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

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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 TrademarksUsage phase Document/tool Usage phases and their tools/documents as an exampleSinamics documentation Search guides Target groupBenefits ForewordAsian and Australian time zones Technical SupportEuropean and African time zones America time zoneInternet address for Sinamics EC Declaration of Conformity Notation for faults and alarms examplesQuestions on the manual NotationESD Notes Safety instructions Foreword Page Contents Contents 18.3 18.2158 159219 289 282288 11.5451 11.4.2 46011.4.1 11.4.3535 553Introduction FeaturesActive Infeed GeneralInfeed Active Infeed Schematic structureActive Infeed closed-loop control Booksize Supply voltage p0210 380-400 401-415 416-440 460 480Commissioning Infeed 1.1 Active InfeedActive Infeed closed-loop control Chassis KdvvlvIntegration Function diagrams see Sinamics S List ManualOverview of key parameters see Sinamics S List Manual Line and DC link identification Identification methodsAcknowledge error Active Infeed open-loop controlSwitching on the Active Line Module Switching off the Active Line Module370 Control and status messagesBinector input Display of internal Internal status Parameter PROFIdrive telegram WordHarmonics controller Example setting the harmonics controllerReactive current control Index P3624 harmonics controller order P3625 scalingOverview key parameters Smart InfeedSmart Infeed closed-loop control 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 7HPSHUDWXUH UDNLQJUHVLVWRUFunction 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 wordCommissioning 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 chassisFunctional 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 0DLQVExtended setpoint channel Setpoint sources DescriptionProperties of the extended setpoint channel Extended setpoint channel 2.2 Description6LJQDO JogExtended setpoint channel 2.3 Jog 7RWDOVHWSRLQW HIIHFWLYHUFunction chart jog 1 and jog Jog propertiesJog sequence 32521Parameterization with Starter Display parameters Fixed speed setpointsProperties Extended setpoint channel 2.4 Fixed speed setpointsMotorized potentiometer Properties for manual mode p1041 =Properties for automatic mode p1041 = Extended setpoint channel 2.5 Motorized potentiometerOverview of key parameters see Sinamics S List Manual 6XSSOHPHQWDU\VHWSRLQW Main/supplementary setpoint and setpoint modification6FDOLQJPDLQVHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits Edqgzlgwkv 0LQSuppression 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 2XWSXWRI12 Starter icon for ramp function generator Speed controller LimitsSpeed setpoint filter Servo control Speed setpoint filterServo control 3.3 Speed controller adaptation Speed controller adaptationParameterization \QDPLFUHVSRQVHExample of speed-dependent adaptation Servo control Speed controller adaptationSpeed-dependent Kpn/Tnn adaptation Commissioning of torque control modeTorque-controlled operation 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 Variants of torque limitation Fixed and variable torque limit settingsSelection Torque limitation mode Servo controlExamples Example Torque limits with or without offsetActivating the torque limits 0BRIIVHW Current controller Servo control 3.6 Current controllerCurrent controller adaptation Closed-loop current controlCurrent and torque limitation Flux controller for induction motorDisplay parameters Current setpoint filter Servo control Current setpoint filterIQBQ Transfer functionServo control 3.7 Current setpoint filter IQBBand-stop with infinite notch depth Phase frequency curveStarter filter parameters 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 Prerequisites for V/f control Servo control 3.9 V/f control for diagnosticsStructure of V/f control Commissioning V/f controlCharacteristic Servo control V/f control for diagnosticsOptimizing the current controller Optimizing the current and speed controllerGeneral information Optimizing the speed controllerParameter overview Sensorless operation without an encoderExample of speed setpoint step change 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 identificationServo control 3.12 Motor data identification Motor dataType plate data Induction motor Permanent-magnet synchronous motorInduction motor Motor data identification induction motorParameters to control the MotID Rotating measurementDetermined 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 identificationServo control 3.13 Pole position identification Pole position determination with zero marks Suitable zero marks areSRVVLEOH 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 Idloxuh9GFBPD Description of Vdcmin control without braking p1240 = 8Description of Vdcmax control p1240 = 1 QdfwDescription of Vdcmax control without acceleration p1240 = 7 Dynamic Servo Control DSC Servo control Dynamic Servo Control DSCDeactivating 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 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 SlvcORVHGORRS Vector control 4.1 Sensorless vector control Slvc6WDUW 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 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 6SHHGReference model 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXHFor reference model DroopVector control 4.6 Droop 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 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 restart155 Synchronization Vector control SynchronizationPrerequisite Simulation operationDescription Vector control 4.18 Simulation operationVector control Redundance operation power units Redundance operation power unitsFeatures CommissioningPrerequisites BypassVector control 4.20 Bypass Bypass with synchronization with overlap p1260 = Commissioning the bypass function1HWZRUN RQYHUWHUZLWK9ROWDJH ExampleParameter Description 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 ZRUNLQJSRLQWRI Introduction1RPLQDO PrwruFCC Vector V/f control r0108.2 = IntroductionMeaning RDGApplication / property Voltage boostVector V/f control r0108.2 = 0 5.2 Voltage boost 3HUPDQHQWYROWDJHERRVWIOLQHDU Permanent voltage boost p1310Voltage boost at acceleration p1311 IQVoltage boost Vector V/f control r0108.2 =Dfwlyh VHW 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 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/normalizationsScaling 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 functionsBasic 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, infeedP1210 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 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 parametersCommissioning via Starter Simple brake controlBasic functions Simple brake control Function chart simple brake control Basic functions 6.11 Simple brake controlSimple brake control r0108.14 = Relative system runtime Runtime operating hours counterTotal system runtime Actual motor operating hoursParking an axis Parking axis and parking sensorParking a sensor Basic functions Parking axis and parking sensorExample parking sensor Example parking axis and parking sensorExample parking axis Basic functions 6.13 Parking axis and parking sensorFunction chart parking sensor Overview key parametersTerminology Position trackingGeneral Information 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 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 firmwareUpgrading firmware and the project in Starter Upgrade the projectBasic functions Updating the firmware Function modules Definition and commissioning Commissioning via parameter only with BOP20Technology controller Function modules Technology controllerFill level control Commissioning with StarterExamples Function modules 7.2 Technology controllerParameter Designation Example 7HFBFWU.S 7HFBFWU7QMotorized potentiometer Closed-loop controlFunction modules Extended monitoring functions Extended monitoring functionsDescription of load monitoring 7RUTXH1P@Speed setpoint monitoring Function modules 7.3 Extended monitoring functionsExtended brake control Function modules Extended brake controlOperating brake for crane drives Starting against applied brakeEmergency brake Function modules 7.4 Extended brake controlExample, operating brake for a crane drive Release/apply brake Configuration, control/status wordsStandstill zero-speed monitoring Free modulesSignal name Parameters Signal name Binector inputControl and status messages for extended brake control Function modules 7.5 Braking Module Braking ModuleBraking Module function module RQWURO8QLWAcknowledgement of faults Fast DC link discharge booksizeCooling 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 identificationPosition actual value conditioning General featuresClosed-loop position control 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 6HWSRLQWDPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO DPVZLWFKLQJSRVLWLRQ 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/decelerationJerk limitation Stop cam$FFHOHUDWLRQ Vshhg 7LPH 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 Traversing command active r2684.15 Status signalsTracking mode active r2683.0 Setpoint static r2683.2Direct 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 r2683.1Function blocks Calculation of the moment of inertia for torque pre-control Dn/dtP03410...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 eff287 Parallel connection of chassis power units vector RQWURO8QLW Application examplesLQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH 0RWRU0RGXOH L4Protection against Precautions Responses Power unit protection, generalOFF2 Thermal monitoring and overload responses Block protection Monitoring and protective functions 8.3 Block protectionStall protection only for vector control Block protectionThermal motor protection 0RWRUVWDOOHGFunction diagrams for thermal motor protection Temperature measurement via KTYTemperature measurement via PTC Sensor monitoring for cable breakage / short-circuitParameters for thermal motor protection Page Explanations, standards, and terminology Safety IntegratedGeneral information 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 parametersChecking the checksum Safety Integrated versionsFrom FW2.5 the following applies Password Parameter overview for password see Sinamics S List ManualForced 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 OffResponse time with the Safe Torque Off function Status for Safe Torque OffParameter overview see List Manual Examples, BooksizeSafe Stop 1 SS1, time controlled Functional features of Safe StopRelease of the SS1 function Safe Brake Control SBC Status for Safe StopEnabling 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 pathTerminals for STO, SS1 time-controlled, SBC Grouping drives not for CU310Example 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 releaseProcedure 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 timeStop a Adjust specified checksumsSet the new Safety password PathsSafety faults Stop responseStop response Action Effect Triggered Acknowledging the safety faultsStop F General information about acceptance Description of faults and alarmsAcceptance test and certificate Acceptance testFunctional test DocumentationScope of a complete acceptance test Documentation 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 Acceptance test for Safe Stop 1, time controlled SS1 Safe Stop 1 function SS1, time-controlledSafe Brake Control function SBC Acceptance test for Safe Brake Control SBCAcceptance test and certificate 332 SI parameters Data backupCompletion of certificate ChecksumsApplication examples Safety Integrated basic functions 9.9 Application examplesMachine manufacturer Description of functions LQH0RGXOHSafety Integrated basic functions Application examples Behavior for Emergency StopBehavior when the protective door is opened Switching on the drivesDescription 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 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 DSCTelegrams and process data General information Cyclic communicationTelegram Description Class What telegrams are available? Receive process data Telegram interconnectionsDword Telegram structure Structure of the telegramsDrive object Telegrams p0922 Drive object Interface ModeProcedure ValueExample emergency stop with telegram failure SettingsMonitoring telegram failure Description AssumptionDescription of control words and setpoints Name Signal Data typeOverview 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 =1GnSTW encoder n control word Nsolla speed setpoint a 16-bitNsollb speed setpoint B 32-bit Xerr position deviationMDIPos pos MDI position MDIMode pos MDI modeKPC position controller gain factor MDIVel pos MDI velocityOver pos velocity override Torquered torque reductionOverview of status words and actual values Abbreviation Name SignalDescription 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 MTnZSF/MTnZSS ESTW1 status word for InfeedPosZSW AktSatz Example of encoder interface XistPControl and status words for encoder Description Encoder n control word GnCTW, n = 1, 2Signal status, description BitSignal status, description Example 1 Find reference markExample 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 IORUIO\LQJ 3DUNHGHQFRGHUQFRGHUHUURU 7UDQVPLWF\FOLFEncoder 2 actual position value 1 G2XACT1 Error code in GnXIST2Encoder 2 status word G2STW Encoder 2 actual position value 2 G2XACT2Visualization parameters drive Encoder 3 actual position value 1 G3XACT1Encoder 3 actual position value 2 G3XACT2 Central control and status words DescriptionCustw control word for Control Unit, CU Receive signalsTransmit signals 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 RQWUROZLWK Structure of the data cycle6SHHG \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 values in DPV1 parameter responses Error Meaning Comment Additional Value Info397 398 Example 1 read parameters Prerequisites Basic procedureDetermining the drive object numbers Task descriptionActivity Information about the parameter requestInformation about the parameter response Version QBVHWBParameter address .. th parameter address Parameter value .. th parameter value General information about Profibus Features Master SlaveCommunication via Profibus DP 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 identification Device master fileCommissioning for VIK-NAMUR Bus terminating resistor and shieldingCommissioning steps example with Simatic S7 Diagnosis optionsField Value Simatic HMI addressingPro Tool and WinCC flexible DBB, DBW, DBD27 Monitoring telegram failure Example emergency stop with telegram failure Assumption SettingsMotion Control with Profibus 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 Prerequisites and limitations SubscriberLinks and taps ApplicationsSetpoint assignment in the subscriber Setpoints Example, setpoint assignmentActivation in the Publisher Configuring telegram ChkCfgActivating/parameterizing slave-to-slave communications Activation in the Subscriber3XEOLVKHU3DGGUHVV +HDGHU9HUVLRQLGHQWLILHU 1XPEHURIOLQNV ,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 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 IRTIP address assignment Addresses Definition MAC addressIP address Device nameReplacing Control Unit CU320 IO Device Default routerData transfer Features Definition Sub-network maskSequence of drive objects in the data transfer Hardware setupNew device ID for Profinet from FW2.5 SP1 Telegrams ReferencesClock generation DCP flashingConnecting the supervisor Routing with CBE20IRTflex RT classesRT classes for Profinet IO Description IRTtopNot isochronous Set RT classProfinet IO with RT Data exchangeProfinet 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 ProfinetTdcmin ≤ TDC ≤ Designations and descriptions for Motion ControlTdcbase = TdcmaxTDC TCAValid and TDC ≧ TIOOutput Parallel operation of communication interfaces for CU320 Assignment of communication interfaces to cyclic interfacesProperties of the cyclic interfaces IF1 and IF2 FeaturePlugged hardware interface P8839 ParametersAdditional parameters for IF2 PZD Interface hardware assignmentAlarm A8550 PZD interface hardware assignment incorrectMotor changeover Example motor switchover for four motorsApplications 11.3 Motor changeover Parameter Settings Remark Applications Motor changeoverPreconditions Example of a star/delta switchoverProcedure for switching over the motor data set ApplicationsProcedure for star/delta switchover Parameter Settings CommentsIntegration Example, distributed topology Application examples with the DMC20Applications Application examples with the DMC20 Example, hot plugging Applications 11.4 Application examples with the DMC20Instructions for offline commissioning with Starter 6LQJOHOverview 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 controlDescription Drive Functions Parameter types ParameterParameter categories 2SWLRQ%RDUG Basic information about the drive system 12.1 Parameter7HUPLQDO0RGXOH QihhgAccess level Resetting parametersAccess level Saving parameters in a non-volatile memoryData sets CDS Command Data SetCDS Command Data Set 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 SetCopying a drive data set Copying a command data setExamples for a data set assignment 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, 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 NotationExample 2 Connection of OFF3 to several drives Example 1 Interconnection of digital signalsSample interconnections 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHUBico interconnections to other drives Connector-binector converterBico technology Copying drivesSignal Parameter Unit Normalization 100 % = Fixed values for interconnection using Bico technologySignals for the analog outputs ScalingChanging scaling parameters p2000 to p2007 Inputs/outputsOverview of inputs/outputs Component Digital Analog InputsDigital inputs/outputs Digital inputsDigital outputs Basic information about the drive system Inputs/outputsBidirectional digital inputs/outputs Analog inputs ˩VAnalog 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 KeyDrive object, Control Unit BOP20 functionsParameters for BOP All drive objects Name DescriptionOther drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Displays and using the BOP20Operating display Parameter display HFLPDOQXPEHU Value displayExample Changing a parameter QWHJHUQXPEHUExample 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 OFF1Examples of replacing components Action ReactionAction Reaction Comments Starter PG501 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 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 FW2.2 Rules for different firmware releasesRules for FW2.1 Servo VectorRules for FW2.3 ServoRules 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 frequencies516 Sample wiring Power Modules BlocksizeChassis Changing the offline topology in StarterTopology tree view Comment 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 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 LicensingGenerating a license key via the WEB License Manager Properties of the license keyEntering the license key Ascii code Letter/number DecimalOverview of key parameters see Sinamics S List Manual Availability of hardware components HW component Order number Version RevisionsSW function Availability of SW functionsAppendix Availability of SW functions HW componentSW 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 TM54F540 Appendix List of abbreviations List of abbreviationsGerman meaning English meaning DAC FAQCSM DCBAppendix LSB LEDLIN LSSPID PelvPEM PLLSLM SILSLI SLPVSM VDEVDI WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG