A.7 Availability of SW functions SW function SERVO VECTOR HW component 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. Tolerant encoder monitoring, 2nd part: ●...
Page 914 Appendix A.7 Availability of SW functions SW function SERVO VECTOR HW component PROFINET: Improved usability for Shared Device PROFINET: Smallest selectable send cycle 250 µs PROFINET: Bumpless media redundancy with CU310-2 PN, CU320‑2 PN and CU320‑2 with CBE20 Ethernet/IP communication extension via CBE20 SINAMICS Link: Smallest adjustable send clock 0.5 ms Parameterization of SINAMICS Link connections without POWER Write protection...
Page 915 Extension of the safe gearbox switchover Execute test stop automatically during ramp-up Safety Integrated Extended Functions with two TTL/HTL encoders for booksize and blocksize Uniform behavior for component replacement SINAMICS S120 hydraulic drive with Safety Integrated Table A-31 New functions, firmware 4.8 Software function SERVO...
Page 916 Appendix A.7 Availability of SW functions Software function SERVO VECTOR Hardware component PROFINET system redundancy Expansion of SINAMICS Link functionality ‑ Optimization of the web server functionality ‑ Cogging torque compensation (under license) Advanced Position Control (APC) (under license) ‑ Safety Integrated Functions SBR can now also be selected for SS1/SS2 with encoder Basic Functions controllable via TM54F...
Page 917 Appendix A.7 Availability of SW functions Table A-34 New functions, firmware 5.2 Software function SERVO VECTOR Hardware component Web server S120 ‑ ● Feature expansions: 6 standard languages, backup and restore, integrated error and alarm descriptions, integrated telegram diagnostics for PROFINET and PROFIBUS ●...
Page 918: Functions Of Sinamics S120 Combi
Functions of SINAMICS S120 Combi Description SINAMICS S120 Combi supports the following functions, which are described in this Function Manual (and in the Safety Integrated Function Manual). Any function not shown in this list is not available for SINAMICS S120 Combi.
Page 919 Appendix A.8 Functions of SINAMICS S120 Combi Topology Fixed DRIVE-CLiQ topology rules for SINAMICS S120 Combi. The device must always be connected according to the same principle. System clocks The sampling times are permanently set to 125 μs for the following functions: ●...
Page 920 Appendix A.8 Functions of SINAMICS S120 Combi Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 921: Index
Index Adjusting Absolute encoder, 476 Offset acceptance, 477 Advanced Position Control, 550 2-channel brake control, 652 APC, 550 APC applied to master-slave axes, 581 APC to reduce machining-related oscillation, 562 APC with acceleration feedback, 570 APC with encoder combination and differential Absolute encoder position feedback:, 565 Adjusting, 476...
Page 922 Index AVS/APC-ECO Certificate of License, 776 Activating the function module in Changing SINUMERIK, 554 Password, 638 Activating the function module in Startdrive, 554 Changing the password Axis Web server, 757 Suspended, 181 Chassis Motor Module Pulse frequency wobbling, 325 Chassis power units Derating function, 418 Closed-loop position control, 445 Band-stop filters...
Page 923 Index Adaptation with variable resonant Deleting the password frequencies, 124 Web server, 758 Configuring, 120 Derating function Deactivating, 120 Ambient temperature:, 418 Internal activation threshold, 123 Chassis power units, 418 Online tuning active, 120 Operating temperature, 418 Range of movement of the filter, 123 Diagnostic function Remedy for insufficient adaptation, 125 U/f control for servo control, 131...
Page 924 Index Edge evaluation of the zero mark, 372 Extended stopping and retraction (ESR), 532 EDS switchover, 795 Extended torque control, 442 Efficiency optimization External armature short-circuit braking Induction motor, 258 Activating, 333 Reluctance motor, 260 Braking resistors calculate, 334 Vector control, 258 Example, 335 Electronic rating plate, 829 Setting, 333...
Page 925 Index Extended monitoring functions, 430 Intermediate stop Extended stopping and retraction (ESR), 532 EPOS, 493, 501 Extended torque control, 442 Internal armature short-circuit, 647 Master/Slave, 506 Internal armature short-circuit braking Moment of inertia estimator, 540 Activating, 332 Parallel connection, 515 Setting, 332 Function modules Internal voltage protection...
Page 926 Index Display, 764, 783, 784 Modular machine concept, 314 Enter, 764, 784 Moment of inertia estimator Licensing, 776 Accelerated estimation, 547 Limit traversing range Commissioning, 545 Hardware limit switches (STOP cams), 469 Function module, 540 Software limit switch, 469 Load torque, 541 Limits Moment of inertia, 542 EPOS, 468...
Page 927 Index Number of current controller cycles to generate the With encoder for vector control, 254 average value of the speed actual value, 377 Without encoder for vector control, 253 NVRAM, 825 Position controller, 457 Monitoring functions, 459 Position tracking, 389, 454, 455 Load gear, 450 Measuring gearbox, 388 OEM list of exceptions for know-how protection, 811...
Page 928 Setpoint sources, 60 Stop responses, 678 Setting the fault responses, 337, 343 Safety Integrated password, 637 Short-circuit test, 313 Safety logbook, 684 SINAMICS S120 Combi, 916 Sampling times, 834 Sine-wave filter Setting, 844 Vector control, 317 Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 929 Index Singleturn encoder, 388 STOP F, 678 Slip compensation, 300 Stop response SLM, 29 STOP A, 678 Smart Infeed closed-loop control, 50 STOP F, 678 Smart Line Module, 29 Supported browsers Smart Mode, 31 Web server, 716 SMC30 Switching operation Frequency setpoint, 416 Basic functions, 663 Software limit switch...
Page 930 Index TM150 Vector Forming groups, 618 Pole position identification, 253 Sensor failure, 619 Vector control Temperature sensor types, 616 Automatic restart, 328 TM31, 612 Bypass, 278 TM41, 396 Comparison with servo control, 82, 204 Referencing modes, 399 Current setpoint filter, 241 SIMOTION mode, 396 dv/dt filter compact plus Voltage Peak SINAMICS mode, 397...
Page 931 Index Login, 726 Logout, 727 Protection against power failure during the firmware update, 409 Restoring the data backup, 754 Restoring the factory setting, 755 Saving data in a non-volatile fashion, 730 Support information, 730 Supported browsers, 716 User, 720 Wind-up effect DSC, 173 Wiring rules DRIVE-CLiQ, 845...
Page 932 Index Drive functions Function Manual, 06/2019, 6SL3097-5AB00-0BP2...
Page 934 Additional information Siemens: www.siemens.com Industry Online Support (service and support): www.siemens.com/online-support IndustryMall: www.siemens.com/industrymall Siemens AG Digital Industries Motion Control P.O. Box 3180 D-91050 Erlangen Germany Scan the QR-Code for product information...

Siemens SINAMICS S120 Function Manual

1 Introduction

2 Fundamental Safety Instructions

3 Infeed

4 Extended Setpoint Channel

5 Servo Control

6 Vector Control

7 U/F Control (Vector Control)

8 Basic Functions

9 Function Modules

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Summary of Contents for Siemens SINAMICS S120