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Efficient Networks S120 manual Mechanical system, DfnodvkS

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Function modules 7.9 Basic positioner

7.9.1Mechanical system

Features

●Backlash compensation (p2583)

●Modulo offset (p2577)

Description

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Figure 7-14 Backlash compensation

When mechanical force is transferred between a machine part and its drive, generally backlash occurs. If the mechanical system was to be adjusted/designed so that there was absolutely no play, this would result in high wear. Thus, backlash (play) can occur between the machine component and the encoder. For axes with indirect position sensing, mechanical backlash results in a falsification of the traversing distance, as, at direction reversal, the axis travels either too far or not far enough corresponding to the absolute value of the backlash.

Note

The backlash compensation is active, after

•the axis has been referenced for incremental measuring systems

•the axis has been adjusted for absolute measuring systems

In order to compensate the backlash, the determined backlash must be specified in p2583 with the correct polarity. At each direction of rotation reversal, the axis actual value is corrected dependent on the actual traversing direction and displayed in r2667. This value is taken into account in the position actual value using p2516 (position offset).

If a stationary axis is referenced by setting the reference point or an adjusted axis is powered-up with an absolute encoder, then the setting of parameter p2604 (reference point approach, starting direction) is relevant for switching-in the compensation value.

Drive Functions	253
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4

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Efficient Networks S120 manual Mechanical system, DfnodvkS

Contents

Sinamics Page FH1, 07/2007 Function ManualApplications Basic information about Drive system Appendix Qualified Personnel Safety GuidelinesPrescribed Usage TrademarksUsage phase Document/tool Usage phases and their tools/documents as an exampleSinamics documentation Benefits Target groupSearch guides ForewordEuropean and African time zones Technical SupportAsian and Australian time zones America time zoneQuestions on the manual Notation for faults and alarms examplesInternet address for Sinamics EC Declaration of Conformity NotationESD Notes Safety instructions Foreword Page Contents Contents 158 18.218.3 159219 288 282289 11.5451 11.4.1 46011.4.2 11.4.3553 535Active Infeed FeaturesIntroduction GeneralActive Infeed closed-loop control Booksize Schematic structureInfeed Active Infeed Supply voltage p0210 380-400 401-415 416-440 460 480Infeed 1.1 Active Infeed CommissioningKdvvlv Active Infeed closed-loop control ChassisIntegration Function diagrams see Sinamics S List ManualOverview of key parameters see Sinamics S List Manual Identification methods Line and DC link identificationActive Infeed open-loop control Acknowledge errorSwitching off the Active Line Module Switching on the Active Line ModuleBinector input Display of internal Control and status messages370 Internal status Parameter PROFIdrive telegram WordReactive current control Example setting the harmonics controllerHarmonics controller Index P3624 harmonics controller order P3625 scalingSmart Infeed closed-loop control Smart InfeedOverview key parameters Infeed Smart Infeed6PDUW/LQH0RGXOH%RRNVLH6XSSO\V\VWHP Function diagrams see Sinamics S List Manual Overview of key parameters Sinamics S List Manual Smart Infeed open-loop control Switching on the Smart Line Module Binector input Switching off the Smart Line ModuleControl word Basic Infeed open-loop control Basic InfeedInfeed Basic Infeed UDNLQJUHVLVWRU 7HPSHUDWXUHFunction diagrams see Sinamics S List Manual Switching off the Basic Line Module Switching on the Basic Line Module3XOVHVDQGFRQWUROOHUV Infeed Line contactor control Line contactor controlControl word 370 Internal status wordCommissioning steps Example of commissioning line contactor control AssumptionInfeed 1.4 Line contactor control Power OFF Procedure during power ON/OFF Power onPre-charging and bypass contactor chassis Infeed Pre-charging and bypass contactor chassisFunctional principle Derating function for chassis unitsInfeed 1.6 Derating function for chassis units Pulse parallel infeeds three-winding transformer Pulse parallel infeeds two-winding transformerSXOVHLQIHHG 0DLQVExtended setpoint channel Properties of the extended setpoint channel DescriptionSetpoint sources Extended setpoint channel 2.2 DescriptionExtended setpoint channel 2.3 Jog Jog6LJQDO 7RWDOVHWSRLQW HIIHFWLYHUJog properties Function chart jog 1 and jog32521 Jog sequenceParameterization with Starter Properties Fixed speed setpointsDisplay parameters Extended setpoint channel 2.4 Fixed speed setpointsProperties for automatic mode p1041 = Properties for manual mode p1041 =Motorized potentiometer Extended setpoint channel 2.5 Motorized potentiometerOverview of key parameters see Sinamics S List Manual 6FDOLQJPDLQVHWSRLQW Main/supplementary setpoint and setpoint modification6XSSOHPHQWDU\VHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits 0LQ EdqgzlgwkvSuppression bandwidths Ramp-function generatorExtended setpoint channel Ramp-function generator Properties of the extended ramp function generator Properties of the simple ramp function generatorExtended setpoint channel 2.9 Ramp-function generator Ramp function generator tracking Without ramp function generator tracking Signal overview see Sinamics S List ManualWith ramp function generator tracking LWKRXWWUDFNLQJ 6SHHGVHWSRLQW 2XWSXWRI12 Starter icon for ramp function generator Limits Speed controllerServo control Speed setpoint filter Speed setpoint filterParameterization Speed controller adaptationServo control 3.3 Speed controller adaptation \QDPLFUHVSRQVHServo control Speed controller adaptation Example of speed-dependent adaptationTorque-controlled operation Commissioning of torque control modeSpeed-dependent Kpn/Tnn adaptation Servo control 3.4 Torque-controlled operationServo control Torque-controlled operation OFF responsesServo control 3.5 Torque setpoint limitation Torque setpoint limitationServo control Torque setpoint limitation Selection Torque limitation mode Fixed and variable torque limit settingsVariants of torque limitation Servo controlActivating the torque limits Example Torque limits with or without offsetExamples 0BRIIVHW Servo control 3.6 Current controller Current controllerCurrent and torque limitation Closed-loop current controlCurrent controller adaptation Flux controller for induction motorDisplay parameters Servo control Current setpoint filter Current setpoint filterServo control 3.7 Current setpoint filter Transfer functionIQBQ IQBBand-stop with infinite notch depth Phase frequency curveStarter filter parameters Band-stop with defined reduction Band-stop with defined notch depthTransfer function general 2nd-order filter General low-pass with reductionCurrent setpoint filters V/f control for diagnostics Structure of V/f control Servo control 3.9 V/f control for diagnosticsPrerequisites for V/f control Commissioning V/f controlServo control V/f control for diagnostics CharacteristicGeneral information Optimizing the current and speed controllerOptimizing the current controller Optimizing the speed controllerExample of speed setpoint step change Sensorless operation without an encoderParameter overview Servo control Sensorless operation without an encoderServo control 3.11 Sensorless operation without an encoder Behavior once pulses have been canceled2SHUZLWKHQFRGHU 2SHQORRSCommissioning/optimization Series reactorServo control Motor data identification Motor data identificationType plate data Motor dataServo control 3.12 Motor data identification Induction motor Permanent-magnet synchronous motorParameters to control the MotID Motor data identification induction motorInduction motor Rotating measurementDetermined data gamma Data that are accepted p1960 = Determined data gamma Data that are accepted p1910 =Synchronous motor Motor data identification synchronous motorDetermined data Data that are accepted p1910 = Determined data Data that are accepted p1960 = 0RWRU0RGXOH DeohStandstill measurement Pole position identificationRotating measurement Servo control Pole position identificationServo control 3.13 Pole position identification Suitable zero marks are Pole position determination with zero marksSRVVLEOH Overview of key parametersPXVWEHXVHG Angular commutation offset commissioning support p1990 Vdc controlServo control 3.14 Vdc control 3RZHUIDLOXUH 3RZHUUHVWRUH Description of Vdcmin control p1240 = 2Qvhws IdloxuhDescription of Vdcmax control p1240 = 1 Description of Vdcmin control without braking p1240 = 89GFBPD QdfwDescription of Vdcmax control without acceleration p1240 = 7 Servo control Dynamic Servo Control DSC Dynamic Servo Control DSCDeactivating ActivatingServo control 3.15 Dynamic Servo Control DSC Speed setpoint filter DiagnosticsExternal encoder systems except motor encoder Travel to fixed stop SignalsApplication examples Servo control 3.16 Travel to fixed stopServo control Travel to fixed stop Commissioning for PROFIdrive telegrams 2 to Signal chartMESSAGEW.1 Signal nameServo control Vertical axes Vertical axesPage Sensorless vector control Slvc Vector controlVector control Sensorless vector control Slvc Switchover conditions for Slvc6WDUW Vector control 4.1 Sensorless vector control SlvcORVHGORRS 2SHQORRSBenefits of vector control with an encoder Vector control with encoderVector control Vector control with encoder Speed controller Motor model changeVector control 4.3 Speed controller 6SHHG Frqwuro Vector control Speed controller6SHHGDFWXDOYDOXH Vector control 4.4 Speed controller adaptation 9HFWRU Vector control Speed controller adaptation$GDSWLYHFRQWUROUDQJH SBQRQVWDQWXSSHUVSHHGUDQJH Speed-dependent Kpn/Tnn adaptation VC only Speed controller pre-control and reference modelDynamic response reduction field weakening Slvc only 6SHHG Urrs Lqmhfwlrq6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Reference modelFor reference model DroopVector control 4.6 Droop $FWXDOVSHHG PrerequisitesVector control 4.7 Torque control Torque control11 Closed-loop speed/torque control Vector control Torque controlTorque setpoint Vector control Torque limiting Torque limitingDescription Vector control 4.9 Vdc controlProperties 73RZHU Description of Vdcmin control6ZLWFKRQOHYHO Description of Vdcmax controlVector control 4.10 Current setpoint filter Current controller adaptationMotor data identification and rotating measurement Motor identification p1910 Data determined using p1910 Deoh 6HULHV 0RWRU0RGXOH DEOHDQGRotating measurement p1960 Carrying out motor identificationCarrying out the rotating measurement p1960 Motor data identification at standstill Vector control 4.13 Efficiency optimization Efficiency optimizationLtvhws Induction motors, rotating Instructions for commissioning induction motors ASMParameter Description Remark Supplementary conditions 0RWRU0RGXOH Permanent-magnet synchronous motors, rotating0RWRU DeohDescription Remark ˭ ຘ˭ ຘ N7 QRP 151 Encoder adjustment using a zero mark Automatic encoder adjustmentIntegration Pole position identification Vector control 4.16 Flying restart Flying restart155 Vector control Synchronization SynchronizationDescription Simulation operationPrerequisite Vector control 4.18 Simulation operationFeatures Redundance operation power unitsVector control Redundance operation power units CommissioningPrerequisites BypassVector control 4.20 Bypass Commissioning the bypass function Bypass with synchronization with overlap p1260 =Parameter Description Example1HWZRUN RQYHUWHUZLWK9ROWDJH 5HDFWRU26 Signal diagram, bypass with synchronization with overlap 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW Bypass with synchronization, without overlap p1260 =Bypass without synchronization p1260 = 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW VLPXOWDQHRXVO\FORVLQJ 1HWZRUN RqyhuwhuSynchronization 167 Page 1RPLQDO IntroductionZRUNLQJSRLQWRI PrwruMeaning Vector V/f control r0108.2 = IntroductionFCC RDGVector V/f control r0108.2 = 0 5.2 Voltage boost Voltage boostApplication / property 3HUPDQHQWYROWDJHERRVWVoltage boost at acceleration p1311 Permanent voltage boost p1310IOLQHDU IQVoltage boost Vector V/f control r0108.2 =Dfwlyh VHW Vector V/f control r0108.2 = 0 5.3 Slip compensation Slip compensation9GFBFWUO7Q Vector V/f control r0108.2 = 0 5.4 Vdc controlPLQ Switching Vdcmin control on/off kinetic buffering177 Function diagrams see Sinamics S List Manual Restrictions Changing over unitsGroups of units Function in Starter Reference parameters/normalizationsBasic functions Reference parameters/normalizations Size Scaling parameter Default at initial commissioning Using Starter offlineScaling for vector object Basic functions 6.2 Reference parameters/normalizationsScaling for object AInf Scaling for servo objectScaling for object BInf Overview of important parameters refer to the List Manual Modular machine conceptExample of a sub-topology Basic functions3DUWLDO 7RSRORJ\ Basic functions Modular machine conceptUsage restrictions for sinusoidal filters Sinusoidal filterBasic functions Sinusoidal filter Dv/dt filter plus VPL Order no Name SettingBasic functions Dv/dt filter plus VPL Direction reversal without changing the setpoint Basic functions Automatic restart vector, servo, infeed Automatic restart vector, servo, infeedP1210 Mode Meaning Automatic restart modeStarting attempts p1211 and waiting time p1212 Monitoring time line supply return p1213 191 Internal voltage protection booksize External armature short-circuit braking193 Internal armature short-circuit synchronous motors Internal armature short-circuit braking booksize/DC brakeActivation of DC brake by BI DC brake induction motorsQB6WDUW DC braking as fault response197 Basic functions OFF3 torque limits OFF3 torque limitsCommissioning via parameters Technology function friction characteristicCommissioning via Starter Simple brake controlBasic functions Simple brake control Basic functions 6.11 Simple brake control Function chart simple brake controlSimple brake control r0108.14 = Total system runtime Runtime operating hours counterRelative system runtime Actual motor operating hoursParking a sensor Parking axis and parking sensorParking an axis Basic functions Parking axis and parking sensorExample parking axis Example parking axis and parking sensorExample parking sensor Basic functions 6.13 Parking axis and parking sensorOverview key parameters Function chart parking sensorGeneral Information Position trackingTerminology Basic functions 6.14 Position trackingMeasuring gear Features Measuring gear characteristicsBasic functions Position tracking 3RVLWLRQ 0RWRU Ryhuiorz2IIVHWIRUHQFRGHURYHUIORZ Virtual multiturn encoder p0412 Measuring gearbox configuration p0411Qfrghu Tolerance window p0413 Basic functions Terminal Module 41 TM41 Terminal Module 41 TM41Basic functions 6.15 Terminal Module 41 TM41 General descriptionHardware requirements 14 Block diagram of the incremental encoder emulation6592&21752 Commissioning stepsIncremental encoder emulation using a speed setpoint p4400 = Basic functions 6.16 Updating the firmware Updating the firmwareUpgrading firmware and the project in Starter Upgrade the projectBasic functions Updating the firmware Commissioning via parameter only with BOP20 Function modules Definition and commissioningFunction modules Technology controller Technology controllerExamples Commissioning with StarterFill level control Function modules 7.2 Technology controller7HFBFWU.S 7HFBFWU7Q Parameter Designation ExampleClosed-loop control Motorized potentiometerDescription of load monitoring Extended monitoring functionsFunction modules Extended monitoring functions 7RUTXH1P@Function modules 7.3 Extended monitoring functions Speed setpoint monitoringFunction modules Extended brake control Extended brake controlEmergency brake Starting against applied brakeOperating brake for crane drives Function modules 7.4 Extended brake controlExample, operating brake for a crane drive Standstill zero-speed monitoring Configuration, control/status wordsRelease/apply brake Free modulesSignal name Parameters Signal name Binector inputControl and status messages for extended brake control Braking Module function module Braking ModuleFunction modules 7.5 Braking Module RQWURO8QLWFast DC link discharge booksize Acknowledgement of faultsCooling system function module Cooling systemFunction modules 7.6 Cooling system 234 Extended torque control kT estimator, Servo Motor/drive converter identification Description of the kT estimatorClosed-loop position control General featuresPosition actual value conditioning KT estimatorPosition actual value sensing with rotary encoders Function modules Closed-loop position control239 Indexed actual value acquisition Properties Load gear position tracking Features Example of position area extension 10 Position tracking p2721 = Configuration of the load gear p2720Tolerance window p2722 Virtual multiturn encoder p2721Integration Function diagrams see Sinamics S List Manual Position controller 6HWSRLQW Monitoring functionsDPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO DPVZLWFKLQJSRVLWLRQ Measuring probe evaluation and reference mark search Integration Function modules 7.9 Basic positioner Basic positionerFunction modules Basic positioner DFNODVKS Mechanical systemPositive None Negative Immediately P2604 Traversing direction Switch in compensation valueMaximum velocity LimitsMaximum acceleration/deceleration Software limit switchesJerk limitation Stop cam$FFHOHUDWLRQ Vshhg 7LPH 9HORFLW\ Function diagram overview see Sinamics S List ManualReferencing Set reference point Absolute encoder adjustmentReference point approach for incremental measurement systems 18 Example homing with reference cam Search for reference, travel to reference cam263 Search for reference, Travel to reference point On-the-fly homing265 Instructions for switching data sets EDS5 EDS6 EDS7 Traversing blocksPositioning Fixed Endstop Endlesspos Endlessneg Wait Goto Intermediate stop and reject traversing task 0101, ContinueexternalalarmFixed Stop Waiting Introduction Travel to fixed stopFixed stop reached Fixed stop is not reached CancelVertical axes Integration Function diagram overview see List ManualDirect setpoint input MDI LHGYHORFLW\VHWSRLQW MDI mode with the use of PROFIdrive telegramIntermediate stop and canceling traversing block 7 JogTracking mode active r2683.0 Status signalsTraversing command active r2684.15 Setpoint static r2683.2Direct output 1 r2683.10 Direct output 2 r2683.11 Following error in tolerance r2684.8Target position reached r2684.10 Reference point set r2684.11 DCC axial winderAcknowledgement, traversing block activated r2684.12 Velocity limiting active r2683.1Function blocks Dn/dt Calculation of the moment of inertia for torque pre-controlP03410...n Motor moment of inertia / MotID Mmom inert Parameters for the function diagrams for torque pre-controlR1493 Moment of inertia, total P14970...n CI Moment of inertia, scaling / Mmom inert scal Parameters of the function diagram for torque limitationR1538 Upper effective torque limit / Mmax upper eff R1539 Lower effective torque limit / Mmax lower eff287 Parallel connection of chassis power units vector RQWURO8QLW Application examplesLQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH L4 0RWRU0RGXOHProtection against Precautions Responses Power unit protection, generalOFF2 Thermal monitoring and overload responses Monitoring and protective functions 8.3 Block protection Block protectionBlock protection Stall protection only for vector control0RWRUVWDOOHG Thermal motor protectionTemperature measurement via PTC Temperature measurement via KTYFunction diagrams for thermal motor protection Sensor monitoring for cable breakage / short-circuitParameters for thermal motor protection Page General information Safety IntegratedExplanations, standards, and terminology Standards and DirectivesTwo-channel monitoring structure Safety Integrated basic functions General informationSupported functions Prerequisites for the extended functions Properties of Safety Integrated parameters Parameter, Checksum, Version, PasswordChecking the checksum Safety Integrated versionsFrom FW2.5 the following applies Parameter overview for password see Sinamics S List Manual PasswordForced dormant error detection Safety Integrated basic functions 9.2 Safety instructions Safety instructionsPlease note the following during switch-on Safety Integrated basic functions 9.3 Safe Torque Off STO Functional features of Safe Torque OffSafe Torque Off STO Selecting/deselecting Safe Torque Off Enabling the Safe Torque Off STO functionParameter overview see List Manual Status for Safe Torque OffResponse time with the Safe Torque Off function Examples, BooksizeSafe Stop 1 SS1, time controlled Functional features of Safe StopRelease of the SS1 function Status for Safe Stop Safe Brake Control SBCEnabling the Safe Brake Control SBC function Functional features of Safe Brake Control SBCTwo-channel brake control 5HOD\ Response time with the Safe Brake Control functionSwitch-off signal path Overview of the safety function terminals for Sinamics S120Grouping drives not for CU310 Terminals for STO, SS1 time-controlled, SBCExample Terminal groups Commissioning the STO, SBC and SS1 functions General information about commissioning safety functionsCommissioning notes Standard commissioning of the safety functions Prerequisites for commissioning the safety functionsPower on Replacing Motor Modules with the current FW releaseProcedure for commissioning STO, SBC and SS1 Parameter Description/comments Enable Safe Stop 1 function Safety Integrated basic functionsSet terminals for Safe torque off STO Set F-DI changeover tolerance timeSet the new Safety password Adjust specified checksumsStop a PathsStop response Safety faultsStop response Action Effect Triggered Acknowledging the safety faultsStop F Acceptance test and certificate Description of faults and alarmsGeneral information about acceptance Acceptance testScope of a complete acceptance test Documentation DocumentationFunctional test Completion of certificateDrive number FW version SI version Drive number SI function Safe Torque Off STO function Acceptance test for Safe Torque Off STODescription Status Safe Stop 1 function SS1, time-controlled Acceptance test for Safe Stop 1, time controlled SS1Safe Brake Control function SBC Acceptance test for Safe Brake Control SBCAcceptance test and certificate 332 Completion of certificate Data backupSI parameters ChecksumsApplication examples Safety Integrated basic functions 9.9 Application examplesMachine manufacturer LQH0RGXOH Description of functionsBehavior for Emergency Stop Safety Integrated basic functions Application examplesSwitching on the drives Behavior when the protective door is openedDescription of the parameters Overview of parameters and function diagramsNo. of Motor Name Changeable to Module MM 339 Page Communications according to PROFIdrive Features Controller, Supervisor Drive UnitGeneral information about PROFIdrive for Sinamics Controller, Supervisor, and Drive UnitInterface IF1 and IF2 Application classesApplication class Application class 1 Standard drive$XWRPDWLRQ 7HFKQRORJ\ Application class 2 Standard drive with technology functionApplication class 3 positioning drive Dynamic Servo Control DSC Application class 4 central motion controlTelegrams and process data General information Cyclic communicationTelegram Description Class What telegrams are available? Receive process data Telegram interconnectionsDword Structure of the telegrams Telegram structureDrive object Telegrams p0922 Procedure Interface ModeDrive object ValueMonitoring telegram failure Description SettingsExample emergency stop with telegram failure AssumptionDescription of control words and setpoints Name Signal Data typeOverview of control words and setpoints Bit Meaning Comments CTW1 control wordSTW1 control word 1, positioning mode, p0108.4 = 357 ECTW1 control word for Infeed CTW2 control word359 PosSTW positioning mode, p0108.4 =1 Satzanw positioning mode, p0108.4 =1Nsollb speed setpoint B 32-bit Nsolla speed setpoint a 16-bitGnSTW encoder n control word Xerr position deviationKPC position controller gain factor MDIMode pos MDI modeMDIPos pos MDI position MDIVel pos MDI velocityTorquered torque reduction Over pos velocity overrideDescription of status words and actual values Abbreviation Name SignalOverview of status words and actual values CommentSTW1 status word 366 STW1 status word 1, positioning mode, p0108.4 = STW2 status word Nactb Speed setpoint B 32 bit Nacta Speed setpoint a 16 bitMeldw message word Application 371 ESTW1 status word for Infeed MTnZSF/MTnZSSPosZSW AktSatz Control and status words for encoder Description XistPExample of encoder interface Encoder n control word GnCTW, n = 1, 2Bit Signal status, descriptionExample 1 Find reference mark Signal status, descriptionExample 2 Flying measurement Encoder 3 control word G3CTW Encoder 2 control word G2CTWEncoder n status word GnSTW, n = 1, 2 Name Signal status, description Encoder 1 actual position value 1 G1XACT1 Bit Name Signal status, descriptionEncoder 1 actual position value 2 G1XACT2 Communication Profibus DP/PROFINET IOQFRGHUHUURU 3DUNHGHQFRGHURUIO\LQJ 7UDQVPLWF\FOLFEncoder 2 status word G2STW Error code in GnXIST2Encoder 2 actual position value 1 G2XACT1 Encoder 2 actual position value 2 G2XACT2Encoder 3 actual position value 2 G3XACT2 Encoder 3 actual position value 1 G3XACT1Visualization parameters drive Central control and status words DescriptionTransmit signals Receive signalsCustw control word for Control Unit, CU Adigital digital outputsCuzsw status word for Control Unit, CU Sync Edigital digital inputsMTnZSF and MTnZSS Features of the central probeMotion Control with PROFIdrive Description Example central probeOverview of closed-loop control 6SHHG Structure of the data cycleRQWUROZLWK \FOHGeneral information about acyclic communication Description Acyclic communicationDSSOLFD ULWHUHT Characteristics of the parameter channel5HDGUHT ZLWKRXWGDWD Parameter response Offset Parameter request OffsetField Data type Values Comment 395 Error Meaning Comment Additional Value Info Error values in DPV1 parameter responses397 398 Determining the drive object numbers Basic procedureExample 1 read parameters Prerequisites Task descriptionInformation about the parameter request ActivityInformation about the parameter response QBVHWB VersionParameter address .. th parameter address Parameter value .. th parameter value Communication via Profibus DP Features Master SlaveGeneral information about Profibus General information about Profibus for SinamicsSequence of drive objects in the telegram Bus access methodExample Example telegram structure for cyclic data transmission TaskComponent and telegram structure Configuration settings e.g. HW Config for Simatic S7DP slave properties details DP slave properties overviewCommissioning Profibus 25 Interfaces and diagnostic LEDSetting the Profibus address Commissioning for VIK-NAMUR Device master fileDevice identification Bus terminating resistor and shieldingDiagnosis options Commissioning steps example with Simatic S7Pro Tool and WinCC flexible Simatic HMI addressingField Value DBB, DBW, DBD27 Monitoring telegram failure Motion Control with Profibus SettingsExample emergency stop with telegram failure Assumption SequenceDesignations and descriptions for Motion Control Sequence of data transfer to closed-loop control systemName Value1 Limit value Description 418 Minimum times for reserves Setting criteria for timesData Time required µs User data integrity General information Description Slave-to-slave communicationsPublisher Links and taps SubscriberPrerequisites and limitations ApplicationsExample, setpoint assignment Setpoint assignment in the subscriber SetpointsActivating/parameterizing slave-to-slave communications Configuring telegram ChkCfgActivation in the Publisher Activation in the Subscriber9HUVLRQLGHQWLILHU 1XPEHURIOLQNV +HDGHU3XEOLVKHU3DGGUHVV ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHUCommissioning of the Profibus slave-to-slave communication Settings in HW Config427 35 Insert new slot 429 38 Telegram assignment for slave-to-slave communication Commissioning in Starter 41 Display of the telegram extension 433 GSD GeräteStammDaten file GSD File 435 OFF1 None OFF2 OFF3 NoneImmediately General information about Profinet IO Communications via Profinet IOGeneral information about Profinet IO for Sinamics Definition Isochronous real time communication IRT Definition Real Time RT and determinismIP address Addresses Definition MAC addressIP address assignment Device nameData transfer Features Default routerReplacing Control Unit CU320 IO Device Definition Sub-network maskSequence of drive objects in the data transfer Hardware setupNew device ID for Profinet from FW2.5 SP1 Clock generation ReferencesTelegrams DCP flashingRouting with CBE20 Connecting the supervisorRT classes for Profinet IO Description RT classesIRTflex IRTtopProfinet IO with RT Set RT classNot isochronous Data exchangeProfinet IO with IRT Overview Refresh timeSync domain Send clock/refresh time Profinet IO with IRTtopTime-scheduled data transmission Motion Control/Isochronous drive link with Profinet Motion Control with ProfinetTdcbase = Designations and descriptions for Motion ControlTdcmin ≤ TDC ≤ TdcmaxTDC TCAValid and TDC ≧ TIOOutput Assignment of communication interfaces to cyclic interfaces Parallel operation of communication interfaces for CU320Properties of the cyclic interfaces IF1 and IF2 FeaturePlugged hardware interface Additional parameters for IF2 ParametersP8839 PZD Interface hardware assignmentA8550 PZD interface hardware assignment incorrect AlarmMotor changeover Example motor switchover for four motorsApplications 11.3 Motor changeover Applications Motor changeover Parameter Settings RemarkProcedure for switching over the motor data set Example of a star/delta switchoverPreconditions ApplicationsParameter Settings Comments Procedure for star/delta switchoverIntegration Example, distributed topology Application examples with the DMC20Applications Application examples with the DMC20 Applications 11.4 Application examples with the DMC20 Example, hot plugging6LQJOH Instructions for offline commissioning with StarterOverview of key parameters see Sinamics S List Manual Control Units without infeed controlApplications 11.5 Control Units without infeed control Smart Line Modules without DRIVE-CLiQ 5 kW and 10 kW Examples interconnecting Infeed readyDC link line-up with more than one Control Unit Applications Control Units without infeed controlDescription Drive Functions Parameter types ParameterParameter categories 7HUPLQDO0RGXOH Basic information about the drive system 12.1 Parameter2SWLRQ%RDUG QihhgAccess level Resetting parametersAccess level Saving parameters in a non-volatile memoryCDS Command Data Set CDS Command Data SetData sets Basic information about the drive system 12.2 Data setsDDS Drive Data Set Example Switching between command data set 0DDS Drive Data Set Supplementary conditions and recommendations EDS Encoder Data SetEDS Encoder Data Set MDS Motor Data Set MDS Motor Data SetExamples for a data set assignment Copying a command data setCopying a drive data set Motor Encoder P0186 P0187 P0188 P0189Copying the motor data set Basic information about the drive system 12.3 Drive objects Drive objectsOverview of drive objects Configuring drive objectsBinectors, connectors Bico technology interconnecting signalsBinectors, BI Binector Input, BO Binector Output Connectors, CI Connector Input, CO Connector Output Interconnecting signals using Bico technologySymbol Name Description Notation Interconnecting signals using Bico technologySample interconnections Example 1 Interconnection of digital signalsExample 2 Connection of OFF3 to several drives 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHUBico technology Connector-binector converterBico interconnections to other drives Copying drivesSignals for the analog outputs Fixed values for interconnection using Bico technologySignal Parameter Unit Normalization 100 % = ScalingOverview of inputs/outputs Inputs/outputsChanging scaling parameters p2000 to p2007 Component Digital Analog InputsDigital inputs Digital inputs/outputsBasic information about the drive system Inputs/outputs Digital outputsBidirectional digital inputs/outputs ˩V Analog inputsAnalog outputs General information about the BOP20 Parameterizing using the BOP20 Basic Operator PanelOverview of displays and keys Information on the keys Information on the displaysDisplay KeyParameters for BOP All drive objects BOP20 functionsDrive object, Control Unit Name DescriptionOther drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Displays and using the BOP20Operating display Parameter display Example Changing a parameter Value displayHFLPDOQXPEHU QWHJHUQXPEHU3DUDPHWHUGLVSOD\ Example Changing binector and connector input parametersDisplaying faults Fault and alarm displays1HWIDXOW ULYHQR Iodvklqj Fkdqjh Displaying alarms Controlling the drive using the BOP20Bit r0019 Name On / OFF OFF1Action Reaction Examples of replacing componentsStarter PG Action Reaction Comments501 Exchanging a Sinamics Sensor Module Integrated Data backup on CompactFlash cardFile names and storage location for the data Data transfer from CompactFlash card to Sensor Module Replacing a deviceOrder number Sinamics Sensor Module Integrated Electronic rating plate DRIVE-CLiQ topologyActual topology Target topologyComparison of topologies at Power On Rules for wiring with DRIVE-CLiQDRIVE-CLiQ rules General rules507 Recommended rules Component Connecting the motor encoder via DRIVE-CLiQ6LQJOH 0RWRU 0RGXOH Component VSM connectionRules for FW2.1 Rules for different firmware releasesRules for FW2.2 Servo VectorServo Rules for FW2.3Rules for FW2.4 Rules for FW2.5 SP1 $FWLYH LQH 0RGXOH Sample wiring for vector drives$FWLYH Qwhuidfh 0RGXOH 26 Drive line-up chassis with different pulse frequencies Sample wiring of Vector drives connected in parallel516 Blocksize Sample wiring Power ModulesChassis Changing the offline topology in StarterTopology tree view Comment Starter Sample wiring for servo drives30 Sample servo topology Sample wiring for vector U/f drives31 Sample vector U/f topology Number of controllable drivesBasic information about the drive system Servo controlMixed operation System sampling timesP0112 P01150 P01151 P01152 P01153 P01154 P01155 P01156 Setting the sampling times525 Setting the sampling times using p0115 Rules for setting the sampling time527 Number P0112 P01150 P1800 Active Infeed and Smart Infeed Default settings for the sampling timesBasic Infeed Number P0112 P01150 P1800 Examples when changing sampling times / pulse frequenciesMixed Starter is in the online mode Basic information about the drive system 12.13 Licensing LicensingGenerating a license key via the WEB License Manager Properties of the license keyEntering the license key Letter/number Decimal Ascii codeOverview of key parameters see Sinamics S List Manual HW component Order number Version Revisions Availability of hardware componentsAppendix Availability of SW functions Availability of SW functionsSW function HW componentSW function Servo Vector HW component DCC SINAMICS, DCC Simotion SW function Available Servo Vector HW componentServo Vector HW component TM54F SW function Available Servo Vector HW component Since FW540 Appendix List of abbreviations List of abbreviationsGerman meaning English meaning CSM FAQDAC DCBAppendix LIN LEDLSB LSSPEM PelvPID PLLSLI SILSLM SLPVDI VDEVSM WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG