Efficient Networks S120 manual

SINAMICS S120 Driv e Functions SINAMICS S120 sinamics s F unction Manual 07/2007[...]

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Foreword Infeed 1 Extended setpoint channel 2 Servo control 3 Vector control 4 Vector V/f control (r0108.2 = 0) 5 Basic functions 6 Function modules 7 Monitoring and protective functions 8 Safety Integrated basic functions 9 Communication PROFIBUS DP/PROFINET IO 10 Applications 11 Basic information about the drive system 12 Appendix A SINAMICS S120[...]

Safety Guidelines This manual contains notices y ou have to ob serve in order to en sur e your personal safety, as well as to prevent damage to property. The notices r eferring to your perso nal safe ty are highlighted in the manual by a sa fety alert symbol, notices referring only to property damage have no safety alert symbol. These notices sho w[...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 5 Foreword SINAMICS documentation The SINAMICS documentation is organized in 2 parts: ● General document ation / catalogs ● Manufacturer/service documentation A current overview of the docum entation in the available langua ges is provided in the Internet: http://www.s[...]

Foreword Drive Functions 6 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Usage phase Do cument/tool Commissioning • STARTER parameterization and commissioning tool • SINAMICS S120 Getting Started • SINAMICS S120 Commissioning Manual • SINAMICS S120 CANopen Commissioning Manual • SINAMICS S120 Function Manual • SINAMICS S [...]

Foreword Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7 Standard scope The scope of the functionality described in this docum ent can d iffer from the scope of the functionality of the drive syst em that is actually su pplied. ● Other functions not described in this d ocumentation might be able to be executed in th[...]

Foreword Drive Functions 8 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Questions on the manual Please send any question s about the technical documentation (e. g. suggestions for improvement, corrections) to the following fax number or E-Mail address: Fax: +49 (0) 9131 / 98 - 63315 Email: docu.motioncontrol@sieme ns.com Fax form: R[...]

Foreword Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 9 ESD Notes CAUTION Electrostatic sensitive devi ces (ESD) are single compone nts, in tegrated circuits or devi ces that can be damaged by electro st atic fields or electrostatic di scharges. Regulations for the ESD handling: During the handling of electronic comp[...]

Foreword Drive Functions 10 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Safety instructions DANGER • Commissioning must not s tart unt il you have ensured that the ma chine in which the components descri bed here are to be installed complies with Dir ectiv e 98/37/EC . • SINAMICS devices and AC motors mu st only be commissioned[...]

Foreword Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 11 CAUTION • As part of routine tests, SINAMIC S devices with AC motors under go a voltage test in accordance with EN 50178. Befor e the voltage test is performed on the electrical equipment of industrial machines to EN 60204-1, Section 19.4, a ll connectors of [...]

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Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 13 Contents Foreword ...................................................... ............................................................... .............................. 5 1 Infeed ....................................................... ...................................[...]

Contents Drive Functions 14 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 3.4 Torque-contro lled operation ................................ ............................................................... ......... 69 3.5 Torque setpoi nt limitation ................................. ....................................................[...]

Contents Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 15 4.18.2 Features ................................................ ............................................................... ...................... 158 4.18.3 Commissioning........................................... .........................................[...]

Contents Drive Functions 16 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7 Function modules ............................................. ............................................................... ...................... 219 7.1 Function modules - Def inition and commissi oning ............ ......................................[...]

Contents Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 17 7.10 DCC axi al winder .......................................... ............................................................... ..............282 7.11 Parallel connection of c hassis power un its (vector) ....... ..............................................[...]

Contents Drive Functions 18 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.1.3.2 Monitoring : telegram failure.......................... ............................................................... .............. 353 10.1.3.3 Description of cont rol words and setpoints ............ ...............................................[...]

Contents Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 19 11.4 Application examples with the DMC20 ....................... ............................................................... 460 11.4.1 Features ................................................ ...............................................................[...]

Contents Drive Functions 20 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 12.10.3 Sample wiring for vector drives ........................ ............................................................... .......... 514 12.10.4 Sample wiring of Vector drives conne cted in parallel ... ...................................................[...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 21 Infeed 1 1.1 Active Infeed 1.1.1 Introduction General Note Line Modules (Active Line Module s , Basic Line Modules, Smart Li ne Modules) of different types must not be operated simul taneously on the same DC link. Features ● Controlled DC link voltage whose level can [...]

Infeed 1.1 Active Infeed Drive Functions 22 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 1.1.2 Active Infeed closed-loop control Booksize Schematic structure '&OLQN /LQHUHDFWRU $FWLYH,QWHUIDFH 0RGXOH /LQHILOWHURSWLRQDO /LQHFRQWDFWRURSWLRQDO )XVHV 0DLQVZLWFK 0DQLSXODWHGYDULDEOHV $[...]

Infeed 1.1 Active Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 23 Supply vol tage p0210 [V] 380-400 401-415 416-440 460 480 1) Voltages specified for the sm art mode are derived from the rec tified l ine supply voltage. T he DC link voltage setpoint (p3510) has no effect in this control mode. Voltage Sensing M[...]

Infeed 1.1 Active Infeed Drive Functions 24 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 1.1.3 Active Infeed closed-loop control Chassis Schematic structure 6XSSOVVWHPGDWD 0DQLSXODWHG YDULDEOHV $FWXDOYDOXHV '&OLQN 6XSSOVVWHP )XVHV 0DLQVZLWFK $FWLYH,QWHUIDFH0RGXOH ZLWKSUHFKDUJLQJ ZLWK960 [...]

Infeed 1.1 Active Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 25 1.1.4 Integration Function diagrams (see SINAMICS S List Manual) ● 1774 Overviews - Active Infeed ● 8920 Control word sequential control infeed ● ... ● 8964 Messages and monitoring, suppl y frequency and Vdc monito ring Overview of key p[...]

Infeed 1.1 Active Infeed Drive Functions 26 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 1.1.5 Line and DC link identification The characteristic line sup ply and DC link quantities are deter mined using the automatic parameter identification routi ne. They provide the basis to opt imally set the controllers in the Line Module. An o[...]

Infeed 1.1 Active Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 27 1.1.6 Active Infeed open-loop control Description The Active Line Module can be co ntrolled via the BICO interconn ection by means of terminals or the field bus. The operatin g status is indicated o n the operating display r0002. The missing ena[...]

Infeed 1.1 Active Infeed Drive Functions 28 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Switching on the Active Line Module: 3XOVHVDQGFRQWUROOHUV 9GFSRZHUHGXSYLDUDPS =6:$(  =6:$(  62SHUDWLRQ /LQHFRQWDFWRUHQHUJL]HG 65HDGWRUXQ U [...]

Infeed 1.1 Active Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 29 Switching off the controller with the OFF1 signal is delay ed by the time entered in p3490. This allows the attached drives to be braked in a controlled ma nner. Before the infeed is switched off, the driv es connected to the DC link should be i[...]

Infeed 1.1 Active Infeed Drive Functions 30 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 1.1.7 Reactive current control A reactive current setpoint can be set to c ompensate the reacti ve current or to stabilize the line voltage in infeed mode. The total set point is the sum of t he fixed setpoint p3610 and the dynamic setpoint via [...]

Infeed 1.2 Smart Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 31 Overview: key parameters ● p3624 Infeed harmoni cs controller ord er ● p3625 Infeed harmoni cs controller scalin g ● r0069[0..6] Phase current, actual value 1.2 Smart Infeed 1.2.1 Smart Infeed closed-loop control General Note Line Modules ([...]

Infeed 1.2 Smart Infeed Drive Functions 32 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 0DLQVZLWFK )XVHV /LQHFRQWDFWRURSWLRQDO /LQHILOWHURSWLRQDO /LQHUHDFWRU 6XSSOVVWHP '&OLQN $FWXDOYDOXHV 0DQLSXODWHG YDULDEOHV 9ROWDJH6HQVLQJ 0RGXOHRSWLRQDO $FWXDOYDOXHV &RQWURO?[...]

Infeed 1.2 Smart Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 33 Note In a supply system without regenerative feedb ack capability (e. g. generators), regenerative operation must be inhibited vi a the binector input p3533. Function diagrams (see SINAMICS S List Manual) ● 1775 Overviews - Smart Infeed ● 882[...]

Infeed 1.2 Smart Infeed Drive Functions 34 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note If the line supply environment cha nges, or the components conne cted to the DClink (e.g. after installing and mounting t he equipment at the customer's s ite or after expanding the drive group), then the line supply/DC link identificat[...]

Infeed 1.2 Smart Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 35 1.2.3 Smart Infeed open-loop control Description The Smart Line Module can be co nt rolled via the BICO interconne ction by means of terminals or the field bus. The operatin g status is indicated o n the operating display r0002. The missing enabl[...]

Infeed 1.2 Smart Infeed Drive Functions 36 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Switching on the Smart Line Module 32:(521 63RZHURQGLVDEOH =6:$(  =6:$(  65HDGWRSRZHUXS =6:$(  =6:$(  /LQHFRQWDFWRULV?[...]

Infeed 1.2 Smart Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 37 Note Under the condition that the driv e system was commissione d with STARTER and no PROFIdrive telegram was activat ed, the infeed can be powered-up by issuing an enable signal at the EP terminals and a positive signal edg e at OFF1 ( p0840). S[...]

Infeed 1.3 Basic Infeed Drive Functions 38 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Signal nam e In ternal status word Parame ter PR OFIdrive telegram 370 Pre-charging completed ZS WAE.11 r0899.11 A_ZSW1.11 Line contactor energized feed back ZSWAE.12 r0899.12 A_Z SW1.12 1.3 Basic Infeed 1.3.1 Basic Infeed open-loop control Gener[...]

Infeed 1.3 Basic Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 39 0DLQVZLWFK )XVHV /LQHFRQWDFWRURSWLRQDO 6XSSOVVWHP '&OLQN )LUPZDUH 0DQLSXODWHGYDULDEOHV $FWXDOYDOXHV /LQHILOWHURSWLRQDO /LQHUHDFWRU %UDNLQJUHVLVWRURSWLRQDO 7H P S H U D W X U H %UD N[...]

Infeed 1.3 Basic Infeed Drive Functions 40 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 If a braking resistor has not been connected fo r 20 kW and 40 k W Basic Line Modules Booksize, the braking chopper m ust be deactivated via p3680 = 1 . Function diagrams (see SINAMICS S List Manual) ● 8720 Control word sequential control infee[...]

Infeed 1.3 Basic Infeed Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 41 Switching on the Basic Line Module 32:(521 63RZHURQGLVDEOH =6:$(  =6:$(  65HDGWRSRZHUXS =6:$(  =6:$(  /LQHFRQWDFWRULV?[...]

Infeed 1.4 Line contactor cont rol Drive Functions 42 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Control and status messages Table 1-7 Basic Infeed open-loo p control Signal nam e Internal control word Binector input Display of int ernal control word PROFIdrive telegram 370 ON/OFF1 STWAE.0 p0840 ON/OFF1 r0898.0 A_ST W1.0 OFF2 STWA[...]

Infeed 1.4 Line contactor cont rol Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 43 Example of commissioning line contactor control Assumption: ● Line contactor control via a digital output of the Control Un it (DI/DO 8) ● Line contactor feedback via a d igital input of the Control Un it (DI/DO 9) ● Line contact[...]

Infeed 1.5 Pre-charging and bypa ss conta ctor chassis Drive Functions 44 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Function diagrams (see SINAMICS S List Manual) ● 8934 Missing enable s, line contactor control Overview of key parameters (see SINAMICS S List Manual) ● r0863.1 CO/BO: Drive coup li ng status word/control word ?[...]

Infeed 1.6 Derating function for chassis units Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 45 1.6 Derating function for chassis units Description An adjusted derating function can gre atly reduce the noise leve l during the operation of the chassis power units (Motor and Power Module s) and enable operat ion at a mu[...]

Infeed 1.7 Parallel connections of 6-pul se and 12-pulse chassi s infeed s Drive Functions 46 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 1.7 Parallel connections of 6-pulse and 12-pulse chassis infeeds Description With Basic Line Modules and ch as sis units, in addition to 6-pul se parallel infeed (infeed vi a two-winding transfor[...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 47 Extended setpoint channel 2 Description In the servo operating mode, the extended setpoint channel is d eactivated by default. If an extended setpoint ch annel is require d, it has to be activated. Properties of servo mode without the "extended setpoint channel &qu[...]

Extended setpoint chann el 2.2 Description Drive Functions 48 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 2.2 Description In the extended setpoint channel, setpoints from the setpoint s ource are conditioned for motor control. The setpoint for motor control can also originate from the tech nology controller (see "Technology co[...]

Extended setpoint chann el 2.3 Jog Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 49 ● Jog ● Field bus – Setpoint via PROFIBUS, for example ● Via the analog inputs of the fo llowing exemplary components: – e.g. Terminal Board 30 (TB30) – e.g. Terminal Module 31 (TM31) – e.g. Terminal Module 41 (TM41) 2.3 [...]

Extended setpoint chann el 2.3 Jog Drive Functions 50 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 -RJ -RJ )LHOGEXV 'LJ LW DOLQS XW S S S S S S W W W     S[...]

Extended setpoint chann el 2.3 Jog Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 51 Jog sequence S DQGS  &RPPLVVLRQLQJFRPSOHWH 9DW(3WHUPLQDOV SRZHUXQLW 63RZHURQGLVDEOH 32:(521 (QDEOHDVVRFLDWHGMRJVHWSRLQW (QD[...]

Extended setpoint chann el 2.3 Jog Drive Functions 52 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Control and status messages Table 2-1 Jog control Signal name Internal control word Binector input PROFIdrive/Sie mens telegram 1 ... 116 0 = OFF1 STWA.0 p0840 ON/OFF1 STW1.0 0 = OFF2 STWA.1 p0844 1. OFF2 p0845 2. OFF2 STW1.1 0 = OFF3 [...]

Extended setpoint chann el 2.4 Fixed speed setpoints Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 53 2.4 Fixed speed setpoints Description This function can be used to spe cify preset sp eed setpoints. Th e fixed setpoi nts are defined in parameters and selected via binector i nputs. Both the individual fixed setpoin[...]

Extended setpoint chann el 2.5 Motorized potentiometer Drive Functions 54 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Parameterization with STARTER In the STARTER commissioning tool , the "Fixed setpoints" parame ter screen in the project navigator under the relevan t drive is activated by doubl e-clicking Setpoint channe[...]

Extended setpoint chann el 2.5 Motorized potentiometer Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 55 – Setting value (p1043/p104 4) – Initial rounding-off active/not active (p1030.2) ● Non-volatile storage o f the setpoints via p1030.3 ● Configurable setpoint for Power On (p1030.0) – Starting value is the[...]

Extended setpoint chann el 2.6 Main/supplementary setpoint and setpoint modification Drive Functions 56 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 2.6 Main/supplementary setpoint and setpoint modification Description The supplementary setpoi nt can be used to incorporate correctio n values from lower-l evel controllers. This can b[...]

Extended setpoint chann el 2.7 Direction of rotation limit ing and direction of rotation c hangeover Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 57 Display parameters r1073[C] CO: Main setpoin t effective r1077[C] CO: Supplementary setpoint effective r1078[C] CO: Total setpoint effective Parameterization with STARTE[...]

Extended setpoint chann el 2.8 Suppression bandwidth s and setpoint limits Drive Functions 58 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Function diagrams (see SINAMICS S List Manual) ● 1550 Setpoint channel ● 3040 Direction limitation and direction reversal Overview of key parameters (see SINAMICS S List Manual) Adjustable pa[...]

Extended setpoint chann el 2.8 Suppression bandwidth s and setpoint limits Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 59 6XSSUHVVLRQ EDQGZLGWKV 6SHHGOLPLWLQJPD[ 6SHHGOLPLWLQJPLQ 5DPSIXQFWLRQJHQHUDWRU 0RWRUFRQWURO 0LQ 0D[ U S>'@  S>[...]

Extended setpoint chann el 2.9 Ramp-function generator Drive Functions 60 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● p1088[C] DI: Speed limit negativ e direction of rotation ● r1119 Ramp-function gen erator setpoint at the input Suppression bandwidths ● p1091[D] Suppression spe ed 1 ● ... ● p1094[D] Suppression spe ed [...]

Extended setpoint chann el 2.9 Ramp-function generator Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 61 Properties of the simple ramp function generator 7GQ 7XS 7GQ 7XS S S [ S S W  W Figure 2-9 Ramp-up and ramp-dow n w ith the [...]

Extended setpoint chann el 2.9 Ramp-function generator Drive Functions 62 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● RFG ramp-up time Tup p1120[DDS] ● RFG ramp-down time Tdn p1121[DDS] ● Initial rounding-off time IR p1130[DDS] ● Final rounding-off time FR p1131[DDS] ● Rounding-off typep1134[DDS] ● Effective ramp-up t[...]

Extended setpoint chann el 2.9 Ramp-function generator Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 63 :LWKWUDFNLQJ :LWKRXWWUDFNLQJ 6SHHGDFWXDOYDOXH 6SHHGVHWSRLQW 6SHHGDFWXDOYDOXH 2XWSXWRI UDPSIFWJHQHUDWRU 6SHHGVHWSRLQW 2XWSXWRI UDPSIFWJHQHUDWRU S Q W W?[...]

Extended setpoint chann el 2.9 Ramp-function generator Drive Functions 64 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Parameterization with STARTER The "ramp function generator" par amete r screen is selected via the following icon in the toolbar of the STARTER commissioni ng tool: Figure 2-12 STARTER icon for "ramp [...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 65 Servo control 3 This type of closed-loop control enables operation with a high dynamic re sponse and precision for a motor with a motor encoder. 3.1 Speed controller The speed controlle r controls the motor speed usin g the actual values from the encoder (operation with[...]

Servo control 3.2 Speed setpoint filter Drive Functions 66 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 3.2 Speed setpoint filter The two speed setpoint filters are identi cal in structure and c an be use d as follows: ● Bandstop ● Low-pass 1st orde r (PT1) or ● Low-pass 2nd order (PT2) Both filters are activated via parameter[...]

Servo control 3.3 Speed controller adaptation Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 67 ● p1425[DDS] Speed setpoint filter 2 numerator natural frequenc y ● p1426[DDS] Speed setpoint f ilter 2 numerator damping Parameterization In the STARTER commissioning t ool, the "Speed setpoint filter" paramet[...]

Servo control 3.3 Speed controller adaptation Drive Functions 68 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Example of speed-dependent adaptation Note This type of adaptation is only ac tive in "operation with encod er" mode. ,QWHJUDOWLPH 3URSRUWLRQDOJDLQ &RQVWDQWXSSHUVSHHGUDQJH $GDSWLYHFRQWUROUD[...]

Servo control 3.4 Torque-controlled operation Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 69 ● p1458[0...n] Lower adaptation factor ● p1459[0...n] Upper adaptation factor Speed-dependent Kp_n/Tn_n adaptation ● p1460[0...n] Speed controller P gain lower adapt ation speed ● p1461[0...n] Speed controller Kp ada[...]

Servo control 3.4 Torque-controlled operation Drive Functions 70 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 HJS >@  S>&@  S>&@ S>&@ U    Figure 3-6 Torque setpoint 3. [...]

Servo control 3.5 Torque setpoint limitation Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 71 Function diagrams (see SINAMICS S List Manual) ● 5060 Torque setpoint, cont rol type swit chover ● 5610 Torque limiting/reduction/interpol ator Signal overview (see SINAMICS S List Manual) ● r1406.12 Torque control acti[...]

Servo control 3.5 Torque setpoint limitation Drive Functions 72 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 5HYHUVH PRWRULQJ )RU ZDUGV PRWRULQJ )RUZDUGV JHQHUDWLQJ EDFN ZDUGV JHQHUDWLQJ 7KHTXDGUDQWV 7RUTXHIDFWRU0LT LTBVHWB 6HWSRLQWRIWKHWRUTXHJHQHUDWLQJFXUUHQW (IIHFWL[...]

Servo control 3.5 Torque setpoint limitation Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 73 Fixed and variable torque limit settings Table 3-1 Fixed and variable torque limit settings Selection Torque limitation mode Mode Maximum upper or lower torque limits p1400.4 = 0 Maximum motor or regenerative mode torque limi[...]

Servo control 3.5 Torque setpoint limitation Drive Functions 74 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Example: Torque limits with or without offset The signals selected via p1522 a nd p1523 include the torque lim its parameterized via p1520 and p1521. S S S S 0BRIIVH[...]

Servo control 3.6 Current controller Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 75 Overview of key parameters (see SINAMICS S List Manual) ● p0640[0...n] Current limit ● p1400[0...n] Speed cont rol configuration ● r1508 CO: Torque setpoi nt before supplementary torque ● r1509 CO: Torque setpoint before to r[...]

Servo control 3.6 Current controller Drive Functions 76 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Closed-loop current control No settings are requi red for operating the current controller. Optimization measures can be taken in certain circumstanc es. Current and torque limitation The current and torque limitations are ini tializ[...]

Servo control 3.6 Current controller Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 77 Overview of key parameters (see SINAMICS S List Manual) Closed-loop current control ● p1701[0...n] Current controller reference model dead time ● p1715[0...n] Current controller P gain ● p1717[0...n] Current cont roller integra[...]

Servo control 3.7 Current setpoint filter Drive Functions 78 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Current controller adaptation ● p0391[0...n] Current controller adaptation lower starting poi nt ● p0392[0...n] Current controller adaptation upper starting poi nt ● p0393[0...n] Current controlle r adaptation upper P gain[...]

Servo control 3.7 Current setpoint filter Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 79 )LOWHU )LOWHU QG2UGHUILOWHU QG2UGHUILOWHU !*HQHUDOQGRUGHUILOWHU !37ORZSDVV 37 IQB] S>'@ 'B] S>'@[...]

Servo control 3.7 Current setpoint filter Drive Functions 80 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 3-2 Example of a PT2 filter STARTER filter parameters Amplit ude log frequen cy curve Phase f requency curve Characteristic frequency f N 500 Hz Damping D N 0.7 dB I 1  + ]   G % Band-stop wit[...]

Servo control 3.7 Current setpoint filter Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 81 Band-stop with defined notch depth Table 3-4 Example of band-st op w ith defined notch depth STARTER filter parameters Amplit ude log frequen cy curve Phase f requency curve Blocking frequency f Sp = 500 Hz Bandwidth f BB = 500 [...]

Servo control 3.7 Current setpoint filter Drive Functions 82 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Denominator natural frequency $EV 6S 1 1 I I    = ˭ ˶ ● Denominator damping $EV 6S %% 1 I I '    General low-pass with reduction Table 3-6 Example[...]

Servo control 3.7 Current setpoint filter Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 83 Table 3-7 Example of g eneral 2nd order filter STARTER filter parameters Amplit ude log frequen cy curve Phase f requency curve Numerator frequency f Z = 500 Hz Numerator damping D Z = 0.02 dB Denominator frequency f N = 900 Hz [...]

Servo control 3.8 Note about the electronic motor model Drive Functions 84 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 3.8 Note about the electronic motor model A model change takes plac e wi thin the speed range p1752*(100%-p 1756) and p1752. With induction motors with enco der, the torque image is more accurat e in higher speed r[...]

Servo control 3.9 V/f control for diagnostics Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 85 Structure of V/f control 5DPSI XQF WL RQ JHQHUDWRU S  S S S S Q I 8 S Figure 3-14 Structure of V/f control Prerequisites for V/f[...]

Servo control 3.9 V/f control for diagnostics Drive Functions 86 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 V/f characteristic The speed setpoint is co nverted to the frequency specification taking into account the number of pole pairs. The synchronous frequency associate d with the speed setpoint is output (no slip compensati on)[...]

Servo control 3.10 Optimizing the curr ent and spe ed controller Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 87 3.10 Optimizing the current and speed controller General information CAUTION Controller optimization may only be performed by skilled person nel with a knowl edge of control engineering. The following tool[...]

Servo control 3.11 Sensorless operati on (without an encoder) Drive Functions 88 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Example of measuring the speed controller frequency response By measuring the spee d controlle r frequency respon se and the co ntrol system, critical resonance frequencies can, if necessary, be determined at[...]

Servo control 3.11 Sensorless operati on (without an encoder) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 89 Since the dynamic response in operation without an encoder i s l ower than in operation with an encoder, accelerating torque pre -control is implemented to i mprove the control dynamic performance. It control[...]

Servo control 3.11 Sensorless operati on (without an encoder) Drive Functions 90 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 be enabled. A large di screpancy be tween the actual and setpoint speed can cause a malfunction. WARNING Once the pulses have b een canceled, no in formation about the mo tor speed is available. The computed [...]

Servo control 3.11 Sensorless operati on (without an encoder) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 91 Series reactor When high-speed special motors are used, or other low leakage i nduction motors, a series reactor may be required to ensur e stable operatio n of the curre nt controller. The series reactor can[...]

Servo control 3.12 Motor data identification Drive Functions 92 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 3.12 Motor data identification Description The motor data identification (M otID) is used as tool to determ ine the motor data, e.g. of third-party motors and can help to impro ve the torque accuracy (k T estimator). The driv[...]

Servo control 3.12 Motor data identification Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 93 DANGER The stationary MotID can resul t in slight movement of up to 210 degrees e lectric al. For the rotating motor data ident ification routine, motor motio n is initiated, which can reach the maximum speed (p1 082) and t h[...]

Servo control 3.12 Motor data identification Drive Functions 94 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 3-9 Type plate data Induction motor Permanent-magnet synchr onous motor • p0304 rated voltage • p0305 rated current • p0307 rated power • p0308 rated power factor (cos ϕ) • p0310 rated frequency • p0311 rat[...]

Servo control 3.12 Motor data identification Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 95 Table 3-11 Data deter mined usi ng p1910 for induction motors (st ationary measurem ent) Determined data (gamma ) Data that a re accepted (p1910 = 1) r1912 identified stato r resistance p0350 mo tor stator resistanc e , cold [...]

Servo control 3.12 Motor data identification Drive Functions 96 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Determined data (gamma ) Data that a re accepted (p1960 = 1) Note: The magnetic design of the moto r can be identifi ed from the sat urati on characteristic. r1969 moment of inertia identified p0341 motor moment of inerti a *[...]

Servo control 3.12 Motor data identification Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 97 Table 3-14 Data determi ned usi ng p1960 for synchronous motors ( rot ating measurement) Determined data Data that are accepted (p1960 = 1) r1934 q inductance ide ntified - r1935 q inductance ide n tification current - Note: [...]

Servo control 3.13 Pole position identification Drive Functions 98 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 5 6 0RW RU &DEOH / ˰6 / YDU 6HU LH VLQGX FW DQF H 5 FDEOH 0RWR U0R GXO H S S S>0@ S>0@ S>0@ S>0@ S>0@ 0RWN( F[...]

Servo control 3.13 Pole position identification Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 99 ● Hall sensor ● Resolver with a multiple integer ratio between the motor pole pair number and the encoder pole pair numbe r ● Incremental encoder with a mu ltiple integer ratio between the motor pole pair number and [...]

Servo control 3.13 Pole position identification Drive Functions 100 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 WARNING Before using the pole position i dentification routine, the cont rol sense of the speed control loop must be corrected (p041 0.0). For linear motors, refer to the Commissioning Ma nual. For rotating motors, in sen[...]

Servo control 3.13 Pole position identification Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 101 Determining a suitable technique for the pole position identification routine &DQWKHPRWRUURWDWHIUHHOQR H[WHUQDOIRUFHV" <HV <HV 1R 1R ,VWKHPRWRULURQOHVV" $VDWXUDW[...]

Servo control 3.14 Vdc control Drive Functions 102 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Angular commutation offset commissioning support (p1990) The function for determining the commutation angle offset is ac tivated via p1990=1. The commutation angle offset is ent ered in p0431. This function can be used in the following ca[...]

Servo control 3.14 Vdc control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 103 significant enough. The motors may n o longer be able to maintain their setpoint speed or the acceleration/braking phas es are prolonged. The Vdc controller is an a utomatic P controller that influences the torque limits. It only interven[...]

Servo control 3.14 Vdc control Drive Functions 104 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 can be used to maintain the DC link voltage. The threshol d shou ld be considerably higher than the shutdown threshold of t he Motor Modules (recomm endatio n: 50 V below the DC link voltage). When the power supply i s reestablished, the [...]

Servo control 3.14 Vdc control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 105 feed energy back, the drives wit h an active Vdc_max controller can even be accelerated to absorb the braking energy and, i n turn, relieve the DC link. Description of Vdc_max control without acceleration (p1240 = 7, 9) As with p1240 = 1,[...]

Servo control 3.15 Dynamic Servo Control (DS C) Drive Functions 106 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 3.15 Dynamic Servo Control (DSC) Description The function Dynamic Servo Contro l" (DSC) is a closed-loop cont rol st ructure which is computed in a fast speed controlle r clock cycle a nd is supplie d with setpoints [...]

Servo control 3.15 Dynamic Servo Control (DS C) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 107 'DW DWU DQ VIH U GHDGWLPH 'DW DWU DQ VIH U GHDGWLPH QSUH QS UH ,QWHUSRODWRU ,QWHUSRODWRU 3DWK LQWHUSRODWLRQ [VHW ;(55 7 SRVLWLRQ 'DW DWU DQ VIH U GHDGWLPH 'DW DWU DQ VIH U GHDGWLPH .3[...]

Servo control 3.15 Dynamic Servo Control (DS C) Drive Functions 108 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Speed setpoint filter A speed setpoint filter to smoothen the speed setpoint steps is no longer required wh en DSC is active. When using the "DSC" function, i t only makes sense to use speed setpoint filter 1 to[...]

Servo control 3.16 Travel to fixed stop Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 109 Overview of key parameters (see SINAMICS S List Manual) ● p1190 CI: DSC position deviation XERR ● p1191 CI: DSC positi on controller gain KPC ● p1192[DDS] DSC encoder selection ● p1193[DDS] DSC encoder adaptation factor ?[...]

Servo control 3.16 Travel to fixed stop Drive Functions 110 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 0BOLPLWB S 0BOLPLWB S 5HFHLYHSURFHVVGDWD 0BUHG VHH )XQFWLRQ GLDJUDP   6FDOLQJ $OVRZKHQS  &RQWUROVLJQDO[...]

Servo control 3.16 Travel to fixed stop Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 111 Signal chart 0BOLPLW QBVHWS S WRUTXH UHGXFWLRQ )L[HGVWRSUHDFKHG S 7UDYHOWR IL[HGVWRS U WRUTXH OLPLWUHDFKHG U 7RUTXH XWLOL]DWLRQS 0[...]

Servo control 3.16 Travel to fixed stop Drive Functions 112 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The motor runs at the set torque until it reaches the stop and continues to work against the stop until the torque limit has been reached, this status b eing indicated in status bit r1407.7 "Torque limit reached". Contr[...]

Servo control 3.17 Vertical axes Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 113 ● p1545[0...n] BI: Activat es travel to fixed stop ● p2194[0...n] Torque threshold 2 ● p2199.11 BO: Torque utilization < torqu e threshold value 2 3.17 Vertical axes Description With a vertical axis without mec hanical weight c[...]

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Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 115 Vector control 4 Compared with vector V/f control, vector control offers the fol lowing benefits: ● Stability vis-à-vis load and setpoint changes ● Short rise times with setpoint change s (–> better command beh avior) ● Short settling times with loa d chang[...]

Vector control 4.1 Sensorless vector control (SLVC) Drive Functions 116 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 W W 2S HQF RQW UROO RR S &ORVHGFRQWURO ORRS _IB DF W_ S   > 5 3 0 @ S   > 5 3 0 @ p1758 ⎟ ⎟ ⎠ ⎞ ⎜ ⎜ ⎝ ⎛ − • % 100 1756 p 1 Figure 4-1 Switc[...]

Vector control 4.1 Sensorless vector control (SLVC) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 117 =HURFURVVRYHU 6WDUW 2SHQORRS &ORVHGORRS 2SHQORRS &ORVHGORRS S S W I S W I Figure 4-2 Start-up and passing th rough 0 Hz in closed-loop op[...]

Vector control 4.2 Vector control with encoder Drive Functions 118 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 I0 W I0 W FRQWUROOHG 6WDUW =HURWUDQVLWLRQ FRQWUROOHG I 0VHWU 0VHWU I S S SS[...]

Vector control 4.3 Speed controller Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 119 ● Compared with speed co ntrol without an encoder, the dynamic r esponse of drives with an encoder is significantly bet te r because the sp eed is measured d irectly and integrated in the model created for t he current components. [...]

Vector control 4.3 Speed controller Drive Functions 120 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 RQODFWLYHLISUHFRQWUROLVDFWLYH S! 6SHHGDFWXDOYDOXH 6SHHGVHWSRLQW 6SHHG FRQWURO 3UH FRQWURO 3, 6SHHG FRQWUROOHU 7RUTXH VHWSRLQW 'URRS LQMHFWLRQ  9&[...]

Vector control 4.4 Speed controller adaptation Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 121 Note In comparison with speed contro l with an encoder, the dynamic r esponse of drives witho ut an encoder is significantly redu ced. The actual speed is derive d by mean s of a model calculation from the converter output[...]

Vector control 4.4 Speed controller adaptation Drive Functions 122 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 $GDSWDWLRQVLJQDO $GDSWDWLRQVLJQDO UHIHUUHGWR S[RUS[ 6SHHGGHSHQGHQW .SBQDGDSWDWLRQ 6SHHGGHSHQGHQW 7SBQDGDSWDWLRQ 7R 6SHHG FRQWUROOHU 'QUHVSUHG )L[...]

Vector control 4.4 Speed controller adaptation Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 123 .SBQ 7QBQ ZLWKDGDSWLYH FRQWURO ZLWKRXWDGDSWLYH FRQWURO &RQVWDQWORZHUVSHHGUDQJH $GDSWLYHFRQWUROUDQJH &RQVWDQWXSSHUVSHHGUDQJH Q .SBQ 7QBQ 3URSRUWLRQDOJDLQ ,QWHJUDOWLPH Q?[...]

Vector control 4.5 Speed controller pre-cont rol and referen ce model Drive Functions 124 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● p1459 adaptation factor upper ● p1466 CI: Speed controller P gain scaling Speed-dependent Kp_n/Tn_n adaptation (VC only) ● p1460 Speed controller P gai n adaptation speed, lo wer ● p1461 Sp[...]

Vector control 4.5 Speed controller pre-cont rol and referen ce model Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 125 - - r 1547 [ 0 ] r 1538 r 1547 [ 1 ] r 1539 r 1518 = 0 > 0 p 0341 p 0342 p 1496 SLVC : VC : p 1452 p 1442 p 1470 p 1460 p 1472 p 1462 K p T n K p T n r 1084 - r 0079 T i T ) 2 i T ) 2 i 0 1 p 1495[...]

Vector control 4.5 Speed controller pre-cont rol and referen ce model Drive Functions 126 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note The ramp-up and ramp-down time s (p1120; p1121) of the ramp func tion generator in the setpoint channel should b e set a ccordingly so that the motor sp eed can track the setpoint during acceler[...]

Vector control 4.6 Droop Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 127 The reference model can also b e emulated externally and its output signal injected via p1437. Function diagrams (see SINAMICS S List Manual) ● 6031 Pre-control balancing for referen ce/acceleration model ● 6040 Speed controller Overview of[...]

Vector control 4.6 Droop Drive Functions 128 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6SHHGVHWSRLQW 3UH FRQWURO 7RUTXH VHWSRLQW 6HWSRLQW 6/9& 9& 'URRSLQMHFWLRQ 2QODFWLYHLISUHFRQWUROLVDFWLYHS! 2QODFWLYHZLWK6/9& 7L .S 7Q $FWXDOVSHHG 3, 7R[...]

Vector control 4.7 Torque control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 129 Overview of key parameters (see SINAMICS S List Manual) ● p1488[0...n] Droop input source ● p1489[0...n] Droop feedback scaling ● p1492[0...n] BI: Dr oop feedback enable ● r1482 CO: Speed controller I torque output ● r1490 CO[...]

Vector control 4.7 Torque control Drive Functions 130 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6SHHGVH WSRLQW 3, VSHHG FRQWUROOHU 7R U T X H VHWSRLQW 6SHHGDFWXDOYDOXH 0BV H W 0 B VX SSO  0 B UH JDF WL YH S    0 5HJ 0 B VX SSO 0 B VX SSOV F DO 0 B V XSS OVF DO ?[...]

Vector control 4.7 Torque control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 131 ● OFF2 – Immediate pulse s uppression, the dr ive coasts to standstill. – The motor brake (if parameter ized) is closed immediately. – Power-on disable is activated. ● OFF3 – Switch to speed-controlled operation – n_set =[...]

Vector control 4.8 Torque limiting Drive Functions 132 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 4.8 Torque limiting Description S 0D[ 0LQ S U U S S S U U U U 7R U T X H OLPLWV 3RZHU OLPL[...]

Vector control 4.9 Vdc control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 133 setpoint is limited in the Motor Module, this is indicated via the following diagnostic parameters: ● r1407.8 Upper torque limit active ● r1407.9 Lower torque limit active indicated. Function diagrams (see SINAMICS S List Manual) ● [...]

Vector control 4.9 Vdc control Drive Functions 134 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The "Vdc control" function can be activat ed using the appropria te measures if an overvoltage or undervoltage is present in the DC link. ● Overvoltage in the DC link – Typical cause The drive is operating in regene rative m[...]

Vector control 4.9 Vdc control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 135 Description of Vdc_min control 9G F  F W U O DFWLYH UHJHQHUDWLYH PRWRU , TVHWS 73RZHU  IDLOXUH ZLWKRXW.,3IDXOW) ZLWKRXWSRZHUUHVWRUHIDXOW) 3RZHUUHVWRUH 3RZHUIDLOXUH 530 Q VHWS [...]

Vector control 4.9 Vdc control Drive Functions 136 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Description of Vdc_max control , TVHWS  WRUT XH  JH QHU DWLQ JFXU UHQ WVHWS RLQW , TVHWS 6ZLWFKRQOHYHO Q VHWS Q DFW 9 GF  FW U ODFW LYH $ _Q_ 9 GF W   W >9@ W Figure 4-1[...]

Vector control 4.10 Current setpoint filter Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 137 ● p1256[0...n] Vdc_min controller response (kinetic buffering) (control) ● p1257[0...n] Vdc_min controller speed threshold (controller) ● r1258 CO: Vdc contro ller output (control) 4.10 Current setpoint filter Descripti[...]

Vector control 4.12 Motor data identification and rotating measurement Drive Functions 138 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 S[S S .S S S LT .S3U RS RU W LR QDOJD LQ LT7 RU TXH  J HQHU DWL QJFX UU HQW Figure 4-16 Current con[...]

Vector control 4.12 Motor data identification and rotating measurement Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 139 Note For both types of motor identif ication the following applies: If there is a motor brake, then th is must be open (p1215 = 2). These can be selected more eas ily via p 1900. p1900 = 2 select s [...]

Vector control 4.12 Motor data identification and rotating measurement Drive Functions 140 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 For control engineering reasons , you are strongly a dvised to ca rry out motor identification because the equivalent circuit dia gram data, motor cable resist ance, IGBT on-state voltage, and compe[...]

Vector control 4.12 Motor data identification and rotating measurement Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 141 & 5 0RWRU0RGXOH 0RWRU &DEOHDQG VHULHVLQGXFWDQFH / &DEOH 6HULHV &DEOH / / / 5 ˰6 ˰5 5 0 5 6 S S S>0@ S>0@ S?[...]

Vector control 4.12 Motor data identification and rotating measurement Drive Functions 142 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4  S S  S S L w >@ S S  S S >@  U  [...]

Vector control 4.12 Motor data identification and rotating measurement Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 143 The speed controlle r is set to the symmetrical optimum in accor dance with dynamic factor p1967. p1967 must be set before the optimization run and only a ffects the calculation of the controller pa[...]

Vector control 4.12 Motor data identification and rotating measurement Drive Functions 144 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 DANGER During speed controller optimization, the driv e triggers moveme nts in the motor that can reach the maximum motor spe ed. The emergency STOP functions mus t be fully operational during commi[...]

Vector control 4.13 Efficiency optimization Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 145 4.13 Efficiency optimization Description The following can be achie ved when optimizing the ef ficiency us ing p1580: ● Lower motor losses in the partial load range ● Noise in the motor is minimized ˓ VHWS L TVHWS S?[...]

Vector control 4.14 Instructions for comm issioning indu ction motors (ASM) Drive Functions 146 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 4.14 Instructions for commissioning induction motors (ASM) Equivalent circuit diagram for vector induction motor and cable & 5 0RWRU0RGXOH 0RWRU &DEOHDQG VHULHVLQGXFWDQFH / &am[...]

Vector control 4.14 Instructions for comm issioning indu ction motors (ASM) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 147 Parameter Description Remark p0341 Motor moment of inertia - p0342 Ratio between the total an d motor moment of inertia - p0344 Motor weight - p0352 Cable resistanc e (component of the stator r[...]

Vector control 4.15 Instructions for comm issioning permanent -magnet synchronou s motor s Drive Functions 148 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Motor identification (standstill (static) measure ment (p1910) ● Rotating measurement (p1960) The following parameters can be entered in STARTE R during the c ommissioning [...]

Vector control 4.15 Instructions for comm issioning permanent -magnet synchrono us motors Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 149 Temperature protection can be implemented using a tempe rature sensor (KTY/PTC). In order to achieve a high torque accuracy, we recomme nd that a KT Y temperature sensor is used. [...]

Vector control 4.15 Instructions for comm issioning permanent -magnet synchronou s motor s Drive Functions 150 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 4-7 Equivalent circuit diagram for motor data Parameter Description Remark p0350 Motor stator resistance, cold - p0356 Motor stator inductance - p0357 Motor stator inductan[...]

Vector control 4.15 Instructions for comm issioning permanent -magnet synchrono us motors Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 151 Note If pulse inhibition of the converter occurs (fault or OFF2), sy nchronous motors ca n generate high terminal voltages in the field we akening range, w hich could lead to over[...]

Vector control 4.15 Instructions for comm issioning permanent -magnet synchronou s motor s Drive Functions 152 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 4.15.1 Automatic encoder adjustment Description The pole wheel-oriented cl osed-loop control of the synchronou s motor requires information about the pole wheel position angle . [...]

Vector control 4.15 Instructions for comm issioning permanent -magnet synchrono us motors Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 153 4.15.2 Pole position identification Description The pole position identification routine is used to determine r otor position at start up. This is required when no pole position i[...]

Vector control 4.16 Flying restart Drive Functions 154 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Overview of key parameters (see SINAMICS S List Manual) ● p0325 Motor pole position i dent ification current 1st phase ● p0329 Motor pole position identificatio n current ● p1780.6 Selects pole position identification PEM withou[...]

Vector control 4.16 Flying restart Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 155 &XU UHQWD FW XDO YDOXH Q DFW   U  S S  5DPS XS 0DJQH WL] H 'HPDJQ HWL] H 212 ))F RPP DQG 21 Q VHD UFK PD [ Q VHDUFKPD[ ?[...]

Vector control 4.17 Synchronization Drive Functions 156 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note With induction motors, the demagnetization time must elapse before the flying restart function is activated to allow t he voltage at the motor termina ls to decrease otherwise high equalizing curre nts can occur wh en the pulses[...]

Vector control 4.18 Simulation operation Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 157 the motor from the line supply in order to be able to carry out maintenance work on the dri ve converter without incurring any down ti mes. Synchronizing is activated usin g parameter p3800 and either int ernal or exter nal actu[...]

Vector control 4.19 Redundance operatio n power units Drive Functions 158 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 (e.g. setpoint channel, sequence c ontrol, communication, techno logy function, etc.) c an be tested in advance without requiring a motor. For units with outputs of > 75 W it is re commended to test the activatio[...]

Vector control 4.20 Bypass Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 159 Description Redundant operation ca n be used so that operation can be contin ued in spite of the failure of one power unit c onnected in parallel. In order that the failed power unit can be replaced, DRIVE-CLiQ cables must be conne cted in a [...]

Vector control 4.20 Bypass Drive Functions 160 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Synchronizing the motor to the line supply. For all bypass version s , the following applies: ● The bypass is always switched -out when one of t he control wor d signals "OFF2" or "OFF3" is withdrawn. ● Exception: [...]

Vector control 4.20 Bypass Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 161 A reactor is used to de-couple the drive converter from the lin e supply - the uk value for the reactor is 10% +/- 2%. 1HWZRUN &RQYHUWHUZLWK9ROWDJH 6HQVLQJ0RGXOH960   3URWHFWLYHGHYLFH 5HDFWRU 0 a .?[...]

Vector control 4.20 Bypass Drive Functions 162 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 U 6QFKURQLVPDFKLHYHG S ESDVVFRPPDQG U 6QFKURQL]DWLRQUHTXHVWHG IURPESDVVIXQFWLRQ U &ORVHFRQWDFWRU. S &RQWDFWRU.[...]

Vector control 4.20 Bypass Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 163 ● Pulses are enabled. Since "Sync hronize" is set before "Pulse enable", the converte r interprets this as a command to r etrieve a motor from the suppl y and to take it over. ● After the motor has been sync hronized t[...]

Vector control 4.20 Bypass Drive Functions 164 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Examp le The following parameters must be set after the bypass function with synchronization without overlap (p126 0 = 2) has been activated. Table 4-9 Parameter settings for bypass function with synchroni zation without overlap Parame ter De[...]

Vector control 4.20 Bypass Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 165 0 a . . 1HWZRUN &RQYHUWHU 3URWHFWLYHGHYLFH ,QWHUORFNHGDJDLQVW VLPXOWDQHRXVOFORVLQJ Figure 4-28 Circuit example, bypass without synchronization Activating The bypass without synch ronizati on (p1260 = 3) ca n be tr[...]

Vector control 4.20 Bypass Drive Functions 166 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 4-10 Parameter setting for bypass functio n with synchroni zation with overlap Parame ter Descriptio n p1262 = Bypass dead time setting p1263 = Debypass dead time setting p1264 = Bypass delay time setting p1265 = Speed threshold setting[...]

Vector control 4.20 Bypass Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 167 ● r3805 CO: Sync-line-dri ve frequency diff erence ● p3806 Sync-line-dri ve frequency difference threshold value ● r3808 CO: Sync-line-dri ve phase difference ● p3809 Sync-line-dri ve phase setpoint ● p3811 Sync-line-dri ve frequenc[...]

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Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 169 Vector V/f control (r0108.2 = 0) 5 5.1 Introduction The simplest solution for a cont rol procedure is the V/f curve, whereby the stator voltage for the induction motor or synchron o us motor is controlled proporti onately to the stator frequency. This method ha s prove[...]

Vector V/f control (r0108.2 = 0) 5.1 Introduction Drive Functions 170 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 5-1 V/f characteristic (p1300) Parameter value s Meaning Applicat ion / property 0 Linear characteristic Standard (w/o voltage bo ost)  S  I 9  I Q 9 Q 1 Linear characteristi[...]

Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 171 Parameter value s Meaning Applicat ion / property 5 Precise frequency drives Characteristic that takes into account the tech nologic al partic ularity of an application (e.g. text ile applications): a) whereby the curr[...]

Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Drive Functions 172 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note The voltage boost affects all V/f charac teristics (p1300). NOTICE If the voltage boost value is too high, this can result in a th ermal overload of the motor winding. Permanent voltage boost (p1310) 9 SHUPDQHQW S[...]

Vector V/f control (r0108.2 = 0) 5.2 Voltage boost Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 173 9 DFFHOHUDWLRQ S9ROWDJHDWDFFHOHUDWLRQ U&XUUHQWVWDWRUUHVLVWDQFH[ S5DWHGPRWRUFXUUHQW[ 9IOLQHDU 2XWSXWYROWDJH 9IQRU[...]

Vector V/f control (r0108.2 = 0) 5.3 Slip compensation Drive Functions 174 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 5.3 Slip compensation Description Slip compensation is an addit ional V/f control function. It ens ures that the setpoint speed n set of induction motors is maintained at a constant level irre spect ive of the load[...]

Vector V/f control (r0108.2 = 0) 5.4 Vdc control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 175 5.4 Vdc control Description &RQWURO=6: 9GFBFWUO.S S 9GFBFWUO7Q S 9GFBFWUOWBGHULY S 9GFBPD[GQBIDFWRU S 9GFBFWUOFRQILJ S 9GFBPD[ 9[...]

Vector V/f control (r0108.2 = 0) 5.4 Vdc control Drive Functions 176 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Reduce the regenerative torque to maintain the DC link voltage within permissible limits. ● Undervolta ge in the DC link – Typical cause Failure of the supply voltage o r supply for the DC link. – Remedy Specify a [...]

Vector V/f control (r0108.2 = 0) 5.4 Vdc control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 177 In the event of a power failure, V dc_min control is activated w hen the Vdc_min switch-in level is undershot. This controls the DC link voltage an d maintains i t at a constant level. The motor speed is reduced. When th[...]

Vector V/f control (r0108.2 = 0) 5.4 Vdc control Drive Functions 178 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Function diagrams (see SINAMICS S List Manual) ● 6320 Vdc_max controller and Vdc_min controller Overview of key parameters (see SINAMICS S List Manual) ● p1280[0...n] Vdc controll er configuration (V/f) ● r1282 Vdc[...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 179 Basic functions 6 6.1 Changing over units Description By changing over the units, par ameters and proc ess quantities f or input and output can be changed over to an appropriate system of units (US units or as per unit quantities (%)). The following supplementa ry cond[...]

Basic functions 6.2 Reference parameters/normalizatio ns Drive Functions 180 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 This assignment and the unit groups can be read for each parame ter in the parameter list in the SINAMICS S List Manual. The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and p0[...]

Basic functions 6.2 Reference parameters/normalizations Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 181  [      [ [   ವ [  [  [   >@ [ [ ವ    5HIHUHQFHTXDQWLW S[...]

Basic functions 6.2 Reference parameters/normalizatio ns Drive Functions 182 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Scaling for servo object Table 6-2 Scaling for servo object Size Scaling parameter Default at initial commiss ioning Reference speed 100 % = p2000 Induc tion motor p2000 = Maximum m otor speed (p0322) Synchronous[...]

Basic functions 6.3 Modular machine con cept Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 183 Size Sc aling paramet er Default at initial commissioni ng Reference temperature 100% = 100°C - Reference electrical angle 100 % = 90° - Overview of important parameters (refer to the List Manual) ● p0340 Automatic calcu[...]

Basic functions 6.3 Modular machine con cept Drive Functions 184 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 'ULYH 'ULYH (QF RGH U 2XWSXW UHFRQQHFWHG 'ULYH 6HWSRLQ W 7 RSRORJ 3DU WLDO 7 RSRORJ '5,9(&/L4 0 60&  ; ; 6LQJOH 0RWRU 0RGXOH ;?[...]

Basic functions 6.4 Sinusoidal filter Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 185 CAUTION If a drive in a Safety Integrated line-up is deactivated v ia p0 105, r9774 is not read correctly because the signals fr om the deactivated drive are no longer updated. Remedy: Remove this drive from the group before you de[...]

Basic functions 6.5 dv/dt filter plus VPL Drive Functions 186 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Maximum permissible motor cabl e lengths: – Unshielded cables: max. 150 m – Shielded cables: max. 100 m ● Other restrictions: see the Equipment Manual. Note If a filter cannot be parameteriz ed (p0230 < 3), this me[...]

Basic functions 6.6 Direction reversal without cha nging the setpoint Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 187 Restrictions The following restrictions mus t be taken into account when a d v /dt filter is used: ● The output frequency is limit ed to a maximum of 150 Hz. ● Maximum permissible motor cabl e le[...]

Basic functions 6.7 Automatic restart ( vector, servo, infeed) Drive Functions 188 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Overview of key parameters (see SINAMICS S List Manual) ● r0069 Phase current, actual value ● r0089 Actual phase voltage ● p1820 Direction of rotation re versal of the output phases (ve ctor) ● p182[...]

Basic functions 6.7 Automatic restart ( vector, servo, infeed) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 189 Automatic restart mode Table 6-6 Automatic restart mode p1210 Mode Meaning 0 Disables automatic restart Automatic restart inactive 1 Acknow ledges all faults without restarting When p1210 = 1, faults t hat [...]

Basic functions 6.7 Automatic restart ( vector, servo, infeed) Drive Functions 190 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The starting attempt has been successfully com pleted if the fly ing restart and the motor magnetization (induction motor) have been completed (r0056.4 = 1) and one additional second has expired. The starti[...]

Basic functions 6.8 Armature short-circuit bra ke, internal voltage protection, DC brake Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 191 6.8 Armature short-circuit brake, internal voltage protection, DC b rake Features ● For permanent magnet synchronou s motors – Controlling an external armature short-circuit co[...]

Basic functions 6.8 Armature short-circuit brake , internal voltage protection, DC brake Drive Functions 192 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 External armature short-circuit braking The external armature sho rt-ci rcuit is activated via p1231 = 1 (with contactor feedback signal) or p1231 = 2 (without contactor f eedback [...]

Basic functions 6.8 Armature short-circuit bra ke, internal voltage protection, DC brake Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 193 This eliminates the nece ssity fo r using a VPM (Voltage Protecti on Module), for 1FE motors e.g. VPM 120 or VPM 200. When the Motor Module support s the internal voltage protectio[...]

Basic functions 6.8 Armature short-circuit brake , internal voltage protection, DC brake Drive Functions 194 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Internal armature short-circuit braking (booksize)/DC brake The "Internal armature short-ci rcuit braking" function short-ci rcuits a half-bridge in the power unit (Motor[...]

Basic functions 6.8 Armature short-circuit bra ke, internal voltage protection, DC brake Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 195 When the internal armature short-circuit protection is activate d, the same mechanism as with the internal voltage protection will short-circuit one of the h alf-bridges in the Mot[...]

Basic functions 6.8 Armature short-circuit brake , internal voltage protection, DC brake Drive Functions 196 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 the drive then returns to contr olled mode. If the "flying resta rt" function is not active, the drive can only be resta rted from standstill without overcurrent fault. ?[...]

Basic functions 6.8 Armature short-circuit bra ke, internal voltage protection, DC brake Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 197 Function diagrams (see SINAMICS S List Manual) ● 7014 External armature short c ircuit (p0300 = 2xx or 4xx, syn chronous motors ) ● 7016 Internal armature short cir cuit (p0300[...]

Basic functions 6.9 OFF3 torque limits Drive Functions 198 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6.9 OFF3 torque limits Description If the torque limits are externally specified (e.g. tension con troller), then the drive can only be stopped with a reduce d torque. If stopping in the sele cted time p3490 of the infeed has not [...]

Basic functions 6.10 Technol ogy function: friction characteristic Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 199 6.10 Technology function: friction characteristic Description The friction characteristic cur ve is used to compensate the fri ction torque for the motor and the driven machine. A friction ch aracterist[...]

Basic functions 6.11 Simple brake control Drive Functions 200 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● p3845 = 1 Friction characterist ic cur ve recording activated, all directions of rotation The friction characteristic curve is recorded in both di rection s of rotation. The results of the positive and negative measur ement[...]

Basic functions 6.11 Simple brake control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 201 >530@ >530@ 21 2))S   >@  3XOVHHQDEOH 6SHHGVH WSRLQW 6SHHGDFWXDOYDOXH 2XWSXWVLJQDO +R OGLQ JEUD NH Q WKUHVKROG 2S HQL QJWL PH &O RV LQJW LPH Q WKUHVKROG 0D J[...]

Basic functions 6.11 Simple brake control Drive Functions 202 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6.11.4 Integration The simple brake control functi on is integrated in the system a s follows. Function diagrams (see SINAMICS S List Manual) ● 2701 Simple brake control (r0108.14 = 0 ) Overview of key parameters (see SINAMIC[...]

Basic functions 6.12 Runtime (operating hours co unter) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 203 6.12 Runtime (operating hours counter) Total system runtime The total system runtime is displayed in p2114 (Control Unit). Index 0 indi cates the system runtime in milliseconds after reaching 86. 400.000 ms (24 ho[...]

Basic functions 6.13 Parking axis and parking sensor Drive Functions 204 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6.13 Parking axis and parking sensor 6.13.1 Description The parking function is used in two wa ys: ● "Parking sensor" – Monitoring of a certain encoder is suppressed. – The encoder is prepared fo r th[...]

Basic functions 6.13 Parking axis and parking sensor Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 205 Note Once the "Parking axis" / "Parki ng enc oder" status has been can celed, you may have to carry out the following actions: If the motor encoder has been replaced: deter mine the commutati on a[...]

Basic functions 6.13 Parking axis and parking sensor Drive Functions 206 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4   67:        *QB67: *QB=6: U Q Figure 6-9 Function chart: parking sensor 6.13.3 Overview: key parameters Note For a description of the paramet ers, se[...]

Basic functions 6.14 Position tracking Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 207 6.14 Position tracking 6.14.1 General Information Terminology ● Encoder range The encoder rang e is the positi on area that can itself represen t the absolute encoder. ● Singleturn encoder A singleturn encoder is a rotati ng a[...]

Basic functions 6.14 Position tracking Drive Functions 208 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The encoder positio n actual val ue in r0483 (must be requ ested v ia GnSTW.13) is limited to 2 32 places. When position tracking ( p0411.0 = 0) is switched off, the encoder position actual value r0483 comprise s the follo wing po[...]

Basic functions 6.14 Position tracking Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 209 0RWRUORDG 0HDVXULQJJHDU (QFRGHUV WHHWK WHHWK Figure 6-11 Measuring gearbox In order to determine the position at the motor/loa d, in additi on to the position actual value of the absolute encoder, it is also n[...]

Basic functions 6.14 Position tracking Drive Functions 210 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 0RW RU ORD GSRV LW LRQ        3RVL WLR Q 0RW RU U   ; LV W ZLWKDF WLYDWH GSR VLW LRQW UDF NL QJ (QF RGH U UHYROXWLRQV Figure 6-13 Odd-numbered gears wit h positi[...]

Basic functions 6.14 Position tracking Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 211 Tolerance window (p0413) After switching on, the differe nce between the stored position and the actual positi on is ascertained and, depending on t he result, the following is trig gered: Difference within the tolerance window -&[...]

Basic functions 6.15 Terminal Module 41 (TM41) Drive Functions 212 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6.14.2.4 Integration The "position tracking/measuri ng gearbo x" function is integrate d in the system as follows. Function diagrams (see SINAMICS S List Manual) ● 4704 Position and temperatur e sensing, encode[...]

Basic functions 6.15 Terminal Module 41 (TM41) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 213 – Settable zero mark position (p4426) – Operating display (r0002) ● Pulse encoder emulation b y p resetting of an encoder position actual value (p4 400 = 1) – Deadtime compensation (p4421) – Settable pulse number[...]

Basic functions 6.15 Terminal Module 41 (TM41) Drive Functions 214 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 I ' 'HDGWLPH 37ORZSDVV QB VHWS B ILOW  IQBQ S  QB VHWS B ILOW  ' B Q S  QBVHWGHDGWLPH  S  __ QBFWUOQ  BVHWS  &[...]

Basic functions 6.15 Terminal Module 41 (TM41) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 215 $QDORJVHWSRLQW 0RWRU0RGXOH  $QDORJFRQWURO 7HUPLQDO0RGXOH ,QFUHPHQWDOVLJQDOV 6SHHGFRQWUROOHU S  S  S      6HWSRLQWFKDQQHO>?[...]

Basic functions 6.15 Terminal Module 41 (TM41) Drive Functions 216 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Function diagrams (see SINAMICS S List Manual) ● 9660 Digital inputs, electrically isol ated (DI 0 ... DI 3) ● 9661 Digital inputs/outputs, b i-directional (DI/DO 0 and DI/D O 1) ● 9662 Digital inputs/outputs, b i-di[...]

Basic functions 6.16 Updating the firmware Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 217 6.16 Updating the firmware The software must be updated i f extended functions are made ava ilable in a more recent version and these functions are to b e used. The software for the SINAMICS d rive system is di stributed in th[...]

Basic functions 6.16 Updating the firmware Drive Functions 218 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6.16.1 Upgrading firmware and the project in STARTER To ensure that the project functi ons, you need a CompactFlash c ard containing the new firmware and a curren t version of STARTER. Upgrade the project 1. Is the project in [...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 219 Function modules 7 7.1 Function modules - Defin ition and commissioning Description A function module is a functional expansion of a drive obje ct t hat can be activated during commissioning. Examples of function modules: ● Technology controlle r ● Setpoint channel[...]

Function modules 7.2 Technology controller Drive Functions 220 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7.2 Technology controller 7.2.1 Description The technology controller is desi gned a s a PID controller, wher eby the differentiator can be switched to the control deviati on chann el or the actual value c hannel (factory sett[...]

Function modules 7.2 Technology controller Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 221 ● The D component ca n be switch ed to the control deviation or a ctual value cha nnel. ● The motorized potentiometer of the technology controller is only a ctive when the drive pulses are enabled. 7.2.3 Commissioning with[...]

Function modules 7.2 Technology controller Drive Functions 222 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4    7HFBFWUWSH S G GW 7HFBFWU.S S 7HFBFWU7Q S    7HFBFWUO 6HWSRLQW S $FWXDOYDOXH S 5DPSIXQFWLRQJHQHUDWRU QBVHWS S ;[...]

Function modules 7.2 Technology controller Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 223 ● ... ● p2215[0..n] CO: Technology controller, fixed value 15 ● p2220[0..n] BI: Technology contro ller fixed value selection b it 0 ● p2221[0..n] BI: Technology contro ller fixed value selection b it 1 ● p2222[0..n] [...]

Function modules 7.3 Extended monitoring functions Drive Functions 224 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7.3 Extended monitoring functions 7.3.1 Features When the extension is acti vated, the monitoring functions are e xtended as follows: ● Speed setpoint monitoring: |n_setp| ≤ p2161 ● Speed setpoint monitoring: n_s[...]

Function modules 7.3 Extended monitoring functions Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 225 7.3.2 Commissioning The extended monitorin g function s are activated while the commi ssioning Wizard is running. Parameter r0108.17 indicates wh ether it has been activated. 7.3.3 Integration The extended monitorin g [...]

Function modules 7.4 Extended brake control Drive Functions 226 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7.4 Extended brake control 7.4.1 Features The extended brake co ntrol func tion has the following features: ● Forced brake release (p0855, p1215) ● Close the brake for a 1 signal "unconditionall y close holding brake[...]

Function modules 7.4 Extended brake control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 227 When braking with a feedback signal (p1222), the inverted signa l must be connected to the BICO input for the se cond (p1223) feedback signal. The response times of the brakes can be set in p1216 and p1217 . Note If p1215 = 0[...]

Function modules 7.4 Extended brake control Drive Functions 228 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 speed controller is immedi ately enabled - the speed setpoint is enabled after the bra ke opening time (p1216). When the mast er swit ch is in the zero pos ition, the speed setpoint is inhibited - the drive is ramp- down usin[...]

Function modules 7.4 Extended brake control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 229 Standstill (zero-speed) monitoring ● r0060 CO: Speed setpoint before the setpoint filter ● r0063 CO: Actual speed smoothed (servo) ● r0063[0] CO: Actual sp eed, unsmoothed (ve ctor) ● p1225 CI: Standstill detec tion, [...]

Function modules 7.4 Extended brake control Drive Functions 230 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Control and status messages for extended brake control Table 7-2 Control: e xtended brake contr ol Signal name Binector input Control word sequen ce control / interconnection param eters Enable speed setpoint p1142 BI: Enable[...]

Function modules 7.5 Braking Module Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 231 7.5 Braking Module 7.5.1 "Braking Module" function module Features ● Braking the motor without any possibility of regenerating int o the line supply (e. g. power failure) ● Fast DC link discharge (booksize design) ● T[...]

Function modules 7.5 Braking Module Drive Functions 232 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Acknowledgement of faults When the Braking Module issues a fault message at binecto r inpu t p3866, an attempt is made to acknowledge the fault usi ng signal p3861 at terminal X2 1.1 Booksize or X41.3 Chassis every 10 m s. Alarm A069[...]

Function modules 7.6 Cooling system Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 233 7.6 Cooling system 7.6.1 "Cooling system" function module Features ● Control and monitoring functions of a cooling u nit ● Automatically activated when using water-co oled power units ● Evaluation of a leakage water s[...]

Function modules 7.6 Cooling system Drive Functions 234 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7 7 ุ ุ ุ 7 7    7 ุ  ุ   ุ U     U      U     U   ?[...]

Function modules 7.7 Extended torque control (kT estimat or, Servo) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 235 Function diagrams (see SINAMICS S List Manual) ● 9794 Cooling unit, control and feedback signals ● 9795 Cooling unit sequ ence control Overview of key parameters (see SINAMICS S List Manual) ● r0[...]

Function modules 7.7 Extended torque contro l (kT estimator, Servo) Drive Functions 236 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Parameter r0108.1 indicat es w hether it has been activated. Description of the k T estimator The adaptation of the torque constant s for synchronous motors i s used to improve the absolute torque accu[...]

Function modules 7.8 Closed-loop position control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 237 kT estimator: ● p1752 Motor model, chang eover speed operation with encoder ● p1795 Motor model PEM k T adaptation smoothing time ● r1797 Motor model PEM k T adaptation correction value Compensation of the voltage[...]

Function modules 7.8 Closed-loop position control Drive Functions 238 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7.8.2.2 Description The position actual value conditionin g implements the condition ing of the position actual value in a neutral position uni t LU (LENGTH UNIT). To do this, the function block uses the encoder evaluat[...]

Function modules 7.8 Closed-loop position control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 239 Note The effective actual value res olution is obtained fro m the prod uct of the encoder pulses (p0408) and the fine re solution (p0418) and a measuring gea r th at is possibly being used (p0402, p0432, p0433).  [...]

Function modules 7.8 Closed-loop position control Drive Functions 240 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 interconnected with r2685 (EPOS correction value) and p251 2 with r2684.7 (activate correction). This interconnection enabl es modulo offset by EPOS , for example. p2516 can be used to s witch in position offset. Using [...]

Function modules 7.8 Closed-loop position control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 241 Description The indexed position actual val ue acquisition pe rmits e.g. leng th measurements on parts as well as the detection of axis pos itions by a higher-level contr oller (e.g. SIMATIC S7) in addition to the posit[...]

Function modules 7.8 Closed-loop position control Drive Functions 242 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 parameters p2504 and p25 05. Posit ion tracking can be activated with rotary axes (modulo) and linear axes. For linear axes, the vi rtual mult iturn resolution (p2721) is pr eset with p0421 and extended by 6 bits for mu[...]

Function modules 7.8 Closed-loop position control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 243 3RVLWLRQDEVROXWHHQFRGHU (QFRGHUUHYROXWLRQV ([WHQGHGSRVLWLRQDUHD WKURXJKYLUWXDOPXOWLWXUQ LQWHUQDOOPDSSHG WR(26DUHD U  Figure 7-10 Position tracking (p2721 = 24) I[...]

Function modules 7.8 Closed-loop position control Drive Functions 244 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Virtual multiturn encoder (p2721) With a rotary absolute encoder ( p0404. 1 = 1) with activated pos ition tracking (p2720.0 = 1), p2721 can be used to enter a virtual mult iturn resolution. This enables you to generate [...]

Function modules 7.8 Closed-loop position control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 245 The current configuration can be checked in parameter r0108. The "load gearbox position tracking" function can be configured in the commissioning wizard via the "Mechanical system" dialog, as well as[...]

Function modules 7.8 Closed-loop position control Drive Functions 246 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7.8.3 Position controller Features ● Symmetrization (p2535, p2536) ● Limiting (p2540, p2541) ● Pre-control (p2534) ● Adaptation (p2537, p2538) Note We only recommend that expe rts use the position controller fun[...]

Function modules 7.8 Closed-loop position control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 247 7.8.4 Monitoring functions Features ● Standstill monitoring (p2542, p2543 ) ● Positioning monitoring (p2544, p254 5) ● Dynamic following error monitoring (p2546, r2563) ● Cam controllers (p2547, p 2548, p2683.8,[...]

Function modules 7.8 Closed-loop position control Drive Functions 248 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 37 0RGHO   3RVLWLRQVHWSRLQWEHIRUH SUHFRQWUROVPPHWUL]LQJILOWHU   VBGHOWDBPRQWRO  >/8@ S ?[...]

Function modules 7.8 Closed-loop position control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 249 ● p2546 LR dynamic following error m onitoring tolerance ● p2547 LR cam swit ching position 1 ● p2548 LR cam swit ching position 2 ● p2551 BI: LR setpoin t message present ● p2554 BI: LR travel command message[...]

Function modules 7.8 Closed-loop position control Drive Functions 250 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The alarm is also generated if, during an activated function (r eference mark sea rch or measuring probe evaluation), a fault is signaled usin g the encoder status word. If the "position control" function modu[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 251 position controller mo nitoring functions respond. To prevent th is from happening, the position controller must be disabled ( p2550 = 0) and switch to tracking mode (p2655 = 1, for control using PROFIdrive telegram 110 Po sSTW.0 =[...]

Function modules 7.9 Basic positioner Drive Functions 252 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Limits – Traversing profile limits – Traversing range limits – Jerk limitation ● Referencing or adjusting – Set reference point (for an ax is at s tandstill that has reach ed its target position) – Reference point a[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 253 7.9.1 Mechanical system Features ● Backlash compensation (p2583) ● Modulo offset (p2577) Description %DFNODVKS Figure 7-14 Backlash compensation When mechanical force is transf erred be tween a machine part an[...]

Function modules 7.9 Basic positioner Drive Functions 254 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 7-4 The compensation val ue is switched in as a function o f p2604 p2604 Traver sing directio n Switch in co mpensation value positive none 0 negative immediately positive immediately 1 negative none 0RGXORUDQJH S[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 255 With position tracking it is recommended to change p0412 or p27 21. Function diagrams (see SINAMICS S List Manual) ● 3635 Interpolator ● 4010 Position actual value conditioning Overview of key parameters (see SINAMICS S List Ma[...]

Function modules 7.9 Basic positioner Drive Functions 256 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The drive is limited to this velocity if a higher velocity i s s pecified or programmed via the override (p26 46) for the referenc e point approach o r is program med in the traversing block. Parameter p2571 (maximu m velocity) def[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 257 ● The modulo correction is not active (p25 77 = "0") The connector inputs are, in the factory setting, linked to the connector output p2580 (software limit switch minus) a nd p2581 (soft ware limit switch plus). Stop ca[...]

Function modules 7.9 Basic positioner Drive Functions 258 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 $FFHOHUDWLRQ 9HORFLW                            7LPH $FFHOHUDWLRQ>PVt@ 9HORFLWPV Figure 7-17 Activat ed[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 259 ● p2581 CO: EPOS software limit switch, plus ● p2582 BI: EPOS software limit switch activation ● r2683 CO/BO: EPOS status word 1 STOP cam ● p2568 BI: EPOS STOP cam activation ● p2569 BI: EPOS STOP cam, minus ● p2570 BI:[...]

Function modules 7.9 Basic positioner Drive Functions 260 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Flying referencing (passi ve (p2597 = 1)) ● Absolute encoder – Absolute encoder adjustment – Flying referencing (passive (p2597 = 1)) A connector input is provided for all referen cing types to inpu t the reference point [...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 261 CAUTION During adjustment with the rotary absolute encoder, a range is aligned symmetrically around the zero point with half t he encoder range within whi ch the position is restored after switch off/on. If position tracking is dea[...]

Function modules 7.9 Basic positioner Drive Functions 262 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 S   5HIHUHQFHFDP S   6WDUWGLUHFWLRQ $SSURDFKGLUHFWLRQ   $ % S  S  S  _Y_ V S  U  5HIHUHQFH[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 263 reversed. The reversing cams are low ac tive. If both reversing cams are active (p2613 = "0" and p2614 = "0"), the drive remains stationary. As soon as the reference cam is found, then synchronization to the ref[...]

Function modules 7.9 Basic positioner Drive Functions 264 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note In this case the direction of approach to the reference zero mark is the opposite to the axes with reference cams! External zero mark p resent (p0495 ≠ 0 ), no reference cam (p2607 = 0 ): Synchronization to an external z ero[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 265 When "flying referencing" durin g incremental positioning (relat ive) you can select whether the offset value is to be taken into account for the travel pat h or not (p2603). The "flying referencing" is activate[...]

Function modules 7.9 Basic positioner Drive Functions 266 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Instructions for switching data sets Using drive data set switching (DDS), motor data sets (p0186) a nd encoder data sets (p0187 to p0189) can be swit ched. The fo llowing table shows when the r eference bit (r2684.11) or the statu[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 267 6 2 EDS5 EDS6 EDS7 encoder_1 zzz disabled referenc e bit 3) is reset. Operation: Error message is generated. Position actual value preprocessing is newly initiated 1) and reference bit 3) is reset. 7 3 EDS0 EDS1 EDS2 encoder_1 xxx [...]

Function modules 7.9 Basic positioner Drive Functions 268 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● An external block change p2632 "External block change" is tri ggered. Travers ing block s are p arameteri zed using parameter sets that h ave a fixed structure: ● Traversing block number (p2616[0...63]) Every traver[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 269 the next task at any time during the traveling phase. If "Exter nal block change" is not triggered, the axis remains in the parameterized target positio n until the signal is issued. The difference here is t hat with CONT[...]

Function modules 7.9 Basic positioner Drive Functions 270 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 next interpolation clock cycle. C ONTINUE_EXTERNAL_ALARM causes a message to be output immediately. FIXED STOP The FIXED STOP task triggers a tr aversing movement with reduced torque to fixed stop. The following parameters are rele[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 271 A precise stop is always carried out he re regardless of the par ameterized continuation condition of the task preceding the JERK task. The following parameters are relevant: ● p2616[x] Block number ● p2622[x] Task parameter = [...]

Function modules 7.9 Basic positioner Drive Functions 272 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 SET_O, RESET_O The tasks SET_O and RESET_O allow up to two binary signals (out put 1 or 2) to be simultaneously set or reset. The number of the output (1 or 2) is specified bit-coded in the task parameter. The following parameters [...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 273 In positioning mode, traversing to a fixed stop is started when a trav ersing block is processed with the FIXED STOP command. In this traversing block , in addition to the specification of the dynamic parameterized position, speed,[...]

Function modules 7.9 Basic positioner Drive Functions 274 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note If the drive is in fixed stop, it can be referenced using the c ontrol signal "set reference point." If the axis leaves the position that it had at detection of the fix ed stop by more than the selected monitoring wi[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 275 7.9.5.5 Vertical axes Note In servo mode, with suspended axe s, a torque limit offset (p153 2) can be entered (see chapter: Servo Control -> Suspended axes). With asymmetrical torque limits p1522 and p1523, when traversing to fi[...]

Function modules 7.9 Basic positioner Drive Functions 276 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7.9.6 Direct setpoint input (MDI) Features ● Select direct setpoint input (p264 7) ● Select positioning type (p2648) ● Direction selection (p 2651, p2652) ● Setting-up (p2653) ● Fixed setpoint s – CO: Position setpoint [...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 277 Note Continuous acceptance p2 649 = 1 can only be set with free teleg ram configu ration p0922 = 999. No relative positioning is allowed with continuo us acceptance. The direction of positioning c an be specified usin g p2651 (posi[...]

Function modules 7.9 Basic positioner Drive Functions 278 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● xx2x = ABS_POS -> p2648, p2651 ● xx3x = ABS_NEG -> p2648, p2652 Intermediate stop and canceling traversing block The intermediate stop is activated by a 0 signal at p2 640. Afte r activation, the system brakes with the [...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 279 7.9.7 Jog Features ● Jog signals (p2589, p2590 ) ● Velocity (p2585, p2586) ● Incremental (p2587, p2588, p2591) Description Using parameter p25 91 it is possi ble to change over between jog increme ntal and jog velocity. The t[...]

Function modules 7.9 Basic positioner Drive Functions 280 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Function diagrams (see SINAMICS S List Manual) ● 3610 EPOS - jog mode Overview of key parameters (see SINAMICS S List Manual) ● p2585 EPOS jog 1 setpoint velocity ● p2586 EPOS jog 2 setpoint velocity ● p2587 EPOS jog 1 trav[...]

Function modules 7.9 Basic positioner Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 281 Stop cam minus active (r2684.13) Stop cam plus active (r2684.14) These status signals indicate that the stop cam minus p2569 or stop cam plus p2570 were reached or passed. The signals are reset if the cams are left i n a directly o[...]

Function modules 7.10 DCC axial winder Drive Functions 282 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Signal level 1 at binector input p2551 "signal setpoint stati c". Reference point set (r2684.11) The signal is set as soo n as referencing has b een succe ssfully completed. It is deleted as soon as no reference is t[...]

Function modules 7.10 DCC axial winder Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 283 ● Adaptation of tension controlle r and speed co ntroller gain ba sed on diameter or inertia ● Diameter-based winding tightness diagra m ● Diameter calculation ● Acceleration-based torque pre-control ● Flexible sensor ev[...]

Function modules 7.10 DCC axial winder Drive Functions 284 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 0DWHULDOGHQVLW 6FDOLQJ )L[H GPR PH QWRIL QHU WL D 0R WRUV SH HG * HD UEO RF N *H DUU DWL R 0D[LPXPZLQGLQJ GLDPHWHU 0R WRUV SH HG :LQGHUV SHHG $F FH OH UD WL RQWR UT XHP RWR UV[...]

Function modules 7.10 DCC axial winder Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 285 The function diagram below shows the calculation flow for VECTOR control [FP 6031]: D B EHI RU HVF DO LQ J     3  0RW0RP,QHUW5DWLR >@ S   ?[...]

Function modules 7.10 DCC axial winder Drive Functions 286 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 p1497[0...n] CI: Moment of inerti a, scaling / M_mom inert scal Scaling factor of the static mom ent of inertia for the calculation of the c urrent total moment of inertia (r1493 + portion of the moment of inertia of the windi n g[...]

Function modules 7.10 DCC axial winder Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 287 A variable torque limit is effective (fixed torque limit + scal ing). 0 signal from BI: p1551: The fixed torque limit is effective. p1552[0...n] Torque limit upper sca ling without offset / M_max up offs scal Sets the signal sourc[...]

Function modules 7.11 Parallel connection of chassis power units (vector) Drive Functions 288 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7.11 Parallel connection of chassis power units (vector) 7.11.1 Features SINAMICS supports the parallel co nnection of power units on the motor and infeed side to extend the power spe c trum of t[...]

Function modules 7.11 Parallel connection of chassis power units (vector) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 289 ● ... ● p7322 Parallel circuit configuration, VSM line filter capa cit ance, phaseW 7.11.3 Description Switching power units in parallel i s a simple method of extendi ng the power spectrum o[...]

Function modules 7.11 Parallel connection of chassis power units (vector) Drive Functions 290 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Parallel connection of two Active Line Modules and two Motor Mo dules on a motor with a single winding system   89: $ FW LYH / LQ H 0 R G X O H?[...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 291 Monitoring and protective functions 8 8.1 Power unit protection, general Description SINAMICS power units offer compr ehensive functions for protecting power components. Table 8-1 General protection for power units Protection against: Precautions Resp onses Monitoring [...]

Monitoring and protective functio ns 8.2 Thermal monitoring an d overload respo nses Drive Functions 292 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 8.2 Thermal monitoring and overload responses Description The priority of thermal monito ring for power unit is to identif y critical situations. If alarm thresholds are exceeded, the [...]

Monitoring and protective f unctions 8.3 Block protection Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 293 Reducing the output frequency has the effect of significantly r educing the converter output current which, in turn, reduce s losses in the power unit. ● No reduction (p02 90 = 1) You should choose this option[...]

Monitoring and protective functio ns 8.4 Stall protection (onl y for vector control) Drive Functions 294 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 6SH HGF R QWU RO OHUD WOLP LW 21 GHO D &R QWU ROP RG H 0RW RUO RF NHG S   ุ !9HF WRUF R QWU RO V S   ?[...]

Monitoring and protective f unctions 8.5 Thermal motor protection Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 295 7  ) U ุ U U  0RWRUVWDOOHG  S [...]

Monitoring and protective functio ns 8.5 Thermal motor protection Drive Functions 296 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Temperature measurement via KTY The device is connected to term inals X522:7 (anode ) and X522:8 (cathode) at the customer terminal block (TM31) in the diod e conducting direction. The me asured temperat[...]

Monitoring and protective f unctions 8.5 Thermal motor protection Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 297 Parameters for thermal motor protection ● p0600 Motor temperature sen sor for monitoring ● p0601 Motor temperature sen sor type ● p0604 Motor overtemp erature alarm threshold ● p0605 Motor overte[...]

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Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 299 Safety Integrated basic functions 9 9.1 General information Note This manual describes the Safety Integrated Basic Functions. The Safety Integrated Extended Fu nctions are described in the f ollowing do cumentation: Reference: /FHS/ SINAMICS S120 F unction Manual Safet[...]

Safety Integrated basic functions 9.1 General information Drive Functions 300 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● EN 954-1 Safety-related parts of control systems ● EN 1050 Risk assessment ● IEC 60204-1 Safety of machinery - Electrical equipment of machines - Part 1 : General Requirements for the elect rical equipme[...]

Safety Integrated basic functions 9.1 General information Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 301 Switch-off signal paths Two independent switch-off signal paths are available. All switch-off signal paths are low active, thereby ensuring that the system is always switched to a safe state if a component fails[...]

Safety Integrated basic functions 9.1 General information Drive Functions 302 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 – Safe torque off (STO) STO is a safety function that pre vents the drive from restartin g unexpectedly, in accordance with EN 60204-1, Section 5.4. Note When a drive object that has Saf ety Integrated functio[...]

Safety Integrated basic functions 9.1 General information Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 303 ● SIMOTION D4x5: FW version from V4.1.1 (SINAMICS S120 with F W version from V2.5 SP1 integrated) ● Safe actual value acquisition (s ee chapter "Safe actual value acquisition") ● An activated spe[...]

Safety Integrated basic functions 9.1 General information Drive Functions 304 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Checking the checksum For each monitoring chan nel, the safety parameters include one parameter for t he actual checksum for the safety paramet ers that have underg one a checks um check. During commissionin g, [...]

Safety Integrated basic functions 9.1 General information Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 305 Password The safety password protects the safety parameters against unau thorized write access. In commissioning mode for Safety Integrated (p0 010 = 95), you c annot change safety parameters until you have ente[...]

Safety Integrated basic functions 9.1 General information Drive Functions 306 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● p10062 SI password new TM54F ● p10063 SI password acknowledgement TM54F 9.1.4 Forced dormant e rror detection Forced dormant error detection or test for the switch-off signa l paths Forced dormant error de[...]

Safety Integrated basic functions 9.2 Safety instructions Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 307 9.2 Safety instructions Safety instructions WARNING After hardware and/or soft ware components have been modified or replaced, it is onl y permissible for the system to run up and the drives to be activ ated wit[...]

Safety Integrated basic functions 9.3 Safe Torque Off (STO) Drive Functions 308 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 CAUTION The "automatic restart" functi on may not be used together with the safety functions STO/SBC and SS1. The reason for th is is that EN 60204 Part 1 (1 998) in chapter 9.2.5.4.2 does not permit[...]

Safety Integrated basic functions 9.3 Safe Torque Off (STO) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 309 CAUTION If two power transistors in the power unit (one in the upper an d one offset in the lower inverter bridge) fail a t the same time, this can cause a momentary movement. The maximum movement can be: Sync[...]

Safety Integrated basic functions 9.3 Safe Torque Off (STO) Drive Functions 310 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Restart after the "Safe Torque Off" function has been selected 1. Deselect the function in each monito ring channel via the input terminals. 2. Issue drive enable signals. 3. Revoke the closin g lock[...]

Safety Integrated basic functions 9.4 Safe Stop 1 (SS1, time controlled) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 311 Parameter overview (see List Manual) ● p0799 CU inputs/outputs sampling times ● r9780 SI monitoring cloc k cycl e (Control Unit ) ● r9880 SI monitoring cloc k cycle (Motor M odule) 9.4 Safe [...]

Safety Integrated basic functions 9.5 Safe Brake Control (SBC) Drive Functions 312 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Status for "Safe Stop 1" The status of the "Safe Stop 1" f unction is displayed using the following parameters: ● r9772 CO/BO: SI sta tus (Control Unit) ● r9773 CO/BO: SI status (Con[...]

Safety Integrated basic functions 9.5 Safe Brake Control (SBC) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 313 WARNING "Safe Brake Control" does not detect faults in the brake itself , such as brake winding short - circuit, worn brakes, etc. If a cable breaks, this is only rec ognized by the "Safe Bra[...]

Safety Integrated basic functions 9.5 Safe Brake Control (SBC) Drive Functions 314 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 &RQWURO WHUPLQDO %UDNHGLDJQRVLV 6WDQGEFXUUHQWEUDNH 0RWRU 7% &RQWURO8QLW0RWRU 0RGXOH6DIH%UDNH 5HOD &RQWUROWHUPLQDO %5 %5 [...]

Safety Integrated basic functions 9.6 Control via terminals on t he Control Unit and the power un it Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 315 Parameter overview (see SINAMICS S List Manual) ● p0799 CU inputs/outputs sampling times ● r9780 SI monitoring cloc k cycl e (Control Unit ) ● r9880 SI monitoring[...]

Safety Integrated basic functions 9.6 Control via terminals on the Control Unit and the power uni t Drive Functions 316 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Terminals for STO, SS1 (time-controlled), SBC The functions are separately sele cted /deselec ted for ea ch drive using two terminals. ● 1. Switch-off signa l path (CU[...]

Safety Integrated basic functions 9.6 Control via terminals on t he Control Unit and the power un it Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 317 The assignment is checked durin g the test for the switch-off si gnal paths, The operator selects "Safe Torque Off" for ea ch grou p. The chec k is dri ve-sp [...]

Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Drive Functions 318 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 "Simultaneously" means: The changeover must be complete in both monitoring channels wit hin the para meterized tolerance time. ● p9650 SI [...]

Safety Integrated basic functions 9.7 Commissioning the "STO ", "SBC" and "SS1" functions Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 319 Prerequisites for commissioning the safety functions 1. Commissioning of the drives must be complete. 2. Non-safe pulse disable must be presen t (e.g[...]

Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Drive Functions 320 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 9.7.2 Procedure for commissioning "STO", "SBC" and "SS1" To commission the "STO", "SBC" and "SS[...]

Safety Integrated basic functions 9.7 Commissioning the "STO ", "SBC" and "SS1" functions Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 321 No. Parame ter Description /comments 5 p9652 > 0 p9852 > 0 Enable "Safe Sto p 1" function. Enable "SS1" on the Control Unit[...]

Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Drive Functions 322 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 No. Parame ter Description /comments 8 p9658 = "Value" p9858 = "Value" Set transition period from STOP F to STOP A. Transitional p[...]

Safety Integrated basic functions 9.7 Commissioning the "STO ", "SBC" and "SS1" functions Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 323 No. Parame ter Description /comments 12 p0010 = Value not equal to 95 Safety Integrated: exi t commissioning mode • If at least one safety monitori[...]

Safety Integrated basic functions 9.7 Commissioning the "STO", "SBC" and "SS1" functions Drive Functions 324 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Stop response Action Effect Triggered ... STOP A is identical to stop Category 0 to EN 602 04-1. With STOP A, the motor is switc hed dir ectly to zero[...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 325 Description of faults and alarms Note The faults and alarms for SINAMI CS Safety Integrated are descri bed in the following documentation: References: /LH1/ SINAM ICS S List Manual 9.8 Acceptance tes[...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions 326 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Scope of a complete acceptance test Documentation Machine documentation (i ncluding the SI functions) 1. Machine description and overvie w diagram 2. SI functions for each drive 3. Description of s a[...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 327 Other axes Spindles Overview diagram of machine Table 9-7 Values from relevant machine data FW version - Parameter Control Unit r0018 = - Drive num ber FW version SI version - r9770 = r0128 = r987 0 [...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions 328 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 9-8 SI functions for each drive Drive num ber SI function Table 9-9 Description of safety equipment Examples: Wiring of STO terminals (protective door, emerge ncy OFF), grouping of STO terminal[...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 329 9.8.3 Acceptance test for Sa fe Torque Off (STO) "Safe Torque Off" (STO) function This test comprises the following step s: Table 9-10 "Safe Tor que Off" (STO) function No. Descri[...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions 330 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 No. Description Status The following is tested: • Correct DRIVE-CLiQ wiring betwee n Control Unit and Motor Module s • Correct assignment of drive N o. – Motor Module – motor • The hardware[...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 331 No. Description Status • r9773.0 = r9773.1 = 0 (STO de- selected and inactive – drive) • r9773.2 = 1 (SS1 a ctive – drive) STO is initiated after the SS1 delay time expi res (p9652, p9852 ). [...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions 332 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 No. Description Status • Vertical axis: Mechanical brake is applied • No vertical axis: Mechanical brake is released • No safety faults or alarms (r0945, r2122) • r9772.0 = r9772.1 = 0 (STO d[...]

Safety Integrated basic functions 9.8 Acceptance test and certificate Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 333 9.8.6 Completion of c ertificate SI parameters Specified values ch ecked? Yes No Control Unit Motor Module Checksums Drive Checksum (8 hex) Name Drive number Control Unit (p979 8) M otor Module (p989[...]

Safety Integrated basic functions 9.9 Application examples Drive Functions 334 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Machine manufacturer This confirms that the parameters recorded ab ove are correct. Date Name Company/dept. Signature 9.9 Application examples 9.9.1 Safe Stop 1 (SS1, time-controll ed) when protect ive door is [...]

Safety Integrated basic functions 9.9 Application examples Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 335 S 6DIHW,QWHJUDWHG6DIH7RUTXH2IIDFWLYHLQJURXS 6DIHW,QWHJUDWHGVLJQDOVRXUFHIRU 6DIH7RUTXH2II&RQWURO8QLW >QBDFW@6SHHGWKUHVKROG?[...]

Safety Integrated basic functions 9.9 Application examples Drive Functions 336 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● The "Safe Torque Off" safety function, which is integrated in the drive, complies with category 3 to EN 954-1 and SIL 2 to IEC 61508. The non-safe mes sage "Safe Torque Off active" is su[...]

Safety Integrated basic functions 9.9 Application examples Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 337 Behavior when the protective door is opened To issue a request to open the pr otective door, press the S2 bu tton ("OFF"). The drive is brought to a standstill in accordance with stop category 1 of E [...]

Safety Integrated basic functions 9.10 Overview of parameters and fun ction diagrams Drive Functions 338 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 9.10 Overview of parameters and function diagrams Parameter overview (see SINAMICS S List Manual) Table 9-13 Parameters for Safety Integrated No. of Control Unit (CU) No. of Motor Modu[...]

Safety Integrated basic functions 9.10 Overview of parameters and fun ction diagrams Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 339 Function diagram overview (see SINAMICS S List Manual) ● 2800 Parameter manager ● 2802 Monitoring and faults/alarm s ● 2804 Status words ● 2810 Safe torque off (STO) ● 2814 S[...]

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Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 341 Communication PROFIBUS DP/PROFINET IO 10 10.1 Communications according to PROFIdrive 10.1.1 General information about P ROFIdrive for SINAMICS General information PROFIdrive V4.1 is the PROFIBUS and PROFINET profile for drive technology with a wide range of application[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 342 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Examples: Programming devi ces , human machine interfaces ● Drive Unit (PROFIBUS: Sla ve, PROFINET IO: IO Device) The SINAMICS drive unit is with reference to PROFIdrive, a Driv e Uni[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 343 Application class 1 (Standard drive) In the most basic cas e, the drive is controlled via a speed set point by means of PROFIBUS/PROFINET. In this case, speed control is fully handled i[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 344 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Application class 2 (Standard drive with technology function) The total process is subdivided into a nu mber of small subproce sses and distrib uted among the drives. This means that th[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 345 Application class 3 (positioning drive) In addition to the drive control , the drive also includes a positioning control, so that the drive operates as a self-contained singl e-axi s po[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 346 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Application class 4 (central motion control) This application class defines a speed setpoint interface with execution of the speed control on the drive and of the positioni ng control i[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 347 Table 10-2 Selection of telegrams as a func tion of the applicat ion class Telegram (p0922 = x) Description Class 1 Cla ss 2 Class 3 Class 4 1 Speed control, 2 words x x 2 Speed control[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 348 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 From the perspective of the dr ive unit, the rec eived process da ta comprises the receive words and the process data to be sent the send words. The receive and send word s comp rise th[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 349 3. Free telegrams (p092 2 = 999) The send and recei ve telegrams can be configured as required b y using BICO technology to interconnect the send a nd receive p rocess data. SERVO, TM41[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 350 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The telegram structure The parameter p0978 cont ains the sequence of DOs that use a cyc lic PZD exchange. A zero delimits the DOs that do not exchange any PZDs. If the value 255 is writ[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 351 7HOHJUDP        $SSOFODVV   '6& '6&  '6& [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 352 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Drive object Telegrams (p0922) TM31 No predefined telegr am. TM41 3, 999 TB30 No predefined telegram. CU_S 390, 391, 392, 999 Depending on the drive object, t he following maximum numbe[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 353 Function diagrams (see SINAMICS S List Manual) ● 2410 PROFIBUS address, diagnostic ● ... ● 2483 Send telegram, free interconnection via BICO (p0922 = 99 9) 10.1.3.2 Monitoring: te[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 354 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 drive objects and alarm A01920 and fault F01910 are output for VECTOR. When F01910 i s output, an OFF3 is triggered for the drive. After a delay time (p2044) of two s econds has elapsed[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 355 Abbreviation Name Signal number Data type 1) Inte rconnection parameters MDIAcc Pos MDI acceleration override 225 I16 p2644 MDIDec Pos MDI decelerat ion override 227 I16 p2645 MDIMode P[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 356 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Comments BICO Note: The ramp-function generator cann o t be frozen via p1141 in jog m ode (r00 46.31 = 1). 1 Enable setpoin t 6 Enable sp eed setpoint 0 Inhibit setpoint Set[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 357 Bit Meaning Comments BICO 1 No OFF2 Enable possible OFF2 0 OFF2 Immediate pulse canc ellati on and power-on inhibit BI: p0844 1 Note: Control signal OFF2 is generat ed by ANDing BI: p08[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 358 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Comments BICO 12 Reserved - - - 0/1 External set change is initi ated 13 External block change 0 No effect BI: 2632 14 Reserved - - - 15 Reserved - - - CTW2 (control word 2)[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 359 Table 10-7 Description of E_CTW1 (control word for INFEED) Bit Meaning Comments BICO 0/1 ON Pulse enable possible 0 ON/OFF1 0 OFF1 Reduce DC link voltage via ramp (p35 66), pulse inhibi[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 360 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Comments BICO Note: This bit should not be set to "1" until the PROF Idrive has retu rned an a ppropriate stat us via STW1.9 = "1".. 11 Reserved - - - 12[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 361 Bit Meaning Comments BICO 0 The sensor for the fixed stop i s inactive 4 Reserved - - - 1 Jogging increm ental active 5 Jogging, i ncremental 0 Jogging v elocity active BI: 2591 6 ... 1[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 362 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The format of XERR is identic al to the format of G1_XIST1. KPC (position controller gain factor) ) The position controller gain factor for d ynamic servo control ( DSC) is transmitted [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 363 Over (pos velocity override) This process data defines the perce ntage for the velocity overr ide. Normalization: 4000 hex (16384 dec) = 100 % Range of values: 0 ... 7FFF hex Values out[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 364 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.1.3.4 Description of status words and actual values Description of status words and actual values Note This chapter describes the assi gnment and meaning of the proces s data in SINA[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 365 Abbreviation Name Signal number Data type 1) Comment MELDW Message word 102 U16 r2089[2] (bit serial) 2) MSOLL_GLATT Total speed se tpoint 120 I 16 r00079[1] AIST_GLATT T orque uti liza[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 366 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Comments BICO 1 Fault active The drive is faulty and, therefore, out of service. The drive switches to pow er-on inh ibit once the fault has been acknowledg ed and the cause[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 367 Bit Meaning Comments BICO 1 Holding brak e open 12 Holding brake open 0 Holding brak e closed BO: r0899.12 1 Motor overtemperat ure alarm not active 13 No motor overtemperature ala rm 0[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 368 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Comments BICO 1 Power-on dis able A restart is only possi ble by means of OFF1 and then ON. 6 Power- on disable 0 No power-up inhibit Power-up is possible. BO: r0899.6 1 Ala[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 369 Bit Meaning Comments BICO 4 DDS eff., bit 4 – BO: r0051.4 5, 6 Reserved – – – 1 Axis parking active 7 Parking axis 0 Axis parking not active BO: r0896.0 1 Travel to fixed endsto[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 370 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Comments BICO 1/0 Ramp-up starts. The start of the ramp-up pr ocedure is d etected as follows: • The speed setpoint chan ges, and • the defined tolerance bandw idth (p21[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 371 Bit Meaning Comments BICO Note: The message is parameterized as follows: p2155 Threshold value p2140 Hysteresis Applicatio n: Speed monitoring. 1 – 4 Reserv ed 0 - – 1 – 5 Reserv [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 372 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 MSOLL_GLATT The torque setpoint smoothed with p0045 is di splayed. AIST_GLATT Torque utilization smoothed w ith p0045 is displayed. E_DIGITAL MT_STW MT_n_ZS_F/MT_n_ZS_S CU_ZSW This proc[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 373 Bit Meaning Comments BICO 1 Ready to run DC link pre-charged, puls es inhibited 1 Ready to run 0 Not ready BO: r0899.1 1 Operatio n enabled Vdc = Vdc_setp 2 Operation en abled 0 Operati[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 374 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Comments BICO 1 Setpoint static 2 Setpoint static 0 Setpoint not static BO: r2683.2 3 Reserv ed – – – 1 Axis moves for wards 4 Axis moves for wards 0 Axis stationary o[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 375 XistP Actual position value is displayed Normalization: 1 corresponds to 1 LU 10.1.3.5 Control and status words for encoder Description The process data for the encoders is available in[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 376 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 10-18 Description of the indivi dual signals in Gn_STW Bit Name Signal sta tus, descr iption If bit 7 = 0, then fi nd reference mark request applies: Bit Meaning 0 Function 1 Refe[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 377 Bit Name Signal sta tus, descr iption &OH DUHU UR U  6LJQ DOPXV WEHUH VHWEXV HU  *QB =6:    (QF RGH UHU UR U *QB 67:    $FN QRZ O[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 378 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4                        0RGH *B67 :  ) XQFWLRQ *B67 :  ) XQFWLRQ?[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 379                  0RGH *B67 :  ) XQFWLRQ *B67 :  &RPP DQ G *B67 :  ?[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 380 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Table 10-19 Description of the indivi dual signals in Gn_STW Bit Name Signal sta tus, description Valid for find reference marker and measurement on-the-fly. Bit Meaning 0 Function 1 Re[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 381 Bit Name Signal sta tus, description 0 No active parking encoder 1 Error from encoder or actual-value sensi ng is active. Note: The error code is stored in Gn_XACT2. 15 Encoder error 0 [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 382 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7 UDQVPLWFFOLF DEVROXWHYDOXH " 6HDUFKIRUUHIHUHQFH PDUN RUI O LQJ PHDVXUHPHQW VHOHFWHG" (QF RGH UHU UR U " 3DU NHGHQF R GHU " QR QR QR[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 383 Error code in Gn_XIST2 Table 10-20 Error code in Gn_XIST2 n_XIST2 Meaning Possible causes / descr iption 1 Encoder error One or more existing encoder faults. Detailed information in acc[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 384 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Encoder 3 actual position value 1 (G3_XACT1) ● See G1_XIST1 Encoder 3 actual position value 2 (G3_XACT2) ● See G1_XIST2 Function diagrams (see SINAMICS S List Manual) ● 4720 Encod[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 385 Receive signals: ● CU_STW Control U nit control word ● A_DIGITAL digital outputs ● MT_STW probe control word Transmit signals: ● CU_ZSW Control Unit status word ● E_DIGITAL di[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 386 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Remarks BICO 1 Digital input/output 9 (DI/DO 9) – DI/DO 9 on the Control Unit m ust be paramet erized as an outpu t (p0728.9 = 1). BI: p0739 2 Digital in put/output 10 (DI[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 387 Table 10-24 Description of CU_ZS W (status word for Control Unit ) Bit Meaning Remarks BICO 0...2 Reserved – – – 1 Fault active 3 Fault active 0 No fault present BO: r2139.3 4...6[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 388 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Bit Meaning Remarks BICO Note: The bidirectional digital i npu ts/outputs (DI/DO) can be connect ed as either an input or an out put (see also receive signal A_DIGITAL). MT_ZSW Status w[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 389 Example: central probe Assumptions for the exampl e: ● Determination of the time stamp MT1_ZS_S by evaluating the ri sing edge of probe 1 ● Determination of the time stamp MT2_ZS_S [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 390 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Properties ● No additional parameters need to be ent ered in addition to th e bus configuration in order to activate this function, the ma ster and slave must only be pr eset for this[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 391 ,QGLUHFWPHDVXULQJ VVWH PPRWRUHQF R GHU &ORFN FFOH $GGLWLRQDO PHDVXULQJVVWHP &ORVHG ORR SFX U UHQWFRQWU  6SHHG FRQ WU RO 0DV WHU?[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 392 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 R1 C1 C2 C3 R1 R1 R1 R1 R1 R1 R1 0DV WHUDSS OLF DW LRQF FO HWLP H 3RVL WLR QDF WXDOYD OXH WUDQVIHU 3RVL WLR QF RQW UROF FO H 6HWSRLQW WUDQVIHU 5H  VHU YH $FWXD[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 393 Note Please refer to the following doc umentation for a detai led desc ription of acyclic communication: Reference: /P5/ PROFIdrive Profile Drive Technology Addressing: PROFIBUS DP, the[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 394 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.1.4.2 Structure of orders and responses Structure of parameter request and parameter response Parameter requ est Offset Request reference Request ID 0 Request header Axis No. of para[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 395 Field Data type Values Comment Specifies the type of request. In the case of a write request, t he changes are made in a volat ile memory (RAM). A save operation is needed in or der to [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 396 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Field Data type Values Comment The format and number specify t he adjoining space contai ning va lues in the telegr am. Data types in conformity with PR OFIdrive Profile shall be prefe [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 397 Error value Meaning Comment Additional info 0x15 Response too long The length of the pr esent respons e excee ds the maximum transfer length. – 0x16 Illegal par ameter address Im perm[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 398 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Error value Meaning Comment Additional info 0x78 Parameter %s [ %s]: Write access only in the commissioning state, drive configuration (device: p00 09 = 3). – – 0x79 Parameter %s [ [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 399 10.1.4.3 Determining the drive object numbers Further information about the dr ive system (e.g. drive object n umbers) can be d etermined as follows using parameters p 0101, r0102, and [...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 400 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 2. Invoke the request. 3. Evaluate the response. Activity 1. Create the request. Parameter request Offset Request reference = 25 hex Request ID = 01 hex 0 + 1 Request header Axis = 02 h[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 401 Parameter response Offset Format = 06 hex No. of values = 08 hex 4 + 5 1. value = 1355 dec 6 2. value = 0 dec 8 ... ... Parameter value 8. value = 0 dec 20 Information about the paramet[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 402 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The request is to be handl ed using a request and response data block. ,QG H[QXP EHU 3DUD PHWH UQXPE HU 0DLQV HWS RLQW -RJ VHWSRLQW  QBVH W B  ,QS XWLQ% ,?[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 403 Parameter request Offset Subindex = 0 dec 26 Attribute = 10 hex No. of e lements = 01 hex 22 + 23 Parameter no. = 1059 dec 24 4. parameter address Subindex = 0 dec 26 Attribute = 10 hex[...]

Communication PROFIB US DP/PROFINET IO 10.1 Communications accordin g to PROFIdrive Drive Functions 404 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Subindex: 0 dec ––> ID for the first array element. 1. parameter value ... 4th parameter value ● Format: 07 hex ––> Data type Unsigned 32 08 hex ––> Data type[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 405 10.2 Communication via PROFIBUS DP 10.2.1 General information about PROFIBUS 10.2.1.1 General information about PROFIBUS for SINAMICS General information PROFIBUS is an open international field b[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 406 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● Master Masters are categorized into the followin g classes: – Master class 1 (DPMC1): Central automation stations that exchange data with the slaves in cyclic and a cyclic mode. Communicati[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 407 ● VECTOR ● Terminal Module 15 (TM15DI/DO) ● Terminal Module 31 (TM31) ● Terminal Module 41 (TM41) ● Terminal Board 30 (TB30) ● Control Unit (CU_S) Note The sequence of drive objects i[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 408 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Component and telegram structure The predefined component structu re results in the telegram stru cture shown in the following diagram. &RQWURO 8QLW 6LQJOH 0RWRU 0RGXOH $FWLYH /LQ[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 409 DP slave properties – overv iew Figure 10-23 Slave properties – overview When you click "Details", the pr operties of the configu red tele gram structure are displayed (e.g. I/O add[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 410 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 The axis separator se parates the objects in the telegram as fol lows: • Slot 4 and 5: Object 1 ––> Active Infeed (A_INF) • Slot 7 and 8: Object 2 – –> SERVO 1 • Slot 10 and 1[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 411 References: /GH1/ SINAM ICS S120 Equipment Manual for Control Units and Additional System Components ● PROFIBUS diagnostic LED Note A teleservice adapter can be con nected to the PROFIBUS inter[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 412 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note The factory settings are "ON" or "OFF" for all switches. With t hese two settings, the PROFIBUS address is se t by parameteriza tion. Parameter p0918 is unique to the Con[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 413 The bus terminating resi stors in the PROFIBUS plugs must be set as follows: – First and last nodes in the line switch on terminating resist or – Other nodes in the line: switc h out terminat[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 414 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.2.2.4 SIMATIC HMI addressing You can use a SIMATIC HMI as a PR OFIBUS master (master class 2) to access SINAMICS directly. With respect to SIMATIC HMI, SINAMICS behaves like a SIMATIC S7. For [...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 415 Field Value No. of elements 1 Decimal places Any Note • You can operate a SIMATIC HMI t ogether with a drive unit indepe ndently of an existing control. A basic "point-to-point" conne[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 416 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Example: emergency stop with telegram failure Assumption: A drive unit with an Active Li ne Module and a Single Motor Modu le. VECTOR mode is activated. After the ramp-down time has e lapsed (p11[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 417 Sequence of data transfer to closed-loop control system 1. Position actual value G1_XIST1 is read into the telegram image at time T I before the start of each cycle and transfe rred to the master[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 418 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Name Value 1) Limit value Description T DX + T O_MIN ≤ T O ≤ T DP Time of setpoint transfer This is the time at which the transferred setpoints (speed setpoint) are a ccepted by the closed-lo[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 419 Name Value 1) Limit value Description MSG Acyclic service After cyclic transmission, the mast er checks whether the token hold time has already expir ed. If not, another acyclic DPV 1 service is [...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 420 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Data Time required [µs] Per byte of user data 1,5 One additional cla ss 2 master 500 User data integrity User data integrity is verified in both transfer directions (ma ster <––> sla v[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 421 10.2.4 Slave-to-slave communications 10.2.4.1 General information Description For PROFIBUS-DP, the master add resses all of the slaves one aft er the other in a DP cycle. In this case, the master[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 422 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Subscriber The subscribers evaluate the br oadc ast telegram s, sent from the publishers, and use the data which has been recei ved as s etpoints. The setpoints are used, in addition to the setpo[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 423 10.2.4.2 Setpoint assignment in the subscriber Setpoints The following statements can be made a bout the setpoint: ● Number of setpoint When bus communications is bei ng established, the master[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 424 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.2.4.3 Activating/parameterizing slave-to-slave communications The "slave-to-slave comm unications" function must be activated both in the publishers as well as in the subscribers, wh[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 425 %ORFN/HQ  &RPPDQG 6ORW 6SHFLILHU 2IIVHW/LQN   2IIVHW/LQNQ    %ORFNKHDGHU /LQN /LQN ದ [( [?[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 426 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.2.4.4 Commissioning of the PROFIBUS slave-to-slave communication The commissioning of slave-to-slave co mmunication between two S INAMICS drives using the additional Drive ES Basic package i s[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 427 Figure 10-33 Telegram selection for drive object 3. Then go to the detail view. Slots 4/5 contain the actual v alue/setpoint for the drive objec t. The slots 7/8 are the telegr am portions for th[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 428 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Figure 10-35 Insert new slot 5. Assign the setpoint slot the type "slave-to-slave communication ". 6. Select the Publisher DP address in the "PROFIBUS address" col um n. This [...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 429 Figure 10-36 Configuring the slave-to-sl ave communication nodes 8. The "Data Exchange Broadca st - O verview" tab show s you the conf igured sla ve-to-slave communication relatio nship[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 430 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Figure 10-38 Telegram assignment fo r slave-to-slave communicati on 10. The details after the creation of the slave-to-slave communicat ion link for the drive object of the CU320 are as follows: [...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 431 Commissioning in STARTER Slave-to-slave communica tion is c onfigured in HW Config and is simply an extension of an existing telegram. Telegrams can be extended in ST ARTER (e.g. p 0922 = 999). F[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 432 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Figure 10-41 Display of the telegram extension By selecting the item "Communica tion -> PROFIBUS" for the drive object "SERVO2" in the object tree you get the structure of [...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 433 Figure 10-42 Configuring the PROFIBUS slave-to-slave communicat ion in START ER 4. To integrate the drive objec ts into slave-to-slave communi cation, you need to assign corresponding signals to [...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 434 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Figure 10-43 Combining the PZDs for slave-to-slave com municatio n with external signals 10.2.4.5 GSD (GeräteStammDaten) file GSD File A special GSD file exists for the SINAMICS family to permit[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 435 Figure 10-44 Hardware catalog o f the GSD file with slave-t o-sla ve communication functi onality The SINAMICS S DXB GSD file cont ains standard te legrams, free t elegrams and slave-to- slave te[...]

Communication PROFIB US DP/PROFINET IO 10.2 Communication via PROFIBUS DP Drive Functions 436 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 For diagnostic purposes, there a r e the diagnostic paramete rs r2 075 ("PROFIBUS diagnostics, receive telegram offs et PZD") and r2 076 ("PROF IBUS diagnostics, transmit telegram [...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 437 10.3 Communications via PROFINET IO 10.3.1 General information about PROFINET IO 10.3.1.1 General information about PRO FINET IO for SINAMICS General information PROFINET IO is an open Industr i[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions 438 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.3.1.2 Real-time (RT) and isochronous real-time (IRT) communication Real-time communication If supervisors are involved in c ommunication, this can result i n excessivel y long runtimes for th[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 439 10.3.1.3 Addresses Definition: MAC address Each PROFINET device is assig ned a worldwi de unique devi ce iden tifier in the factory. This 6-byte long device identifier is the MAC address. The MA[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions 440 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 NOTICE The device name must be saved in a non-volatile fashion either using the Primary Setup Tool (PST) or using HW C onfig from STEP 7. Replacing Control Unit CU320 (IO Device) If the IP addre[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 441 PROFIdrive telegram for cyclic data transmission and non-cyclic services Telegrams to send and receive proce ss data are available for ea ch drive object of a drive unit with cyclic proce ss dat[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions 442 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 References For a description of the CBE20 and how you can use it in the dr ive, please refer to the manual GH1 "Control Units". The connection of a SINAMICS S 120 with CBE20 to a PROFI[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 443 Step 7 routing with CBE20 The CBE20 does not support ST EP 7 routing between PROFIBUS and PROFINET IO. Connecting the supervisor You can go online with the STARTE R in a number of ways, which a [...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions 444 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.3.3 RT classes 10.3.3.1 RT classes for PROFINET IO Description PROFINET IO is a scalable realtime communications system ba sed on Ethernet technology. The scalable approach is expresse d with[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 445 RT class RT IRTtop Maximum switching depth (number of switches in one line) 10 at 1 ms 20 Synchronization accuracy - Forwarding of the sync message frame in software. Accuracy <1 µs Possible[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions 446 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Refresh time The refresh time is in the range of 1 ms, 2 ms and 4 ms. The re al refresh time depends on the bus load, the devices us ed a nd the quality structure of the I/O data. The refresh ti[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 447 10.3.3.4 PROFINET IO with IRTtop The performance capability is si gnificantly increased with PROF INET IRTtop for motion control applications. A hardware support enables a significant increase i[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions 448 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 10.3.4 Motion Control with PROFINET Motion Control/Isochronous drive link with PROFINET 5 '[ '[ '[ '[ '[ '[ '[ '[ '[ 5?[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 449 Designations and descriptions for Motion Control Table 10-34 Time settings and mea nings Name Value 1) Limit value Description T DC_BASE T_DC_BASE = 4 - Time basis for cycle time T DC calculatio[...]

Communication PROFIB US DP/PROFINET IO 10.3 Communications via PROFINET IO Drive Functions 450 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Setting criteria for times ● Cycle (T DC ) – T DC must be set to the same value for all bus nodes. T DC is a multiple of SendClock. – T DC > T CA_Valid and T DC ≧ T IO_Output T DC is [...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 451 Applications 11 11.1 Parallel operation of communi cation interfaces for CU320 General information Only one of the two available har dware communicati on interfaces could be used for the processing of the cy clic process d ata (setpoints/actual values) in the CU320. Th[...]

Applications 11.1 Parallel operation of comm unication interfaces for CU320 Drive Functions 452 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Properties of the cyclic interfaces IF1 and IF2 The following table shows the different features of the two cyc lic interfac es: Table 11-1 Properties of the cyclic interfaces IF1 and IF2 Featu[...]

Applications 11.1 Parallel operation of comm unication interfaces f or CU320 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 453 Additional parameters for IF2 To permit a better use of the IF 2 also for a PROFIBUS / PROFINE T connection, the following extensions of the par ameter list are available: Infeeds: r8850, p885[...]

Applications 11.2 Switching on a drive objec t x_Infeed by means o f a vector drive object Drive Functions 454 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● With the setting p8839(x) = 2 and the COMM board missing / de fective, the respective interface is not automatically fed by the onboard interface. In stead, an alarm is issue[...]

Applications 11.3 Motor changeover Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 455 Individual steps when restarting: ● After the line supply returns and the electronics has booted, the faults that have occurred at DO vector as a result of its automatic restart are acknowled ged depending on the settings in p1210. [...]

Applications 11.3 Motor changeover Drive Functions 456 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● 4 drive data sets (DDS), p0180 = 4 ● 4 digital outputs to control the auxiliary contactors ● 4 digital inputs to monitor the auxiliary contacto rs ● 2 digital inputs for selecting the data set ● 4 auxiliary contactors with[...]

Applications 11.3 Motor changeover Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 457 Parameter Settings Remark p0833.0..2 0, 0, 0 The drive cont rols the cont actors and pulse suppression. Parking bit (Gn_ZSW14) is set. Procedure for switching over the motor data set 1. Start condition: For synchronous motors, the act[...]

Applications 11.3 Motor changeover Drive Functions 458 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 U U   U  S >@ .+ . . . . 8 9 : 8 9 : . . . .  .+ .  + .+ S > @ Figure 11-3 Example: star/delta s[...]

Applications 11.3 Motor changeover Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 459 3. Open the motor contactor: Motor contactor 1 is opened r083 0 = 0 and the status bit "Motor data set change over active" (r0835.0) is set. 4. Change over the drive data set: The requested data set is activa ted (r0051 = re[...]

Applications 11.4 Application exam ples with the DMC20 Drive Functions 460 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 11.4 Application examples with the DMC20 11.4.1 Features The DRIVE-CLiQ Hub Module Cabinet 20 (DM C20) has the following features: ● Own drive object ● 6 DRIVE-CLiQ ports ● Own faults and alarms Typical appli[...]

Applications 11.4 Application exam ples with the DMC20 Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 461 &RQWUROF DELQHW &RQWUROF DELQHWRQWKHPDF KLQH (QFR GHU 'U LY H 'U LY H 'U LYH ;  ;   ; ; ;[...]

Applications 11.4 Application exam ples with the DMC20 Drive Functions 462 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note Drives with enabled safety func tions must not be dea ctivated, s ee chapter "Safety Integrated" for further details. ;  ;  ; ; ;  ; ;  [...]

Applications 11.5 Control Units without infeed control Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 463 11.4.6 Overview of key parameters (s ee SINAMICS S List Ma nual) ● p0105 Activate/deactivate drive object ● r0106 Drive object active/inactive ● p0897 BI: Parking axis selection ● r0896.0 BO: Parking axis s[...]

Applications 11.5 Control Units wi thout infeed control Drive Functions 464 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 11.5.2 Examples: interconnecting "Infeed ready" Smart Line Modules without DRIVE-CLiQ (5 kW and 10 kW) ದ  'U LYH 'U LYH >[ [ [ [@ )XQFW LRQG LDJ UDPQ XPE HU &apo[...]

Applications 11.6 Application: emergency st op with power failure and/or eme rgency stop (Servo) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 465 11.6 Application: emergency stop w ith power failure and/or emergency stop (Servo) 11.6.1 Introduction If the power fails, a drive line-up normally responds with OFF2 even [...]

Applications 11.6 Application: emergency st op with power failure and/or emer gency stop (S ervo) Drive Functions 466 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 carried out, the drive coasts dow n once a DC lin k undervoltage has been identified (OFF2). To implement the OFF3 function (e mergency stop), the following parameters nee[...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 467 Basic information about the drive system 12 12.1 Parameter Parameter types The following adjustable and displa y parameters are avail able: ● Adjustable parameters (write/read) These parameters have a direc t impact on the behavi or of a func tion. Example: Ramp-up a[...]

Basic information about the drive system 12.1 Parameter Drive Functions 468 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 – DDS: Drive Data Set The drive data set contains the parameters for switching betwee n different drive control configurations. The CDS and DDS can be switche d o ver during normal operation. F urther types of d[...]

Basic information about the drive system 12.1 Parameter Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 469 Saving parameters in a non-volatile memory The modified parameter values a re stored in the volatile RAM. W hen the drive system is switched off, this data is lost. The data has to be saved as fo llows in a non-vo[...]

Basic information about the drive system 12.2 Data sets Drive Functions 470 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 12.2 Data sets 12.2.1 CDS: Command Data Set CDS: Command Data Set The BICO parameters (binector a nd connecto r inputs) are grouped together in a comm and data set. These parameters are us ed to interconnect the s[...]

Basic information about the drive system 12.2 Data sets Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 471 Example: Switching between command data set 0 and 1 &'6VHOHFWHG &'6H IIHF WLYH &KDQ JH RYHUWL PH           W  [...]

Basic information about the drive system 12.2 Data sets Drive Functions 472 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Binector inputs p0820 to p0824 are used to sele ct a drive data set. They represent the number of the drive data set (0 to 31) in binary format (where p0824 is the most signifi cant bit). ● p0820 BI: Drive data [...]

Basic information about the drive system 12.2 Data sets Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 473 can also be operated witho ut an encoder (sensorless operation). Each encode r must be connected to its own SMx. If encoder 1 (p0187) is changed over via DDS, then an MDS must also be changed over. One drive objec[...]

Basic information about the drive system 12.2 Data sets Drive Functions 474 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 p0186[16] = p0186[17] = ... = p0186[23] p0186[24] = p0186[25] = ... = p0186[31] If this rule is not observed, alarm A07514 is output. If you ne ed a precise representation of the data set structure of the 611 U, 3[...]

Basic information about the drive system 12.2 Data sets Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 475 Note In STARTER, you can copy the driv e data sets (Drive -> Configur ation -> " Drive data set s" tab page). You can select the displayed dr ive data set in the relevant STA RTER screens. Copying [...]

Basic information about the drive system 12.3 Drive objects Drive Functions 476 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● p0187 Encoder 1 en coder data set number ● p0188 Encoder 2 en coder data set number ● p0189 Encoder 3 en coder data set number ● p0809 Copy comm and data set (CDS) ● p0810 BI: Command data se t sel[...]

Basic information about the drive system 12.3 Drive objects Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 477 Overview of drive objects ● Drive control The drive control handles closed- loop control of the motor. At least 1 Motor Module and at least 1 motor and up to 3 sensors a re assigned to the dri ve control. Va[...]

Basic information about the drive system 12.4 BICO technology: interconnecting sign als Drive Functions 478 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Note Each installed drive object is allocated a number between 0 and 63 during initial commissioning for unique identificatio n. Overview of key parameters (see SINAMICS S List Manu[...]

Basic information about the drive system 12.4 BICO technology: interconnecting sign als Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 479 Binectors are subdivid ed into binector inputs (signal si nk) and binector outputs (signal source). Table 12-3 Binectors Abbreviation Symbol Name Descri ption BI Binector input Bine[...]

Basic information about the drive system 12.4 BICO technology: interconnecting sign als Drive Functions 480 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 %2%LQ HF WRUR XWS XW &2 &RQQHFWRU RXWSXW 6LJQDOVRXUFH %,%L QHF WRUL QSXW &,&RQQHFWRULQSXW 6LJQDOVLQN &2 ZLWKRXW ?[...]

Basic information about the drive system 12.4 BICO technology: interconnecting sign als Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 481 12.4.4 Internal encoding of the binecto r/connector output parameters The internal codes are required for writing BICO inpu t paramete rs via PROFIBUS, for example. ?[...]

Basic information about the drive system 12.4 BICO technology: interconnecting sign als Drive Functions 482 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 %2 %LQHFWRURXWSXW 6LJQDOVRXUFH %,%LQ HF WRUL QSXW 6LJQDOVLQN  2 ) )  2))  2))  'U LYH 'U LYH 2) ) ?[...]

Basic information about the drive system 12.4 BICO technology: interconnecting sign als Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 483 Fixed values for interconnection using BICO technology The following connector ou tputs ar e available for interconnecti ng any fixed value settings: ● p2900[0...n] CO: Fixed valu[...]

Basic information about the drive system 12.5 Inputs/outputs Drive Functions 484 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Changing scaling parameters p2000 to p2007 CAUTION If a referenced form is selected and the reference parameters ( e.g. p2000) are changed retrospectively, the referenced values of some of the control p arame[...]

Basic information about the drive system 12.5 Inputs/outputs Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 485 12.5.2 Digital inputs/outputs Digital inputs   9 ; ; ', ; S S  U U?[...]

Basic information about the drive system 12.5 Inputs/outputs Drive Functions 486 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● 9100 Digital inputs, electrically isol ated (DI 0 ... DI 3) ● 9400 Digital inputs/outputs, bidirectional (DI 0 ... DI 7) ● 9401 Digital inputs/outputs, b idirectional ( DI 8 ... DI 15) ● 9402 Digita[...]

Basic information about the drive system 12.5 Inputs/outputs Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 487 Bidirectional digital inputs/outputs ', '2 9 ; ','2 ; S ; ; 0 0 9 9 U?[...]

Basic information about the drive system 12.5 Inputs/outputs Drive Functions 488 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● 9562 Bidirectional digital input s/outputs (DI/DO 10 and DI/DO 1) ● 9661 Bidirectional digital input s/outputs (DI/DO 0 and DI/DO 1) ● 662 Bidirectional digital input s/outputs (DI/DO 2 and DI/DO 3 ) [...]

Basic information about the drive system 12.5 Inputs/outputs Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 489 NOTICE Parameters p4057 to p4060 of the scaling do not limit the volta ge values/curren t values (for TM31, the input can be used as current input). Function diagrams (see SINAMICS S List Manual) ● 9104 Ana[...]

Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Ope rator Panel 20) Drive Functions 490 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 NOTICE Parameters p4077 to p4080 of the scaling do not limit the volta ge values/curren t values (for TM31, the input can be used as current input). Function diagram[...]

Basic information about the drive system 12.6 Parameterizi ng using the BOP20 (Basic Operator Panel 2 0) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 491 Information on the displays Table 12-7 LED Display Mean ing top left 2 positions The active drive object of t he BOP is displayed here. The displays and key operati[...]

Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Ope rator Panel 20) Drive Functions 492 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 BOP20 functions Table 12-9 Functions Name Description Backlighting The backlighti ng c an be set using p0007 in su ch a way that it switches itself off automatically[...]

Basic information about the drive system 12.6 Parameterizi ng using the BOP20 (Basic Operator Panel 2 0) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 493 ● p0009 Device commissioning, para meter filter ● p0011 BOP password input (p0013) ● p0012 BOP password confirmation (p0013) ● r0019 CO/BO: Control word, BO[...]

Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Ope rator Panel 20) Drive Functions 494 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Parameter display The parameters are selected in the BOP20 using the numbe r. The parameter display is reached from the operating display by pressing the "P&quo[...]

Basic information about the drive system 12.6 Parameterizi ng using the BOP20 (Basic Operator Panel 2 0) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 495 Value display To switch from the parameter dis play to the value display, pre s s the "P" key. In the value display, the values of the adjusta ble paramet[...]

Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Ope rator Panel 20) Drive Functions 496 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 [  [  [  9DOXHGLVSO D 3DUD PHWHUGL VSO D Figure 12-17 Example: Changi ng p0013[4] from 0 to 300 Example: Changing binector and connector input[...]

Basic information about the drive system 12.6 Parameterizi ng using the BOP20 (Basic Operator Panel 2 0) Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 497 12.6.3 Fault and alarm displays Displaying faults FKDQ JH ) )D X O W 2QHI DXOWI UR PGU LYHR EMH FW 0R UHWK DQRQHI DXOWI UR PGU LYH?[...]

Basic information about the drive system 12.6 Parameterizing using the BOP20 (Basic Ope rator Panel 20) Drive Functions 498 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Displaying alarms $ $ODUP 1HZDODUPVRUDODUPVSUHVHQW DQGQRNHSU HV VHGI RUDS SUR[ VHFRQGV 0R UHWK DQRQHD OD[...]

Basic information about the drive system 12.7 Examples of replacing compo nents Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 499 12.7 Examples of replacing components Note To ensure that the entire functi onality of a firmware version c an be used, it is recomm ended that all the components in a dri ve line-up have t[...]

Basic information about the drive system 12.7 Examples of replacing compo nents Drive Functions 500 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Action Reaction Comments • Load the project from the Control Unit to the STARTER (PG) • Configure the replacement drive and select the current component • Load the project to the Cont[...]

Basic information about the drive system 12.7 Examples of replacing compo nents Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 501 Action Reaction Comments • Set p9905 to "1" • Alarm disappears • The serial number is copied to the target topology The serial number is stored in the RAM of the Control Uni[...]

Basic information about the drive system 12.8 Exchanging a SINAMICS Sensor Module Integrated Drive Functions 502 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 12.8 Exchanging a SINAMICS Sensor Module Integrated The motor and encoder data requi re d for the operation of a moto r with DRIVE-CLiQ are stored in their as-delivered co ndit[...]

Basic information about the drive system 12.8 Exchanging a SINAMI CS Sensor Module Integrated Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 503 12.8.2 Replacing a device Order number SINAMICS S ensor Module Integrated: – SMI10: 6SL3055-0AA00-5NA0 – SMI20: 6SL3055-0AA00-5MA0 In the case of spare part insta llation,[...]

Basic information about the drive system 12.9 DRIVE-CLiQ topology Drive Functions 504 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 12.9 DRIVE-CLiQ topology Introduction The term topology is used in SIN AMICS to refer to a wiring harn ess with DRIVE-CLiQ cables. A unique component numbe r is allocated to each comp onen t during the s[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 505 Comparison of topologies at Power On Comparing the topologies prevent s a component from being contro lled/evaluated incorrectly (e.g. drive 1 and 2). When the drive system is started , the[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 506 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ● The set processi ng and communication cycles Below you will find the binding wiring rules and some other rec ommendatio ns as well as a few sample topologies for DRIVE-CLiQ wiring. The [...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 507 1R GRXEOHZLULQJ 1R UL QJZL UL QJ             ;  &8 ;  ;  ; [...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 508 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 – Also change the current controller sampling time and the samp ling time of the inputs/outputs of the DOs not i nvolved so that they again fit i nto the time grid. Note You can call up t[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 509 Note If an additional encoder is conne cted to a Motor Module, it is assigned to this drive as encoder 2 in the automat ic configuration.  960 &8  ;   ?[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 510 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 12.10.2 Rules for differen t firmware releases Rules for FW2.1 ● Only one Active Line Module c an be connected to a Control Uni t. ● The default sampling times must not be changed. ● [...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 511 Servo Vector V/f (=vector without speed control function modul e) Vector Notes on the maximum number of dri v es that can be controlled by a CU320: • In addition, the "Safe Standstil[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 512 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Rules for FW2.4 ● The Voltage Sensing Module (VSM) must be co nnected to a dedic ated DRIVE-CLiQ port of the Control Unit. ● If possible, the CUA31 should be connected at the end of the[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 513 Rules for FW2.5 SP1: ● The Voltage Sensing Module (VSM) must be co nnected to a dedic ated DRIVE-CLiQ port of the Control Unit. ● If possible, the CUA31 should be connected at the end o[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 514 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 12.10.3 Sample wiring fo r vector drives Drive line-up comprising three Motor Modules (chassis) with identical pulse frequencies or vector (booksize) Motor Modules (chassis) with identical [...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 515 Note This topology does not match the topology created offline by ST ARTER and must be changed. 'ULY H  'U LYH ' U LYH 60&  960 60&  60&[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 516 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ;  ;  ;  ;  ,QIHHG ; ; ;  $FWLYH /LQH 0RGXO H ; ; ;  $FWLYH /LQH 0RGXO H ;  $FWLYH ,[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 517 12.10.5 Sample wiring: Power Modules Blocksize 0RW RUF DE OH (QF R GHUF DE OH 0 RWR UFD EO H (QF RGH UF DEO H   3RZ HU  0 RGXO H      3RZ HU  0 RGX[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 518 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Chassis 0RW RUF DE OH (Q FR GH UF DEO H ;  ;  &RQWU RO 8QLW  3RZHU0 RG XOH& KDV VLV ;  ;  60& 70 ; [...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 519 To pology tree view C omment Keeping the mouse button depressed, drag the component to the required DRIVE-CLiQ interface and release the mouse button. You have changed the topol ogy in STAR[...]

Basic information about the drive system 12.10 Rules for wiring with DRIVE-CLiQ Drive Functions 520 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 ; ; ; ; &8 ; ; ; 600 ; ; ; 600 ; ; ; '00 ; ;?[...]

Basic information about the drive system 12.11 Notes on the number of controllable drives Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 521 ; ; ; ; &8 ; ; ; 600 ; ; ; 600 ; ; ; 600 ;?[...]

Basic information about the drive system 12.11 Notes on the number of controllable drives Drive Functions 522 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Servo control ● Servo without extra function modules (e.g. setpoint channel): PROFIBUS-DP cycle >=1 ms – 6 drives (sampling times: current controller 125 µs / speed c ontr[...]

Basic information about the drive system 12.12 System sampling times Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 523 Vector control (cycles for EPOS: Position controller cycle = 1 ms / IPO cycle = 4 ms) ● Vector without additional Function Modu les – 2 drives (sampling times: current controller 250 µs / speed c[...]

Basic information about the drive system 12.12 System sampling times Drive Functions 524 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 For p0092 = 1, the sampling time s are pre-assigned so that isoc hr onous operation together with a control is possible. If i sochronous operat ion is not pos sible due to incorrect sampling time sett[...]

Basic information about the drive system 12.12 System sampling times Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 525 p0112 p0115[ 0] p0115[1] p0115[ 2] p0115[ 3] p0115[4] p0115[5] p01 15[ 6] 2: Low 250 - - 2000 - - - 3: Standard 250 - - 2000 - - - 4: High 250 - - 1000 - - - 5: xHigh - - - - - - - Table 12-24 For Bas[...]

Basic information about the drive system 12.12 System sampling times Drive Functions 526 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Setting the pulse frequency via p0113 when STARTER is in online mode The minimum pulse frequency ca n be entered in p0113. The para me ter can only be changed for p0112 = 0 (Expert). The curr ent cont[...]

Basic information about the drive system 12.12 System sampling times Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 527 5. For Active Line Modules (ALM) i n booksize forma t, only a curren t controller sampling time of 125.0 µs or 250.0 µs can be set. 6. For ALMs in chassis format, only a cu rrent controller sampling[...]

Basic information about the drive system 12.12 System sampling times Drive Functions 528 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 This rule also applies for parallel connection (3 or 4 Motor Mo dules conne cted in parallel) 18. For 4 vector drives (speed cont rol: r0108.2 = 1), a minimum cur rent controller sa mpling time of 400[...]

Basic information about the drive system 12.12 System sampling times Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 529 Construction type Number p0112 p01 15[0] p1800 Booksize 4 kHz Chassis 400 V / ≤ 250 kW 1 to 2 only n_ctrl 1 to 4 only V/f 1 to 2 n_ctrl and V/f mixed 3 (Standard) 250 µs 2 kHz Booksize 4 kHz Chassi[...]

Basic information about the drive system 12.12 System sampling times Drive Functions 530 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 7. Save the parameter changes in a no n-volatile fashion using the function "Copy RAM to ROM" (see also the Commissioning Man ual). 8. We recommend that the controller settings are re-calcul[...]

Basic information about the drive system 12.13 Licensing Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 531 ● r0111 DRIVE-CLiQ basis sampling time selection ● p0112 Sampling times pre-setting p0115 ● p0113 Selects the minimum pulse frequency ● r0114 Recom mended minimum pulse freque ncy ● p0115[0..6] Sampling[...]

Basic information about the drive system 12.13 Licensing Drive Functions 532 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Information regarding the Performance 1 option (this is not val id for Co ntrol Unit CU310) The option Performance 1 (Order No.: 6SL3074-0AA01-0AA0) is req uired from a computation time utilization greater than 5[...]

Basic information about the drive system 12.13 Licensing Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 533 2. p9920[8] = 65 9th character 3. p9920[9] = 0 No character ... 4. p9920[19] = 0 No character Note When changing p9920[x] to the valu e 0, all of the following ind ices are also se t to 0. After the license key h[...]

Basic information about the drive system 12.13 Licensing Drive Functions 534 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Overview of key parameters (see SINAMICS S List Manual) ● p9920 Licensing, enter license key ● p9921 Licensing, activate license key ● p9976[0...2] Remaining computation time[...]

Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 535 Appendix A A.1 Availability of hardware components Table A-1 Hardware compon ent s available as of 0 3.2006 No. HW component Order number Version Revisions 1 AC Drive (CU3 10, PM340) r efer to the Catalog new 2 SMC30 6SL3055–0AA00–5CA1 with SSI support 3 DMC20 6SL3[...]

Appendix A.2 Availability of SW functions Drive Functions 536 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 A.2 Availability of SW functions Table A-3 New functions FW 2.2 No. SW function Servo Vector HW component 1 Technology c ontroller x x 2 2 command data sets - x 3 Extended brak e control x x 4 Automatic rest art for Vector and [...]

Appendix A.2 Availability of SW functions Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 537 No. SW function Servo Vector HW component 21 SME20/25 external Sensor Modu le s for incremental and a bsolut e encoder evaluation x x Table A-5 New functions FW 2.4 No. SW function Available since FW Servo Vector HW compon ent [...]

Appendix A.2 Availability of SW functions Drive Functions 538 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 No. SW function Available since FW Servo Vector HW componen t 23 Separately-excited synchron ous motors with enco der 2.4 - x 24 Drive converter/drive conver ter, drive converter/line supply (bypass) synchronizing 2.4 x x For c[...]

Appendix A.2 Availability of SW functions Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 539 No. SW function available since FW Servo Vector HW component 2 Safety Integrat ed extended functions: • Safety functionality integrat ed in the drive, controll able via PROFIsafe (PROFIBUS) o r secure termi nal module TM54F ?[...]

Appendix A.2 Availability of SW functions Drive Functions 540 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 No. SW function available since FW Servo Vector HW component 9 Edge modu lation (higher out put voltages) in the vector control type, also with booksize devices 2.5 - x only for DAC Motor Modules (6SL3xxx-xxxxx- 0AA3) 10 DC bra[...]

Appendix A.3 List of abbreviations Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 541 A.3 List of abbreviations Abbrevia tion German mean ing English meaning A A... Warnung Alarm AC Wechselstrom Alternating Current ADC Analog-Digital-Konverter Analog Digital Conv erter AI Analogeingang Analog Input AIM Active Interface[...]

Appendix A.3 List of abbreviations Drive Functions 542 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Abbrevia tion German mean ing English meaning CSM Control Supply Module Contro l Supply Module CU Contro l Unit Control Unit D DAC Digital-Analog-Konverter Digital Analog Conv erter DC Gleichstrom Direct Current DCB Drive Control Bloc[...]

Appendix A.3 List of abbreviations Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 543 Abbrevia tion German mean ing English meaning F-DO Fehlersicherer Digitalausg ang Failsafe Digital Output FEM Fremderregter Synchronmotor Separ ately excited synchronous motor FEPROM Schreib- und Lesespeicher nichtflüchtig F lash-EPR[...]

Appendix A.3 List of abbreviations Drive Functions 544 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Abbrevia tion German mean ing English meaning L L Induktivität Inductance LED Leuc htdiode Light Emitting Diode LIN Linearmotor Linear motor LR Lageregler Position controller LSB Niederstwertiges Bit Least Significant Bit LSS Netzsch[...]

Appendix A.3 List of abbreviations Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 545 Abbrevia tion German mean ing English meaning PE Schutzerde Protective Earth PELV Schutzkleinspannung Protective Extra Low Vo ltage PEM Permanenterregter Synchronmotor Permanent-magnet synchr onou s motor PG Programmierg erät Program[...]

Appendix A.3 List of abbreviations Drive Functions 546 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Abbrevia tion German mean ing English meaning SG Sicher reduzi erte Geschwindigkeit Safely red uced speed SGA Sicherheitsgerichteter Ausgang Safety-related output SGE Sicherheitsgerichteter Eingang Safety-relate d input SH Sicherer Ha[...]

Appendix A.3 List of abbreviations Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 547 Abbrevia tion German mean ing English meaning VdcN Teilzwischenkreisspannung n egativ Partial DC link voltage negative VdcP Teilzwischenkreisspannun g positiv Partial DC link voltage positive VDE Verband Deutscher Elektrote chniker As[...]

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General Documentation/Catalogs Manufacturer/Service Documentation Overview of SINAMICS Documentation (07/2007) D1 1.1 G1 10/G120 Inverter chassis units G120D Distributed frequency inverters SINAMICS G1 10 G120 G120D SINAMICS G130 G150 D1 1 Drive Converter Chassis Units Drive Converter Cabinet Units SINAMICS S120 D21.3 Drive Converter Cabinet Units [...]

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Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 551 If you come across any misprints in this document, please let u s know using this form. We would also be grateful for any suggestio ns and recommendatio ns for improvement.        )URP 1DPH $GGUHVVRIRXUFRPSDQ&a[...]

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Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 553 Index " "high-speed inputs", 484 A Absolute encoder Adjusting, 260 Absolute encoder adjustment, 241 Acceleration pre-control, 285 Acceptance certificate, 325 Acceptance test, 325 SBC, 331 SS1, 330 STO, 329 Access levels, 469 Active Infeed closed-loop con[...]

Index Drive Functions 554 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 about PROFIdrive, 341 via PROFIBUS, 405 CompactFlash card SINAMICS Sensor Module Integrated data backup, 502 Component replacement Examples, 499 Connector, 479 Controller setting, automatic Servo, 87 Cooling unit Function module, 233 Crosswise da ta comparison, 3[...]

Index Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 555 Extended torque control, 235 Technology controlle r, 220 Functions Fixed speed setpoi nts, 53 Jog, 49 Motorized potentiometer, 54 Overview, 301 Safe brake control (SBC), 312 Safe Torque Off, 308 Safety Integrated, 299 Servo control, 65 Travel to fixed stop, 109 V[...]

Index Drive Functions 556 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Servo, 88 Output current Power units, 45 P Parameter Categor ies, 467 Types, 467 Parameterization using the BOP, 490 Pole position identification Servo, 98 Vector, 153 Position controller, 246 Monitoring functions, 247 Position tracking, 208 Load gear, 241 Measur[...]

Index Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 557 MT2_ZS_S, 365 PosZSW, 365 STW1, 364, 365 STW2, 364, 368 WARN_CODE, 365 XistP, 365 ZSW1 (positioning mode), 367 PROFIBUS, 405 Device identification, 412 Device master file, 412 Interface Mode, 352 Master class 1 and 2, 405 Motion Control with PROFIBUS, 389 Setting[...]

Index Drive Functions 558 Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 Data backup on the Comp actFlash card, 502 Singleturn encoder, 207 Slave-to-slave communica tions PROFIBUS, 421 Slip compensation, 174 Smart Infeed closed-loop control, 31 Smart Line Module, 46 SMI, (siehe SINAMICS Sensor Module Integrated) Software limit switche[...]

Index Drive Functions Function Manual, (FH1), 07/2007 Edition, 6SL3097 -2AB00-0BP4 559 Vdc control, 175 With encoder, 118 Without encoder, 115 Voltage boost Servo, 86 Vector, 171 voltage protection Internal, 192 Voltage protection Internal, 191 Voltage protection (booksize) Internal, 192 Voltage Sensing Module, 23 VPM Internal voltage protection, 1[...]

6SL3097-2A B 00-0BP 4 Siemens A G Aut omation and Drives Motion Contr ol Systems Postfach 3180 91050 ERL ANGEN GERMANY www .siemens.com/motioncontrol[...]