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Efficient Networks S120 manual Servo control Vertical axes

Models: S120

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Servo control

3.17 Vertical axes

●p1545[0...n] BI: Activates travel to fixed stop

●p2194[0...n] Torque threshold 2

●p2199.11 BO: Torque utilization < torque threshold value 2

3.17Vertical axes

Description

With a vertical axis without mechanical weight compensation, electronic weight compensation can be set by offsetting the torque limits (p1532). The torque limits specified in p1520 and p1521 are shifted by this offset value.

The offset value can be read in r0031 and transferred in p1532.

To reduce compensation once the brake has been released, the torque offset can be interconnected as a supplementary torque setpoint (p1513). In this way, the holding torque is set as soon as the brake has been released.

Function diagrams (see SINAMICS S List Manual)

●5060 Torque setpoint, control type switchover

●5620 Motor/generator torque limit

●5630 Upper/lower torque limit

Overview of key parameters (see SINAMICS S List Manual)

●r0031 Actual torque smoothed

●p1513 CI: Supplementary torque 2

●p1520 CO: Torque limit, upper/motoring

●p1521 CO: Torque limit, lower/regenerative

●p1532 CO: Torque limit, offset

Drive Functions	113
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4

Image 113

Efficient Networks S120 manual Servo control Vertical axes

Contents

Sinamics Page Applications Basic information about Drive system Appendix Function ManualFH1, 07/2007 Qualified Personnel Safety GuidelinesPrescribed Usage TrademarksSinamics documentation Usage phases and their tools/documents as an exampleUsage phase Document/tool Benefits Target groupSearch guides ForewordEuropean and African time zones Technical SupportAsian and Australian time zones America time zoneQuestions on the manual Notation for faults and alarms examplesInternet address for Sinamics EC Declaration of Conformity NotationESD Notes Safety instructions Foreword Page Contents Contents 158 18.218.3 159219 288 282289 11.5451 11.4.1 46011.4.2 11.4.3553 535Active Infeed FeaturesIntroduction GeneralActive Infeed closed-loop control Booksize Schematic structureInfeed Active Infeed Supply voltage p0210 380-400 401-415 416-440 460 480Infeed 1.1 Active Infeed CommissioningKdvvlv Active Infeed closed-loop control ChassisOverview of key parameters see Sinamics S List Manual Function diagrams see Sinamics S List ManualIntegration Identification methods Line and DC link identificationActive Infeed open-loop control Acknowledge errorSwitching off the Active Line Module Switching on the Active Line ModuleBinector input Display of internal Control and status messages370 Internal status Parameter PROFIdrive telegram WordReactive current control Example setting the harmonics controllerHarmonics controller Index P3624 harmonics controller order P3625 scalingSmart Infeed closed-loop control Smart InfeedOverview key parameters Infeed Smart Infeed6PDUW/LQH0RGXOH%RRNVLH6XSSO\V\VWHP Function diagrams see Sinamics S List Manual Overview of key parameters Sinamics S List Manual Smart Infeed open-loop control Switching on the Smart Line Module Control word Switching off the Smart Line ModuleBinector input Infeed Basic Infeed Basic InfeedBasic Infeed open-loop control UDNLQJUHVLVWRU 7HPSHUDWXUHFunction diagrams see Sinamics S List Manual 3XOVHVDQGFRQWUROOHUV Switching on the Basic Line ModuleSwitching off the Basic Line Module Infeed Line contactor control Line contactor controlControl word 370 Internal status wordInfeed 1.4 Line contactor control Example of commissioning line contactor control AssumptionCommissioning steps Power OFF Procedure during power ON/OFF Power onPre-charging and bypass contactor chassis Infeed Pre-charging and bypass contactor chassisInfeed 1.6 Derating function for chassis units Derating function for chassis unitsFunctional principle Pulse parallel infeeds three-winding transformer Pulse parallel infeeds two-winding transformerSXOVHLQIHHG 0DLQVExtended setpoint channel Properties of the extended setpoint channel DescriptionSetpoint sources Extended setpoint channel 2.2 DescriptionExtended setpoint channel 2.3 Jog Jog6LJQDO 7RWDOVHWSRLQW HIIHFWLYHUJog properties Function chart jog 1 and jog32521 Jog sequenceParameterization with Starter Properties Fixed speed setpointsDisplay parameters Extended setpoint channel 2.4 Fixed speed setpointsProperties for automatic mode p1041 = Properties for manual mode p1041 =Motorized potentiometer Extended setpoint channel 2.5 Motorized potentiometerOverview of key parameters see Sinamics S List Manual 6FDOLQJPDLQVHWSRLQW Main/supplementary setpoint and setpoint modification6XSSOHPHQWDU\VHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits 0LQ EdqgzlgwkvExtended setpoint channel Ramp-function generator Ramp-function generatorSuppression bandwidths Extended setpoint channel 2.9 Ramp-function generator Properties of the simple ramp function generatorProperties of the extended ramp function generator Ramp function generator tracking Without ramp function generator tracking Signal overview see Sinamics S List ManualWith ramp function generator tracking LWKRXWWUDFNLQJ 6SHHGVHWSRLQW 2XWSXWRI12 Starter icon for ramp function generator Limits Speed controllerServo control Speed setpoint filter Speed setpoint filterParameterization Speed controller adaptationServo control 3.3 Speed controller adaptation \QDPLFUHVSRQVHServo control Speed controller adaptation Example of speed-dependent adaptationTorque-controlled operation Commissioning of torque control modeSpeed-dependent Kpn/Tnn adaptation Servo control 3.4 Torque-controlled operationServo control Torque-controlled operation OFF responsesServo control 3.5 Torque setpoint limitation Torque setpoint limitationServo control Torque setpoint limitation Selection Torque limitation mode Fixed and variable torque limit settingsVariants of torque limitation Servo controlActivating the torque limits Example Torque limits with or without offsetExamples 0BRIIVHW Servo control 3.6 Current controller Current controllerCurrent and torque limitation Closed-loop current controlCurrent controller adaptation Flux controller for induction motorDisplay parameters Servo control Current setpoint filter Current setpoint filterServo control 3.7 Current setpoint filter Transfer functionIQBQ IQBStarter filter parameters Phase frequency curveBand-stop with infinite notch depth Band-stop with defined reduction Band-stop with defined notch depthTransfer function general 2nd-order filter General low-pass with reductionCurrent setpoint filters V/f control for diagnostics Structure of V/f control Servo control 3.9 V/f control for diagnosticsPrerequisites for V/f control Commissioning V/f controlServo control V/f control for diagnostics CharacteristicGeneral information Optimizing the current and speed controllerOptimizing the current controller Optimizing the speed controllerExample of speed setpoint step change Sensorless operation without an encoderParameter overview Servo control Sensorless operation without an encoderServo control 3.11 Sensorless operation without an encoder Behavior once pulses have been canceled2SHUZLWKHQFRGHU 2SHQORRSCommissioning/optimization Series reactorServo control Motor data identification Motor data identificationType plate data Motor dataServo control 3.12 Motor data identification Induction motor Permanent-magnet synchronous motorParameters to control the MotID Motor data identification induction motorInduction motor Rotating measurementDetermined data gamma Data that are accepted p1960 = Determined data gamma Data that are accepted p1910 =Determined data Data that are accepted p1910 = Motor data identification synchronous motorSynchronous motor Determined data Data that are accepted p1960 = 0RWRU0RGXOH DeohStandstill measurement Pole position identificationRotating measurement Servo control Pole position identificationServo control 3.13 Pole position identification Suitable zero marks are Pole position determination with zero marksPXVWEHXVHG Overview of key parametersSRVVLEOH Servo control 3.14 Vdc control Vdc controlAngular commutation offset commissioning support p1990 3RZHUIDLOXUH 3RZHUUHVWRUH Description of Vdcmin control p1240 = 2Qvhws IdloxuhDescription of Vdcmax control p1240 = 1 Description of Vdcmin control without braking p1240 = 89GFBPD QdfwDescription of Vdcmax control without acceleration p1240 = 7 Servo control Dynamic Servo Control DSC Dynamic Servo Control DSCServo control 3.15 Dynamic Servo Control DSC ActivatingDeactivating External encoder systems except motor encoder DiagnosticsSpeed setpoint filter Travel to fixed stop SignalsApplication examples Servo control 3.16 Travel to fixed stopServo control Travel to fixed stop Commissioning for PROFIdrive telegrams 2 to Signal chartMESSAGEW.1 Signal nameServo control Vertical axes Vertical axesPage Sensorless vector control Slvc Vector controlVector control Sensorless vector control Slvc Switchover conditions for Slvc6WDUW Vector control 4.1 Sensorless vector control SlvcORVHGORRS 2SHQORRSVector control Vector control with encoder Vector control with encoderBenefits of vector control with an encoder Vector control 4.3 Speed controller Motor model changeSpeed controller 6SHHGDFWXDOYDOXH Vector control Speed controller6SHHG Frqwuro Vector control 4.4 Speed controller adaptation 9HFWRU Vector control Speed controller adaptationRQVWDQWXSSHUVSHHGUDQJH SBQ$GDSWLYHFRQWUROUDQJH Dynamic response reduction field weakening Slvc only Speed controller pre-control and reference modelSpeed-dependent Kpn/Tnn adaptation VC only 6SHHG Urrs Lqmhfwlrq6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Reference modelVector control 4.6 Droop DroopFor reference model $FWXDOVSHHG PrerequisitesVector control 4.7 Torque control Torque control11 Closed-loop speed/torque control Vector control Torque controlTorque setpoint Vector control Torque limiting Torque limitingDescription Vector control 4.9 Vdc controlProperties 73RZHU Description of Vdcmin control6ZLWFKRQOHYHO Description of Vdcmax controlVector control 4.10 Current setpoint filter Current controller adaptationMotor data identification and rotating measurement Motor identification p1910 Data determined using p1910 Deoh 6HULHV 0RWRU0RGXOH DEOHDQGRotating measurement p1960 Carrying out motor identificationCarrying out the rotating measurement p1960 Motor data identification at standstill Ltvhws Efficiency optimizationVector control 4.13 Efficiency optimization Parameter Description Remark Instructions for commissioning induction motors ASMInduction motors, rotating Supplementary conditions 0RWRU0RGXOH Permanent-magnet synchronous motors, rotating0RWRU DeohDescription Remark ˭ ຘ˭ ຘ N7 QRP 151 Integration Automatic encoder adjustmentEncoder adjustment using a zero mark Pole position identification Vector control 4.16 Flying restart Flying restart155 Vector control Synchronization SynchronizationDescription Simulation operationPrerequisite Vector control 4.18 Simulation operationFeatures Redundance operation power unitsVector control Redundance operation power units CommissioningVector control 4.20 Bypass BypassPrerequisites Commissioning the bypass function Bypass with synchronization with overlap p1260 =Parameter Description Example1HWZRUN RQYHUWHUZLWK9ROWDJH 5HDFWRU26 Signal diagram, bypass with synchronization with overlap 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW Bypass with synchronization, without overlap p1260 =Bypass without synchronization p1260 = 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW VLPXOWDQHRXVO\FORVLQJ 1HWZRUN RqyhuwhuSynchronization 167 Page 1RPLQDO IntroductionZRUNLQJSRLQWRI PrwruMeaning Vector V/f control r0108.2 = IntroductionFCC RDGVector V/f control r0108.2 = 0 5.2 Voltage boost Voltage boostApplication / property 3HUPDQHQWYROWDJHERRVWVoltage boost at acceleration p1311 Permanent voltage boost p1310IOLQHDU IQDfwlyh VHW Vector V/f control r0108.2 =Voltage boost Vector V/f control r0108.2 = 0 5.3 Slip compensation Slip compensation9GFBFWUO7Q Vector V/f control r0108.2 = 0 5.4 Vdc controlPLQ Switching Vdcmin control on/off kinetic buffering177 Function diagrams see Sinamics S List Manual Groups of units Changing over unitsRestrictions Basic functions Reference parameters/normalizations Reference parameters/normalizationsFunction in Starter Size Scaling parameter Default at initial commissioning Using Starter offlineScaling for vector object Basic functions 6.2 Reference parameters/normalizationsScaling for object BInf Scaling for servo objectScaling for object AInf Overview of important parameters refer to the List Manual Modular machine conceptExample of a sub-topology Basic functions3DUWLDO 7RSRORJ\ Basic functions Modular machine conceptBasic functions Sinusoidal filter Sinusoidal filterUsage restrictions for sinusoidal filters Basic functions Dv/dt filter plus VPL Order no Name SettingDv/dt filter plus VPL Direction reversal without changing the setpoint Basic functions Automatic restart vector, servo, infeed Automatic restart vector, servo, infeedStarting attempts p1211 and waiting time p1212 Automatic restart modeP1210 Mode Meaning Monitoring time line supply return p1213 191 Internal voltage protection booksize External armature short-circuit braking193 Internal armature short-circuit synchronous motors Internal armature short-circuit braking booksize/DC brakeActivation of DC brake by BI DC brake induction motorsQB6WDUW DC braking as fault response197 Basic functions OFF3 torque limits OFF3 torque limitsCommissioning via parameters Technology function friction characteristicBasic functions Simple brake control Simple brake controlCommissioning via Starter Basic functions 6.11 Simple brake control Function chart simple brake controlSimple brake control r0108.14 = Total system runtime Runtime operating hours counterRelative system runtime Actual motor operating hoursParking a sensor Parking axis and parking sensorParking an axis Basic functions Parking axis and parking sensorExample parking axis Example parking axis and parking sensorExample parking sensor Basic functions 6.13 Parking axis and parking sensorOverview key parameters Function chart parking sensorGeneral Information Position trackingTerminology Basic functions 6.14 Position trackingBasic functions Position tracking Features Measuring gear characteristicsMeasuring gear 2IIVHWIRUHQFRGHURYHUIORZ Ryhuiorz3RVLWLRQ 0RWRU Qfrghu Measuring gearbox configuration p0411Virtual multiturn encoder p0412 Tolerance window p0413 Basic functions Terminal Module 41 TM41 Terminal Module 41 TM41Basic functions 6.15 Terminal Module 41 TM41 General descriptionHardware requirements 14 Block diagram of the incremental encoder emulation6592&21752 Commissioning stepsIncremental encoder emulation using a speed setpoint p4400 = Basic functions 6.16 Updating the firmware Updating the firmwareBasic functions Updating the firmware Upgrade the projectUpgrading firmware and the project in Starter Commissioning via parameter only with BOP20 Function modules Definition and commissioningFunction modules Technology controller Technology controllerExamples Commissioning with StarterFill level control Function modules 7.2 Technology controller7HFBFWU.S 7HFBFWU7Q Parameter Designation ExampleClosed-loop control Motorized potentiometerDescription of load monitoring Extended monitoring functionsFunction modules Extended monitoring functions 7RUTXH1P@Function modules 7.3 Extended monitoring functions Speed setpoint monitoringFunction modules Extended brake control Extended brake controlEmergency brake Starting against applied brakeOperating brake for crane drives Function modules 7.4 Extended brake controlExample, operating brake for a crane drive Standstill zero-speed monitoring Configuration, control/status wordsRelease/apply brake Free modulesControl and status messages for extended brake control Signal name Binector inputSignal name Parameters Braking Module function module Braking ModuleFunction modules 7.5 Braking Module RQWURO8QLWFast DC link discharge booksize Acknowledgement of faultsFunction modules 7.6 Cooling system Cooling systemCooling system function module 234 Extended torque control kT estimator, Servo Motor/drive converter identification Description of the kT estimatorClosed-loop position control General featuresPosition actual value conditioning KT estimatorPosition actual value sensing with rotary encoders Function modules Closed-loop position control239 Indexed actual value acquisition Properties Load gear position tracking Features Example of position area extension 10 Position tracking p2721 = Configuration of the load gear p2720Tolerance window p2722 Virtual multiturn encoder p2721Integration Function diagrams see Sinamics S List Manual Position controller 6HWSRLQW Monitoring functionsDPVZLWFKLQJSRVLWLRQ DPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO Measuring probe evaluation and reference mark search Integration Function modules 7.9 Basic positioner Basic positionerFunction modules Basic positioner DFNODVKS Mechanical systemPositive None Negative Immediately P2604 Traversing direction Switch in compensation valueMaximum velocity LimitsMaximum acceleration/deceleration Software limit switches$FFHOHUDWLRQ Vshhg 7LPH Stop camJerk limitation 9HORFLW\ Function diagram overview see Sinamics S List ManualReferencing Set reference point Absolute encoder adjustmentReference point approach for incremental measurement systems 18 Example homing with reference cam Search for reference, travel to reference cam263 Search for reference, Travel to reference point On-the-fly homing265 Instructions for switching data sets EDS5 EDS6 EDS7 Traversing blocksPositioning Fixed Endstop Endlesspos Endlessneg Wait Goto Intermediate stop and reject traversing task 0101, ContinueexternalalarmFixed Stop Waiting Introduction Travel to fixed stopFixed stop reached Fixed stop is not reached CancelVertical axes Integration Function diagram overview see List ManualDirect setpoint input MDI LHGYHORFLW\VHWSRLQW MDI mode with the use of PROFIdrive telegramIntermediate stop and canceling traversing block 7 JogTracking mode active r2683.0 Status signalsTraversing command active r2684.15 Setpoint static r2683.2Target position reached r2684.10 Following error in tolerance r2684.8Direct output 1 r2683.10 Direct output 2 r2683.11 Reference point set r2684.11 DCC axial winderAcknowledgement, traversing block activated r2684.12 Velocity limiting active r2683.1Function blocks Dn/dt Calculation of the moment of inertia for torque pre-controlR1493 Moment of inertia, total Parameters for the function diagrams for torque pre-controlP03410...n Motor moment of inertia / MotID Mmom inert P14970...n CI Moment of inertia, scaling / Mmom inert scal Parameters of the function diagram for torque limitationR1538 Upper effective torque limit / Mmax upper eff R1539 Lower effective torque limit / Mmax lower eff287 Parallel connection of chassis power units vector LQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH Application examplesRQWURO8QLW L4 0RWRU0RGXOHOFF2 Power unit protection, generalProtection against Precautions Responses Thermal monitoring and overload responses Monitoring and protective functions 8.3 Block protection Block protectionBlock protection Stall protection only for vector control0RWRUVWDOOHG Thermal motor protectionTemperature measurement via PTC Temperature measurement via KTYFunction diagrams for thermal motor protection Sensor monitoring for cable breakage / short-circuitParameters for thermal motor protection Page General information Safety IntegratedExplanations, standards, and terminology Standards and DirectivesTwo-channel monitoring structure Safety Integrated basic functions General informationSupported functions Prerequisites for the extended functions Properties of Safety Integrated parameters Parameter, Checksum, Version, PasswordFrom FW2.5 the following applies Safety Integrated versionsChecking the checksum Parameter overview for password see Sinamics S List Manual PasswordForced dormant error detection Please note the following during switch-on Safety instructionsSafety Integrated basic functions 9.2 Safety instructions Safe Torque Off STO Functional features of Safe Torque OffSafety Integrated basic functions 9.3 Safe Torque Off STO Selecting/deselecting Safe Torque Off Enabling the Safe Torque Off STO functionParameter overview see List Manual Status for Safe Torque OffResponse time with the Safe Torque Off function Examples, BooksizeRelease of the SS1 function Functional features of Safe StopSafe Stop 1 SS1, time controlled Status for Safe Stop Safe Brake Control SBCTwo-channel brake control Functional features of Safe Brake Control SBCEnabling the Safe Brake Control SBC function 5HOD\ Response time with the Safe Brake Control functionSwitch-off signal path Overview of the safety function terminals for Sinamics S120Grouping drives not for CU310 Terminals for STO, SS1 time-controlled, SBCExample Terminal groups Commissioning notes General information about commissioning safety functionsCommissioning the STO, SBC and SS1 functions Standard commissioning of the safety functions Prerequisites for commissioning the safety functionsPower on Replacing Motor Modules with the current FW releaseProcedure for commissioning STO, SBC and SS1 Parameter Description/comments Enable Safe Stop 1 function Safety Integrated basic functionsSet terminals for Safe torque off STO Set F-DI changeover tolerance timeSet the new Safety password Adjust specified checksumsStop a PathsStop response Safety faultsStop F Acknowledging the safety faultsStop response Action Effect Triggered Acceptance test and certificate Description of faults and alarmsGeneral information about acceptance Acceptance testScope of a complete acceptance test Documentation DocumentationFunctional test Completion of certificateDrive number FW version SI version Drive number SI function Description Status Acceptance test for Safe Torque Off STOSafe Torque Off STO function Safe Stop 1 function SS1, time-controlled Acceptance test for Safe Stop 1, time controlled SS1Acceptance test and certificate Acceptance test for Safe Brake Control SBCSafe Brake Control function SBC 332 Completion of certificate Data backupSI parameters ChecksumsMachine manufacturer Safety Integrated basic functions 9.9 Application examplesApplication examples LQH0RGXOH Description of functionsBehavior for Emergency Stop Safety Integrated basic functions Application examplesSwitching on the drives Behavior when the protective door is openedNo. of Motor Name Changeable to Module MM Overview of parameters and function diagramsDescription of the parameters 339 Page Communications according to PROFIdrive Features Controller, Supervisor Drive UnitGeneral information about PROFIdrive for Sinamics Controller, Supervisor, and Drive UnitInterface IF1 and IF2 Application classesApplication class Application class 1 Standard drive$XWRPDWLRQ 7HFKQRORJ\ Application class 2 Standard drive with technology functionApplication class 3 positioning drive Dynamic Servo Control DSC Application class 4 central motion controlTelegram Description Class Cyclic communicationTelegrams and process data General information What telegrams are available? Dword Telegram interconnectionsReceive process data Structure of the telegrams Telegram structureDrive object Telegrams p0922 Procedure Interface ModeDrive object ValueMonitoring telegram failure Description SettingsExample emergency stop with telegram failure AssumptionOverview of control words and setpoints Name Signal Data typeDescription of control words and setpoints Bit Meaning Comments CTW1 control wordSTW1 control word 1, positioning mode, p0108.4 = 357 ECTW1 control word for Infeed CTW2 control word359 PosSTW positioning mode, p0108.4 =1 Satzanw positioning mode, p0108.4 =1Nsollb speed setpoint B 32-bit Nsolla speed setpoint a 16-bitGnSTW encoder n control word Xerr position deviationKPC position controller gain factor MDIMode pos MDI modeMDIPos pos MDI position MDIVel pos MDI velocityTorquered torque reduction Over pos velocity overrideDescription of status words and actual values Abbreviation Name SignalOverview of status words and actual values CommentSTW1 status word 366 STW1 status word 1, positioning mode, p0108.4 = STW2 status word Meldw message word Nacta Speed setpoint a 16 bitNactb Speed setpoint B 32 bit Application 371 ESTW1 status word for Infeed MTnZSF/MTnZSSPosZSW AktSatz Control and status words for encoder Description XistPExample of encoder interface Encoder n control word GnCTW, n = 1, 2Bit Signal status, descriptionExample 1 Find reference mark Signal status, descriptionExample 2 Flying measurement Encoder n status word GnSTW, n = 1, 2 Encoder 2 control word G2CTWEncoder 3 control word G3CTW Name Signal status, description Encoder 1 actual position value 1 G1XACT1 Bit Name Signal status, descriptionEncoder 1 actual position value 2 G1XACT2 Communication Profibus DP/PROFINET IOQFRGHUHUURU 3DUNHGHQFRGHURUIO\LQJ 7UDQVPLWF\FOLFEncoder 2 status word G2STW Error code in GnXIST2Encoder 2 actual position value 1 G2XACT1 Encoder 2 actual position value 2 G2XACT2Encoder 3 actual position value 2 G3XACT2 Encoder 3 actual position value 1 G3XACT1Visualization parameters drive Central control and status words DescriptionTransmit signals Receive signalsCustw control word for Control Unit, CU Adigital digital outputsCuzsw status word for Control Unit, CU Sync Edigital digital inputsMTnZSF and MTnZSS Features of the central probeMotion Control with PROFIdrive Description Example central probeOverview of closed-loop control 6SHHG Structure of the data cycleRQWUROZLWK \FOHDSSOLFD Acyclic communicationGeneral information about acyclic communication Description 5HDGUHT ZLWKRXWGDWD Characteristics of the parameter channelULWHUHT Field Data type Values Comment Parameter request OffsetParameter response Offset 395 Error Meaning Comment Additional Value Info Error values in DPV1 parameter responses397 398 Determining the drive object numbers Basic procedureExample 1 read parameters Prerequisites Task descriptionInformation about the parameter request ActivityInformation about the parameter response QBVHWB VersionParameter address .. th parameter address Parameter value .. th parameter value Communication via Profibus DP Features Master SlaveGeneral information about Profibus General information about Profibus for SinamicsSequence of drive objects in the telegram Bus access methodExample Example telegram structure for cyclic data transmission TaskComponent and telegram structure Configuration settings e.g. HW Config for Simatic S7DP slave properties details DP slave properties overviewCommissioning Profibus 25 Interfaces and diagnostic LEDSetting the Profibus address Commissioning for VIK-NAMUR Device master fileDevice identification Bus terminating resistor and shieldingDiagnosis options Commissioning steps example with Simatic S7Pro Tool and WinCC flexible Simatic HMI addressingField Value DBB, DBW, DBD27 Monitoring telegram failure Motion Control with Profibus SettingsExample emergency stop with telegram failure Assumption SequenceName Value1 Limit value Description Sequence of data transfer to closed-loop control systemDesignations and descriptions for Motion Control 418 Data Time required µs Setting criteria for timesMinimum times for reserves User data integrity Publisher Slave-to-slave communicationsGeneral information Description Links and taps SubscriberPrerequisites and limitations ApplicationsExample, setpoint assignment Setpoint assignment in the subscriber SetpointsActivating/parameterizing slave-to-slave communications Configuring telegram ChkCfgActivation in the Publisher Activation in the Subscriber9HUVLRQLGHQWLILHU 1XPEHURIOLQNV +HDGHU3XEOLVKHU3DGGUHVV ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHUCommissioning of the Profibus slave-to-slave communication Settings in HW Config427 35 Insert new slot 429 38 Telegram assignment for slave-to-slave communication Commissioning in Starter 41 Display of the telegram extension 433 GSD GeräteStammDaten file GSD File 435 Immediately NoneOFF1 None OFF2 OFF3 General information about Profinet IO for Sinamics Communications via Profinet IOGeneral information about Profinet IO Definition Isochronous real time communication IRT Definition Real Time RT and determinismIP address Addresses Definition MAC addressIP address assignment Device nameData transfer Features Default routerReplacing Control Unit CU320 IO Device Definition Sub-network maskNew device ID for Profinet from FW2.5 SP1 Hardware setupSequence of drive objects in the data transfer Clock generation ReferencesTelegrams DCP flashingRouting with CBE20 Connecting the supervisorRT classes for Profinet IO Description RT classesIRTflex IRTtopProfinet IO with RT Set RT classNot isochronous Data exchangeSync domain Refresh timeProfinet IO with IRT Overview Time-scheduled data transmission Profinet IO with IRTtopSend clock/refresh time Motion Control/Isochronous drive link with Profinet Motion Control with ProfinetTdcbase = Designations and descriptions for Motion ControlTdcmin ≤ TDC ≤ TdcmaxTDC TCAValid and TDC ≧ TIOOutput Assignment of communication interfaces to cyclic interfaces Parallel operation of communication interfaces for CU320Plugged hardware interface FeatureProperties of the cyclic interfaces IF1 and IF2 Additional parameters for IF2 ParametersP8839 PZD Interface hardware assignmentA8550 PZD interface hardware assignment incorrect AlarmApplications 11.3 Motor changeover Example motor switchover for four motorsMotor changeover Applications Motor changeover Parameter Settings RemarkProcedure for switching over the motor data set Example of a star/delta switchoverPreconditions ApplicationsParameter Settings Comments Procedure for star/delta switchoverIntegration Applications Application examples with the DMC20 Application examples with the DMC20Example, distributed topology Applications 11.4 Application examples with the DMC20 Example, hot plugging6LQJOH Instructions for offline commissioning with StarterApplications 11.5 Control Units without infeed control Control Units without infeed controlOverview of key parameters see Sinamics S List Manual Smart Line Modules without DRIVE-CLiQ 5 kW and 10 kW Examples interconnecting Infeed readyDC link line-up with more than one Control Unit Applications Control Units without infeed controlDescription Drive Functions Parameter categories ParameterParameter types 7HUPLQDO0RGXOH Basic information about the drive system 12.1 Parameter2SWLRQ%RDUG QihhgAccess level Resetting parametersAccess level Saving parameters in a non-volatile memoryCDS Command Data Set CDS Command Data SetData sets Basic information about the drive system 12.2 Data setsDDS Drive Data Set Example Switching between command data set 0DDS Drive Data Set EDS Encoder Data Set EDS Encoder Data SetSupplementary conditions and recommendations MDS Motor Data Set MDS Motor Data SetExamples for a data set assignment Copying a command data setCopying a drive data set Motor Encoder P0186 P0187 P0188 P0189Copying the motor data set Basic information about the drive system 12.3 Drive objects Drive objectsOverview of drive objects Configuring drive objectsBinectors, BI Binector Input, BO Binector Output Bico technology interconnecting signalsBinectors, connectors Symbol Name Description Interconnecting signals using Bico technologyConnectors, CI Connector Input, CO Connector Output Notation Interconnecting signals using Bico technologySample interconnections Example 1 Interconnection of digital signalsExample 2 Connection of OFF3 to several drives 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHUBico technology Connector-binector converterBico interconnections to other drives Copying drivesSignals for the analog outputs Fixed values for interconnection using Bico technologySignal Parameter Unit Normalization 100 % = ScalingOverview of inputs/outputs Inputs/outputsChanging scaling parameters p2000 to p2007 Component Digital Analog InputsDigital inputs Digital inputs/outputsBasic information about the drive system Inputs/outputs Digital outputsBidirectional digital inputs/outputs ˩V Analog inputsAnalog outputs Overview of displays and keys Parameterizing using the BOP20 Basic Operator PanelGeneral information about the BOP20 Information on the keys Information on the displaysDisplay KeyParameters for BOP All drive objects BOP20 functionsDrive object, Control Unit Name DescriptionOperating display Displays and using the BOP20Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Parameter display Example Changing a parameter Value displayHFLPDOQXPEHU QWHJHUQXPEHU3DUDPHWHUGLVSOD\ Example Changing binector and connector input parameters1HWIDXOW ULYHQR Iodvklqj Fkdqjh Fault and alarm displaysDisplaying faults Displaying alarms Controlling the drive using the BOP20Bit r0019 Name On / OFF OFF1Action Reaction Examples of replacing componentsStarter PG Action Reaction Comments501 File names and storage location for the data Data backup on CompactFlash cardExchanging a Sinamics Sensor Module Integrated Order number Sinamics Sensor Module Integrated Replacing a deviceData transfer from CompactFlash card to Sensor Module Electronic rating plate DRIVE-CLiQ topologyActual topology Target topologyComparison of topologies at Power On Rules for wiring with DRIVE-CLiQDRIVE-CLiQ rules General rules507 Recommended rules Component Connecting the motor encoder via DRIVE-CLiQ6LQJOH 0RWRU 0RGXOH Component VSM connectionRules for FW2.1 Rules for different firmware releasesRules for FW2.2 Servo VectorServo Rules for FW2.3Rules for FW2.4 Rules for FW2.5 SP1 $FWLYH Qwhuidfh 0RGXOH Sample wiring for vector drives$FWLYH LQH 0RGXOH 26 Drive line-up chassis with different pulse frequencies Sample wiring of Vector drives connected in parallel516 Blocksize Sample wiring Power ModulesTopology tree view Comment Changing the offline topology in StarterChassis Starter Sample wiring for servo drives30 Sample servo topology Sample wiring for vector U/f drives31 Sample vector U/f topology Number of controllable drivesBasic information about the drive system Servo controlMixed operation System sampling timesP0112 P01150 P01151 P01152 P01153 P01154 P01155 P01156 Setting the sampling times525 Setting the sampling times using p0115 Rules for setting the sampling time527 Basic Infeed Default settings for the sampling timesNumber P0112 P01150 P1800 Active Infeed and Smart Infeed Mixed Examples when changing sampling times / pulse frequenciesNumber P0112 P01150 P1800 Starter is in the online mode Basic information about the drive system 12.13 Licensing LicensingEntering the license key Properties of the license keyGenerating a license key via the WEB License Manager Letter/number Decimal Ascii codeOverview of key parameters see Sinamics S List Manual HW component Order number Version Revisions Availability of hardware componentsAppendix Availability of SW functions Availability of SW functionsSW function HW componentSW function Servo Vector HW component Servo Vector HW component SW function Available Servo Vector HW componentDCC SINAMICS, DCC Simotion TM54F SW function Available Servo Vector HW component Since FW540 German meaning English meaning List of abbreviationsAppendix List of abbreviations CSM FAQDAC DCBAppendix LIN LEDLSB LSSPEM PelvPID PLLSLI SILSLM SLPVDI VDEVSM WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG