Position tracking, General Information | Efficient Networks S120

Basic functions 6.14 Position tracking

6.14Position tracking

6.14.1General Information

Terminology

●Encoder range

The encoder range is the position area that can itself represent the absolute encoder.

●Singleturn encoder

A singleturn encoder is a rotating absolute encoder, which provides an absolute image of the position inside an encoder rotation.

●Multiturn encoder

A multiturn encoder is an absolute encoder that provides an absolute image of several encoder revolutions (e.g. 4096 revolutions).

Description

Position tracking enables reproduction of the position of the load when gears are used. It can also be used to extend the position area.

With position tracking, an additional measuring gear can be monitored and also a load gear, if the "position control" function module (p0108.3 = 1) is active. Position tracking of the load gear is described under "Function modules" -> "Position control" -> Actual position value conditioning.

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Figure 6-10 Overview of gears and encoders

Drive Functions	207
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4

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Efficient Networks S120 manual General Information, Terminology, Basic functions 6.14 Position tracking

Contents

Sinamics Page Function Manual FH1, 07/2007Applications Basic information about Drive system Appendix Trademarks Safety GuidelinesQualified Personnel Prescribed Usage Usage phases and their tools/documents as an example Usage phase Document/toolSinamics documentation Foreword Target groupBenefits Search guides America time zone Technical SupportEuropean and African time zones Asian and Australian time zones Notation Notation for faults and alarms examplesQuestions on the manual Internet address for Sinamics EC Declaration of Conformity ESD Notes Safety instructions Foreword Page Contents Contents 159 18.2158 18.3 219 11.5 282288 289 451 11.4.3 46011.4.1 11.4.2 553 535 General FeaturesActive Infeed Introduction Supply voltage p0210 380-400 401-415 416-440 460 480 Schematic structureActive Infeed closed-loop control Booksize Infeed Active Infeed Infeed 1.1 Active Infeed Commissioning Kdvvlv Active Infeed closed-loop control Chassis Function diagrams see Sinamics S List Manual IntegrationOverview 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 Internal status Parameter PROFIdrive telegram Word Control and status messagesBinector input Display of internal 370 Index P3624 harmonics controller order P3625 scaling Example setting the harmonics controllerReactive current control Harmonics controller Infeed Smart Infeed Smart InfeedSmart Infeed closed-loop control Overview key parameters 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 Switching off the Smart Line Module Binector inputControl word Basic Infeed Basic Infeed open-loop controlInfeed Basic Infeed UDNLQJUHVLVWRU 7HPSHUDWXUH Function diagrams see Sinamics S List Manual Switching on the Basic Line Module Switching off the Basic Line Module3XOVHVDQGFRQWUROOHUV Internal status word Line contactor controlInfeed Line contactor control Control word 370 Example of commissioning line contactor control Assumption Commissioning stepsInfeed 1.4 Line contactor control Infeed Pre-charging and bypass contactor chassis Procedure during power ON/OFF Power onPower OFF Pre-charging and bypass contactor chassis Derating function for chassis units Functional principleInfeed 1.6 Derating function for chassis units 0DLQV Pulse parallel infeeds two-winding transformerPulse parallel infeeds three-winding transformer SXOVHLQIHHG Extended setpoint channel Extended setpoint channel 2.2 Description DescriptionProperties of the extended setpoint channel Setpoint sources 7RWDOVHWSRLQW HIIHFWLYHU JogExtended setpoint channel 2.3 Jog 6LJQDO Jog properties Function chart jog 1 and jog 32521 Jog sequence Parameterization with Starter Extended setpoint channel 2.4 Fixed speed setpoints Fixed speed setpointsProperties Display parameters Extended setpoint channel 2.5 Motorized potentiometer Properties for manual mode p1041 =Properties for automatic mode p1041 = Motorized potentiometer Overview of key parameters see Sinamics S List Manual 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Main/supplementary setpoint and setpoint modification6FDOLQJPDLQVHWSRLQW 6XSSOHPHQWDU\VHWSRLQW Suppression bandwidths and setpoint limits 0LQ Edqgzlgwkv Ramp-function generator Suppression bandwidthsExtended setpoint channel Ramp-function generator Properties of the simple ramp function generator Properties of the extended ramp function generatorExtended setpoint channel 2.9 Ramp-function generator Ramp function generator tracking LWKRXWWUDFNLQJ 6SHHGVHWSRLQW 2XWSXWRI Signal overview see Sinamics S List ManualWithout ramp function generator tracking With ramp function generator tracking 12 Starter icon for ramp function generator Limits Speed controller Servo control Speed setpoint filter Speed setpoint filter \QDPLFUHVSRQVH Speed controller adaptationParameterization Servo control 3.3 Speed controller adaptation Servo control Speed controller adaptation Example of speed-dependent adaptation Servo control 3.4 Torque-controlled operation Commissioning of torque control modeTorque-controlled operation Speed-dependent Kpn/Tnn adaptation Servo control Torque-controlled operation OFF responses Servo control 3.5 Torque setpoint limitation Torque setpoint limitation Servo control Torque setpoint limitation Servo control Fixed and variable torque limit settingsSelection Torque limitation mode Variants of torque limitation 0BRIIVHW Example Torque limits with or without offsetActivating the torque limits Examples Servo control 3.6 Current controller Current controller Flux controller for induction motor Closed-loop current controlCurrent and torque limitation Current controller adaptation Display parameters Servo control Current setpoint filter Current setpoint filter IQB Transfer functionServo control 3.7 Current setpoint filter IQBQ Phase frequency curve Band-stop with infinite notch depthStarter 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 Commissioning V/f control Servo control 3.9 V/f control for diagnosticsStructure of V/f control Prerequisites for V/f control Servo control V/f control for diagnostics Characteristic Optimizing the speed controller Optimizing the current and speed controllerGeneral information Optimizing the current controller Servo control Sensorless operation without an encoder Sensorless operation without an encoderExample of speed setpoint step change Parameter overview 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 Induction motor Permanent-magnet synchronous motor Motor dataType plate data Servo control 3.12 Motor data identification Rotating measurement Motor data identification induction motorParameters to control the MotID Induction motor Determined data gamma Data that are accepted p1960 = Determined data gamma Data that are accepted p1910 = Motor data identification synchronous motor Synchronous motorDetermined data Data that are accepted p1910 = Determined data Data that are accepted p1960 = 0RWRU0RGXOH Deoh Servo control Pole position identification Pole position identificationStandstill measurement Rotating measurement Servo control 3.13 Pole position identification Suitable zero marks are Pole position determination with zero marks Overview of key parameters SRVVLEOHPXVWEHXVHG Vdc control Angular commutation offset commissioning support p1990Servo control 3.14 Vdc control Idloxuh Description of Vdcmin control p1240 = 23RZHUIDLOXUH 3RZHUUHVWRUH Qvhws Qdfw Description of Vdcmin control without braking p1240 = 8Description of Vdcmax control p1240 = 1 9GFBPD Description of Vdcmax control without acceleration p1240 = 7 Servo control Dynamic Servo Control DSC Dynamic Servo Control DSC Activating DeactivatingServo control 3.15 Dynamic Servo Control DSC Diagnostics Speed setpoint filterExternal encoder systems except motor encoder Servo control 3.16 Travel to fixed stop SignalsTravel to fixed stop Application examples 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 2SHQORRS Vector control 4.1 Sensorless vector control Slvc6WDUW ORVHGORRS Vector control with encoder Benefits of vector control with an encoderVector control Vector control with encoder Motor model change Speed controllerVector control 4.3 Speed controller Vector control Speed controller 6SHHG Frqwuro6SHHGDFWXDOYDOXH Vector control 4.4 Speed controller adaptation 9HFWRU Vector control Speed controller adaptation SBQ $GDSWLYHFRQWUROUDQJHRQVWDQWXSSHUVSHHGUDQJH Speed controller pre-control and reference model Speed-dependent Kpn/Tnn adaptation VC onlyDynamic response reduction field weakening Slvc only 6SHHG Urrs Lqmhfwlrq 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Reference model Droop For reference modelVector 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 Efficiency optimization Vector control 4.13 Efficiency optimizationLtvhws Instructions for commissioning induction motors ASM Induction motors, rotatingParameter Description Remark Supplementary conditions Deoh Permanent-magnet synchronous motors, rotating0RWRU0RGXOH 0RWRU Description Remark ˭ ຘ ˭ ຘ N7 QRP 151 Automatic encoder adjustment Encoder adjustment using a zero markIntegration Pole position identification Vector control 4.16 Flying restart Flying restart 155 Vector control Synchronization Synchronization Vector control 4.18 Simulation operation Simulation operationDescription Prerequisite Commissioning Redundance operation power unitsFeatures Vector control Redundance operation power units Bypass PrerequisitesVector control 4.20 Bypass Commissioning the bypass function Bypass with synchronization with overlap p1260 = 5HDFWRU ExampleParameter Description 1HWZRUN RQYHUWHUZLWK9ROWDJH 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 Prwru Introduction1RPLQDO ZRUNLQJSRLQWRI RDG Vector V/f control r0108.2 = IntroductionMeaning FCC 3HUPDQHQWYROWDJHERRVW Voltage boostVector V/f control r0108.2 = 0 5.2 Voltage boost Application / property IQ Permanent voltage boost p1310Voltage boost at acceleration p1311 IOLQHDU Vector V/f control r0108.2 = Voltage boostDfwlyh 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 Changing over units RestrictionsGroups of units Reference parameters/normalizations Function in StarterBasic functions Reference parameters/normalizations Basic functions 6.2 Reference parameters/normalizations Using Starter offlineSize Scaling parameter Default at initial commissioning Scaling for vector object Scaling for servo object Scaling for object AInfScaling for object BInf Basic functions Modular machine conceptOverview of important parameters refer to the List Manual Example of a sub-topology 3DUWLDO 7RSRORJ\ Basic functions Modular machine concept Sinusoidal filter Usage restrictions for sinusoidal filtersBasic functions Sinusoidal filter Order no Name Setting Dv/dt filter plus VPLBasic functions Dv/dt filter plus VPL Direction reversal without changing the setpoint Basic functions Automatic restart vector, servo, infeed Automatic restart vector, servo, infeed Automatic restart mode P1210 Mode MeaningStarting 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 Simple brake control Commissioning via StarterBasic functions Simple brake control Basic functions 6.11 Simple brake control Function chart simple brake control Simple brake control r0108.14 = Actual motor operating hours Runtime operating hours counterTotal system runtime Relative system runtime Basic functions Parking axis and parking sensor Parking axis and parking sensorParking a sensor Parking an axis Basic functions 6.13 Parking axis and parking sensor Example parking axis and parking sensorExample parking axis Example parking sensor Overview key parameters Function chart parking sensor Basic functions 6.14 Position tracking Position trackingGeneral Information Terminology Features Measuring gear characteristics Measuring gearBasic functions Position tracking Ryhuiorz 3RVLWLRQ 0RWRU2IIVHWIRUHQFRGHURYHUIORZ Measuring gearbox configuration p0411 Virtual multiturn encoder p0412Qfrghu 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 Upgrade the project Upgrading firmware and the project in StarterBasic functions Updating the firmware Commissioning via parameter only with BOP20 Function modules Definition and commissioning Function modules Technology controller Technology controller Function modules 7.2 Technology controller Commissioning with StarterExamples Fill level control 7HFBFWU.S 7HFBFWU7Q Parameter Designation Example Closed-loop control Motorized potentiometer 7RUTXH1P@ Extended monitoring functionsDescription of load monitoring Function modules Extended monitoring functions Function modules 7.3 Extended monitoring functions Speed setpoint monitoring Function modules Extended brake control Extended brake control Function modules 7.4 Extended brake control Starting against applied brakeEmergency brake Operating brake for crane drives Example, operating brake for a crane drive Free modules Configuration, control/status wordsStandstill zero-speed monitoring Release/apply brake Signal name Binector input Signal name ParametersControl and status messages for extended brake control RQWURO8QLW Braking ModuleBraking Module function module Function modules 7.5 Braking Module Fast DC link discharge booksize Acknowledgement of faults Cooling system Cooling system function moduleFunction modules 7.6 Cooling system 234 Extended torque control kT estimator, Servo Motor/drive converter identification Description of the kT estimator KT estimator General featuresClosed-loop position control Position actual value conditioning 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 Stop cam Jerk limitation$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 Setpoint static r2683.2 Status signalsTracking mode active r2683.0 Traversing command active r2684.15 Following error in tolerance r2684.8 Direct output 1 r2683.10 Direct output 2 r2683.11Target position reached r2684.10 Velocity limiting active r2683.1 DCC axial winderReference point set r2684.11 Acknowledgement, traversing block activated r2684.12 Function blocks Dn/dt Calculation of the moment of inertia for torque pre-control Parameters for the function diagrams for torque pre-control P03410...n Motor moment of inertia / MotID Mmom inertR1493 Moment of inertia, total R1539 Lower effective torque limit / Mmax lower eff Parameters of the function diagram for torque limitationP14970...n CI Moment of inertia, scaling / Mmom inert scal R1538 Upper effective torque limit / Mmax upper eff 287 Parallel connection of chassis power units vector Application examples RQWURO8QLWLQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH L4 0RWRU0RGXOH Power unit protection, general Protection against Precautions ResponsesOFF2 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 Sensor monitoring for cable breakage / short-circuit Temperature measurement via KTYTemperature measurement via PTC Function diagrams for thermal motor protection Parameters for thermal motor protection Page Standards and Directives Safety IntegratedGeneral information Explanations, standards, and terminology 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 Safety Integrated versions Checking the checksumFrom FW2.5 the following applies Parameter overview for password see Sinamics S List Manual Password Forced dormant error detection Safety instructions Safety Integrated basic functions 9.2 Safety instructionsPlease note the following during switch-on Functional features of Safe Torque Off Safety Integrated basic functions 9.3 Safe Torque Off STOSafe Torque Off STO Selecting/deselecting Safe Torque Off Enabling the Safe Torque Off STO function Examples, Booksize Status for Safe Torque OffParameter overview see List Manual Response time with the Safe Torque Off function Functional features of Safe Stop Safe Stop 1 SS1, time controlledRelease of the SS1 function Status for Safe Stop Safe Brake Control SBC Functional features of Safe Brake Control SBC Enabling the Safe Brake Control SBC functionTwo-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 General information about commissioning safety functions Commissioning the STO, SBC and SS1 functionsCommissioning notes Replacing Motor Modules with the current FW release Prerequisites for commissioning the safety functionsStandard commissioning of the safety functions Power on Procedure for commissioning STO, SBC and SS1 Set F-DI changeover tolerance time Safety Integrated basic functionsParameter Description/comments Enable Safe Stop 1 function Set terminals for Safe torque off STO Paths Adjust specified checksumsSet the new Safety password Stop a Stop response Safety faults Acknowledging the safety faults Stop response Action Effect TriggeredStop F Acceptance test Description of faults and alarmsAcceptance test and certificate General information about acceptance Completion of certificate DocumentationScope of a complete acceptance test Documentation Functional test Drive number FW version SI version Drive number SI function Acceptance test for Safe Torque Off STO Safe Torque Off STO functionDescription Status Safe Stop 1 function SS1, time-controlled Acceptance test for Safe Stop 1, time controlled SS1 Acceptance test for Safe Brake Control SBC Safe Brake Control function SBCAcceptance test and certificate 332 Checksums Data backupCompletion of certificate SI parameters Safety Integrated basic functions 9.9 Application examples 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 Overview of parameters and function diagrams Description of the parametersNo. of Motor Name Changeable to Module MM 339 Page Controller, Supervisor, and Drive Unit Features Controller, Supervisor Drive UnitCommunications according to PROFIdrive General information about PROFIdrive for Sinamics 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 Cyclic communication Telegrams and process data General informationTelegram Description Class What telegrams are available? Telegram interconnections Receive process dataDword Structure of the telegrams Telegram structure Drive object Telegrams p0922 Value Interface ModeProcedure Drive object Assumption SettingsMonitoring telegram failure Description Example emergency stop with telegram failure Name Signal Data type Description of control words and setpointsOverview 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 Xerr position deviation Nsolla speed setpoint a 16-bitNsollb speed setpoint B 32-bit GnSTW encoder n control word MDIVel pos MDI velocity MDIMode pos MDI modeKPC position controller gain factor MDIPos pos MDI position Torquered torque reduction Over pos velocity override Comment Abbreviation Name SignalDescription of status words and actual values Overview of status words and actual values STW1 status word 366 STW1 status word 1, positioning mode, p0108.4 = STW2 status word Nacta Speed setpoint a 16 bit Nactb Speed setpoint B 32 bitMeldw message word Application 371 ESTW1 status word for Infeed MTnZSF/MTnZSS PosZSW AktSatz Encoder n control word GnCTW, n = 1, 2 XistPControl and status words for encoder Description Example of encoder interface Bit Signal status, description Example 1 Find reference mark Signal status, description Example 2 Flying measurement Encoder 2 control word G2CTW Encoder 3 control word G3CTWEncoder n status word GnSTW, n = 1, 2 Name Signal status, description Communication Profibus DP/PROFINET IO Bit Name Signal status, descriptionEncoder 1 actual position value 1 G1XACT1 Encoder 1 actual position value 2 G1XACT2 7UDQVPLWF\FOLF 3DUNHGHQFRGHUQFRGHUHUURU RUIO\LQJ Encoder 2 actual position value 2 G2XACT2 Error code in GnXIST2Encoder 2 status word G2STW Encoder 2 actual position value 1 G2XACT1 Central control and status words Description Encoder 3 actual position value 1 G3XACT1Encoder 3 actual position value 2 G3XACT2 Visualization parameters drive Adigital digital outputs Receive signalsTransmit signals Custw control word for Control Unit, CU 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 \FOH Structure of the data cycle6SHHG RQWUROZLWK Acyclic communication General information about acyclic communication DescriptionDSSOLFD Characteristics of the parameter channel ULWHUHT5HDGUHT ZLWKRXWGDWD Parameter request Offset Parameter response OffsetField Data type Values Comment 395 Error Meaning Comment Additional Value Info Error values in DPV1 parameter responses 397 398 Task description Basic procedureDetermining the drive object numbers Example 1 read parameters Prerequisites Information about the parameter request Activity Information about the parameter response QBVHWB Version Parameter address .. th parameter address Parameter value .. th parameter value General information about Profibus for Sinamics Features Master SlaveCommunication via Profibus DP General information about Profibus 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 Bus terminating resistor and shielding Device master fileCommissioning for VIK-NAMUR Device identification Diagnosis options Commissioning steps example with Simatic S7 DBB, DBW, DBD Simatic HMI addressingPro Tool and WinCC flexible Field Value 27 Monitoring telegram failure Sequence SettingsMotion Control with Profibus Example emergency stop with telegram failure Assumption Sequence of data transfer to closed-loop control system Designations and descriptions for Motion ControlName Value1 Limit value Description 418 Setting criteria for times Minimum times for reservesData Time required µs User data integrity Slave-to-slave communications General information DescriptionPublisher Applications SubscriberLinks and taps Prerequisites and limitations Example, setpoint assignment Setpoint assignment in the subscriber Setpoints Activation in the Subscriber Configuring telegram ChkCfgActivating/parameterizing slave-to-slave communications Activation in the Publisher ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHU +HDGHU9HUVLRQLGHQWLILHU 1XPEHURIOLQNV 3XEOLVKHU3DGGUHVV 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 None OFF1 None OFF2 OFF3Immediately Communications via Profinet IO General information about Profinet IOGeneral information about Profinet IO for Sinamics Definition Isochronous real time communication IRT Definition Real Time RT and determinism Device name Addresses Definition MAC addressIP address IP address assignment Definition Sub-network mask Default routerData transfer Features Replacing Control Unit CU320 IO Device Hardware setup Sequence of drive objects in the data transferNew device ID for Profinet from FW2.5 SP1 DCP flashing ReferencesClock generation Telegrams Routing with CBE20 Connecting the supervisor IRTtop RT classesRT classes for Profinet IO Description IRTflex Data exchange Set RT classProfinet IO with RT Not isochronous Refresh time Profinet IO with IRT OverviewSync domain Profinet IO with IRTtop Send clock/refresh timeTime-scheduled data transmission Motion Control/Isochronous drive link with Profinet Motion Control with Profinet Tdcmax Designations and descriptions for Motion ControlTdcbase = Tdcmin ≤ TDC ≤ TDC TCAValid and TDC ≧ TIOOutput Assignment of communication interfaces to cyclic interfaces Parallel operation of communication interfaces for CU320 Feature Properties of the cyclic interfaces IF1 and IF2Plugged hardware interface PZD Interface hardware assignment ParametersAdditional parameters for IF2 P8839 A8550 PZD interface hardware assignment incorrect Alarm Example motor switchover for four motors Motor changeoverApplications 11.3 Motor changeover Applications Motor changeover Parameter Settings Remark Applications Example of a star/delta switchoverProcedure for switching over the motor data set Preconditions Parameter Settings Comments Procedure for star/delta switchover Integration Application examples with the DMC20 Example, distributed topologyApplications Application examples with the DMC20 Applications 11.4 Application examples with the DMC20 Example, hot plugging 6LQJOH Instructions for offline commissioning with Starter Control Units without infeed control Overview of key parameters see Sinamics S List ManualApplications 11.5 Control Units without infeed control Applications Control Units without infeed control Examples interconnecting Infeed readySmart Line Modules without DRIVE-CLiQ 5 kW and 10 kW DC link line-up with more than one Control Unit Description Drive Functions Parameter Parameter typesParameter categories Qihhg Basic information about the drive system 12.1 Parameter7HUPLQDO0RGXOH 2SWLRQ%RDUG Saving parameters in a non-volatile memory Resetting parametersAccess level Access level Basic information about the drive system 12.2 Data sets CDS Command Data SetCDS Command Data Set Data sets Example Switching between command data set 0 DDS Drive Data SetDDS Drive Data Set EDS Encoder Data Set Supplementary conditions and recommendationsEDS Encoder Data Set MDS Motor Data Set MDS Motor Data Set Motor Encoder P0186 P0187 P0188 P0189 Copying a command data setExamples for a data set assignment Copying a drive data set Copying the motor data set Basic information about the drive system 12.3 Drive objects Drive objects Overview of drive objects Configuring drive objects Bico technology interconnecting signals Binectors, connectorsBinectors, BI Binector Input, BO Binector Output Interconnecting signals using Bico technology Connectors, CI Connector Input, CO Connector OutputSymbol Name Description Notation Interconnecting signals using Bico technology 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHU Example 1 Interconnection of digital signalsSample interconnections Example 2 Connection of OFF3 to several drives Copying drives Connector-binector converterBico technology Bico interconnections to other drives Scaling Fixed values for interconnection using Bico technologySignals for the analog outputs Signal Parameter Unit Normalization 100 % = Component Digital Analog Inputs Inputs/outputsOverview of inputs/outputs Changing scaling parameters p2000 to p2007 Digital inputs Digital inputs/outputs Basic information about the drive system Inputs/outputs Digital outputs Bidirectional digital inputs/outputs ˩V Analog inputs Analog outputs Parameterizing using the BOP20 Basic Operator Panel General information about the BOP20Overview of displays and keys Key Information on the displaysInformation on the keys Display Name Description BOP20 functionsParameters for BOP All drive objects Drive object, Control Unit Displays and using the BOP20 Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etcOperating display Parameter display QWHJHUQXPEHU Value displayExample Changing a parameter HFLPDOQXPEHU 3DUDPHWHUGLVSOD\ Example Changing binector and connector input parameters Fault and alarm displays Displaying faults1HWIDXOW ULYHQR Iodvklqj Fkdqjh On / OFF OFF1 Controlling the drive using the BOP20Displaying alarms Bit r0019 Name Action Reaction Examples of replacing components Starter PG Action Reaction Comments 501 Data backup on CompactFlash card Exchanging a Sinamics Sensor Module IntegratedFile names and storage location for the data Replacing a device Data transfer from CompactFlash card to Sensor ModuleOrder number Sinamics Sensor Module Integrated Target topology DRIVE-CLiQ topologyElectronic rating plate Actual 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 Servo Vector Rules for different firmware releasesRules for FW2.1 Rules for FW2.2 Servo Rules for FW2.3 Rules for FW2.4 Rules for FW2.5 SP1 Sample wiring for vector drives $FWLYH LQH 0RGXOH$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 Changing the offline topology in Starter ChassisTopology 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 Default settings for the sampling times Number P0112 P01150 P1800 Active Infeed and Smart InfeedBasic Infeed Examples when changing sampling times / pulse frequencies Number P0112 P01150 P1800Mixed Starter is in the online mode Basic information about the drive system 12.13 Licensing Licensing Properties of the license key Generating a license key via the WEB License ManagerEntering 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 HW component Availability of SW functionsAppendix Availability of SW functions SW function SW function Servo Vector HW component SW function Available Servo Vector HW component DCC SINAMICS, DCC SimotionServo Vector HW component TM54F SW function Available Servo Vector HW component Since FW 540 List of abbreviations Appendix List of abbreviationsGerman meaning English meaning DCB FAQCSM DAC Appendix LSS LEDLIN LSB PLL PelvPEM PID SLP SILSLI SLM WEA VDEVDI VSMPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG