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Efficient Networks S120 manual Safe Torque Off STO, Functional features of Safe Torque Off

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Safety Integrated basic functions 9.3 Safe Torque Off (STO)

CAUTION

The "automatic restart" function may not be used together with the safety functions STO/SBC and SS1. The reason for this is that EN 60204 Part 1 (1998) in chapter 9.2.5.4.2 does not permit this (merely de-selecting a safety shutdown function must not cause the machine to restart).

NOTICE

Components cannot be deactivated via p0105, for example, with activated Safety functions.

9.3Safe Torque Off (STO)

General description

In conjunction with a machine function or in the event of a fault, the "Safe Torque Off (STO)" function is used to safely disconnect the torque-generating motor power supply.

When the function is selected, the drive unit is in a "safe status". The power-on disable function prevents the drive unit from being restarted.

The two-channel pulse inhibit integrated in the Motor Modules / Power Modules is a basis for this function.

Functional features of "Safe Torque Off"

●This function is integrated in the drive; this means that a higher-level controller is not required.

●The function is drive specific, that is, it must be commissioned individually on a drive-by- drive basis.

●Enable of the function using parameters required.

●When the "Safe Torque Off" function is selected:

–The motor cannot be started accidentally.

–The pulse disable safely disconnects the torque-generating motor power supply.

–The power unit and motor are not electrically isolated.

WARNING

Appropriate measures must be taken to ensure that the motor does not move once the motor power supply has been disconnected ("coast down") (e.g. enable the "Safe Brake Control" function with a vertical axis).

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

Image 308

Efficient Networks S120 manual Safe Torque Off STO, Functional features of Safe Torque Off

Contents

Sinamics Page Applications Basic information about Drive system Appendix Function ManualFH1, 07/2007 Safety Guidelines Qualified PersonnelPrescribed Usage TrademarksSinamics documentation Usage phases and their tools/documents as an exampleUsage phase Document/tool Target group BenefitsSearch guides ForewordTechnical Support European and African time zonesAsian and Australian time zones America time zoneNotation for faults and alarms examples Questions on the manualInternet address for Sinamics EC Declaration of Conformity NotationESD Notes Safety instructions Foreword Page Contents Contents 18.2 15818.3 159219 282 288289 11.5451 460 11.4.111.4.2 11.4.3535 553Features Active InfeedIntroduction GeneralSchematic structure Active Infeed closed-loop control BooksizeInfeed Active Infeed Supply voltage p0210 380-400 401-415 416-440 460 480Commissioning Infeed 1.1 Active InfeedActive Infeed closed-loop control Chassis KdvvlvOverview of key parameters see Sinamics S List Manual Function diagrams see Sinamics S List ManualIntegration Line and DC link identification Identification methodsAcknowledge error Active Infeed open-loop controlSwitching on the Active Line Module Switching off the Active Line ModuleControl and status messages Binector input Display of internal370 Internal status Parameter PROFIdrive telegram WordExample setting the harmonics controller Reactive current controlHarmonics controller Index P3624 harmonics controller order P3625 scalingSmart Infeed Smart Infeed closed-loop controlOverview 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 Control word Switching off the Smart Line ModuleBinector input Infeed Basic Infeed Basic InfeedBasic Infeed open-loop control 7HPSHUDWXUH UDNLQJUHVLVWRUFunction 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 wordInfeed 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 chassisInfeed 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 0DLQVExtended setpoint channel Description Properties of the extended setpoint channelSetpoint sources Extended setpoint channel 2.2 DescriptionJog Extended setpoint channel 2.3 Jog6LJQDO 7RWDOVHWSRLQW HIIHFWLYHUFunction chart jog 1 and jog Jog propertiesJog sequence 32521Parameterization with Starter Fixed speed setpoints PropertiesDisplay parameters Extended setpoint channel 2.4 Fixed speed setpointsProperties for manual mode p1041 = Properties for automatic mode p1041 =Motorized potentiometer Extended setpoint channel 2.5 Motorized potentiometerOverview of key parameters see Sinamics S List Manual Main/supplementary setpoint and setpoint modification 6FDOLQJPDLQVHWSRLQW6XSSOHPHQWDU\VHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits Edqgzlgwkv 0LQExtended 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 2XWSXWRI12 Starter icon for ramp function generator Speed controller LimitsSpeed setpoint filter Servo control Speed setpoint filterSpeed controller adaptation ParameterizationServo control 3.3 Speed controller adaptation \QDPLFUHVSRQVHExample of speed-dependent adaptation Servo control Speed controller adaptationCommissioning of torque control mode Torque-controlled operationSpeed-dependent Kpn/Tnn adaptation Servo control 3.4 Torque-controlled operationOFF responses Servo control Torque-controlled operationTorque setpoint limitation Servo control 3.5 Torque setpoint limitationServo control Torque setpoint limitation Fixed and variable torque limit settings Selection Torque limitation modeVariants of torque limitation Servo controlExample Torque limits with or without offset Activating the torque limitsExamples 0BRIIVHW Current controller Servo control 3.6 Current controllerClosed-loop current control Current and torque limitationCurrent controller adaptation Flux controller for induction motorDisplay parameters Current setpoint filter Servo control Current setpoint filterTransfer function Servo control 3.7 Current setpoint filterIQBQ IQBStarter filter parameters Phase frequency curveBand-stop with infinite notch depth Band-stop with defined notch depth Band-stop with defined reductionGeneral low-pass with reduction Transfer function general 2nd-order filterCurrent 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 controlCharacteristic Servo control V/f control for diagnosticsOptimizing the current and speed controller General informationOptimizing the current controller Optimizing the speed controllerSensorless operation without an encoder Example of speed setpoint step changeParameter overview Servo control Sensorless operation without an encoderBehavior once pulses have been canceled Servo control 3.11 Sensorless operation without an encoder2SHQORRS 2SHUZLWKHQFRGHUSeries reactor Commissioning/optimizationMotor data identification Servo control Motor data identificationMotor data Type plate dataServo control 3.12 Motor data identification Induction motor Permanent-magnet synchronous motorMotor data identification induction motor Parameters to control the MotIDInduction motor Rotating measurementDetermined 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 identificationServo control 3.13 Pole position identification Pole position determination with zero marks Suitable zero marks arePXVWEHXVHG 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 IdloxuhDescription of Vdcmin control without braking p1240 = 8 Description of Vdcmax control p1240 = 19GFBPD QdfwDescription of Vdcmax control without acceleration p1240 = 7 Dynamic Servo Control DSC Servo control Dynamic Servo Control DSCServo 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 stopServo control Travel to fixed stop Signal chart Commissioning for PROFIdrive telegrams 2 toSignal name MESSAGEW.1Vertical axes Servo control Vertical axesPage Vector control Sensorless vector control SlvcSwitchover conditions for Slvc Vector control Sensorless vector control SlvcVector control 4.1 Sensorless vector control Slvc 6WDUWORVHGORRS 2SHQORRSVector 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 9HFWRURQVWDQWXSSHUVSHHGUDQJH SBQ$GDSWLYHFRQWUROUDQJH Dynamic response reduction field weakening Slvc only Speed controller pre-control and reference modelSpeed-dependent Kpn/Tnn adaptation VC only Urrs Lqmhfwlrq 6SHHGReference model 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXHVector control 4.6 Droop DroopFor reference model Prerequisites $FWXDOVSHHGTorque control Vector control 4.7 Torque controlVector control Torque control 11 Closed-loop speed/torque controlTorque setpoint Torque limiting Vector control Torque limitingVector control 4.9 Vdc control DescriptionProperties Description of Vdcmin control 73RZHUDescription of Vdcmax control 6ZLWFKRQOHYHOCurrent controller adaptation Vector control 4.10 Current setpoint filterMotor data identification and rotating measurement Motor identification p1910 Data determined using p1910 0RWRU0RGXOH DEOHDQG Deoh 6HULHVCarrying out motor identification Rotating measurement p1960Carrying 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 restart155 Synchronization Vector control SynchronizationSimulation operation DescriptionPrerequisite Vector control 4.18 Simulation operationRedundance operation power units FeaturesVector control Redundance operation power units CommissioningVector control 4.20 Bypass BypassPrerequisites Bypass with synchronization with overlap p1260 = Commissioning the bypass functionExample Parameter Description1HWZRUN RQYHUWHUZLWK9ROWDJH 5HDFWRU26 Signal diagram, bypass with synchronization with overlap Bypass with synchronization, without overlap p1260 = 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVWBypass without synchronization p1260 = 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW VLPXOWDQHRXVO\FORVLQJSynchronization 167 Page Introduction 1RPLQDOZRUNLQJSRLQWRI PrwruVector V/f control r0108.2 = Introduction MeaningFCC RDGVoltage boost Vector V/f control r0108.2 = 0 5.2 Voltage boostApplication / property 3HUPDQHQWYROWDJHERRVWPermanent voltage boost p1310 Voltage boost at acceleration p1311IOLQHDU IQDfwlyh VHW Vector V/f control r0108.2 =Voltage boost Slip compensation Vector V/f control r0108.2 = 0 5.3 Slip compensationVector V/f control r0108.2 = 0 5.4 Vdc control 9GFBFWUO7QSwitching Vdcmin control on/off kinetic buffering PLQ177 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/normalizationsScaling 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 functionsBasic 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, infeedStarting 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 booksize193 Internal armature short-circuit braking booksize/DC brake Internal armature short-circuit synchronous motorsDC brake induction motors Activation of DC brake by BIDC braking as fault response QB6WDUW197 OFF3 torque limits Basic functions OFF3 torque limitsTechnology function friction characteristic Commissioning via parametersBasic functions Simple brake control Simple brake controlCommissioning via Starter Function chart simple brake control Basic functions 6.11 Simple brake controlSimple brake control r0108.14 = Runtime operating hours counter Total system runtimeRelative system runtime Actual motor operating hoursParking axis and parking sensor Parking a sensorParking an axis Basic functions Parking axis and parking sensorExample parking axis and parking sensor Example parking axisExample parking sensor Basic functions 6.13 Parking axis and parking sensorFunction chart parking sensor Overview key parametersPosition tracking General InformationTerminology Basic functions 6.14 Position trackingBasic 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 TM41General description Basic functions 6.15 Terminal Module 41 TM4114 Block diagram of the incremental encoder emulation Hardware requirementsCommissioning steps 6592&21752Incremental encoder emulation using a speed setpoint p4400 = Updating the firmware Basic functions 6.16 Updating the firmwareBasic functions Updating the firmware Upgrade the projectUpgrading firmware and the project in Starter Function modules Definition and commissioning Commissioning via parameter only with BOP20Technology controller Function modules Technology controllerCommissioning with Starter ExamplesFill level control Function modules 7.2 Technology controllerParameter Designation Example 7HFBFWU.S 7HFBFWU7QMotorized potentiometer Closed-loop controlExtended monitoring functions Description of load monitoringFunction modules Extended monitoring functions 7RUTXH1P@Speed setpoint monitoring Function modules 7.3 Extended monitoring functionsExtended brake control Function modules Extended brake controlStarting against applied brake Emergency brakeOperating brake for crane drives Function modules 7.4 Extended brake controlExample, operating brake for a crane drive Configuration, control/status words Standstill zero-speed monitoringRelease/apply brake Free modulesControl and status messages for extended brake control Signal name Binector inputSignal name Parameters Braking Module Braking Module function moduleFunction modules 7.5 Braking Module RQWURO8QLWAcknowledgement of faults Fast DC link discharge booksizeFunction 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 identificationGeneral features Closed-loop position controlPosition actual value conditioning KT estimatorFunction modules Closed-loop position control Position actual value sensing with rotary encoders239 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 p2722Integration Function diagrams see Sinamics S List Manual Position controller Monitoring functions 6HWSRLQWDPVZLWFKLQJSRVLWLRQ DPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO Measuring probe evaluation and reference mark search Integration Basic positioner Function modules 7.9 Basic positionerFunction modules Basic positioner Mechanical system DFNODVKSP2604 Traversing direction Switch in compensation value Positive None Negative ImmediatelyLimits Maximum velocitySoftware 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 pointReference point approach for incremental measurement systems Search for reference, travel to reference cam 18 Example homing with reference cam263 On-the-fly homing Search for reference, Travel to reference point265 Instructions for switching data sets Traversing blocks EDS5 EDS6 EDS7Positioning Fixed Endstop Endlesspos Endlessneg Wait Goto 0101, Continueexternalalarm Intermediate stop and reject traversing taskFixed Stop Waiting Travel to fixed stop IntroductionFixed stop reached Cancel Fixed stop is not reachedIntegration Function diagram overview see List Manual Vertical axesDirect setpoint input MDI MDI mode with the use of PROFIdrive telegram LHGYHORFLW\VHWSRLQWIntermediate stop and canceling traversing block 7 Jog Status signals Tracking mode active r2683.0Traversing command active r2684.15 Setpoint static r2683.2Target 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 r2683.1Function blocks Calculation of the moment of inertia for torque pre-control Dn/dtR1493 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 eff287 Parallel connection of chassis power units vector LQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH Application examplesRQWURO8QLW 0RWRU0RGXOH L4OFF2 Power unit protection, generalProtection against Precautions Responses Thermal monitoring and overload responses Block protection Monitoring and protective functions 8.3 Block protectionStall protection only for vector control Block protectionThermal motor protection 0RWRUVWDOOHGTemperature measurement via KTY Temperature measurement via PTCFunction diagrams for thermal motor protection Sensor monitoring for cable breakage / short-circuitParameters for thermal motor protection Page Safety Integrated General informationExplanations, standards, and terminology Standards and DirectivesSafety Integrated basic functions General information Two-channel monitoring structureSupported functions Prerequisites for the extended functions Parameter, Checksum, Version, Password Properties of Safety Integrated parametersFrom FW2.5 the following applies Safety Integrated versionsChecking the checksum Password Parameter overview for password see Sinamics S List ManualForced 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 OffStatus for Safe Torque Off Parameter overview see List ManualResponse time with the Safe Torque Off function Examples, BooksizeRelease of the SS1 function Functional features of Safe StopSafe Stop 1 SS1, time controlled Safe Brake Control SBC Status for Safe StopTwo-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 pathTerminals for STO, SS1 time-controlled, SBC Grouping drives not for CU310Example 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 releaseProcedure 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 timeAdjust specified checksums Set the new Safety passwordStop a PathsSafety faults Stop responseStop F Acknowledging the safety faultsStop response Action Effect Triggered Description of faults and alarms Acceptance test and certificateGeneral information about acceptance Acceptance testDocumentation Scope of a complete acceptance test DocumentationFunctional test Completion of certificateDrive 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-controlledAcceptance test and certificate Acceptance test for Safe Brake Control SBCSafe Brake Control function SBC 332 Data backup Completion of certificateSI parameters ChecksumsMachine manufacturer Safety Integrated basic functions 9.9 Application examplesApplication examples Description of functions LQH0RGXOHSafety Integrated basic functions Application examples Behavior for Emergency StopBehavior when the protective door is opened Switching on the drivesNo. 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 UnitApplication classes Interface IF1 and IF2Application class 1 Standard drive Application classApplication class 2 Standard drive with technology function $XWRPDWLRQ 7HFKQRORJ\Application class 3 positioning drive Application class 4 central motion control Dynamic Servo Control DSCTelegram Description Class Cyclic communicationTelegrams and process data General information What telegrams are available? Dword Telegram interconnectionsReceive process data Telegram structure Structure of the telegramsDrive object Telegrams p0922 Interface Mode ProcedureDrive object ValueSettings Monitoring telegram failure DescriptionExample emergency stop with telegram failure AssumptionOverview of control words and setpoints Name Signal Data typeDescription of control words and setpoints CTW1 control word Bit Meaning CommentsSTW1 control word 1, positioning mode, p0108.4 = 357 CTW2 control word ECTW1 control word for Infeed359 Satzanw positioning mode, p0108.4 =1 PosSTW positioning mode, p0108.4 =1Nsolla speed setpoint a 16-bit Nsollb speed setpoint B 32-bitGnSTW encoder n control word Xerr position deviationMDIMode pos MDI mode KPC position controller gain factorMDIPos pos MDI position MDIVel pos MDI velocityOver pos velocity override Torquered torque reductionAbbreviation Name Signal Description of status words and actual valuesOverview of status words and actual values CommentSTW1 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 InfeedPosZSW AktSatz XistP Control and status words for encoder DescriptionExample of encoder interface Encoder n control word GnCTW, n = 1, 2Signal status, description BitSignal status, description Example 1 Find reference markExample 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 IO3DUNHGHQFRGHU QFRGHUHUURURUIO\LQJ 7UDQVPLWF\FOLFError code in GnXIST2 Encoder 2 status word G2STWEncoder 2 actual position value 1 G2XACT1 Encoder 2 actual position value 2 G2XACT2Encoder 3 actual position value 1 G3XACT1 Encoder 3 actual position value 2 G3XACT2Visualization parameters drive Central control and status words DescriptionReceive signals Transmit signalsCustw control word for Control Unit, CU Adigital digital outputsCuzsw status word for Control Unit, CU Edigital digital inputs SyncFeatures of the central probe MTnZSF and MTnZSSExample central probe Motion Control with PROFIdrive DescriptionOverview of closed-loop control Structure of the data cycle 6SHHGRQWUROZLWK \FOHDSSOLFD 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 Info397 398 Basic procedure Determining the drive object numbersExample 1 read parameters Prerequisites Task descriptionActivity Information about the parameter requestInformation about the parameter response Version QBVHWBParameter address .. th parameter address Parameter value .. th parameter value Features Master Slave Communication via Profibus DPGeneral information about Profibus General information about Profibus for SinamicsBus access method Sequence of drive objects in the telegramExample telegram structure for cyclic data transmission Task ExampleConfiguration settings e.g. HW Config for Simatic S7 Component and telegram structureDP slave properties overview DP slave properties details25 Interfaces and diagnostic LED Commissioning ProfibusSetting the Profibus address Device master file Commissioning for VIK-NAMURDevice identification Bus terminating resistor and shieldingCommissioning steps example with Simatic S7 Diagnosis optionsSimatic HMI addressing Pro Tool and WinCC flexibleField Value DBB, DBW, DBD27 Monitoring telegram failure Settings Motion Control with ProfibusExample emergency stop with telegram failure Assumption SequenceName 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 ApplicationsSetpoint assignment in the subscriber Setpoints Example, setpoint assignmentConfiguring telegram ChkCfg Activating/parameterizing slave-to-slave communicationsActivation in the Publisher Activation in the Subscriber+HDGHU 9HUVLRQLGHQWLILHU 1XPEHURIOLQNV3XEOLVKHU3DGGUHVV ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHUSettings in HW Config Commissioning of the Profibus slave-to-slave communication427 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 IRTAddresses Definition MAC address IP addressIP address assignment Device nameDefault router Data transfer FeaturesReplacing Control Unit CU320 IO Device Definition Sub-network maskNew device ID for Profinet from FW2.5 SP1 Hardware setupSequence of drive objects in the data transfer References Clock generationTelegrams DCP flashingConnecting the supervisor Routing with CBE20RT classes RT classes for Profinet IO DescriptionIRTflex IRTtopSet RT class Profinet IO with RTNot isochronous Data exchangeSync 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 ProfinetDesignations and descriptions for Motion Control Tdcbase =Tdcmin ≤ TDC ≤ TdcmaxTDC TCAValid and TDC ≧ TIOOutput Parallel operation of communication interfaces for CU320 Assignment of communication interfaces to cyclic interfacesPlugged hardware interface FeatureProperties of the cyclic interfaces IF1 and IF2 Parameters Additional parameters for IF2P8839 PZD Interface hardware assignmentAlarm A8550 PZD interface hardware assignment incorrectApplications 11.3 Motor changeover Example motor switchover for four motorsMotor changeover Parameter Settings Remark Applications Motor changeoverExample of a star/delta switchover Procedure for switching over the motor data setPreconditions ApplicationsProcedure for star/delta switchover Parameter Settings CommentsIntegration Applications Application examples with the DMC20 Application examples with the DMC20Example, distributed topology Example, hot plugging Applications 11.4 Application examples with the DMC20Instructions for offline commissioning with Starter 6LQJOHApplications 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 controlDescription Drive Functions Parameter categories ParameterParameter types Basic information about the drive system 12.1 Parameter 7HUPLQDO0RGXOH2SWLRQ%RDUG QihhgResetting parameters Access levelAccess 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 EDS Encoder Data Set EDS Encoder Data SetSupplementary conditions and recommendations MDS Motor Data Set MDS Motor Data SetCopying a command data set Examples for a data set assignmentCopying a drive data set Motor Encoder P0186 P0187 P0188 P0189Copying the motor data set Drive objects Basic information about the drive system 12.3 Drive objectsConfiguring drive objects Overview of drive objectsBinectors, 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 NotationExample 1 Interconnection of digital signals Sample interconnectionsExample 2 Connection of OFF3 to several drives 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHUConnector-binector converter Bico technologyBico interconnections to other drives Copying drivesFixed values for interconnection using Bico technology Signals for the analog outputsSignal Parameter Unit Normalization 100 % = ScalingInputs/outputs Overview of inputs/outputsChanging scaling parameters p2000 to p2007 Component Digital Analog InputsDigital inputs/outputs Digital inputsDigital outputs Basic information about the drive system Inputs/outputsBidirectional digital inputs/outputs Analog inputs ˩VAnalog 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 KeyBOP20 functions Parameters for BOP All drive objectsDrive object, Control Unit Name DescriptionOperating display Displays and using the BOP20Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Parameter display Value display Example Changing a parameterHFLPDOQXPEHU QWHJHUQXPEHUExample 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 OFF1Examples of replacing components Action ReactionAction Reaction Comments Starter PG501 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 topologyRules for wiring with DRIVE-CLiQ Comparison of topologies at Power OnGeneral rules DRIVE-CLiQ rules507 Component Connecting the motor encoder via DRIVE-CLiQ Recommended rulesComponent VSM connection 6LQJOH 0RWRU 0RGXOHRules for different firmware releases Rules for FW2.1Rules for FW2.2 Servo VectorRules for FW2.3 ServoRules 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 frequencies516 Sample wiring Power Modules BlocksizeTopology tree view Comment Changing the offline topology in StarterChassis Sample wiring for servo drives StarterSample wiring for vector U/f drives 30 Sample servo topologyNumber of controllable drives 31 Sample vector U/f topologyServo control Basic information about the drive systemSystem sampling times Mixed operationSetting the sampling times P0112 P01150 P01151 P01152 P01153 P01154 P01155 P01156525 Rules for setting the sampling time Setting the sampling times using p0115527 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 LicensingEntering the license key Properties of the license keyGenerating a license key via the WEB License Manager Ascii code Letter/number DecimalOverview of key parameters see Sinamics S List Manual Availability of hardware components HW component Order number Version RevisionsAvailability of SW functions Appendix Availability of SW functionsSW function HW componentSW 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 TM54F540 German meaning English meaning List of abbreviationsAppendix List of abbreviations FAQ CSMDAC DCBAppendix LED LINLSB LSSPelv PEMPID PLLSIL SLISLM SLPVDE VDIVSM WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG