Efficient Networks S120 manual

Function modules

7.8 Closed-loop position control

interconnected with r2685 (EPOS correction value) and p2512 with r2684.7 (activate correction). This interconnection enables modulo offset by EPOS, for example.

p2516 can be used to switch in position offset. Using EPOS, p2516 is automatically interconnected to r2667. Backlash compensation is implemented using this interconnection.

Using the connector input p2515 (position setting value) and a "1" signal at binector input p2514 (set position actual value), a position setting value can be entered.

WARNING

When the actual position value is set (p2514 = "1" signal), the actual position value of the position controller is kept at the value of connector p2515 as standard.

Incoming encoder increments are not evaluated. A difference in position cannot be compensated for in this situation.

An inversion of the actual position value resulting from the encoder is undertaken using parameter p0410. An inversion of the axis motion can be entered using a negative value in p2505.

7.8.2.3Indexed actual value acquisition

Properties

●Encoder assignment (p2502[DDS])

●Absolute encoder adjustment (p2507[EDS])

●Enable encoder evaluation (p2509[0..3])

●Encoder evaluation selection (p2510[0..3])

●Encoder edge (p2511[0..3])

●Enable position actual value preprocessing, corrective value (p2512[0..3])

●Position actual value preprocessing, corrective value (p2513[0..3])

●Position offset (p2516[0..3])

●Position actual value (r2521[0..3])

●Velocity actual value (r2522[0..3])

●Measuring probe evaluation/Reference mark search (p2523[0..3])

●Encoder adjustment, offset (p2525[EDS])

●Status word position controller (r2526)

●Status word encoder1 (r2527)

●Status word encoder2 (r2528)

●Status word encoder3 (r2529)

●EPOS reference point coordinate, signal source (p2598[0..3])

●Function diagram 4010 Position control - Position actual value preprocessing

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

Image 240

Efficient Networks S120 manual Indexed actual value acquisition Properties

Contents

Sinamics Page Function Manual FH1, 07/2007Applications Basic information about Drive system Appendix Safety Guidelines Qualified PersonnelPrescribed Usage Trademarks Usage phases and their tools/documents as an example Usage phase Document/toolSinamics documentation 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 Function diagrams see Sinamics S List Manual IntegrationOverview of key parameters see Sinamics S List Manual 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 Switching off the Smart Line Module Binector inputControl word Basic Infeed Basic Infeed open-loop controlInfeed Basic Infeed 7HPSHUDWXUH UDNLQJUHVLVWRU Function diagrams see Sinamics S List Manual Switching on the Basic Line Module Switching off the Basic Line Module3XOVHVDQGFRQWUROOHUV Line contactor control Infeed Line contactor controlControl word 370 Internal status word Example of commissioning line contactor control Assumption Commissioning stepsInfeed 1.4 Line contactor control Procedure during power ON/OFF Power on Power OFFPre-charging and bypass contactor chassis Infeed Pre-charging and bypass contactor chassis Derating function for chassis units Functional principleInfeed 1.6 Derating function for chassis units 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 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 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 Phase frequency curve Band-stop with infinite notch depthStarter filter parameters 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 = Motor data identification synchronous motor Synchronous motorDetermined data Data that are accepted p1910 = 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 Overview of key parameters SRVVLEOHPXVWEHXVHG Vdc control Angular commutation offset commissioning support p1990Servo control 3.14 Vdc control 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 Activating DeactivatingServo control 3.15 Dynamic Servo Control DSC Diagnostics Speed setpoint filterExternal encoder systems except motor encoder 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 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 Vector control Speed controller adaptation 9HFWRU SBQ $GDSWLYHFRQWUROUDQJHRQVWDQWXSSHUVSHHGUDQJH Speed controller pre-control and reference model Speed-dependent Kpn/Tnn adaptation VC onlyDynamic response reduction field weakening Slvc only Urrs Lqmhfwlrq 6SHHG Reference model 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Droop For reference modelVector control 4.6 Droop 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 Efficiency optimization Vector control 4.13 Efficiency optimizationLtvhws Instructions for commissioning induction motors ASM Induction motors, rotatingParameter Description Remark Supplementary conditions Permanent-magnet synchronous motors, rotating 0RWRU0RGXOH0RWRU Deoh ˭ ຘ Description Remark ˭ ຘ N7 QRP 151 Automatic encoder adjustment Encoder adjustment using a zero markIntegration 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 Bypass PrerequisitesVector control 4.20 Bypass 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 Vector V/f control r0108.2 = Voltage boostDfwlyh VHW 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 Changing over units RestrictionsGroups of units Reference parameters/normalizations Function in StarterBasic functions Reference parameters/normalizations Using Starter offline Size Scaling parameter Default at initial commissioningScaling for vector object Basic functions 6.2 Reference parameters/normalizations Scaling for servo object Scaling for object AInfScaling for object BInf 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\ 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 Automatic restart vector, servo, infeed Basic functions Automatic restart vector, servo, infeed Automatic restart mode P1210 Mode MeaningStarting attempts p1211 and waiting time p1212 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 Simple brake control Commissioning via StarterBasic functions Simple brake control 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 Features Measuring gear characteristics Measuring gearBasic functions Position tracking Ryhuiorz 3RVLWLRQ 0RWRU2IIVHWIRUHQFRGHURYHUIORZ Measuring gearbox configuration p0411 Virtual multiturn encoder p0412Qfrghu 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 Upgrade the project Upgrading firmware and the project in StarterBasic functions Updating the firmware 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 Signal name Binector input Signal name ParametersControl and status messages for extended brake control Braking Module Braking Module function moduleFunction modules 7.5 Braking Module RQWURO8QLW Acknowledgement of faults Fast DC link discharge booksize Cooling system Cooling system function moduleFunction modules 7.6 Cooling system 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 DPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO DPVZLWFKLQJSRVLWLRQ 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 Stop cam Jerk limitation$FFHOHUDWLRQ Vshhg 7LPH 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 Following error in tolerance r2684.8 Direct output 1 r2683.10 Direct output 2 r2683.11Target position reached r2684.10 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 Parameters for the function diagrams for torque pre-control P03410...n Motor moment of inertia / MotID Mmom inertR1493 Moment of inertia, total 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 Application examples RQWURO8QLWLQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH 0RWRU0RGXOH L4 Power unit protection, general Protection against Precautions ResponsesOFF2 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 Safety Integrated versions Checking the checksumFrom FW2.5 the following applies Password Parameter overview for password see Sinamics S List Manual 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 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 Functional features of Safe Stop Safe Stop 1 SS1, time controlledRelease of the SS1 function Safe Brake Control SBC Status for Safe Stop Functional features of Safe Brake Control SBC Enabling the Safe Brake Control SBC functionTwo-channel brake control 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 General information about commissioning safety functions Commissioning the STO, SBC and SS1 functionsCommissioning notes 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 Acknowledging the safety faults Stop response Action Effect TriggeredStop F 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 Acceptance test for Safe Torque Off STO Safe Torque Off STO functionDescription Status Acceptance test for Safe Stop 1, time controlled SS1 Safe Stop 1 function SS1, time-controlled Acceptance test for Safe Brake Control SBC Safe Brake Control function SBCAcceptance test and certificate 332 Data backup Completion of certificateSI parameters Checksums Safety Integrated basic functions 9.9 Application examples Application examplesMachine manufacturer 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 Overview of parameters and function diagrams Description of the parametersNo. of Motor Name Changeable to Module MM 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 Cyclic communication Telegrams and process data General informationTelegram Description Class What telegrams are available? Telegram interconnections Receive process dataDword 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 Name Signal Data type Description of control words and setpointsOverview 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 Nacta Speed setpoint a 16 bit Nactb Speed setpoint B 32 bitMeldw message word 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 2 control word G2CTW Encoder 3 control word G3CTWEncoder n status word GnSTW, n = 1, 2 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 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 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 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 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 None OFF1 None OFF2 OFF3Immediately Communications via Profinet IO General information about Profinet IOGeneral information about Profinet IO for Sinamics 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 Hardware setup Sequence of drive objects in the data transferNew device ID for Profinet from FW2.5 SP1 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 Refresh time Profinet IO with IRT OverviewSync domain Profinet IO with IRTtop Send clock/refresh timeTime-scheduled data transmission 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 Feature Properties of the cyclic interfaces IF1 and IF2Plugged hardware interface Parameters Additional parameters for IF2P8839 PZD Interface hardware assignment Alarm A8550 PZD interface hardware assignment incorrect Example motor switchover for four motors Motor changeoverApplications 11.3 Motor 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 Application examples with the DMC20 Example, distributed topologyApplications Application examples with the DMC20 Example, hot plugging Applications 11.4 Application examples with the DMC20 Instructions for offline commissioning with Starter 6LQJOH Control Units without infeed control Overview of key parameters see Sinamics S List ManualApplications 11.5 Control Units without infeed control 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 Parameter typesParameter categories 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 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 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 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 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 Parameterizing using the BOP20 Basic Operator Panel General information about the BOP20Overview of displays and keys Information on the displays Information on the keysDisplay Key BOP20 functions Parameters for BOP All drive objectsDrive object, Control Unit Name Description Displays and using the BOP20 Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etcOperating display Parameter display Value display Example Changing a parameterHFLPDOQXPEHU QWHJHUQXPEHU Example Changing binector and connector input parameters 3DUDPHWHUGLVSOD\ Fault and alarm displays Displaying faults1HWIDXOW ULYHQR Iodvklqj Fkdqjh 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 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 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 Sample wiring for vector drives $FWLYH LQH 0RGXOH$FWLYH Qwhuidfh 0RGXOH Sample wiring of Vector drives connected in parallel 26 Drive line-up chassis with different pulse frequencies 516 Sample wiring Power Modules Blocksize Changing the offline topology in Starter ChassisTopology tree view Comment 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 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 Licensing Basic information about the drive system 12.13 Licensing Properties of the license key Generating a license key via the WEB License ManagerEntering the license key 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 SW function Available Servo Vector HW component DCC SINAMICS, DCC SimotionServo Vector HW component SW function Available Servo Vector HW component Since FW TM54F 540 List of abbreviations Appendix List of abbreviationsGerman meaning English meaning 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