Efficient Networks S120 instruction

Vector control 4.4 Speed controller adaptation

Note

In comparison with speed control with an encoder, the dynamic response of drives without an encoder is significantly reduced. The actual speed is derived by means of a model calculation from the converter output variables for current and voltage that have a corresponding interference level. To this end, the actual speed must be adjusted by means of filter algorithms in the software.

Function diagrams (see SINAMICS S List Manual)

● 6040 Speed controller with/without encoder

Overview of key parameters (see SINAMICS S List Manual)

●p0340[0...n] Automatic calculation of control parameters

●p1442[0...n] Speed actual value smoothing time

●p1452[0...n] Speed actual value smoothing time (SLVC)

●p1460[0...n] Speed controller P gain lower adaptation speed

●p1462[0...n] Speed controller integral time lower adaptation speed

●p1470[0...n] Speed controller sensorless operation P gain

●p1472[0...n] Speed controller sensorless operation integral time

●p1960 Speed controller optimization selection

●r0062 CO: Speed setpoint after the filter

●r0063[0...1] CO: Speed actual value

●r0345[0...n] Nominal motor starting time

●r1482 CO: Speed controller I torque output

●r1508 CO: Torque setpoint before supplementary torque

4.4Speed controller adaptation

Description

Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent Kp_n/Tn_n adaptation.

Free Kp_n adaptation can also also be activated in "operation without encoder" mode and is used in "operation with encoder" mode as an additional factor for speed-dependent Kp_n adaptation.

The speed-dependent Kp_n/Tn_n-adaptation is only active during "operation with encoder".

Drive Functions	121
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4

Image 121

Efficient Networks S120 manual Function diagrams see Sinamics S List Manual, Vector control 4.4 Speed controller adaptation

Contents

Sinamics Page FH1, 07/2007 Function ManualApplications Basic information about Drive system Appendix Qualified Personnel Safety GuidelinesPrescribed Usage Trademarks Usage phase Document/tool Usage phases and their tools/documents as an exampleSinamics documentation Benefits Target groupSearch guides Foreword European and African time zones Technical SupportAsian and Australian time zones America time zone Questions on the manual Notation for faults and alarms examplesInternet address for Sinamics EC Declaration of Conformity Notation ESD Notes Safety instructions Foreword Page Contents Contents 158 18.218.3 159 219 288 282289 11.5 451 11.4.1 46011.4.2 11.4.3 553 535 Active Infeed FeaturesIntroduction General Active Infeed closed-loop control Booksize Schematic structureInfeed Active Infeed Supply voltage p0210 380-400 401-415 416-440 460 480 Infeed 1.1 Active Infeed Commissioning Kdvvlv Active Infeed closed-loop control Chassis Integration Function diagrams see Sinamics S List ManualOverview of key parameters see Sinamics S List Manual Identification methods Line and DC link identification Active Infeed open-loop control Acknowledge error Switching off the Active Line Module Switching on the Active Line Module Binector input Display of internal Control and status messages370 Internal status Parameter PROFIdrive telegram Word Reactive current control Example setting the harmonics controllerHarmonics controller Index P3624 harmonics controller order P3625 scaling Smart Infeed closed-loop control Smart InfeedOverview key parameters Infeed Smart Infeed 6PDUW/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 Binector input Switching off the Smart Line ModuleControl word Basic Infeed open-loop control Basic InfeedInfeed Basic Infeed UDNLQJUHVLVWRU 7HPSHUDWXUH Function diagrams see Sinamics S List Manual Switching off the Basic Line Module Switching on the Basic Line Module3XOVHVDQGFRQWUROOHUV Infeed Line contactor control Line contactor controlControl word 370 Internal status word Commissioning steps Example of commissioning line contactor control AssumptionInfeed 1.4 Line contactor control Power OFF Procedure during power ON/OFF Power onPre-charging and bypass contactor chassis Infeed Pre-charging and bypass contactor chassis Functional principle Derating function for chassis unitsInfeed 1.6 Derating function for chassis units Pulse parallel infeeds three-winding transformer Pulse parallel infeeds two-winding transformerSXOVHLQIHHG 0DLQV Extended setpoint channel Properties of the extended setpoint channel DescriptionSetpoint sources Extended setpoint channel 2.2 Description Extended setpoint channel 2.3 Jog Jog6LJQDO 7RWDOVHWSRLQW HIIHFWLYHU Jog properties Function chart jog 1 and jog 32521 Jog sequence Parameterization with Starter Properties Fixed speed setpointsDisplay parameters Extended setpoint channel 2.4 Fixed speed setpoints Properties for automatic mode p1041 = Properties for manual mode p1041 =Motorized potentiometer Extended setpoint channel 2.5 Motorized potentiometer Overview of key parameters see Sinamics S List Manual 6FDOLQJPDLQVHWSRLQW Main/supplementary setpoint and setpoint modification6XSSOHPHQWDU\VHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits 0LQ Edqgzlgwkv Suppression bandwidths Ramp-function generatorExtended setpoint channel Ramp-function generator Properties of the extended ramp function generator Properties of the simple ramp function generatorExtended setpoint channel 2.9 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 2XWSXWRI 12 Starter icon for ramp function generator Limits Speed controller Servo control Speed setpoint filter Speed setpoint filter Parameterization Speed controller adaptationServo control 3.3 Speed controller adaptation \QDPLFUHVSRQVH Servo control Speed controller adaptation Example of speed-dependent adaptation Torque-controlled operation Commissioning of torque control modeSpeed-dependent Kpn/Tnn adaptation Servo control 3.4 Torque-controlled operation Servo control Torque-controlled operation OFF responses Servo control 3.5 Torque setpoint limitation Torque setpoint limitation Servo control Torque setpoint limitation Selection Torque limitation mode Fixed and variable torque limit settingsVariants of torque limitation Servo control Activating the torque limits Example Torque limits with or without offsetExamples 0BRIIVHW Servo control 3.6 Current controller Current controller Current and torque limitation Closed-loop current controlCurrent controller adaptation Flux controller for induction motor Display parameters Servo control Current setpoint filter Current setpoint filter Servo control 3.7 Current setpoint filter Transfer functionIQBQ IQB Band-stop with infinite notch depth Phase frequency curveStarter filter parameters Band-stop with defined reduction Band-stop with defined notch depth Transfer function general 2nd-order filter General low-pass with reduction Current 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 control Servo control V/f control for diagnostics Characteristic General information Optimizing the current and speed controllerOptimizing the current controller Optimizing the speed controller Example of speed setpoint step change Sensorless operation without an encoderParameter overview Servo control Sensorless operation without an encoder Servo control 3.11 Sensorless operation without an encoder Behavior once pulses have been canceled 2SHUZLWKHQFRGHU 2SHQORRS Commissioning/optimization Series reactor Servo control Motor data identification Motor data identification Type plate data Motor dataServo control 3.12 Motor data identification Induction motor Permanent-magnet synchronous motor Parameters to control the MotID Motor data identification induction motorInduction motor Rotating measurement Determined data gamma Data that are accepted p1960 = Determined data gamma Data that are accepted p1910 = Synchronous motor Motor data identification synchronous motorDetermined data Data that are accepted p1910 = Determined data Data that are accepted p1960 = 0RWRU0RGXOH Deoh Standstill measurement Pole position identificationRotating measurement Servo control Pole position identification Servo control 3.13 Pole position identification Suitable zero marks are Pole position determination with zero marks SRVVLEOH Overview of key parametersPXVWEHXVHG Angular commutation offset commissioning support p1990 Vdc controlServo control 3.14 Vdc control 3RZHUIDLOXUH 3RZHUUHVWRUH Description of Vdcmin control p1240 = 2Qvhws Idloxuh Description of Vdcmax control p1240 = 1 Description of Vdcmin control without braking p1240 = 89GFBPD Qdfw Description of Vdcmax control without acceleration p1240 = 7 Servo control Dynamic Servo Control DSC Dynamic Servo Control DSC Deactivating ActivatingServo control 3.15 Dynamic Servo Control DSC Speed setpoint filter DiagnosticsExternal encoder systems except motor encoder Travel to fixed stop SignalsApplication examples Servo control 3.16 Travel to fixed stop Servo control Travel to fixed stop Commissioning for PROFIdrive telegrams 2 to Signal chart MESSAGEW.1 Signal name Servo control Vertical axes Vertical axesPage Sensorless vector control Slvc Vector control Vector control Sensorless vector control Slvc Switchover conditions for Slvc 6WDUW Vector control 4.1 Sensorless vector control SlvcORVHGORRS 2SHQORRS Benefits of vector control with an encoder Vector control with encoderVector control Vector control with encoder Speed controller Motor model changeVector control 4.3 Speed controller 6SHHG Frqwuro Vector control Speed controller6SHHGDFWXDOYDOXH Vector control 4.4 Speed controller adaptation 9HFWRU Vector control Speed controller adaptation $GDSWLYHFRQWUROUDQJH SBQRQVWDQWXSSHUVSHHGUDQJH Speed-dependent Kpn/Tnn adaptation VC only Speed controller pre-control and reference modelDynamic response reduction field weakening Slvc only 6SHHG Urrs Lqmhfwlrq 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Reference model For reference model DroopVector control 4.6 Droop $FWXDOVSHHG Prerequisites Vector control 4.7 Torque control Torque control 11 Closed-loop speed/torque control Vector control Torque control Torque setpoint Vector control Torque limiting Torque limiting Description Vector control 4.9 Vdc control Properties 73RZHU Description of Vdcmin control 6ZLWFKRQOHYHO Description of Vdcmax control Vector control 4.10 Current setpoint filter Current controller adaptation Motor data identification and rotating measurement Motor identification p1910 Data determined using p1910 Deoh 6HULHV 0RWRU0RGXOH DEOHDQG Rotating measurement p1960 Carrying out motor identification Carrying out the rotating measurement p1960 Motor data identification at standstill Vector control 4.13 Efficiency optimization Efficiency optimizationLtvhws Induction motors, rotating Instructions for commissioning induction motors ASMParameter Description Remark Supplementary conditions 0RWRU0RGXOH Permanent-magnet synchronous motors, rotating0RWRU Deoh Description Remark ˭ ຘ ˭ ຘ N7 QRP 151 Encoder adjustment using a zero mark Automatic encoder adjustmentIntegration Pole position identification Vector control 4.16 Flying restart Flying restart 155 Vector control Synchronization Synchronization Description Simulation operationPrerequisite Vector control 4.18 Simulation operation Features Redundance operation power unitsVector control Redundance operation power units Commissioning Prerequisites BypassVector control 4.20 Bypass Commissioning the bypass function Bypass with synchronization with overlap p1260 = Parameter Description Example1HWZRUN RQYHUWHUZLWK9ROWDJH 5HDFWRU 26 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 Rqyhuwhu Synchronization 167 Page 1RPLQDO IntroductionZRUNLQJSRLQWRI Prwru Meaning Vector V/f control r0108.2 = IntroductionFCC RDG Vector V/f control r0108.2 = 0 5.2 Voltage boost Voltage boostApplication / property 3HUPDQHQWYROWDJHERRVW Voltage boost at acceleration p1311 Permanent voltage boost p1310IOLQHDU IQ Voltage boost Vector V/f control r0108.2 =Dfwlyh VHW Vector V/f control r0108.2 = 0 5.3 Slip compensation Slip compensation 9GFBFWUO7Q Vector V/f control r0108.2 = 0 5.4 Vdc control PLQ Switching Vdcmin control on/off kinetic buffering 177 Function diagrams see Sinamics S List Manual Restrictions Changing over unitsGroups of units Function in Starter Reference parameters/normalizationsBasic functions Reference parameters/normalizations Size Scaling parameter Default at initial commissioning Using Starter offlineScaling for vector object Basic functions 6.2 Reference parameters/normalizations Scaling for object AInf Scaling for servo objectScaling for object BInf Overview of important parameters refer to the List Manual Modular machine conceptExample of a sub-topology Basic functions 3DUWLDO 7RSRORJ\ Basic functions Modular machine concept Usage restrictions for sinusoidal filters Sinusoidal filterBasic functions Sinusoidal filter Dv/dt filter plus VPL Order no Name SettingBasic functions Dv/dt filter plus VPL Direction reversal without changing the setpoint Basic functions Automatic restart vector, servo, infeed Automatic restart vector, servo, infeed P1210 Mode Meaning Automatic restart modeStarting attempts p1211 and waiting time p1212 Monitoring time line supply return p1213 191 Internal voltage protection booksize External armature short-circuit braking 193 Internal armature short-circuit synchronous motors Internal armature short-circuit braking booksize/DC brake Activation of DC brake by BI DC brake induction motors QB6WDUW DC braking as fault response 197 Basic functions OFF3 torque limits OFF3 torque limits Commissioning via parameters Technology function friction characteristic Commissioning via Starter Simple brake controlBasic functions Simple brake control Basic functions 6.11 Simple brake control Function chart simple brake control Simple brake control r0108.14 = Total system runtime Runtime operating hours counterRelative system runtime Actual motor operating hours Parking a sensor Parking axis and parking sensorParking an axis Basic functions Parking axis and parking sensor Example parking axis Example parking axis and parking sensorExample parking sensor Basic functions 6.13 Parking axis and parking sensor Overview key parameters Function chart parking sensor General Information Position trackingTerminology Basic functions 6.14 Position tracking Measuring gear Features Measuring gear characteristicsBasic functions Position tracking 3RVLWLRQ 0RWRU Ryhuiorz2IIVHWIRUHQFRGHURYHUIORZ Virtual multiturn encoder p0412 Measuring gearbox configuration p0411Qfrghu Tolerance window p0413 Basic functions Terminal Module 41 TM41 Terminal Module 41 TM41 Basic functions 6.15 Terminal Module 41 TM41 General description Hardware requirements 14 Block diagram of the incremental encoder emulation 6592&21752 Commissioning steps Incremental encoder emulation using a speed setpoint p4400 = Basic functions 6.16 Updating the firmware Updating the firmware Upgrading firmware and the project in Starter Upgrade the projectBasic functions Updating the firmware Commissioning via parameter only with BOP20 Function modules Definition and commissioning Function modules Technology controller Technology controller Examples Commissioning with StarterFill level control Function modules 7.2 Technology controller 7HFBFWU.S 7HFBFWU7Q Parameter Designation Example Closed-loop control Motorized potentiometer Description of load monitoring Extended monitoring functionsFunction modules Extended monitoring functions 7RUTXH1P@ Function modules 7.3 Extended monitoring functions Speed setpoint monitoring Function modules Extended brake control Extended brake control Emergency brake Starting against applied brakeOperating brake for crane drives Function modules 7.4 Extended brake control Example, operating brake for a crane drive Standstill zero-speed monitoring Configuration, control/status wordsRelease/apply brake Free modules Signal name Parameters Signal name Binector inputControl and status messages for extended brake control Braking Module function module Braking ModuleFunction modules 7.5 Braking Module RQWURO8QLW Fast DC link discharge booksize Acknowledgement of faults Cooling system function module Cooling systemFunction modules 7.6 Cooling system 234 Extended torque control kT estimator, Servo Motor/drive converter identification Description of the kT estimator Closed-loop position control General featuresPosition actual value conditioning KT estimator Position actual value sensing with rotary encoders Function modules Closed-loop position control 239 Indexed actual value acquisition Properties Load gear position tracking Features Example of position area extension 10 Position tracking p2721 = Configuration of the load gear p2720 Tolerance window p2722 Virtual multiturn encoder p2721 Integration Function diagrams see Sinamics S List Manual Position controller 6HWSRLQW Monitoring functions DPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO DPVZLWFKLQJSRVLWLRQ Measuring probe evaluation and reference mark search Integration Function modules 7.9 Basic positioner Basic positioner Function modules Basic positioner DFNODVKS Mechanical system Positive None Negative Immediately P2604 Traversing direction Switch in compensation value Maximum velocity Limits Maximum acceleration/deceleration Software limit switches Jerk limitation Stop cam$FFHOHUDWLRQ Vshhg 7LPH 9HORFLW\ Function diagram overview see Sinamics S List Manual Referencing Set reference point Absolute encoder adjustment Reference point approach for incremental measurement systems 18 Example homing with reference cam Search for reference, travel to reference cam 263 Search for reference, Travel to reference point On-the-fly homing 265 Instructions for switching data sets EDS5 EDS6 EDS7 Traversing blocks Positioning Fixed Endstop Endlesspos Endlessneg Wait Goto Intermediate stop and reject traversing task 0101, Continueexternalalarm Fixed Stop Waiting Introduction Travel to fixed stop Fixed stop reached Fixed stop is not reached Cancel Vertical axes Integration Function diagram overview see List Manual Direct setpoint input MDI LHGYHORFLW\VHWSRLQW MDI mode with the use of PROFIdrive telegram Intermediate stop and canceling traversing block 7 Jog Tracking mode active r2683.0 Status signalsTraversing command active r2684.15 Setpoint static r2683.2 Direct output 1 r2683.10 Direct output 2 r2683.11 Following error in tolerance r2684.8Target position reached r2684.10 Reference point set r2684.11 DCC axial winderAcknowledgement, traversing block activated r2684.12 Velocity limiting active r2683.1 Function blocks Dn/dt Calculation of the moment of inertia for torque pre-control P03410...n Motor moment of inertia / MotID Mmom inert Parameters for the function diagrams for torque pre-controlR1493 Moment of inertia, total 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 eff 287 Parallel connection of chassis power units vector RQWURO8QLW Application examplesLQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH L4 0RWRU0RGXOH Protection against Precautions Responses Power unit protection, generalOFF2 Thermal monitoring and overload responses Monitoring and protective functions 8.3 Block protection Block protection Block protection Stall protection only for vector control 0RWRUVWDOOHG Thermal motor protection Temperature measurement via PTC Temperature measurement via KTYFunction diagrams for thermal motor protection Sensor monitoring for cable breakage / short-circuit Parameters for thermal motor protection Page General information Safety IntegratedExplanations, standards, and terminology Standards and Directives Two-channel monitoring structure Safety Integrated basic functions General information Supported functions Prerequisites for the extended functions Properties of Safety Integrated parameters Parameter, Checksum, Version, Password Checking the checksum Safety Integrated versionsFrom FW2.5 the following applies Parameter overview for password see Sinamics S List Manual Password Forced dormant error detection Safety Integrated basic functions 9.2 Safety instructions Safety instructionsPlease note the following during switch-on Safety Integrated basic functions 9.3 Safe Torque Off STO Functional features of Safe Torque OffSafe Torque Off STO Selecting/deselecting Safe Torque Off Enabling the Safe Torque Off STO function Parameter overview see List Manual Status for Safe Torque OffResponse time with the Safe Torque Off function Examples, Booksize Safe Stop 1 SS1, time controlled Functional features of Safe StopRelease of the SS1 function Status for Safe Stop Safe Brake Control SBC Enabling the Safe Brake Control SBC function Functional features of Safe Brake Control SBCTwo-channel brake control 5HOD\ Response time with the Safe Brake Control function Switch-off signal path Overview of the safety function terminals for Sinamics S120 Grouping drives not for CU310 Terminals for STO, SS1 time-controlled, SBC Example Terminal groups Commissioning the STO, SBC and SS1 functions General information about commissioning safety functionsCommissioning notes Standard commissioning of the safety functions Prerequisites for commissioning the safety functionsPower on Replacing Motor Modules with the current FW release Procedure 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 time Set the new Safety password Adjust specified checksumsStop a Paths Stop response Safety faults Stop response Action Effect Triggered Acknowledging the safety faultsStop F Acceptance test and certificate Description of faults and alarmsGeneral information about acceptance Acceptance test Scope of a complete acceptance test Documentation DocumentationFunctional test Completion of certificate Drive number FW version SI version Drive number SI function Safe Torque Off STO function Acceptance test for Safe Torque Off STODescription Status Safe Stop 1 function SS1, time-controlled Acceptance test for Safe Stop 1, time controlled SS1 Safe Brake Control function SBC Acceptance test for Safe Brake Control SBCAcceptance test and certificate 332 Completion of certificate Data backupSI parameters Checksums Application examples Safety Integrated basic functions 9.9 Application examplesMachine manufacturer LQH0RGXOH Description of functions Behavior for Emergency Stop Safety Integrated basic functions Application examples Switching on the drives Behavior when the protective door is opened Description of the parameters Overview of parameters and function diagramsNo. of Motor Name Changeable to Module MM 339 Page Communications according to PROFIdrive Features Controller, Supervisor Drive UnitGeneral information about PROFIdrive for Sinamics Controller, Supervisor, and Drive Unit Interface IF1 and IF2 Application classes Application class Application class 1 Standard drive $XWRPDWLRQ 7HFKQRORJ\ Application class 2 Standard drive with technology function Application class 3 positioning drive Dynamic Servo Control DSC Application class 4 central motion control Telegrams and process data General information Cyclic communicationTelegram Description Class What telegrams are available? Receive process data Telegram interconnectionsDword Structure of the telegrams Telegram structure Drive object Telegrams p0922 Procedure Interface ModeDrive object Value Monitoring telegram failure Description SettingsExample emergency stop with telegram failure Assumption Description of control words and setpoints Name Signal Data typeOverview of control words and setpoints Bit Meaning Comments CTW1 control word STW1 control word 1, positioning mode, p0108.4 = 357 ECTW1 control word for Infeed CTW2 control word 359 PosSTW positioning mode, p0108.4 =1 Satzanw positioning mode, p0108.4 =1 Nsollb speed setpoint B 32-bit Nsolla speed setpoint a 16-bitGnSTW encoder n control word Xerr position deviation KPC position controller gain factor MDIMode pos MDI modeMDIPos pos MDI position MDIVel pos MDI velocity Torquered torque reduction Over pos velocity override Description of status words and actual values Abbreviation Name SignalOverview of status words and actual values Comment STW1 status word 366 STW1 status word 1, positioning mode, p0108.4 = STW2 status word Nactb Speed setpoint B 32 bit Nacta Speed setpoint a 16 bitMeldw message word Application 371 ESTW1 status word for Infeed MTnZSF/MTnZSS PosZSW AktSatz Control and status words for encoder Description XistPExample of encoder interface Encoder n control word GnCTW, n = 1, 2 Bit Signal status, description Example 1 Find reference mark Signal status, description Example 2 Flying measurement Encoder 3 control word G3CTW Encoder 2 control word G2CTWEncoder n status word GnSTW, n = 1, 2 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 IO QFRGHUHUURU 3DUNHGHQFRGHURUIO\LQJ 7UDQVPLWF\FOLF Encoder 2 status word G2STW Error code in GnXIST2Encoder 2 actual position value 1 G2XACT1 Encoder 2 actual position value 2 G2XACT2 Encoder 3 actual position value 2 G3XACT2 Encoder 3 actual position value 1 G3XACT1Visualization parameters drive Central control and status words Description Transmit signals Receive signalsCustw control word for Control Unit, CU Adigital digital outputs Cuzsw status word for Control Unit, CU Sync Edigital digital inputs MTnZSF and MTnZSS Features of the central probe Motion Control with PROFIdrive Description Example central probe Overview of closed-loop control 6SHHG Structure of the data cycleRQWUROZLWK \FOH General information about acyclic communication Description Acyclic communicationDSSOLFD ULWHUHT Characteristics of the parameter channel5HDGUHT ZLWKRXWGDWD Parameter response Offset Parameter request OffsetField Data type Values Comment 395 Error Meaning Comment Additional Value Info Error values in DPV1 parameter responses 397 398 Determining the drive object numbers Basic procedureExample 1 read parameters Prerequisites Task description Information about the parameter request Activity Information about the parameter response QBVHWB Version Parameter address .. th parameter address Parameter value .. th parameter value Communication via Profibus DP Features Master SlaveGeneral information about Profibus General information about Profibus for Sinamics Sequence of drive objects in the telegram Bus access method Example Example telegram structure for cyclic data transmission Task Component and telegram structure Configuration settings e.g. HW Config for Simatic S7 DP slave properties details DP slave properties overview Commissioning Profibus 25 Interfaces and diagnostic LED Setting the Profibus address Commissioning for VIK-NAMUR Device master fileDevice identification Bus terminating resistor and shielding Diagnosis options Commissioning steps example with Simatic S7 Pro Tool and WinCC flexible Simatic HMI addressingField Value DBB, DBW, DBD 27 Monitoring telegram failure Motion Control with Profibus SettingsExample emergency stop with telegram failure Assumption Sequence Designations and descriptions for Motion Control Sequence of data transfer to closed-loop control systemName Value1 Limit value Description 418 Minimum times for reserves Setting criteria for timesData Time required µs User data integrity General information Description Slave-to-slave communicationsPublisher Links and taps SubscriberPrerequisites and limitations Applications Example, setpoint assignment Setpoint assignment in the subscriber Setpoints Activating/parameterizing slave-to-slave communications Configuring telegram ChkCfgActivation in the Publisher Activation in the Subscriber 9HUVLRQLGHQWLILHU 1XPEHURIOLQNV +HDGHU3XEOLVKHU3DGGUHVV ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHU Commissioning of the Profibus slave-to-slave communication Settings in HW Config 427 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 OFF1 None OFF2 OFF3 NoneImmediately General information about Profinet IO Communications via Profinet IOGeneral information about Profinet IO for Sinamics Definition Isochronous real time communication IRT Definition Real Time RT and determinism IP address Addresses Definition MAC addressIP address assignment Device name Data transfer Features Default routerReplacing Control Unit CU320 IO Device Definition Sub-network mask Sequence of drive objects in the data transfer Hardware setupNew device ID for Profinet from FW2.5 SP1 Clock generation ReferencesTelegrams DCP flashing Routing with CBE20 Connecting the supervisor RT classes for Profinet IO Description RT classesIRTflex IRTtop Profinet IO with RT Set RT classNot isochronous Data exchange Profinet IO with IRT Overview Refresh timeSync domain Send clock/refresh time Profinet IO with IRTtopTime-scheduled data transmission Motion Control/Isochronous drive link with Profinet Motion Control with Profinet Tdcbase = Designations and descriptions for Motion ControlTdcmin ≤ TDC ≤ Tdcmax TDC TCAValid and TDC ≧ TIOOutput Assignment of communication interfaces to cyclic interfaces Parallel operation of communication interfaces for CU320 Properties of the cyclic interfaces IF1 and IF2 FeaturePlugged hardware interface Additional parameters for IF2 ParametersP8839 PZD Interface hardware assignment A8550 PZD interface hardware assignment incorrect Alarm Motor changeover Example motor switchover for four motorsApplications 11.3 Motor changeover Applications Motor changeover Parameter Settings Remark Procedure for switching over the motor data set Example of a star/delta switchoverPreconditions Applications Parameter Settings Comments Procedure for star/delta switchover Integration Example, distributed topology Application examples with the DMC20Applications Application examples with the DMC20 Applications 11.4 Application examples with the DMC20 Example, hot plugging 6LQJOH Instructions for offline commissioning with Starter Overview of key parameters see Sinamics S List Manual Control Units without infeed controlApplications 11.5 Control Units without infeed control 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 control Description Drive Functions Parameter types ParameterParameter categories 7HUPLQDO0RGXOH Basic information about the drive system 12.1 Parameter2SWLRQ%RDUG Qihhg Access level Resetting parametersAccess level Saving parameters in a non-volatile memory CDS Command Data Set CDS Command Data SetData sets Basic information about the drive system 12.2 Data sets DDS Drive Data Set Example Switching between command data set 0DDS Drive Data Set Supplementary conditions and recommendations EDS Encoder Data SetEDS Encoder Data Set MDS Motor Data Set MDS Motor Data Set Examples for a data set assignment Copying a command data setCopying a drive data set Motor Encoder P0186 P0187 P0188 P0189 Copying the motor data set Basic information about the drive system 12.3 Drive objects Drive objects Overview of drive objects Configuring drive objects Binectors, connectors Bico technology interconnecting signalsBinectors, BI Binector Input, BO Binector Output Connectors, CI Connector Input, CO Connector Output Interconnecting signals using Bico technologySymbol Name Description Notation Interconnecting signals using Bico technology Sample interconnections Example 1 Interconnection of digital signalsExample 2 Connection of OFF3 to several drives 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHU Bico technology Connector-binector converterBico interconnections to other drives Copying drives Signals for the analog outputs Fixed values for interconnection using Bico technologySignal Parameter Unit Normalization 100 % = Scaling Overview of inputs/outputs Inputs/outputsChanging scaling parameters p2000 to p2007 Component Digital Analog Inputs Digital inputs Digital inputs/outputs Basic information about the drive system Inputs/outputs Digital outputs Bidirectional digital inputs/outputs ˩V Analog inputs Analog outputs General information about the BOP20 Parameterizing using the BOP20 Basic Operator PanelOverview of displays and keys Information on the keys Information on the displaysDisplay Key Parameters for BOP All drive objects BOP20 functionsDrive object, Control Unit Name Description Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Displays and using the BOP20Operating display Parameter display Example Changing a parameter Value displayHFLPDOQXPEHU QWHJHUQXPEHU 3DUDPHWHUGLVSOD\ Example Changing binector and connector input parameters Displaying faults Fault and alarm displays1HWIDXOW ULYHQR Iodvklqj Fkdqjh Displaying alarms Controlling the drive using the BOP20Bit r0019 Name On / OFF OFF1 Action Reaction Examples of replacing components Starter PG Action Reaction Comments 501 Exchanging a Sinamics Sensor Module Integrated Data backup on CompactFlash cardFile names and storage location for the data Data transfer from CompactFlash card to Sensor Module Replacing a deviceOrder number Sinamics Sensor Module Integrated Electronic rating plate DRIVE-CLiQ topologyActual topology Target topology Comparison of topologies at Power On Rules for wiring with DRIVE-CLiQ DRIVE-CLiQ rules General rules 507 Recommended rules Component Connecting the motor encoder via DRIVE-CLiQ 6LQJOH 0RWRU 0RGXOH Component VSM connection Rules for FW2.1 Rules for different firmware releasesRules for FW2.2 Servo Vector Servo Rules for FW2.3 Rules for FW2.4 Rules for FW2.5 SP1 $FWLYH LQH 0RGXOH Sample wiring for vector drives$FWLYH Qwhuidfh 0RGXOH 26 Drive line-up chassis with different pulse frequencies Sample wiring of Vector drives connected in parallel 516 Blocksize Sample wiring Power Modules Chassis Changing the offline topology in StarterTopology tree view Comment Starter Sample wiring for servo drives 30 Sample servo topology Sample wiring for vector U/f drives 31 Sample vector U/f topology Number of controllable drives Basic information about the drive system Servo control Mixed operation System sampling times P0112 P01150 P01151 P01152 P01153 P01154 P01155 P01156 Setting the sampling times 525 Setting the sampling times using p0115 Rules for setting the sampling time 527 Number P0112 P01150 P1800 Active Infeed and Smart Infeed Default settings for the sampling timesBasic Infeed Number P0112 P01150 P1800 Examples when changing sampling times / pulse frequenciesMixed Starter is in the online mode Basic information about the drive system 12.13 Licensing Licensing Generating a license key via the WEB License Manager Properties of the license keyEntering the license key Letter/number Decimal Ascii code Overview of key parameters see Sinamics S List Manual HW component Order number Version Revisions Availability of hardware components Appendix Availability of SW functions Availability of SW functionsSW function HW component SW function Servo Vector HW component DCC SINAMICS, DCC Simotion SW function Available Servo Vector HW componentServo Vector HW component TM54F SW function Available Servo Vector HW component Since FW 540 Appendix List of abbreviations List of abbreviationsGerman meaning English meaning CSM FAQDAC DCB Appendix LIN LEDLSB LSS PEM PelvPID PLL SLI SILSLM SLP VDI VDEVSM WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG