Dynamic Servo Control DSC | Efficient Networks S120 instruction

Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive

Application class 4 (central motion control)

This application class defines a speed setpoint interface with execution of the speed control on the drive and of the positioning control in the controller, such as is required for robotics and machine tool applications with coordinated motions on multiple drives.

Motion control is primarily implemented by means of a central numerical controller (CNC). The position control loop is closed via the bus. The synchronization of the position control cycles in the control and in the closed-loop controllers in the drive requires a clock synchronization of the kind that is provided by PROFIBUS DP and PROFINET IO with IRT.

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Figure 10-4 Application class 4

Dynamic Servo Control (DSC)

The PFOFIdrive profile contains the "Dynamic Servo Control" control concept. This can be used to significantly increase the dynamic stability of the position control loop in application class 4 with simple means.

For this purpose, the deadtime that is typical for a speed setpoint interface is minimized by an additional measure (see also chapter "Dynamic Servo Control").

Selection of telegrams as a function of the application class

The telegrams listed in the table below (see also chapter "Telegrams and process data") can be used in the following application classes:

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

Image 346

Efficient Networks S120 manual Application class 4 central motion control, Dynamic Servo Control DSC

Contents

Sinamics Page FH1, 07/2007 Function ManualApplications Basic information about Drive system Appendix Prescribed Usage Safety GuidelinesQualified Personnel Trademarks Usage phase Document/tool Usage phases and their tools/documents as an exampleSinamics documentation Search guides Target groupBenefits Foreword Asian and Australian time zones Technical SupportEuropean and African time zones America time zone Internet address for Sinamics EC Declaration of Conformity Notation for faults and alarms examplesQuestions on the manual Notation ESD Notes Safety instructions Foreword Page Contents Contents 18.3 18.2158 159 219 289 282288 11.5 451 11.4.2 46011.4.1 11.4.3 535 553 Introduction FeaturesActive Infeed General Infeed Active Infeed Schematic structureActive Infeed closed-loop control Booksize Supply voltage p0210 380-400 401-415 416-440 460 480 Commissioning Infeed 1.1 Active Infeed Active Infeed closed-loop control Chassis Kdvvlv Integration Function diagrams see Sinamics S List ManualOverview 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 370 Control and status messagesBinector input Display of internal Internal status Parameter PROFIdrive telegram Word Harmonics controller Example setting the harmonics controllerReactive current control Index P3624 harmonics controller order P3625 scaling Overview key parameters Smart InfeedSmart Infeed closed-loop control 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 Binector input Switching off the Smart Line ModuleControl word Basic Infeed open-loop control Basic InfeedInfeed Basic Infeed 7HPSHUDWXUH UDNLQJUHVLVWRU Function diagrams see Sinamics S List Manual Switching off the Basic Line Module Switching on the Basic Line Module3XOVHVDQGFRQWUROOHUV Control word 370 Line contactor controlInfeed Line contactor control Internal status word Commissioning steps Example of commissioning line contactor control AssumptionInfeed 1.4 Line contactor control Pre-charging and bypass contactor chassis Procedure during power ON/OFF Power onPower OFF Infeed Pre-charging and bypass contactor chassis Functional principle Derating function for chassis unitsInfeed 1.6 Derating function for chassis units SXOVHLQIHHG Pulse parallel infeeds two-winding transformerPulse parallel infeeds three-winding transformer 0DLQV Extended setpoint channel Setpoint sources DescriptionProperties of the extended setpoint channel Extended setpoint channel 2.2 Description 6LJQDO JogExtended setpoint channel 2.3 Jog 7RWDOVHWSRLQW HIIHFWLYHU Function chart jog 1 and jog Jog properties Jog sequence 32521 Parameterization with Starter Display parameters Fixed speed setpointsProperties Extended setpoint channel 2.4 Fixed speed setpoints Motorized potentiometer Properties for manual mode p1041 =Properties for automatic mode p1041 = Extended setpoint channel 2.5 Motorized potentiometer Overview of key parameters see Sinamics S List Manual 6XSSOHPHQWDU\VHWSRLQW Main/supplementary setpoint and setpoint modification6FDOLQJPDLQVHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits Edqgzlgwkv 0LQ Suppression 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 With ramp function generator tracking Signal overview see Sinamics S List ManualWithout 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 Servo control 3.3 Speed controller adaptation Speed controller adaptationParameterization \QDPLFUHVSRQVH Example of speed-dependent adaptation Servo control Speed controller adaptation Speed-dependent Kpn/Tnn adaptation Commissioning of torque control modeTorque-controlled operation 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 Variants of torque limitation Fixed and variable torque limit settingsSelection Torque limitation mode Servo control Examples Example Torque limits with or without offsetActivating the torque limits 0BRIIVHW Current controller Servo control 3.6 Current controller Current controller adaptation Closed-loop current controlCurrent and torque limitation Flux controller for induction motor Display parameters Current setpoint filter Servo control Current setpoint filter IQBQ Transfer functionServo control 3.7 Current setpoint filter IQB Band-stop with infinite notch depth Phase frequency curveStarter 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 Prerequisites for V/f control Servo control 3.9 V/f control for diagnosticsStructure of V/f control Commissioning V/f control Characteristic Servo control V/f control for diagnostics Optimizing the current controller Optimizing the current and speed controllerGeneral information Optimizing the speed controller Parameter overview Sensorless operation without an encoderExample of speed setpoint step change 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 Servo control 3.12 Motor data identification Motor dataType plate data Induction motor Permanent-magnet synchronous motor Induction motor Motor data identification induction motorParameters to control the MotID Rotating measurement Determined data gamma Data that are accepted p1910 = Determined data gamma Data that are accepted p1960 = Synchronous motor Motor data identification synchronous motorDetermined data Data that are accepted p1910 = 0RWRU0RGXOH Deoh Determined data Data that are accepted p1960 = Rotating measurement Pole position identificationStandstill measurement Servo control Pole position identification Servo control 3.13 Pole position identification Pole position determination with zero marks Suitable zero marks are SRVVLEOH Overview of key parametersPXVWEHXVHG Angular commutation offset commissioning support p1990 Vdc controlServo control 3.14 Vdc control Qvhws Description of Vdcmin control p1240 = 23RZHUIDLOXUH 3RZHUUHVWRUH Idloxuh 9GFBPD Description of Vdcmin control without braking p1240 = 8Description of Vdcmax control p1240 = 1 Qdfw Description of Vdcmax control without acceleration p1240 = 7 Dynamic Servo Control DSC Servo control Dynamic Servo Control DSC Deactivating ActivatingServo control 3.15 Dynamic Servo Control DSC Speed setpoint filter DiagnosticsExternal encoder systems except motor encoder Application examples SignalsTravel to fixed stop 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 ORVHGORRS Vector control 4.1 Sensorless vector control Slvc6WDUW 2SHQORRS Benefits 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 Vector control Speed controller adaptation 9HFWRU $GDSWLYHFRQWUROUDQJH SBQRQVWDQWXSSHUVSHHGUDQJH Speed-dependent Kpn/Tnn adaptation VC only Speed controller pre-control and reference modelDynamic response reduction field weakening Slvc only Urrs Lqmhfwlrq 6SHHG Reference model 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH For reference model DroopVector 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 Vector control 4.13 Efficiency optimization Efficiency optimizationLtvhws Induction motors, rotating Instructions for commissioning induction motors ASMParameter Description Remark Supplementary conditions 0RWRU Permanent-magnet synchronous motors, rotating0RWRU0RGXOH Deoh ˭ ຘ Description Remark ˭ ຘ N7 QRP 151 Encoder adjustment using a zero mark Automatic encoder adjustmentIntegration Pole position identification Flying restart Vector control 4.16 Flying restart 155 Synchronization Vector control Synchronization Prerequisite Simulation operationDescription Vector control 4.18 Simulation operation Vector control Redundance operation power units Redundance operation power unitsFeatures Commissioning Prerequisites BypassVector control 4.20 Bypass Bypass with synchronization with overlap p1260 = Commissioning the bypass function 1HWZRUN RQYHUWHUZLWK9ROWDJH ExampleParameter Description 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 ZRUNLQJSRLQWRI Introduction1RPLQDO Prwru FCC Vector V/f control r0108.2 = IntroductionMeaning RDG Application / property Voltage boostVector V/f control r0108.2 = 0 5.2 Voltage boost 3HUPDQHQWYROWDJHERRVW IOLQHDU Permanent voltage boost p1310Voltage boost at acceleration p1311 IQ Voltage boost Vector V/f control r0108.2 =Dfwlyh 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 Restrictions Changing over unitsGroups of units Function in Starter Reference parameters/normalizationsBasic functions Reference parameters/normalizations Scaling for vector object Using Starter offlineSize Scaling parameter Default at initial commissioning Basic functions 6.2 Reference parameters/normalizations Scaling for object AInf Scaling for servo objectScaling for object BInf Example of a sub-topology Modular machine conceptOverview of important parameters refer to the List Manual Basic functions Basic functions Modular machine concept 3DUWLDO 7RSRORJ\ Usage 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 Automatic restart vector, servo, infeed Basic functions Automatic restart vector, servo, infeed P1210 Mode Meaning Automatic restart modeStarting 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 Commissioning via Starter Simple brake controlBasic functions Simple brake control Function chart simple brake control Basic functions 6.11 Simple brake control Simple brake control r0108.14 = Relative system runtime Runtime operating hours counterTotal system runtime Actual motor operating hours Parking an axis Parking axis and parking sensorParking a sensor Basic functions Parking axis and parking sensor Example parking sensor Example parking axis and parking sensorExample parking axis Basic functions 6.13 Parking axis and parking sensor Function chart parking sensor Overview key parameters Terminology Position trackingGeneral Information Basic functions 6.14 Position tracking Measuring gear Features Measuring gear characteristicsBasic functions Position tracking 3RVLWLRQ 0RWRU Ryhuiorz2IIVHWIRUHQFRGHURYHUIORZ Virtual multiturn encoder p0412 Measuring gearbox configuration p0411Qfrghu 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 Upgrading firmware and the project in Starter Upgrade the projectBasic functions Updating the firmware Function modules Definition and commissioning Commissioning via parameter only with BOP20 Technology controller Function modules Technology controller Fill level control Commissioning with StarterExamples Function modules 7.2 Technology controller Parameter Designation Example 7HFBFWU.S 7HFBFWU7Q Motorized potentiometer Closed-loop control Function modules Extended monitoring functions Extended monitoring functionsDescription of load monitoring 7RUTXH1P@ Speed setpoint monitoring Function modules 7.3 Extended monitoring functions Extended brake control Function modules Extended brake control Operating brake for crane drives Starting against applied brakeEmergency brake Function modules 7.4 Extended brake control Example, operating brake for a crane drive Release/apply brake Configuration, control/status wordsStandstill zero-speed monitoring Free modules Signal name Parameters Signal name Binector inputControl and status messages for extended brake control Function modules 7.5 Braking Module Braking ModuleBraking Module function module RQWURO8QLW Acknowledgement of faults Fast DC link discharge booksize Cooling system function module Cooling systemFunction modules 7.6 Cooling system 234 Extended torque control kT estimator, Servo Description of the kT estimator Motor/drive converter identification Position actual value conditioning General featuresClosed-loop position control 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 Jerk limitation Stop cam$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 Traversing command active r2684.15 Status signalsTracking mode active r2683.0 Setpoint static r2683.2 Direct output 1 r2683.10 Direct output 2 r2683.11 Following error in tolerance r2684.8Target position reached r2684.10 Acknowledgement, traversing block activated r2684.12 DCC axial winderReference point set r2684.11 Velocity limiting active r2683.1 Function blocks Calculation of the moment of inertia for torque pre-control Dn/dt P03410...n Motor moment of inertia / MotID Mmom inert Parameters for the function diagrams for torque pre-controlR1493 Moment of inertia, total R1538 Upper effective torque limit / Mmax upper eff Parameters of the function diagram for torque limitationP14970...n CI Moment of inertia, scaling / Mmom inert scal R1539 Lower effective torque limit / Mmax lower eff 287 Parallel connection of chassis power units vector RQWURO8QLW Application examplesLQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH 0RWRU0RGXOH L4 Protection against Precautions Responses Power unit protection, generalOFF2 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 Function diagrams for thermal motor protection Temperature measurement via KTYTemperature measurement via PTC Sensor monitoring for cable breakage / short-circuit Parameters for thermal motor protection Page Explanations, standards, and terminology Safety IntegratedGeneral information 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 Checking the checksum Safety Integrated versionsFrom FW2.5 the following applies Password Parameter overview for password see Sinamics S List Manual Forced 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 Enabling the Safe Torque Off STO function Selecting/deselecting Safe Torque Off Response time with the Safe Torque Off function Status for Safe Torque OffParameter overview see List Manual Examples, Booksize Safe Stop 1 SS1, time controlled Functional features of Safe StopRelease of the SS1 function Safe Brake Control SBC Status for Safe Stop Enabling the Safe Brake Control SBC function Functional features of Safe Brake Control SBCTwo-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 Commissioning the STO, SBC and SS1 functions General information about commissioning safety functionsCommissioning notes Power on Prerequisites for commissioning the safety functionsStandard commissioning of the safety functions Replacing Motor Modules with the current FW release Procedure for commissioning STO, SBC and SS1 Set terminals for Safe torque off STO Safety Integrated basic functionsParameter Description/comments Enable Safe Stop 1 function Set F-DI changeover tolerance time Stop a Adjust specified checksumsSet the new Safety password Paths Safety faults Stop response Stop response Action Effect Triggered Acknowledging the safety faultsStop F General information about acceptance Description of faults and alarmsAcceptance test and certificate Acceptance test Functional test DocumentationScope of a complete acceptance test Documentation Completion of certificate Drive number FW version SI version Drive number SI function Safe Torque Off STO function Acceptance test for Safe Torque Off STODescription Status Acceptance test for Safe Stop 1, time controlled SS1 Safe Stop 1 function SS1, time-controlled Safe Brake Control function SBC Acceptance test for Safe Brake Control SBCAcceptance test and certificate 332 SI parameters Data backupCompletion of certificate Checksums Application examples Safety Integrated basic functions 9.9 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 Description of the parameters Overview of parameters and function diagramsNo. of Motor Name Changeable to Module MM 339 Page General information about PROFIdrive for Sinamics Features Controller, Supervisor Drive UnitCommunications according to PROFIdrive 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 Telegrams and process data General information Cyclic communicationTelegram Description Class What telegrams are available? Receive process data Telegram interconnectionsDword Telegram structure Structure of the telegrams Drive object Telegrams p0922 Drive object Interface ModeProcedure Value Example emergency stop with telegram failure SettingsMonitoring telegram failure Description Assumption Description of control words and setpoints Name Signal Data typeOverview 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 GnSTW encoder n control word Nsolla speed setpoint a 16-bitNsollb speed setpoint B 32-bit Xerr position deviation MDIPos pos MDI position MDIMode pos MDI modeKPC position controller gain factor MDIVel pos MDI velocity Over pos velocity override Torquered torque reduction Overview of status words and actual values Abbreviation Name SignalDescription of status words and actual values Comment STW1 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 MTnZSF/MTnZSS ESTW1 status word for Infeed PosZSW AktSatz Example of encoder interface XistPControl and status words for encoder Description 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 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 2 G1XACT2 Bit Name Signal status, descriptionEncoder 1 actual position value 1 G1XACT1 Communication Profibus DP/PROFINET IO RUIO\LQJ 3DUNHGHQFRGHUQFRGHUHUURU 7UDQVPLWF\FOLF Encoder 2 actual position value 1 G2XACT1 Error code in GnXIST2Encoder 2 status word G2STW Encoder 2 actual position value 2 G2XACT2 Visualization parameters drive Encoder 3 actual position value 1 G3XACT1Encoder 3 actual position value 2 G3XACT2 Central control and status words Description Custw control word for Control Unit, CU Receive signalsTransmit signals 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 RQWUROZLWK Structure of the data cycle6SHHG \FOH General 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 values in DPV1 parameter responses Error Meaning Comment Additional Value Info 397 398 Example 1 read parameters Prerequisites Basic procedureDetermining the drive object numbers 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 General information about Profibus Features Master SlaveCommunication via Profibus DP 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 identification Device master fileCommissioning for VIK-NAMUR Bus terminating resistor and shielding Commissioning steps example with Simatic S7 Diagnosis options Field Value Simatic HMI addressingPro Tool and WinCC flexible DBB, DBW, DBD 27 Monitoring telegram failure Example emergency stop with telegram failure Assumption SettingsMotion Control with Profibus Sequence Designations 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 Prerequisites and limitations SubscriberLinks and taps Applications Setpoint assignment in the subscriber Setpoints Example, setpoint assignment Activation in the Publisher Configuring telegram ChkCfgActivating/parameterizing slave-to-slave communications Activation in the Subscriber 3XEOLVKHU3DGGUHVV +HDGHU9HUVLRQLGHQWLILHU 1XPEHURIOLQNV ,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 OFF1 None OFF2 OFF3 NoneImmediately General information about Profinet IO Communications via Profinet IOGeneral information about Profinet IO for Sinamics Definition Real Time RT and determinism Definition Isochronous real time communication IRT IP address assignment Addresses Definition MAC addressIP address Device name Replacing Control Unit CU320 IO Device Default routerData transfer Features Definition Sub-network mask Sequence of drive objects in the data transfer Hardware setupNew device ID for Profinet from FW2.5 SP1 Telegrams ReferencesClock generation DCP flashing Connecting the supervisor Routing with CBE20 IRTflex RT classesRT classes for Profinet IO Description IRTtop Not isochronous Set RT classProfinet IO with RT Data exchange Profinet IO with IRT Overview Refresh timeSync domain Send clock/refresh time Profinet IO with IRTtopTime-scheduled data transmission Motion Control with Profinet Motion Control/Isochronous drive link with Profinet Tdcmin ≤ TDC ≤ Designations and descriptions for Motion ControlTdcbase = Tdcmax TDC TCAValid and TDC ≧ TIOOutput Parallel operation of communication interfaces for CU320 Assignment of communication interfaces to cyclic interfaces Properties of the cyclic interfaces IF1 and IF2 FeaturePlugged hardware interface P8839 ParametersAdditional parameters for IF2 PZD Interface hardware assignment Alarm A8550 PZD interface hardware assignment incorrect Motor changeover Example motor switchover for four motorsApplications 11.3 Motor changeover Parameter Settings Remark Applications Motor changeover Preconditions Example of a star/delta switchoverProcedure for switching over the motor data set Applications Procedure for star/delta switchover Parameter Settings Comments Integration Example, distributed topology Application examples with the DMC20Applications Application examples with the DMC20 Example, hot plugging Applications 11.4 Application examples with the DMC20 Instructions for offline commissioning with Starter 6LQJOH Overview of key parameters see Sinamics S List Manual Control Units without infeed controlApplications 11.5 Control Units without infeed control DC link line-up with more than one Control Unit Examples interconnecting Infeed readySmart Line Modules without DRIVE-CLiQ 5 kW and 10 kW Applications Control Units without infeed control Description Drive Functions Parameter types ParameterParameter categories 2SWLRQ%RDUG Basic information about the drive system 12.1 Parameter7HUPLQDO0RGXOH Qihhg Access level Resetting parametersAccess level Saving parameters in a non-volatile memory Data sets CDS Command Data SetCDS Command Data Set Basic information about the drive system 12.2 Data sets DDS 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 Set Copying a drive data set Copying a command data setExamples for a data set assignment Motor Encoder P0186 P0187 P0188 P0189 Copying the motor data set Drive objects Basic information about the drive system 12.3 Drive objects Configuring drive objects Overview of drive objects Binectors, 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 Interconnecting signals using Bico technology Notation Example 2 Connection of OFF3 to several drives Example 1 Interconnection of digital signalsSample interconnections 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHU Bico interconnections to other drives Connector-binector converterBico technology Copying drives Signal Parameter Unit Normalization 100 % = Fixed values for interconnection using Bico technologySignals for the analog outputs Scaling Changing scaling parameters p2000 to p2007 Inputs/outputsOverview of inputs/outputs 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 General information about the BOP20 Parameterizing using the BOP20 Basic Operator PanelOverview of displays and keys Display Information on the displaysInformation on the keys Key Drive object, Control Unit BOP20 functionsParameters for BOP All drive objects Name Description Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Displays and using the BOP20Operating display Parameter display HFLPDOQXPEHU Value displayExample Changing a parameter QWHJHUQXPEHU Example Changing binector and connector input parameters 3DUDPHWHUGLVSOD\ Displaying faults Fault and alarm displays1HWIDXOW ULYHQR Iodvklqj Fkdqjh Bit r0019 Name Controlling the drive using the BOP20Displaying alarms On / OFF OFF1 Examples of replacing components Action Reaction Action Reaction Comments Starter PG 501 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 Actual topology DRIVE-CLiQ topologyElectronic rating plate 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 FW2.2 Rules for different firmware releasesRules for FW2.1 Servo Vector Rules for FW2.3 Servo Rules for FW2.4 Rules for FW2.5 SP1 $FWLYH LQH 0RGXOH Sample wiring for vector drives$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 Chassis Changing the offline topology in StarterTopology 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 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 Licensing Basic information about the drive system 12.13 Licensing Generating a license key via the WEB License Manager Properties of the license keyEntering 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 SW function Availability of SW functionsAppendix Availability of SW functions HW component SW function Servo Vector HW component DCC SINAMICS, DCC Simotion SW function Available Servo Vector HW componentServo Vector HW component SW function Available Servo Vector HW component Since FW TM54F 540 Appendix List of abbreviations List of abbreviationsGerman meaning English meaning DAC FAQCSM DCB Appendix LSB LEDLIN LSS PID PelvPEM PLL SLM SILSLI SLP VSM VDEVDI WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG