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Efficient Networks S120 manual Motion Control with Profinet

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Communication PROFIBUS DP/PROFINET IO 10.3 Communications via PROFINET IO

10.3.4Motion Control with PROFINET

Motion Control/Isochronous drive link with PROFINET

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Figure 10-48 Motion Control/Isochronous drive link with PROFINET, optimized cycle with CACF = 2

Sequence of data transfer to closed-loop control system

1.Position actual value G1_XIST1 is read into the telegram image at time TIO_Input before the start of each cycle and transferred to the master in the next cycle.

2.Closed-loop control on the master starts at time TCA_Start after each position controller cycle and uses the current actual values read previously from the slaves.

3.In the next cycle, the master transmits the calculated setpoints to the telegram image of the slaves. The speed setpoint command NSOLL_B is issued to the closed-loop control system at time TIO_Output after the beginning of the cycle.

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

Image 448

Efficient Networks S120 manual Motion Control with Profinet, Motion Control/Isochronous drive link with Profinet

Contents

Sinamics Page FH1, 07/2007 Function ManualApplications Basic information about Drive system Appendix Safety Guidelines Qualified PersonnelPrescribed Usage TrademarksUsage phase Document/tool Usage phases and their tools/documents as an exampleSinamics documentation Target group BenefitsSearch guides ForewordTechnical Support European and African time zonesAsian and Australian time zones America time zoneNotation for faults and alarms examples Questions on the manualInternet address for Sinamics EC Declaration of Conformity NotationESD Notes Safety instructions Foreword Page Contents Contents 18.2 15818.3 159219 282 288289 11.5451 460 11.4.111.4.2 11.4.3535 553Features Active InfeedIntroduction GeneralSchematic structure Active Infeed closed-loop control BooksizeInfeed Active Infeed Supply voltage p0210 380-400 401-415 416-440 460 480Commissioning Infeed 1.1 Active InfeedActive Infeed closed-loop control Chassis 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 ModuleControl and status messages Binector input Display of internal370 Internal status Parameter PROFIdrive telegram WordExample setting the harmonics controller Reactive current controlHarmonics controller Index P3624 harmonics controller order P3625 scalingSmart Infeed Smart Infeed closed-loop controlOverview key parameters Infeed Smart Infeed6PDUW/LQH0RGXOH%RRNVLH6XSSO\V\VWHP Function diagrams see Sinamics S List Manual Overview of key parameters Sinamics S List Manual Smart Infeed open-loop control Switching on the Smart Line Module 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 Line contactor control Infeed Line contactor controlControl word 370 Internal status wordCommissioning steps Example of commissioning line contactor control AssumptionInfeed 1.4 Line contactor control Procedure during power ON/OFF Power on Power OFFPre-charging and bypass contactor chassis Infeed Pre-charging and bypass contactor chassisFunctional principle Derating function for chassis unitsInfeed 1.6 Derating function for chassis units Pulse parallel infeeds two-winding transformer Pulse parallel infeeds three-winding transformerSXOVHLQIHHG 0DLQVExtended setpoint channel Description Properties of the extended setpoint channelSetpoint sources Extended setpoint channel 2.2 DescriptionJog Extended setpoint channel 2.3 Jog6LJQDO 7RWDOVHWSRLQW HIIHFWLYHUFunction chart jog 1 and jog Jog propertiesJog sequence 32521Parameterization with Starter Fixed speed setpoints PropertiesDisplay parameters Extended setpoint channel 2.4 Fixed speed setpointsProperties for manual mode p1041 = Properties for automatic mode p1041 =Motorized potentiometer Extended setpoint channel 2.5 Motorized potentiometerOverview of key parameters see Sinamics S List Manual Main/supplementary setpoint and setpoint modification 6FDOLQJPDLQVHWSRLQW6XSSOHPHQWDU\VHWSRLQW 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Suppression bandwidths and setpoint limits Edqgzlgwkv 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 Signal overview see Sinamics S List Manual Without ramp function generator trackingWith ramp function generator tracking LWKRXWWUDFNLQJ 6SHHGVHWSRLQW 2XWSXWRI12 Starter icon for ramp function generator Speed controller LimitsSpeed setpoint filter Servo control Speed setpoint filterSpeed controller adaptation ParameterizationServo control 3.3 Speed controller adaptation \QDPLFUHVSRQVHExample of speed-dependent adaptation Servo control Speed controller adaptationCommissioning of torque control mode Torque-controlled operationSpeed-dependent Kpn/Tnn adaptation Servo control 3.4 Torque-controlled operationOFF responses Servo control Torque-controlled operationTorque setpoint limitation Servo control 3.5 Torque setpoint limitationServo control Torque setpoint limitation Fixed and variable torque limit settings Selection Torque limitation modeVariants of torque limitation Servo controlExample Torque limits with or without offset Activating the torque limitsExamples 0BRIIVHW Current controller Servo control 3.6 Current controllerClosed-loop current control Current and torque limitationCurrent controller adaptation Flux controller for induction motorDisplay parameters Current setpoint filter Servo control Current setpoint filterTransfer function Servo control 3.7 Current setpoint filterIQBQ 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 Servo control 3.9 V/f control for diagnostics Structure of V/f controlPrerequisites for V/f control Commissioning V/f controlCharacteristic Servo control V/f control for diagnosticsOptimizing the current and speed controller General informationOptimizing the current controller Optimizing the speed controllerSensorless operation without an encoder Example of speed setpoint step changeParameter overview Servo control Sensorless operation without an encoderBehavior once pulses have been canceled Servo control 3.11 Sensorless operation without an encoder2SHQORRS 2SHUZLWKHQFRGHUSeries reactor Commissioning/optimizationMotor data identification Servo control Motor data identificationMotor data Type plate dataServo control 3.12 Motor data identification Induction motor Permanent-magnet synchronous motorMotor data identification induction motor Parameters to control the MotIDInduction motor Rotating measurementDetermined data gamma Data that are accepted p1910 = Determined data gamma Data that are accepted p1960 =Synchronous motor Motor data identification synchronous motorDetermined data Data that are accepted p1910 = 0RWRU0RGXOH Deoh Determined data Data that are accepted p1960 =Pole position identification Standstill measurementRotating measurement Servo control Pole position identificationServo control 3.13 Pole position identification Pole position determination with zero marks Suitable zero marks areSRVVLEOH Overview of key parametersPXVWEHXVHG Angular commutation offset commissioning support p1990 Vdc controlServo control 3.14 Vdc control Description of Vdcmin control p1240 = 2 3RZHUIDLOXUH 3RZHUUHVWRUHQvhws IdloxuhDescription of Vdcmin control without braking p1240 = 8 Description of Vdcmax control p1240 = 19GFBPD QdfwDescription of Vdcmax control without acceleration p1240 = 7 Dynamic Servo Control DSC Servo control Dynamic Servo Control DSCDeactivating ActivatingServo control 3.15 Dynamic Servo Control DSC Speed setpoint filter DiagnosticsExternal encoder systems except motor encoder Signals Travel to fixed stopApplication examples Servo control 3.16 Travel to fixed stopServo control Travel to fixed stop Signal chart Commissioning for PROFIdrive telegrams 2 toSignal name MESSAGEW.1Vertical axes Servo control Vertical axesPage Vector control Sensorless vector control SlvcSwitchover conditions for Slvc Vector control Sensorless vector control SlvcVector control 4.1 Sensorless vector control Slvc 6WDUWORVHGORRS 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 Permanent-magnet synchronous motors, rotating 0RWRU0RGXOH0RWRU 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 SynchronizationSimulation operation DescriptionPrerequisite Vector control 4.18 Simulation operationRedundance operation power units FeaturesVector control Redundance operation power units CommissioningPrerequisites BypassVector control 4.20 Bypass Bypass with synchronization with overlap p1260 = Commissioning the bypass functionExample Parameter Description1HWZRUN RQYHUWHUZLWK9ROWDJH 5HDFWRU26 Signal diagram, bypass with synchronization with overlap Bypass with synchronization, without overlap p1260 = 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVWBypass without synchronization p1260 = 1HWZRUN Rqyhuwhu 3URWHFWLYHGHYLFH QWHUORFNHGDJDLQVW VLPXOWDQHRXVO\FORVLQJSynchronization 167 Page Introduction 1RPLQDOZRUNLQJSRLQWRI PrwruVector V/f control r0108.2 = Introduction MeaningFCC RDGVoltage boost Vector V/f control r0108.2 = 0 5.2 Voltage boostApplication / property 3HUPDQHQWYROWDJHERRVWPermanent voltage boost p1310 Voltage boost at acceleration p1311IOLQHDU 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 Using Starter offline Size Scaling parameter Default at initial commissioningScaling for vector object Basic functions 6.2 Reference parameters/normalizationsScaling for object AInf Scaling for servo objectScaling for object BInf Modular machine concept Overview of important parameters refer to the List ManualExample of a sub-topology 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 = Runtime operating hours counter Total system runtimeRelative system runtime Actual motor operating hoursParking axis and parking sensor Parking a sensorParking an axis Basic functions Parking axis and parking sensorExample parking axis and parking sensor Example parking axisExample parking sensor Basic functions 6.13 Parking axis and parking sensorFunction chart parking sensor Overview key parametersPosition tracking General InformationTerminology Basic functions 6.14 Position 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 controllerCommissioning with Starter ExamplesFill level control Function modules 7.2 Technology controllerParameter Designation Example 7HFBFWU.S 7HFBFWU7QMotorized potentiometer Closed-loop controlExtended monitoring functions Description of load monitoringFunction modules Extended monitoring functions 7RUTXH1P@Speed setpoint monitoring Function modules 7.3 Extended monitoring functionsExtended brake control Function modules Extended brake controlStarting against applied brake Emergency brakeOperating brake for crane drives Function modules 7.4 Extended brake controlExample, operating brake for a crane drive Configuration, control/status words Standstill zero-speed monitoringRelease/apply brake Free modulesSignal name Parameters Signal name Binector inputControl and status messages for extended brake control Braking Module Braking Module function moduleFunction modules 7.5 Braking 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 identificationGeneral features Closed-loop position controlPosition actual value conditioning KT estimatorFunction modules Closed-loop position control Position actual value sensing with rotary encoders239 Indexed actual value acquisition Properties Load gear position tracking Features Example of position area extension Configuration of the load gear p2720 10 Position tracking p2721 =Virtual multiturn encoder p2721 Tolerance window p2722Integration Function diagrams see Sinamics S List Manual Position controller Monitoring functions 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 Status signals Tracking mode active r2683.0Traversing command active r2684.15 Setpoint static r2683.2Direct output 1 r2683.10 Direct output 2 r2683.11 Following error in tolerance r2684.8Target position reached r2684.10 DCC axial winder Reference point set r2684.11Acknowledgement, traversing block activated r2684.12 Velocity limiting active r2683.1Function blocks Calculation of the moment of inertia for torque pre-control Dn/dtP03410...n Motor moment of inertia / MotID Mmom inert Parameters for the function diagrams for torque pre-controlR1493 Moment of inertia, total Parameters of the function diagram for torque limitation P14970...n CI Moment of inertia, scaling / Mmom inert scalR1538 Upper effective torque limit / Mmax upper eff R1539 Lower effective torque limit / Mmax lower eff287 Parallel connection of chassis power units vector 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 0RWRUVWDOOHGTemperature measurement via KTY Temperature measurement via PTCFunction diagrams for thermal motor protection Sensor monitoring for cable breakage / short-circuitParameters for thermal motor protection Page Safety Integrated General informationExplanations, standards, and terminology Standards and DirectivesSafety Integrated basic functions General information Two-channel monitoring structureSupported functions Prerequisites for the extended functions Parameter, Checksum, Version, Password Properties of Safety Integrated 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 OffStatus for Safe Torque Off Parameter overview see List ManualResponse time with the Safe Torque Off function 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 Prerequisites for commissioning the safety functions Standard commissioning of the safety functionsPower on Replacing Motor Modules with the current FW releaseProcedure for commissioning STO, SBC and SS1 Safety Integrated basic functions Parameter Description/comments Enable Safe Stop 1 functionSet terminals for Safe torque off STO Set F-DI changeover tolerance timeAdjust specified checksums Set the new Safety passwordStop a PathsSafety faults Stop responseStop response Action Effect Triggered Acknowledging the safety faultsStop F Description of faults and alarms Acceptance test and certificateGeneral information about acceptance Acceptance testDocumentation Scope of a complete acceptance test DocumentationFunctional test Completion of certificateDrive number FW version SI version Drive number SI function 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 Data backup Completion of certificateSI parameters 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 Features Controller, Supervisor Drive Unit Communications according to PROFIdriveGeneral information about PROFIdrive for Sinamics Controller, Supervisor, and Drive UnitApplication classes Interface IF1 and IF2Application class 1 Standard drive Application classApplication class 2 Standard drive with technology function $XWRPDWLRQ 7HFKQRORJ\Application class 3 positioning drive Application class 4 central motion control Dynamic Servo Control 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 Interface Mode ProcedureDrive object ValueSettings Monitoring telegram failure DescriptionExample emergency stop with telegram failure 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 =1Nsolla speed setpoint a 16-bit Nsollb speed setpoint B 32-bitGnSTW encoder n control word Xerr position deviationMDIMode pos MDI mode KPC position controller gain factorMDIPos pos MDI position MDIVel pos MDI velocityOver pos velocity override Torquered torque reductionAbbreviation Name Signal Description of status words and actual valuesOverview of status words and actual values CommentSTW1 status word 366 STW1 status word 1, positioning mode, p0108.4 = STW2 status word Nactb Speed setpoint B 32 bit Nacta Speed setpoint a 16 bitMeldw message word Application 371 MTnZSF/MTnZSS ESTW1 status word for InfeedPosZSW AktSatz XistP Control and status words for encoder DescriptionExample of encoder interface Encoder n control word GnCTW, n = 1, 2Signal status, description BitSignal status, description Example 1 Find reference markExample 2 Flying measurement Encoder 3 control word G3CTW Encoder 2 control word G2CTWEncoder n status word GnSTW, n = 1, 2 Name Signal status, description Bit Name Signal status, description Encoder 1 actual position value 1 G1XACT1Encoder 1 actual position value 2 G1XACT2 Communication Profibus DP/PROFINET IO3DUNHGHQFRGHU QFRGHUHUURURUIO\LQJ 7UDQVPLWF\FOLFError code in GnXIST2 Encoder 2 status word G2STWEncoder 2 actual position value 1 G2XACT1 Encoder 2 actual position value 2 G2XACT2Encoder 3 actual position value 1 G3XACT1 Encoder 3 actual position value 2 G3XACT2Visualization parameters drive Central control and status words DescriptionReceive signals Transmit signalsCustw control word for Control Unit, CU Adigital digital outputsCuzsw status word for Control Unit, CU Edigital digital inputs SyncFeatures of the central probe MTnZSF and MTnZSSExample central probe Motion Control with PROFIdrive DescriptionOverview of closed-loop control Structure of the data cycle 6SHHGRQWUROZLWK \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 Basic procedure Determining the drive object numbersExample 1 read parameters Prerequisites Task descriptionActivity Information about the parameter requestInformation about the parameter response Version QBVHWBParameter address .. th parameter address Parameter value .. th parameter value Features Master Slave Communication via Profibus DPGeneral information about Profibus General information about Profibus for SinamicsBus access method Sequence of drive objects in the telegramExample telegram structure for cyclic data transmission Task ExampleConfiguration settings e.g. HW Config for Simatic S7 Component and telegram structureDP slave properties overview DP slave properties details25 Interfaces and diagnostic LED Commissioning ProfibusSetting the Profibus address Device master file Commissioning for VIK-NAMURDevice identification Bus terminating resistor and shieldingCommissioning steps example with Simatic S7 Diagnosis optionsSimatic HMI addressing Pro Tool and WinCC flexibleField Value DBB, DBW, DBD27 Monitoring telegram failure Settings Motion Control with ProfibusExample emergency stop with telegram failure Assumption 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 Subscriber Links and tapsPrerequisites and limitations ApplicationsSetpoint assignment in the subscriber Setpoints Example, setpoint assignmentConfiguring telegram ChkCfg Activating/parameterizing slave-to-slave communicationsActivation in the Publisher Activation in the Subscriber+HDGHU 9HUVLRQLGHQWLILHU 1XPEHURIOLQNV3XEOLVKHU3DGGUHVV ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHUSettings in HW Config Commissioning of the Profibus slave-to-slave communication427 35 Insert new slot 429 38 Telegram assignment for slave-to-slave communication Commissioning in Starter 41 Display of the telegram extension 433 GSD GeräteStammDaten file GSD File 435 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 IRTAddresses Definition MAC address IP addressIP address assignment Device nameDefault router Data transfer FeaturesReplacing Control Unit CU320 IO Device Definition Sub-network maskSequence of drive objects in the data transfer Hardware setupNew device ID for Profinet from FW2.5 SP1 References Clock generationTelegrams DCP flashingConnecting the supervisor Routing with CBE20RT classes RT classes for Profinet IO DescriptionIRTflex IRTtopSet RT class Profinet IO with RTNot isochronous Data 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 ProfinetDesignations and descriptions for Motion Control Tdcbase =Tdcmin ≤ TDC ≤ TdcmaxTDC TCAValid and TDC ≧ TIOOutput Parallel operation of communication interfaces for CU320 Assignment of communication interfaces to cyclic interfacesProperties of the cyclic interfaces IF1 and IF2 FeaturePlugged hardware interface Parameters Additional parameters for IF2P8839 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 changeoverExample of a star/delta switchover Procedure for switching over the motor data setPreconditions 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 Examples interconnecting Infeed ready Smart Line Modules without DRIVE-CLiQ 5 kW and 10 kWDC link line-up with more than one Control Unit Applications Control Units without infeed controlDescription Drive Functions Parameter types ParameterParameter categories Basic information about the drive system 12.1 Parameter 7HUPLQDO0RGXOH2SWLRQ%RDUG QihhgResetting parameters Access levelAccess level Saving parameters in a non-volatile memoryCDS Command Data Set CDS Command Data SetData sets Basic information about the drive system 12.2 Data setsDDS Drive Data Set Example Switching between command data set 0DDS Drive Data Set Supplementary conditions and recommendations EDS Encoder Data SetEDS Encoder Data Set MDS Motor Data Set MDS Motor Data SetCopying a command data set Examples for a data set assignmentCopying a drive data set Motor Encoder P0186 P0187 P0188 P0189Copying the motor data set Drive objects Basic information about the drive system 12.3 Drive objectsConfiguring drive objects Overview of drive objectsBinectors, 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 1 Interconnection of digital signals Sample interconnectionsExample 2 Connection of OFF3 to several drives 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHUConnector-binector converter Bico technologyBico interconnections to other drives Copying drivesFixed values for interconnection using Bico technology Signals for the analog outputsSignal Parameter Unit Normalization 100 % = ScalingInputs/outputs Overview of inputs/outputsChanging scaling parameters p2000 to p2007 Component Digital Analog InputsDigital inputs/outputs Digital inputsDigital outputs Basic information about the drive system Inputs/outputsBidirectional digital inputs/outputs Analog inputs ˩VAnalog outputs General information about the BOP20 Parameterizing using the BOP20 Basic Operator PanelOverview of displays and keys Information on the displays Information on the keysDisplay KeyBOP20 functions Parameters for BOP All drive objectsDrive object, Control Unit Name DescriptionOther drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Displays and using the BOP20Operating display Parameter display Value display Example Changing a parameterHFLPDOQXPEHU QWHJHUQXPEHUExample Changing binector and connector input parameters 3DUDPHWHUGLVSOD\Displaying faults Fault and alarm displays1HWIDXOW ULYHQR Iodvklqj Fkdqjh Controlling the drive using the BOP20 Displaying alarmsBit r0019 Name 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 DRIVE-CLiQ topology Electronic rating plateActual topology Target topologyRules for wiring with DRIVE-CLiQ Comparison of topologies at Power OnGeneral rules DRIVE-CLiQ rules507 Component Connecting the motor encoder via DRIVE-CLiQ Recommended rulesComponent VSM connection 6LQJOH 0RWRU 0RGXOHRules for different firmware releases Rules for FW2.1Rules for FW2.2 Servo VectorRules for FW2.3 ServoRules for FW2.4 Rules for FW2.5 SP1 $FWLYH LQH 0RGXOH Sample wiring for vector drives$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 RevisionsAvailability of SW functions Appendix Availability of SW functionsSW function HW componentSW function Servo Vector HW component DCC SINAMICS, DCC Simotion SW function Available Servo Vector HW componentServo Vector HW component SW function Available Servo Vector HW component Since FW TM54F540 Appendix List of abbreviations List of abbreviationsGerman meaning English meaning FAQ CSMDAC DCBAppendix LED LINLSB LSSPelv PEMPID PLLSIL SLISLM SLPVDE VDIVSM WEAPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG