Terminal Module 41 TM41 | Efficient Networks S120 specification

Basic functions

6.15 Terminal Module 41 (TM41)

6.14.2.4Integration

The "position tracking/measuring gearbox" function is integrated in the system as follows.

Function diagrams (see SINAMICS S List Manual)

● 4704 Position and temperature sensing, encoders 1 ... 3

Overview of key parameters (see SINAMICS S List Manual)

●p0402 Gearbox type selection

●p0411 Measuring gearbox configuration

●p0412 Measuring gearbox absolute encoder rotary revolutions virtual

●p0413 Measuring gearbox position tracking, tolerance window

●p0421 Absolute encoder rotary multiturn resolution

●p0432 gear factor encoder revolutions

●p0433 gear factor motor/load revolutions

●r0477 CO: Measuring gearbox, position difference

●r0485 CO: Measuring gearbox, raw encoder value, incremental

●r0486 CO: Measuring gearbox, raw encoder value, absolute

6.15Terminal Module 41 (TM41)

Features

●General

–Pulse encoder emulation, TTL signals (RS422)

–Max. encoder output frequency 256 kHz (e.g. 1500 RPM at 8192 pulses)

–1 analog input

–4 digital inputs

–4 bidirectional digital inputs/outputs

–Automatic adjustment of the sampling time for encoder emulation 4099[3]

●Pulse encoder emulation by presetting of a speed value (p4400 = 0)

–PROFIdrive telegram 3

–Own control word (r0898)

–Own status word (r0899)

–Sequence control (refer to function diagram 9682)

–Settable pulse number (p0408)

–Enable zero marks (p4401.0)

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

Image 212

Efficient Networks S120 manual Basic functions Terminal Module 41 TM41

Contents

Sinamics Page Applications Basic information about Drive system Appendix Function ManualFH1, 07/2007 Safety Guidelines Qualified PersonnelPrescribed Usage Trademarks Sinamics documentation Usage phases and their tools/documents as an exampleUsage phase Document/tool Target group BenefitsSearch guides Foreword Technical Support European and African time zonesAsian and Australian time zones America time zone Notation for faults and alarms examples Questions on the manualInternet address for Sinamics EC Declaration of Conformity Notation ESD Notes Safety instructions Foreword Page Contents Contents 18.2 15818.3 159 219 282 288289 11.5 451 460 11.4.111.4.2 11.4.3 535 553 Features Active InfeedIntroduction General Schematic structure Active Infeed closed-loop control BooksizeInfeed Active Infeed Supply voltage p0210 380-400 401-415 416-440 460 480 Commissioning Infeed 1.1 Active Infeed Active Infeed closed-loop control Chassis Kdvvlv Overview of key parameters see Sinamics S List Manual Function diagrams see Sinamics S List ManualIntegration Line and DC link identification Identification methods Acknowledge error Active Infeed open-loop control Switching on the Active Line Module Switching off the Active Line Module Control and status messages Binector input Display of internal370 Internal status Parameter PROFIdrive telegram Word Example setting the harmonics controller Reactive current controlHarmonics controller Index P3624 harmonics controller order P3625 scaling Smart Infeed Smart Infeed closed-loop controlOverview 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 Control word Switching off the Smart Line ModuleBinector input Infeed Basic Infeed Basic InfeedBasic Infeed open-loop control 7HPSHUDWXUH UDNLQJUHVLVWRU Function diagrams see Sinamics S List Manual 3XOVHVDQGFRQWUROOHUV Switching on the Basic Line ModuleSwitching off the Basic Line Module Line contactor control Infeed Line contactor controlControl word 370 Internal status word Infeed 1.4 Line contactor control Example of commissioning line contactor control AssumptionCommissioning steps Procedure during power ON/OFF Power on Power OFFPre-charging and bypass contactor chassis Infeed Pre-charging and bypass contactor chassis Infeed 1.6 Derating function for chassis units Derating function for chassis unitsFunctional principle Pulse parallel infeeds two-winding transformer Pulse parallel infeeds three-winding transformerSXOVHLQIHHG 0DLQV Extended setpoint channel Description Properties of the extended setpoint channelSetpoint sources Extended setpoint channel 2.2 Description Jog Extended setpoint channel 2.3 Jog6LJQDO 7RWDOVHWSRLQW HIIHFWLYHU Function chart jog 1 and jog Jog properties Jog sequence 32521 Parameterization with Starter Fixed speed setpoints PropertiesDisplay parameters Extended setpoint channel 2.4 Fixed speed setpoints Properties for manual mode p1041 = Properties for automatic mode p1041 =Motorized potentiometer Extended setpoint channel 2.5 Motorized potentiometer Overview of key parameters see Sinamics S List Manual Main/supplementary setpoint and setpoint modification 6FDOLQJPDLQVHWSRLQW6XSSOHPHQWDU\VHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits Edqgzlgwkv 0LQ Extended 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 Signal overview see Sinamics S List Manual Without ramp function generator trackingWith ramp function generator tracking LWKRXWWUDFNLQJ 6SHHGVHWSRLQW 2XWSXWRI 12 Starter icon for ramp function generator Speed controller Limits Speed setpoint filter Servo control Speed setpoint filter Speed controller adaptation ParameterizationServo control 3.3 Speed controller adaptation \QDPLFUHVSRQVH Example of speed-dependent adaptation Servo control Speed controller adaptation Commissioning of torque control mode Torque-controlled operationSpeed-dependent Kpn/Tnn adaptation Servo control 3.4 Torque-controlled operation OFF responses Servo control Torque-controlled operation Torque setpoint limitation Servo control 3.5 Torque setpoint limitation Servo control Torque setpoint limitation Fixed and variable torque limit settings Selection Torque limitation modeVariants of torque limitation Servo control Example Torque limits with or without offset Activating the torque limitsExamples 0BRIIVHW Current controller Servo control 3.6 Current controller Closed-loop current control Current and torque limitationCurrent controller adaptation Flux controller for induction motor Display parameters Current setpoint filter Servo control Current setpoint filter Transfer function Servo control 3.7 Current setpoint filterIQBQ IQB Starter filter parameters Phase frequency curveBand-stop with infinite notch depth Band-stop with defined notch depth Band-stop with defined reduction General low-pass with reduction Transfer function general 2nd-order filter Current setpoint filters V/f control for diagnostics Servo control 3.9 V/f control for diagnostics Structure of V/f controlPrerequisites for V/f control Commissioning V/f control Characteristic Servo control V/f control for diagnostics Optimizing the current and speed controller General informationOptimizing the current controller Optimizing the speed controller Sensorless operation without an encoder Example of speed setpoint step changeParameter overview Servo control Sensorless operation without an encoder Behavior once pulses have been canceled Servo control 3.11 Sensorless operation without an encoder 2SHQORRS 2SHUZLWKHQFRGHU Series reactor Commissioning/optimization Motor data identification Servo control Motor data identification Motor data Type plate dataServo control 3.12 Motor data identification Induction motor Permanent-magnet synchronous motor Motor data identification induction motor Parameters to control the MotIDInduction motor Rotating measurement Determined data gamma Data that are accepted p1910 = Determined data gamma Data that are accepted p1960 = Determined data Data that are accepted p1910 = Motor data identification synchronous motorSynchronous motor 0RWRU0RGXOH Deoh Determined data Data that are accepted p1960 = Pole position identification Standstill measurementRotating measurement Servo control Pole position identification Servo control 3.13 Pole position identification Pole position determination with zero marks Suitable zero marks are PXVWEHXVHG Overview of key parametersSRVVLEOH Servo control 3.14 Vdc control Vdc controlAngular commutation offset commissioning support p1990 Description of Vdcmin control p1240 = 2 3RZHUIDLOXUH 3RZHUUHVWRUHQvhws Idloxuh Description of Vdcmin control without braking p1240 = 8 Description of Vdcmax control p1240 = 19GFBPD Qdfw Description of Vdcmax control without acceleration p1240 = 7 Dynamic Servo Control DSC Servo control Dynamic Servo Control DSC Servo control 3.15 Dynamic Servo Control DSC ActivatingDeactivating External encoder systems except motor encoder DiagnosticsSpeed setpoint filter Signals Travel to fixed stopApplication examples Servo control 3.16 Travel to fixed stop Servo control Travel to fixed stop Signal chart Commissioning for PROFIdrive telegrams 2 to Signal name MESSAGEW.1 Vertical axes Servo control Vertical axesPage Vector control Sensorless vector control Slvc Switchover conditions for Slvc Vector control Sensorless vector control Slvc Vector control 4.1 Sensorless vector control Slvc 6WDUWORVHGORRS 2SHQORRS Vector 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 Vector control Speed controller adaptation 9HFWRU RQVWDQWXSSHUVSHHGUDQJH SBQ$GDSWLYHFRQWUROUDQJH Dynamic response reduction field weakening Slvc only Speed controller pre-control and reference modelSpeed-dependent Kpn/Tnn adaptation VC only Urrs Lqmhfwlrq 6SHHG Reference model 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Vector control 4.6 Droop DroopFor reference model Prerequisites $FWXDOVSHHG Torque control Vector control 4.7 Torque control Vector control Torque control 11 Closed-loop speed/torque control Torque setpoint Torque limiting Vector control Torque limiting Vector control 4.9 Vdc control Description Properties Description of Vdcmin control 73RZHU Description of Vdcmax control 6ZLWFKRQOHYHO Current controller adaptation Vector control 4.10 Current setpoint filter Motor data identification and rotating measurement Motor identification p1910 Data determined using p1910 0RWRU0RGXOH DEOHDQG Deoh 6HULHV Carrying out motor identification Rotating measurement p1960 Carrying 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 Permanent-magnet synchronous motors, rotating 0RWRU0RGXOH0RWRU Deoh ˭ ຘ Description Remark ˭ ຘ N7 QRP 151 Integration Automatic encoder adjustmentEncoder adjustment using a zero mark Pole position identification Flying restart Vector control 4.16 Flying restart 155 Synchronization Vector control Synchronization Simulation operation DescriptionPrerequisite Vector control 4.18 Simulation operation Redundance operation power units FeaturesVector control Redundance operation power units Commissioning Vector control 4.20 Bypass BypassPrerequisites Bypass with synchronization with overlap p1260 = Commissioning the bypass function Example Parameter Description1HWZRUN RQYHUWHUZLWK9ROWDJH 5HDFWRU 26 Signal diagram, bypass with synchronization with overlap Bypass with synchronization, without overlap p1260 = 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW Bypass without synchronization p1260 = 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW VLPXOWDQHRXVO\FORVLQJ Synchronization 167 Page Introduction 1RPLQDOZRUNLQJSRLQWRI Prwru Vector V/f control r0108.2 = Introduction MeaningFCC RDG Voltage boost Vector V/f control r0108.2 = 0 5.2 Voltage boostApplication / property 3HUPDQHQWYROWDJHERRVW Permanent voltage boost p1310 Voltage boost at acceleration p1311IOLQHDU IQ Dfwlyh VHW Vector V/f control r0108.2 =Voltage boost Slip compensation Vector V/f control r0108.2 = 0 5.3 Slip compensation Vector V/f control r0108.2 = 0 5.4 Vdc control 9GFBFWUO7Q Switching Vdcmin control on/off kinetic buffering PLQ 177 Function diagrams see Sinamics S List Manual Groups of units Changing over unitsRestrictions Basic functions Reference parameters/normalizations Reference parameters/normalizationsFunction in Starter Using Starter offline Size Scaling parameter Default at initial commissioningScaling for vector object Basic functions 6.2 Reference parameters/normalizations Scaling for object BInf Scaling for servo objectScaling for object AInf Modular machine concept Overview of important parameters refer to the List ManualExample of a sub-topology Basic functions Basic functions Modular machine concept 3DUWLDO 7RSRORJ\ Basic 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 Automatic restart vector, servo, infeed Basic functions Automatic restart vector, servo, infeed Starting attempts p1211 and waiting time p1212 Automatic restart modeP1210 Mode Meaning Monitoring time line supply return p1213 191 External armature short-circuit braking Internal voltage protection booksize 193 Internal armature short-circuit braking booksize/DC brake Internal armature short-circuit synchronous motors DC brake induction motors Activation of DC brake by BI DC braking as fault response QB6WDUW 197 OFF3 torque limits Basic functions OFF3 torque limits Technology function friction characteristic Commissioning via parameters Basic functions Simple brake control Simple brake controlCommissioning via Starter Function chart simple brake control Basic functions 6.11 Simple brake control Simple brake control r0108.14 = Runtime operating hours counter Total system runtimeRelative system runtime Actual motor operating hours Parking axis and parking sensor Parking a sensorParking an axis Basic functions Parking axis and parking sensor Example parking axis and parking sensor Example parking axisExample parking sensor Basic functions 6.13 Parking axis and parking sensor Function chart parking sensor Overview key parameters Position tracking General InformationTerminology Basic functions 6.14 Position tracking Basic functions Position tracking Features Measuring gear characteristicsMeasuring gear 2IIVHWIRUHQFRGHURYHUIORZ Ryhuiorz3RVLWLRQ 0RWRU Qfrghu Measuring gearbox configuration p0411Virtual multiturn encoder p0412 Tolerance window p0413 Terminal Module 41 TM41 Basic functions Terminal Module 41 TM41 General description Basic functions 6.15 Terminal Module 41 TM41 14 Block diagram of the incremental encoder emulation Hardware requirements Commissioning steps 6592&21752 Incremental encoder emulation using a speed setpoint p4400 = Updating the firmware Basic functions 6.16 Updating the firmware Basic functions Updating the firmware Upgrade the projectUpgrading firmware and the project in Starter Function modules Definition and commissioning Commissioning via parameter only with BOP20 Technology controller Function modules Technology controller Commissioning with Starter ExamplesFill level control Function modules 7.2 Technology controller Parameter Designation Example 7HFBFWU.S 7HFBFWU7Q Motorized potentiometer Closed-loop control Extended monitoring functions Description of load monitoringFunction modules Extended monitoring functions 7RUTXH1P@ Speed setpoint monitoring Function modules 7.3 Extended monitoring functions Extended brake control Function modules Extended brake control Starting against applied brake Emergency brakeOperating brake for crane drives Function modules 7.4 Extended brake control Example, operating brake for a crane drive Configuration, control/status words Standstill zero-speed monitoringRelease/apply brake Free modules Control and status messages for extended brake control Signal name Binector inputSignal name Parameters Braking Module Braking Module function moduleFunction modules 7.5 Braking Module RQWURO8QLW Acknowledgement of faults Fast DC link discharge booksize Function modules 7.6 Cooling system Cooling systemCooling system function module 234 Extended torque control kT estimator, Servo Description of the kT estimator Motor/drive converter identification General features Closed-loop position controlPosition actual value conditioning KT estimator Function modules Closed-loop position control Position actual value sensing with rotary encoders 239 Indexed actual value acquisition Properties Load gear position tracking Features Example of position area extension Configuration of the load gear p2720 10 Position tracking p2721 = Virtual multiturn encoder p2721 Tolerance window p2722 Integration Function diagrams see Sinamics S List Manual Position controller Monitoring functions 6HWSRLQW DPVZLWFKLQJSRVLWLRQ DPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO Measuring probe evaluation and reference mark search Integration Basic positioner Function modules 7.9 Basic positioner Function modules Basic positioner Mechanical system DFNODVKS P2604 Traversing direction Switch in compensation value Positive None Negative Immediately Limits Maximum velocity Software limit switches Maximum acceleration/deceleration $FFHOHUDWLRQ Vshhg 7LPH Stop camJerk limitation Function diagram overview see Sinamics S List Manual 9HORFLW\ Referencing Absolute encoder adjustment Set reference point Reference point approach for incremental measurement systems Search for reference, travel to reference cam 18 Example homing with reference cam 263 On-the-fly homing Search for reference, Travel to reference point 265 Instructions for switching data sets Traversing blocks EDS5 EDS6 EDS7 Positioning Fixed Endstop Endlesspos Endlessneg Wait Goto 0101, Continueexternalalarm Intermediate stop and reject traversing task Fixed Stop Waiting Travel to fixed stop Introduction Fixed stop reached Cancel Fixed stop is not reached Integration Function diagram overview see List Manual Vertical axes Direct setpoint input MDI MDI mode with the use of PROFIdrive telegram LHGYHORFLW\VHWSRLQW Intermediate stop and canceling traversing block 7 Jog Status signals Tracking mode active r2683.0Traversing command active r2684.15 Setpoint static r2683.2 Target position reached r2684.10 Following error in tolerance r2684.8Direct output 1 r2683.10 Direct output 2 r2683.11 DCC axial winder Reference point set r2684.11Acknowledgement, traversing block activated r2684.12 Velocity limiting active r2683.1 Function blocks Calculation of the moment of inertia for torque pre-control Dn/dt R1493 Moment of inertia, total Parameters for the function diagrams for torque pre-controlP03410...n Motor moment of inertia / MotID Mmom inert Parameters of the function diagram for torque limitation P14970...n CI Moment of inertia, scaling / Mmom inert scalR1538 Upper effective torque limit / Mmax upper eff R1539 Lower effective torque limit / Mmax lower eff 287 Parallel connection of chassis power units vector LQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH Application examplesRQWURO8QLW 0RWRU0RGXOH L4 OFF2 Power unit protection, generalProtection against Precautions Responses Thermal monitoring and overload responses Block protection Monitoring and protective functions 8.3 Block protection Stall protection only for vector control Block protection Thermal motor protection 0RWRUVWDOOHG Temperature measurement via KTY Temperature measurement via PTCFunction diagrams for thermal motor protection Sensor monitoring for cable breakage / short-circuit Parameters for thermal motor protection Page Safety Integrated General informationExplanations, standards, and terminology Standards and Directives Safety Integrated basic functions General information Two-channel monitoring structure Supported functions Prerequisites for the extended functions Parameter, Checksum, Version, Password Properties of Safety Integrated parameters From FW2.5 the following applies Safety Integrated versionsChecking the checksum Password Parameter overview for password see Sinamics S List Manual Forced 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 Enabling the Safe Torque Off STO function Selecting/deselecting Safe Torque Off Status for Safe Torque Off Parameter overview see List ManualResponse time with the Safe Torque Off function Examples, Booksize Release of the SS1 function Functional features of Safe StopSafe Stop 1 SS1, time controlled Safe Brake Control SBC Status for Safe Stop Two-channel brake control Functional features of Safe Brake Control SBCEnabling the Safe Brake Control SBC function Response time with the Safe Brake Control function 5HOD\ Overview of the safety function terminals for Sinamics S120 Switch-off signal path Terminals for STO, SS1 time-controlled, SBC Grouping drives not for CU310 Example Terminal groups Commissioning notes General information about commissioning safety functionsCommissioning the STO, SBC and SS1 functions Prerequisites for commissioning the safety functions Standard commissioning of the safety functionsPower on Replacing Motor Modules with the current FW release Procedure for commissioning STO, SBC and SS1 Safety Integrated basic functions Parameter Description/comments Enable Safe Stop 1 functionSet terminals for Safe torque off STO Set F-DI changeover tolerance time Adjust specified checksums Set the new Safety passwordStop a Paths Safety faults Stop response Stop F Acknowledging the safety faultsStop response Action Effect Triggered Description of faults and alarms Acceptance test and certificateGeneral information about acceptance Acceptance test Documentation Scope of a complete acceptance test DocumentationFunctional test Completion of certificate Drive number FW version SI version Drive number SI function Description Status Acceptance test for Safe Torque Off STOSafe Torque Off STO function Acceptance test for Safe Stop 1, time controlled SS1 Safe Stop 1 function SS1, time-controlled Acceptance test and certificate Acceptance test for Safe Brake Control SBCSafe Brake Control function SBC 332 Data backup Completion of certificateSI parameters Checksums Machine manufacturer Safety Integrated basic functions 9.9 Application examplesApplication examples Description of functions LQH0RGXOH Safety Integrated basic functions Application examples Behavior for Emergency Stop Behavior when the protective door is opened Switching on the drives No. of Motor Name Changeable to Module MM Overview of parameters and function diagramsDescription of the parameters 339 Page Features Controller, Supervisor Drive Unit Communications according to PROFIdriveGeneral information about PROFIdrive for Sinamics Controller, Supervisor, and Drive Unit Application classes Interface IF1 and IF2 Application class 1 Standard drive Application class Application class 2 Standard drive with technology function $XWRPDWLRQ 7HFKQRORJ\ Application class 3 positioning drive Application class 4 central motion control Dynamic Servo Control DSC Telegram Description Class Cyclic communicationTelegrams and process data General information What telegrams are available? Dword Telegram interconnectionsReceive process data Telegram structure Structure of the telegrams Drive object Telegrams p0922 Interface Mode ProcedureDrive object Value Settings Monitoring telegram failure DescriptionExample emergency stop with telegram failure Assumption Overview of control words and setpoints Name Signal Data typeDescription of control words and setpoints CTW1 control word Bit Meaning Comments STW1 control word 1, positioning mode, p0108.4 = 357 CTW2 control word ECTW1 control word for Infeed 359 Satzanw positioning mode, p0108.4 =1 PosSTW positioning mode, p0108.4 =1 Nsolla speed setpoint a 16-bit Nsollb speed setpoint B 32-bitGnSTW encoder n control word Xerr position deviation MDIMode pos MDI mode KPC position controller gain factorMDIPos pos MDI position MDIVel pos MDI velocity Over pos velocity override Torquered torque reduction Abbreviation Name Signal Description of status words and actual valuesOverview of status words and actual values Comment STW1 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 MTnZSF/MTnZSS ESTW1 status word for Infeed PosZSW AktSatz XistP Control and status words for encoder DescriptionExample of encoder interface Encoder n control word GnCTW, n = 1, 2 Signal status, description Bit Signal status, description Example 1 Find reference mark Example 2 Flying measurement Encoder n status word GnSTW, n = 1, 2 Encoder 2 control word G2CTWEncoder 3 control word G3CTW Name Signal status, description Bit Name Signal status, description Encoder 1 actual position value 1 G1XACT1Encoder 1 actual position value 2 G1XACT2 Communication Profibus DP/PROFINET IO 3DUNHGHQFRGHU QFRGHUHUURURUIO\LQJ 7UDQVPLWF\FOLF Error code in GnXIST2 Encoder 2 status word G2STWEncoder 2 actual position value 1 G2XACT1 Encoder 2 actual position value 2 G2XACT2 Encoder 3 actual position value 1 G3XACT1 Encoder 3 actual position value 2 G3XACT2Visualization parameters drive Central control and status words Description Receive signals Transmit signalsCustw control word for Control Unit, CU Adigital digital outputs Cuzsw status word for Control Unit, CU Edigital digital inputs Sync Features of the central probe MTnZSF and MTnZSS Example central probe Motion Control with PROFIdrive Description Overview of closed-loop control Structure of the data cycle 6SHHGRQWUROZLWK \FOH DSSOLFD 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 values in DPV1 parameter responses Error Meaning Comment Additional Value Info 397 398 Basic procedure Determining the drive object numbersExample 1 read parameters Prerequisites Task description Activity Information about the parameter request Information about the parameter response Version QBVHWB Parameter address .. th parameter address Parameter value .. th parameter value Features Master Slave Communication via Profibus DPGeneral information about Profibus General information about Profibus for Sinamics Bus access method Sequence of drive objects in the telegram Example telegram structure for cyclic data transmission Task Example Configuration settings e.g. HW Config for Simatic S7 Component and telegram structure DP slave properties overview DP slave properties details 25 Interfaces and diagnostic LED Commissioning Profibus Setting the Profibus address Device master file Commissioning for VIK-NAMURDevice identification Bus terminating resistor and shielding Commissioning steps example with Simatic S7 Diagnosis options Simatic HMI addressing Pro Tool and WinCC flexibleField Value DBB, DBW, DBD 27 Monitoring telegram failure Settings Motion Control with ProfibusExample emergency stop with telegram failure Assumption Sequence Name 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 Subscriber Links and tapsPrerequisites and limitations Applications Setpoint assignment in the subscriber Setpoints Example, setpoint assignment Configuring telegram ChkCfg Activating/parameterizing slave-to-slave communicationsActivation in the Publisher Activation in the Subscriber +HDGHU 9HUVLRQLGHQWLILHU 1XPEHURIOLQNV3XEOLVKHU3DGGUHVV ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHU Settings in HW Config Commissioning of the Profibus slave-to-slave communication 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 Immediately NoneOFF1 None OFF2 OFF3 General information about Profinet IO for Sinamics Communications via Profinet IOGeneral information about Profinet IO Definition Real Time RT and determinism Definition Isochronous real time communication IRT Addresses Definition MAC address IP addressIP address assignment Device name Default router Data transfer FeaturesReplacing Control Unit CU320 IO Device Definition Sub-network mask New device ID for Profinet from FW2.5 SP1 Hardware setupSequence of drive objects in the data transfer References Clock generationTelegrams DCP flashing Connecting the supervisor Routing with CBE20 RT classes RT classes for Profinet IO DescriptionIRTflex IRTtop Set RT class Profinet IO with RTNot isochronous Data exchange Sync domain Refresh timeProfinet IO with IRT Overview Time-scheduled data transmission Profinet IO with IRTtopSend clock/refresh time Motion Control with Profinet Motion Control/Isochronous drive link with Profinet Designations and descriptions for Motion Control Tdcbase =Tdcmin ≤ TDC ≤ Tdcmax TDC TCAValid and TDC ≧ TIOOutput Parallel operation of communication interfaces for CU320 Assignment of communication interfaces to cyclic interfaces Plugged hardware interface FeatureProperties of the cyclic interfaces IF1 and IF2 Parameters Additional parameters for IF2P8839 PZD Interface hardware assignment Alarm A8550 PZD interface hardware assignment incorrect Applications 11.3 Motor changeover Example motor switchover for four motorsMotor changeover Parameter Settings Remark Applications Motor changeover Example of a star/delta switchover Procedure for switching over the motor data setPreconditions Applications Procedure for star/delta switchover Parameter Settings Comments Integration Applications Application examples with the DMC20 Application examples with the DMC20Example, distributed topology Example, hot plugging Applications 11.4 Application examples with the DMC20 Instructions for offline commissioning with Starter 6LQJOH Applications 11.5 Control Units without infeed control Control Units without infeed controlOverview of key parameters see Sinamics S List Manual Examples interconnecting Infeed ready Smart Line Modules without DRIVE-CLiQ 5 kW and 10 kWDC link line-up with more than one Control Unit Applications Control Units without infeed control Description Drive Functions Parameter categories ParameterParameter types Basic information about the drive system 12.1 Parameter 7HUPLQDO0RGXOH2SWLRQ%RDUG Qihhg Resetting parameters Access levelAccess 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 EDS Encoder Data Set EDS Encoder Data SetSupplementary conditions and recommendations MDS Motor Data Set MDS Motor Data Set Copying a command data set Examples for a data set assignmentCopying a drive data set Motor Encoder P0186 P0187 P0188 P0189 Copying the motor data set Drive objects Basic information about the drive system 12.3 Drive objects Configuring drive objects Overview of drive objects Binectors, 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 Interconnecting signals using Bico technology Notation Example 1 Interconnection of digital signals Sample interconnectionsExample 2 Connection of OFF3 to several drives 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHU Connector-binector converter Bico technologyBico interconnections to other drives Copying drives Fixed values for interconnection using Bico technology Signals for the analog outputsSignal Parameter Unit Normalization 100 % = Scaling Inputs/outputs Overview of inputs/outputsChanging scaling parameters p2000 to p2007 Component Digital Analog Inputs Digital inputs/outputs Digital inputs Digital outputs Basic information about the drive system Inputs/outputs Bidirectional digital inputs/outputs Analog inputs ˩V Analog outputs Overview of displays and keys Parameterizing using the BOP20 Basic Operator PanelGeneral information about the BOP20 Information on the displays Information on the keysDisplay Key BOP20 functions Parameters for BOP All drive objectsDrive object, Control Unit Name Description Operating display Displays and using the BOP20Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Parameter display Value display Example Changing a parameterHFLPDOQXPEHU QWHJHUQXPEHU Example Changing binector and connector input parameters 3DUDPHWHUGLVSOD\ 1HWIDXOW ULYHQR Iodvklqj Fkdqjh Fault and alarm displaysDisplaying faults Controlling the drive using the BOP20 Displaying alarmsBit r0019 Name On / OFF OFF1 Examples of replacing components Action Reaction Action Reaction Comments Starter PG 501 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 DRIVE-CLiQ topology Electronic rating plateActual topology Target topology Rules for wiring with DRIVE-CLiQ Comparison of topologies at Power On General rules DRIVE-CLiQ rules 507 Component Connecting the motor encoder via DRIVE-CLiQ Recommended rules Component VSM connection 6LQJOH 0RWRU 0RGXOH Rules for different firmware releases Rules for FW2.1Rules for FW2.2 Servo Vector Rules for FW2.3 Servo Rules for FW2.4 Rules for FW2.5 SP1 $FWLYH Qwhuidfh 0RGXOH Sample wiring for vector drives$FWLYH LQH 0RGXOH Sample wiring of Vector drives connected in parallel 26 Drive line-up chassis with different pulse frequencies 516 Sample wiring Power Modules Blocksize Topology tree view Comment Changing the offline topology in StarterChassis Sample wiring for servo drives Starter Sample wiring for vector U/f drives 30 Sample servo topology Number of controllable drives 31 Sample vector U/f topology Servo control Basic information about the drive system System sampling times Mixed operation Setting the sampling times P0112 P01150 P01151 P01152 P01153 P01154 P01155 P01156 525 Rules for setting the sampling time Setting the sampling times using p0115 527 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 Licensing Basic information about the drive system 12.13 Licensing Entering the license key Properties of the license keyGenerating a license key via the WEB License Manager Ascii code Letter/number Decimal Overview of key parameters see Sinamics S List Manual Availability of hardware components HW component Order number Version Revisions Availability of SW functions Appendix Availability of SW functionsSW function HW component SW function Servo Vector HW component Servo Vector HW component SW function Available Servo Vector HW componentDCC SINAMICS, DCC Simotion SW function Available Servo Vector HW component Since FW TM54F 540 German meaning English meaning List of abbreviationsAppendix List of abbreviations FAQ CSMDAC DCB Appendix LED LINLSB LSS Pelv PEMPID PLL SIL SLISLM SLP VDE VDIVSM WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG