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Efficient Networks S120 manual 395

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Communication PROFIBUS DP/PROFINET IO 10.1 Communications according to PROFIdrive

Field	Data type		Values	Comment
	Specifies the type of request.
	In the case of a write request, the changes are made in a volatile memory (RAM). A save
	operation is needed in order to transfer the data to the non-volatile memory (p0971, p0977).
Response ID	Unsigned8	0x01		Read request (+)
		0x02		Write request (+)
		0x81		Read request (-)
		0x82		Write request (-)
	Mirrors the request identifier and specifies whether request execution was positive or
	negative.
	Negative means:
	Cannot execute part or all of request.
	The error values are transferred instead of the values for each subresponse.
Drive object	Unsigned8	0x00	... 0xFF	Number
number	Setting for the drive object number with a drive unit with more than one drive object.
	Different drive objects with separate parameter number ranges can be accessed over the
	same DPV1 connection.
No. of parameters	Unsigned8	0x01	... 0x27	No. 1 ... 39
				Limited by DPV1 telegram length
	Defines the number of adjoining areas for the parameter address and/or parameter value
	for multi-parameter requests.
	The number of parameters = 1 for single requests.
Attribute	Unsigned8	0x10		Value
		0x20		Description
		0x30		Text (not implemented)
	Type of parameter element accessed.
No. of elements	Unsigned8	0x00		Special function
		0x01	... 0x75	No. 1 ... 117
				Limited by DPV1 telegram length
	Number of array elements accessed.
Parameter number	Unsigned16	0x0001 ... 0xFFFF		No. 1 ... 65535
	Addresses the parameter accessed.
Subindex	Unsigned16	0x0000 ... 0xFFFF		No. 0 ... 65535
	Addresses the first array element of the parameter to be accessed.
Format	Unsigned8	0x02		Data type integer8
		0x03		Data type integer16
		0x04		Data type integer32
		0x05		Data type unsigned8
		0x06		Data type unsigned16
		0x07		Data type unsigned32
		0x08		Data type floating point
		Other values		See PROFIdrive profile V3.1
		0x40		Zero (without values as a positive
				subresponse to a write request)
				Byte
		0x41		Word
		0x42		Double word
		0x43		Error
		0x44

Drive Functions	395
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4

Image 395

Efficient Networks S120 manual 395

Contents

Sinamics Page Applications Basic information about Drive system Appendix Function ManualFH1, 07/2007 Trademarks Safety GuidelinesQualified Personnel Prescribed UsageSinamics documentation Usage phases and their tools/documents as an exampleUsage phase Document/tool Foreword Target groupBenefits Search guidesAmerica time zone Technical SupportEuropean and African time zones Asian and Australian time zonesNotation Notation for faults and alarms examplesQuestions on the manual Internet address for Sinamics EC Declaration of ConformityESD Notes Safety instructions Foreword Page Contents Contents 159 18.2158 18.3219 11.5 282288 289451 11.4.3 46011.4.1 11.4.2553 535General FeaturesActive Infeed IntroductionSupply voltage p0210 380-400 401-415 416-440 460 480 Schematic structureActive Infeed closed-loop control Booksize Infeed Active InfeedInfeed 1.1 Active Infeed CommissioningKdvvlv Active Infeed closed-loop control ChassisOverview of key parameters see Sinamics S List Manual Function diagrams see Sinamics S List ManualIntegration Identification methods Line and DC link identificationActive Infeed open-loop control Acknowledge errorSwitching off the Active Line Module Switching on the Active Line ModuleInternal status Parameter PROFIdrive telegram Word Control and status messagesBinector input Display of internal 370Index P3624 harmonics controller order P3625 scaling Example setting the harmonics controllerReactive current control Harmonics controllerInfeed Smart Infeed Smart InfeedSmart Infeed closed-loop control Overview key parameters6PDUW/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 UDNLQJUHVLVWRU 7HPSHUDWXUHFunction diagrams see Sinamics S List Manual 3XOVHVDQGFRQWUROOHUV Switching on the Basic Line ModuleSwitching off the Basic Line Module Internal status word Line contactor controlInfeed Line contactor control Control word 370Infeed 1.4 Line contactor control Example of commissioning line contactor control AssumptionCommissioning steps Infeed Pre-charging and bypass contactor chassis Procedure during power ON/OFF Power onPower OFF Pre-charging and bypass contactor chassisInfeed 1.6 Derating function for chassis units Derating function for chassis unitsFunctional principle 0DLQV Pulse parallel infeeds two-winding transformerPulse parallel infeeds three-winding transformer SXOVHLQIHHGExtended setpoint channel Extended setpoint channel 2.2 Description DescriptionProperties of the extended setpoint channel Setpoint sources7RWDOVHWSRLQW HIIHFWLYHU JogExtended setpoint channel 2.3 Jog 6LJQDOJog properties Function chart jog 1 and jog32521 Jog sequenceParameterization with Starter Extended setpoint channel 2.4 Fixed speed setpoints Fixed speed setpointsProperties Display parametersExtended setpoint channel 2.5 Motorized potentiometer Properties for manual mode p1041 =Properties for automatic mode p1041 = Motorized potentiometerOverview of key parameters see Sinamics S List Manual 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Main/supplementary setpoint and setpoint modification6FDOLQJPDLQVHWSRLQW 6XSSOHPHQWDU\VHWSRLQW Suppression bandwidths and setpoint limits 0LQ EdqgzlgwkvExtended 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 LWKRXWWUDFNLQJ 6SHHGVHWSRLQW 2XWSXWRI Signal overview see Sinamics S List ManualWithout ramp function generator tracking With ramp function generator tracking12 Starter icon for ramp function generator Limits Speed controllerServo control Speed setpoint filter Speed setpoint filter\QDPLFUHVSRQVH Speed controller adaptationParameterization Servo control 3.3 Speed controller adaptationServo control Speed controller adaptation Example of speed-dependent adaptationServo control 3.4 Torque-controlled operation Commissioning of torque control modeTorque-controlled operation Speed-dependent Kpn/Tnn adaptationServo control Torque-controlled operation OFF responsesServo control 3.5 Torque setpoint limitation Torque setpoint limitationServo control Torque setpoint limitation Servo control Fixed and variable torque limit settingsSelection Torque limitation mode Variants of torque limitation0BRIIVHW Example Torque limits with or without offsetActivating the torque limits ExamplesServo control 3.6 Current controller Current controllerFlux controller for induction motor Closed-loop current controlCurrent and torque limitation Current controller adaptationDisplay parameters Servo control Current setpoint filter Current setpoint filterIQB Transfer functionServo control 3.7 Current setpoint filter IQBQStarter filter parameters Phase frequency curveBand-stop with infinite notch depth Band-stop with defined reduction Band-stop with defined notch depthTransfer function general 2nd-order filter General low-pass with reductionCurrent setpoint filters V/f control for diagnostics Commissioning V/f control Servo control 3.9 V/f control for diagnosticsStructure of V/f control Prerequisites for V/f controlServo control V/f control for diagnostics CharacteristicOptimizing the speed controller Optimizing the current and speed controllerGeneral information Optimizing the current controllerServo control Sensorless operation without an encoder Sensorless operation without an encoderExample of speed setpoint step change Parameter overviewServo control 3.11 Sensorless operation without an encoder Behavior once pulses have been canceled2SHUZLWKHQFRGHU 2SHQORRSCommissioning/optimization Series reactorServo control Motor data identification Motor data identificationInduction motor Permanent-magnet synchronous motor Motor dataType plate data Servo control 3.12 Motor data identificationRotating measurement Motor data identification induction motorParameters to control the MotID Induction motorDetermined data gamma Data that are accepted p1960 = Determined data gamma Data that are accepted p1910 =Determined data Data that are accepted p1910 = Motor data identification synchronous motorSynchronous motor Determined data Data that are accepted p1960 = 0RWRU0RGXOH DeohServo control Pole position identification Pole position identificationStandstill measurement Rotating measurementServo control 3.13 Pole position identification Suitable zero marks are Pole position determination with zero marksPXVWEHXVHG Overview of key parametersSRVVLEOH Servo control 3.14 Vdc control Vdc controlAngular commutation offset commissioning support p1990 Idloxuh Description of Vdcmin control p1240 = 23RZHUIDLOXUH 3RZHUUHVWRUH QvhwsQdfw Description of Vdcmin control without braking p1240 = 8Description of Vdcmax control p1240 = 1 9GFBPDDescription of Vdcmax control without acceleration p1240 = 7 Servo control Dynamic Servo Control DSC Dynamic Servo Control DSCServo control 3.15 Dynamic Servo Control DSC ActivatingDeactivating External encoder systems except motor encoder DiagnosticsSpeed setpoint filter Servo control 3.16 Travel to fixed stop SignalsTravel to fixed stop Application examplesServo control Travel to fixed stop Commissioning for PROFIdrive telegrams 2 to Signal chartMESSAGEW.1 Signal nameServo control Vertical axes Vertical axesPage Sensorless vector control Slvc Vector controlVector control Sensorless vector control Slvc Switchover conditions for Slvc2SHQORRS Vector control 4.1 Sensorless vector control Slvc6WDUW ORVHGORRSVector 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 9HFWRU Vector control Speed controller adaptationRQVWDQWXSSHUVSHHGUDQJH SBQ$GDSWLYHFRQWUROUDQJH Dynamic response reduction field weakening Slvc only Speed controller pre-control and reference modelSpeed-dependent Kpn/Tnn adaptation VC only 6SHHG Urrs Lqmhfwlrq6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Reference modelVector control 4.6 Droop DroopFor reference model $FWXDOVSHHG PrerequisitesVector control 4.7 Torque control Torque control11 Closed-loop speed/torque control Vector control Torque controlTorque setpoint Vector control Torque limiting Torque limitingDescription Vector control 4.9 Vdc controlProperties 73RZHU Description of Vdcmin control6ZLWFKRQOHYHO Description of Vdcmax controlVector control 4.10 Current setpoint filter Current controller adaptationMotor data identification and rotating measurement Motor identification p1910 Data determined using p1910 Deoh 6HULHV 0RWRU0RGXOH DEOHDQGRotating measurement p1960 Carrying out motor identificationCarrying out the rotating measurement p1960 Motor data identification at standstill Ltvhws Efficiency optimizationVector control 4.13 Efficiency optimization Parameter Description Remark Instructions for commissioning induction motors ASMInduction motors, rotating Supplementary conditions Deoh Permanent-magnet synchronous motors, rotating0RWRU0RGXOH 0RWRUDescription Remark ˭ ຘ˭ ຘ N7 QRP 151 Integration Automatic encoder adjustmentEncoder adjustment using a zero mark Pole position identification Vector control 4.16 Flying restart Flying restart155 Vector control Synchronization SynchronizationVector control 4.18 Simulation operation Simulation operationDescription PrerequisiteCommissioning Redundance operation power unitsFeatures Vector control Redundance operation power unitsVector control 4.20 Bypass BypassPrerequisites Commissioning the bypass function Bypass with synchronization with overlap p1260 =5HDFWRU ExampleParameter Description 1HWZRUN RQYHUWHUZLWK9ROWDJH26 Signal diagram, bypass with synchronization with overlap 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW Bypass with synchronization, without overlap p1260 =Bypass without synchronization p1260 = 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW VLPXOWDQHRXVO\FORVLQJ 1HWZRUN RqyhuwhuSynchronization 167 Page Prwru Introduction1RPLQDO ZRUNLQJSRLQWRIRDG Vector V/f control r0108.2 = IntroductionMeaning FCC3HUPDQHQWYROWDJHERRVW Voltage boostVector V/f control r0108.2 = 0 5.2 Voltage boost Application / propertyIQ Permanent voltage boost p1310Voltage boost at acceleration p1311 IOLQHDUDfwlyh VHW Vector V/f control r0108.2 =Voltage boost Vector V/f control r0108.2 = 0 5.3 Slip compensation Slip compensation9GFBFWUO7Q Vector V/f control r0108.2 = 0 5.4 Vdc controlPLQ Switching Vdcmin control on/off kinetic buffering177 Function diagrams see Sinamics S List Manual Groups of units Changing over unitsRestrictions Basic functions Reference parameters/normalizations Reference parameters/normalizationsFunction in Starter Basic functions 6.2 Reference parameters/normalizations Using Starter offlineSize Scaling parameter Default at initial commissioning Scaling for vector objectScaling for object BInf Scaling for servo objectScaling for object AInf Basic functions Modular machine conceptOverview of important parameters refer to the List Manual Example of a sub-topology3DUWLDO 7RSRORJ\ Basic functions Modular machine conceptBasic 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 Basic functions Automatic restart vector, servo, infeed Automatic restart vector, servo, infeedStarting attempts p1211 and waiting time p1212 Automatic restart modeP1210 Mode Meaning Monitoring time line supply return p1213 191 Internal voltage protection booksize External armature short-circuit braking193 Internal armature short-circuit synchronous motors Internal armature short-circuit braking booksize/DC brakeActivation of DC brake by BI DC brake induction motorsQB6WDUW DC braking as fault response197 Basic functions OFF3 torque limits OFF3 torque limitsCommissioning via parameters Technology function friction characteristicBasic functions Simple brake control Simple brake controlCommissioning via Starter Basic functions 6.11 Simple brake control Function chart simple brake controlSimple brake control r0108.14 = Actual motor operating hours Runtime operating hours counterTotal system runtime Relative system runtimeBasic functions Parking axis and parking sensor Parking axis and parking sensorParking a sensor Parking an axisBasic functions 6.13 Parking axis and parking sensor Example parking axis and parking sensorExample parking axis Example parking sensorOverview key parameters Function chart parking sensorBasic functions 6.14 Position tracking Position trackingGeneral Information TerminologyBasic functions Position tracking Features Measuring gear characteristicsMeasuring gear 2IIVHWIRUHQFRGHURYHUIORZ Ryhuiorz3RVLWLRQ 0RWRU Qfrghu Measuring gearbox configuration p0411Virtual multiturn encoder p0412 Tolerance window p0413 Basic functions Terminal Module 41 TM41 Terminal Module 41 TM41Basic functions 6.15 Terminal Module 41 TM41 General descriptionHardware requirements 14 Block diagram of the incremental encoder emulation6592&21752 Commissioning stepsIncremental encoder emulation using a speed setpoint p4400 = Basic functions 6.16 Updating the firmware Updating the firmwareBasic functions Updating the firmware Upgrade the projectUpgrading firmware and the project in Starter Commissioning via parameter only with BOP20 Function modules Definition and commissioningFunction modules Technology controller Technology controllerFunction modules 7.2 Technology controller Commissioning with StarterExamples Fill level control7HFBFWU.S 7HFBFWU7Q Parameter Designation ExampleClosed-loop control Motorized potentiometer7RUTXH1P@ Extended monitoring functionsDescription of load monitoring Function modules Extended monitoring functionsFunction modules 7.3 Extended monitoring functions Speed setpoint monitoringFunction modules Extended brake control Extended brake controlFunction modules 7.4 Extended brake control Starting against applied brakeEmergency brake Operating brake for crane drivesExample, operating brake for a crane drive Free modules Configuration, control/status wordsStandstill zero-speed monitoring Release/apply brakeControl and status messages for extended brake control Signal name Binector inputSignal name Parameters RQWURO8QLW Braking ModuleBraking Module function module Function modules 7.5 Braking ModuleFast DC link discharge booksize Acknowledgement of faultsFunction modules 7.6 Cooling system Cooling systemCooling system function module 234 Extended torque control kT estimator, Servo Motor/drive converter identification Description of the kT estimatorKT estimator General featuresClosed-loop position control Position actual value conditioningPosition actual value sensing with rotary encoders Function modules Closed-loop position control239 Indexed actual value acquisition Properties Load gear position tracking Features Example of position area extension 10 Position tracking p2721 = Configuration of the load gear p2720Tolerance window p2722 Virtual multiturn encoder p2721Integration Function diagrams see Sinamics S List Manual Position controller 6HWSRLQW Monitoring functionsDPVZLWFKLQJSRVLWLRQ DPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO Measuring probe evaluation and reference mark search Integration Function modules 7.9 Basic positioner Basic positionerFunction modules Basic positioner DFNODVKS Mechanical systemPositive None Negative Immediately P2604 Traversing direction Switch in compensation valueMaximum velocity LimitsMaximum acceleration/deceleration Software limit switches$FFHOHUDWLRQ Vshhg 7LPH Stop camJerk limitation 9HORFLW\ Function diagram overview see Sinamics S List ManualReferencing Set reference point Absolute encoder adjustmentReference point approach for incremental measurement systems 18 Example homing with reference cam Search for reference, travel to reference cam263 Search for reference, Travel to reference point On-the-fly homing265 Instructions for switching data sets EDS5 EDS6 EDS7 Traversing blocksPositioning Fixed Endstop Endlesspos Endlessneg Wait Goto Intermediate stop and reject traversing task 0101, ContinueexternalalarmFixed Stop Waiting Introduction Travel to fixed stopFixed stop reached Fixed stop is not reached CancelVertical axes Integration Function diagram overview see List ManualDirect setpoint input MDI LHGYHORFLW\VHWSRLQW MDI mode with the use of PROFIdrive telegramIntermediate stop and canceling traversing block 7 JogSetpoint static r2683.2 Status signalsTracking mode active r2683.0 Traversing command active r2684.15Target position reached r2684.10 Following error in tolerance r2684.8Direct output 1 r2683.10 Direct output 2 r2683.11 Velocity limiting active r2683.1 DCC axial winderReference point set r2684.11 Acknowledgement, traversing block activated r2684.12Function blocks Dn/dt Calculation of the moment of inertia for torque pre-controlR1493 Moment of inertia, total Parameters for the function diagrams for torque pre-controlP03410...n Motor moment of inertia / MotID Mmom inert R1539 Lower effective torque limit / Mmax lower eff Parameters of the function diagram for torque limitationP14970...n CI Moment of inertia, scaling / Mmom inert scal R1538 Upper effective torque limit / Mmax upper eff287 Parallel connection of chassis power units vector LQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH Application examplesRQWURO8QLW L4 0RWRU0RGXOHOFF2 Power unit protection, generalProtection against Precautions Responses Thermal monitoring and overload responses Monitoring and protective functions 8.3 Block protection Block protectionBlock protection Stall protection only for vector control0RWRUVWDOOHG Thermal motor protectionSensor monitoring for cable breakage / short-circuit Temperature measurement via KTYTemperature measurement via PTC Function diagrams for thermal motor protectionParameters for thermal motor protection Page Standards and Directives Safety IntegratedGeneral information Explanations, standards, and terminologyTwo-channel monitoring structure Safety Integrated basic functions General informationSupported functions Prerequisites for the extended functions Properties of Safety Integrated parameters Parameter, Checksum, Version, PasswordFrom FW2.5 the following applies Safety Integrated versionsChecking the checksum Parameter overview for password see Sinamics S List Manual PasswordForced 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 Selecting/deselecting Safe Torque Off Enabling the Safe Torque Off STO functionExamples, Booksize Status for Safe Torque OffParameter overview see List Manual Response time with the Safe Torque Off functionRelease of the SS1 function Functional features of Safe StopSafe Stop 1 SS1, time controlled Status for Safe Stop Safe Brake Control SBCTwo-channel brake control Functional features of Safe Brake Control SBCEnabling the Safe Brake Control SBC function 5HOD\ Response time with the Safe Brake Control functionSwitch-off signal path Overview of the safety function terminals for Sinamics S120Grouping drives not for CU310 Terminals for STO, SS1 time-controlled, SBCExample Terminal groups Commissioning notes General information about commissioning safety functionsCommissioning the STO, SBC and SS1 functions Replacing Motor Modules with the current FW release Prerequisites for commissioning the safety functionsStandard commissioning of the safety functions Power onProcedure for commissioning STO, SBC and SS1 Set F-DI changeover tolerance time Safety Integrated basic functionsParameter Description/comments Enable Safe Stop 1 function Set terminals for Safe torque off STOPaths Adjust specified checksumsSet the new Safety password Stop aStop response Safety faultsStop F Acknowledging the safety faultsStop response Action Effect Triggered Acceptance test Description of faults and alarmsAcceptance test and certificate General information about acceptanceCompletion of certificate DocumentationScope of a complete acceptance test Documentation Functional testDrive number FW version SI version Drive number SI function Description Status Acceptance test for Safe Torque Off STOSafe Torque Off STO function Safe Stop 1 function SS1, time-controlled Acceptance test for Safe Stop 1, time controlled SS1Acceptance test and certificate Acceptance test for Safe Brake Control SBCSafe Brake Control function SBC 332 Checksums Data backupCompletion of certificate SI parametersMachine manufacturer Safety Integrated basic functions 9.9 Application examplesApplication examples LQH0RGXOH Description of functionsBehavior for Emergency Stop Safety Integrated basic functions Application examplesSwitching on the drives Behavior when the protective door is openedNo. of Motor Name Changeable to Module MM Overview of parameters and function diagramsDescription of the parameters 339 Page Controller, Supervisor, and Drive Unit Features Controller, Supervisor Drive UnitCommunications according to PROFIdrive General information about PROFIdrive for SinamicsInterface IF1 and IF2 Application classesApplication class Application class 1 Standard drive$XWRPDWLRQ 7HFKQRORJ\ Application class 2 Standard drive with technology functionApplication class 3 positioning drive Dynamic Servo Control DSC Application class 4 central motion controlTelegram Description Class Cyclic communicationTelegrams and process data General information What telegrams are available? Dword Telegram interconnectionsReceive process data Structure of the telegrams Telegram structureDrive object Telegrams p0922 Value Interface ModeProcedure Drive objectAssumption SettingsMonitoring telegram failure Description Example emergency stop with telegram failureOverview of control words and setpoints Name Signal Data typeDescription of control words and setpoints Bit Meaning Comments CTW1 control wordSTW1 control word 1, positioning mode, p0108.4 = 357 ECTW1 control word for Infeed CTW2 control word359 PosSTW positioning mode, p0108.4 =1 Satzanw positioning mode, p0108.4 =1Xerr position deviation Nsolla speed setpoint a 16-bitNsollb speed setpoint B 32-bit GnSTW encoder n control wordMDIVel pos MDI velocity MDIMode pos MDI modeKPC position controller gain factor MDIPos pos MDI positionTorquered torque reduction Over pos velocity overrideComment Abbreviation Name SignalDescription of status words and actual values Overview of status words and actual valuesSTW1 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 ESTW1 status word for Infeed MTnZSF/MTnZSSPosZSW AktSatz Encoder n control word GnCTW, n = 1, 2 XistPControl and status words for encoder Description Example of encoder interfaceBit Signal status, descriptionExample 1 Find reference mark Signal status, descriptionExample 2 Flying measurement Encoder n status word GnSTW, n = 1, 2 Encoder 2 control word G2CTWEncoder 3 control word G3CTW Name Signal status, description Communication Profibus DP/PROFINET IO Bit Name Signal status, descriptionEncoder 1 actual position value 1 G1XACT1 Encoder 1 actual position value 2 G1XACT27UDQVPLWF\FOLF 3DUNHGHQFRGHUQFRGHUHUURU RUIO\LQJEncoder 2 actual position value 2 G2XACT2 Error code in GnXIST2Encoder 2 status word G2STW Encoder 2 actual position value 1 G2XACT1Central control and status words Description Encoder 3 actual position value 1 G3XACT1Encoder 3 actual position value 2 G3XACT2 Visualization parameters driveAdigital digital outputs Receive signalsTransmit signals Custw control word for Control Unit, CUCuzsw status word for Control Unit, CU Sync Edigital digital inputsMTnZSF and MTnZSS Features of the central probeMotion Control with PROFIdrive Description Example central probeOverview of closed-loop control \FOH Structure of the data cycle6SHHG RQWUROZLWKDSSOLFD 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 Meaning Comment Additional Value Info Error values in DPV1 parameter responses397 398 Task description Basic procedureDetermining the drive object numbers Example 1 read parameters PrerequisitesInformation about the parameter request ActivityInformation about the parameter response QBVHWB VersionParameter address .. th parameter address Parameter value .. th parameter value General information about Profibus for Sinamics Features Master SlaveCommunication via Profibus DP General information about ProfibusSequence of drive objects in the telegram Bus access methodExample Example telegram structure for cyclic data transmission TaskComponent and telegram structure Configuration settings e.g. HW Config for Simatic S7DP slave properties details DP slave properties overviewCommissioning Profibus 25 Interfaces and diagnostic LEDSetting the Profibus address Bus terminating resistor and shielding Device master fileCommissioning for VIK-NAMUR Device identificationDiagnosis options Commissioning steps example with Simatic S7DBB, DBW, DBD Simatic HMI addressingPro Tool and WinCC flexible Field Value27 Monitoring telegram failure Sequence SettingsMotion Control with Profibus Example emergency stop with telegram failure AssumptionName 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 Applications SubscriberLinks and taps Prerequisites and limitationsExample, setpoint assignment Setpoint assignment in the subscriber SetpointsActivation in the Subscriber Configuring telegram ChkCfgActivating/parameterizing slave-to-slave communications Activation in the Publisher,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHU +HDGHU9HUVLRQLGHQWLILHU 1XPEHURIOLQNV 3XEOLVKHU3DGGUHVVCommissioning of the Profibus slave-to-slave communication Settings in HW Config427 35 Insert new slot 429 38 Telegram assignment for slave-to-slave communication Commissioning in Starter 41 Display of the telegram extension 433 GSD GeräteStammDaten file GSD File 435 Immediately NoneOFF1 None OFF2 OFF3 General information about Profinet IO for Sinamics Communications via Profinet IOGeneral information about Profinet IO Definition Isochronous real time communication IRT Definition Real Time RT and determinismDevice name Addresses Definition MAC addressIP address IP address assignmentDefinition Sub-network mask Default routerData transfer Features Replacing Control Unit CU320 IO DeviceNew device ID for Profinet from FW2.5 SP1 Hardware setupSequence of drive objects in the data transfer DCP flashing ReferencesClock generation TelegramsRouting with CBE20 Connecting the supervisorIRTtop RT classesRT classes for Profinet IO Description IRTflexData exchange Set RT classProfinet IO with RT Not isochronousSync domain Refresh timeProfinet IO with IRT Overview Time-scheduled data transmission Profinet IO with IRTtopSend clock/refresh time Motion Control/Isochronous drive link with Profinet Motion Control with ProfinetTdcmax Designations and descriptions for Motion ControlTdcbase = Tdcmin ≤ TDC ≤TDC TCAValid and TDC ≧ TIOOutput Assignment of communication interfaces to cyclic interfaces Parallel operation of communication interfaces for CU320Plugged hardware interface FeatureProperties of the cyclic interfaces IF1 and IF2 PZD Interface hardware assignment ParametersAdditional parameters for IF2 P8839A8550 PZD interface hardware assignment incorrect AlarmApplications 11.3 Motor changeover Example motor switchover for four motorsMotor changeover Applications Motor changeover Parameter Settings RemarkApplications Example of a star/delta switchoverProcedure for switching over the motor data set PreconditionsParameter Settings Comments Procedure for star/delta switchoverIntegration Applications Application examples with the DMC20 Application examples with the DMC20Example, distributed topology Applications 11.4 Application examples with the DMC20 Example, hot plugging6LQJOH Instructions for offline commissioning with StarterApplications 11.5 Control Units without infeed control Control Units without infeed controlOverview of key parameters see Sinamics S List Manual Applications Control Units without infeed control Examples interconnecting Infeed readySmart Line Modules without DRIVE-CLiQ 5 kW and 10 kW DC link line-up with more than one Control UnitDescription Drive Functions Parameter categories ParameterParameter types Qihhg Basic information about the drive system 12.1 Parameter7HUPLQDO0RGXOH 2SWLRQ%RDUGSaving parameters in a non-volatile memory Resetting parametersAccess level Access levelBasic information about the drive system 12.2 Data sets CDS Command Data SetCDS Command Data Set 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 SetMotor Encoder P0186 P0187 P0188 P0189 Copying a command data setExamples for a data set assignment Copying a drive data setCopying the motor data set Basic information about the drive system 12.3 Drive objects Drive objectsOverview of drive objects Configuring 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 Notation Interconnecting signals using Bico technology3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHU Example 1 Interconnection of digital signalsSample interconnections Example 2 Connection of OFF3 to several drivesCopying drives Connector-binector converterBico technology Bico interconnections to other drivesScaling Fixed values for interconnection using Bico technologySignals for the analog outputs Signal Parameter Unit Normalization 100 % =Component Digital Analog Inputs Inputs/outputsOverview of inputs/outputs Changing scaling parameters p2000 to p2007Digital inputs Digital inputs/outputsBasic information about the drive system Inputs/outputs Digital outputsBidirectional digital inputs/outputs ˩V Analog inputsAnalog outputs Overview of displays and keys Parameterizing using the BOP20 Basic Operator PanelGeneral information about the BOP20 Key Information on the displaysInformation on the keys DisplayName Description BOP20 functionsParameters for BOP All drive objects Drive object, Control UnitOperating display Displays and using the BOP20Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Parameter display QWHJHUQXPEHU Value displayExample Changing a parameter HFLPDOQXPEHU3DUDPHWHUGLVSOD\ Example Changing binector and connector input parameters1HWIDXOW ULYHQR Iodvklqj Fkdqjh Fault and alarm displaysDisplaying faults On / OFF OFF1 Controlling the drive using the BOP20Displaying alarms Bit r0019 NameAction Reaction Examples of replacing componentsStarter PG Action Reaction Comments501 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 Target topology DRIVE-CLiQ topologyElectronic rating plate Actual topologyComparison of topologies at Power On Rules for wiring with DRIVE-CLiQDRIVE-CLiQ rules General rules507 Recommended rules Component Connecting the motor encoder via DRIVE-CLiQ6LQJOH 0RWRU 0RGXOH Component VSM connectionServo Vector Rules for different firmware releasesRules for FW2.1 Rules for FW2.2Servo Rules for FW2.3Rules for FW2.4 Rules for FW2.5 SP1 $FWLYH Qwhuidfh 0RGXOH Sample wiring for vector drives$FWLYH LQH 0RGXOH 26 Drive line-up chassis with different pulse frequencies Sample wiring of Vector drives connected in parallel516 Blocksize Sample wiring Power ModulesTopology tree view Comment Changing the offline topology in StarterChassis Starter Sample wiring for servo drives30 Sample servo topology Sample wiring for vector U/f drives31 Sample vector U/f topology Number of controllable drivesBasic information about the drive system Servo controlMixed operation System sampling timesP0112 P01150 P01151 P01152 P01153 P01154 P01155 P01156 Setting the sampling times525 Setting the sampling times using p0115 Rules for setting the sampling time527 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 Basic information about the drive system 12.13 Licensing LicensingEntering the license key Properties of the license keyGenerating a license key via the WEB License Manager Letter/number Decimal Ascii codeOverview of key parameters see Sinamics S List Manual HW component Order number Version Revisions Availability of hardware componentsHW component Availability of SW functionsAppendix Availability of SW functions SW functionSW function Servo Vector HW component Servo Vector HW component SW function Available Servo Vector HW componentDCC SINAMICS, DCC Simotion TM54F SW function Available Servo Vector HW component Since FW540 German meaning English meaning List of abbreviationsAppendix List of abbreviations DCB FAQCSM DACAppendix LSS LEDLIN LSBPLL PelvPEM PIDSLP SILSLI SLMWEA VDEVDI VSMPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG