Speed controller adaptation | Efficient Networks S120 specification

Servo control 3.3 Speed controller adaptation

●p1425[DDS] Speed setpoint filter 2 numerator natural frequency

●p1426[DDS] Speed setpoint filter 2 numerator damping

Parameterization

In the STARTER commissioning tool, the "Speed setpoint filter" parameter screen is selected with the icon in the toolbar:

3.3Speed controller adaptation

Description

Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent Kp_n/Tn_n adaptation.

Free Kp_n adaptation is also active in "operation without encoder" mode and is used in "operation with encoder" mode as an additional factor for speed-dependent Kp_n adaptation.

Speed-dependent Kp_n/Tn_n adaptation is only active in "operation with encoder" mode and also affects the Tn_n value.

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Figure 3-3 Free Kp_n adaptation

Drive Functions	67
Function Manual, (FH1), 07/2007 Edition, 6SL3097-2AB00-0BP4

Image 67

Efficient Networks S120 manual Parameterization, Servo control 3.3 Speed controller adaptation, QdplfUhvsrqvh

Contents

Sinamics Page FH1, 07/2007 Function ManualApplications Basic information about Drive system Appendix Trademarks Safety GuidelinesQualified Personnel Prescribed Usage Usage phase Document/tool Usage phases and their tools/documents as an exampleSinamics documentation Foreword Target groupBenefits Search guides America time zone Technical SupportEuropean and African time zones Asian and Australian time zones Notation Notation for faults and alarms examplesQuestions on the manual Internet address for Sinamics EC Declaration of Conformity ESD Notes Safety instructions Foreword Page Contents Contents 159 18.2158 18.3 219 11.5 282288 289 451 11.4.3 46011.4.1 11.4.2 553 535 General FeaturesActive Infeed Introduction Supply voltage p0210 380-400 401-415 416-440 460 480 Schematic structureActive Infeed closed-loop control Booksize Infeed Active Infeed Infeed 1.1 Active Infeed Commissioning Kdvvlv Active Infeed closed-loop control Chassis Integration Function diagrams see Sinamics S List ManualOverview of key parameters see Sinamics S List Manual Identification methods Line and DC link identification Active Infeed open-loop control Acknowledge error Switching off the Active Line Module Switching on the Active Line Module Internal status Parameter PROFIdrive telegram Word Control and status messagesBinector input Display of internal 370 Index P3624 harmonics controller order P3625 scaling Example setting the harmonics controllerReactive current control Harmonics controller Infeed Smart Infeed Smart InfeedSmart Infeed closed-loop control Overview key parameters 6PDUW/LQH0RGXOH%RRNVLH6XSSO\V\VWHP Function diagrams see Sinamics S List Manual Overview of key parameters Sinamics S List Manual Smart Infeed open-loop control Switching on the Smart Line Module Binector input Switching off the Smart Line ModuleControl word Basic Infeed open-loop control Basic InfeedInfeed Basic Infeed UDNLQJUHVLVWRU 7HPSHUDWXUH Function diagrams see Sinamics S List Manual Switching off the Basic Line Module Switching on the Basic Line Module3XOVHVDQGFRQWUROOHUV Internal status word Line contactor controlInfeed Line contactor control Control word 370 Commissioning steps Example of commissioning line contactor control AssumptionInfeed 1.4 Line contactor control Infeed Pre-charging and bypass contactor chassis Procedure during power ON/OFF Power onPower OFF Pre-charging and bypass contactor chassis Functional principle Derating function for chassis unitsInfeed 1.6 Derating function for chassis units 0DLQV Pulse parallel infeeds two-winding transformerPulse parallel infeeds three-winding transformer SXOVHLQIHHG Extended setpoint channel Extended setpoint channel 2.2 Description DescriptionProperties of the extended setpoint channel Setpoint sources 7RWDOVHWSRLQW HIIHFWLYHU JogExtended setpoint channel 2.3 Jog 6LJQDO Jog properties Function chart jog 1 and jog 32521 Jog sequence Parameterization with Starter Extended setpoint channel 2.4 Fixed speed setpoints Fixed speed setpointsProperties Display parameters Extended setpoint channel 2.5 Motorized potentiometer Properties for manual mode p1041 =Properties for automatic mode p1041 = Motorized potentiometer Overview of key parameters see Sinamics S List Manual 6FDOLQJ6XSSOHPHQWDU\ Vhwsrlqw Main/supplementary setpoint and setpoint modification6FDOLQJPDLQVHWSRLQW 6XSSOHPHQWDU\VHWSRLQW Suppression bandwidths and setpoint limits 0LQ Edqgzlgwkv Suppression bandwidths Ramp-function generatorExtended setpoint channel Ramp-function generator Properties of the extended ramp function generator Properties of the simple ramp function generatorExtended setpoint channel 2.9 Ramp-function generator Ramp function generator tracking LWKRXWWUDFNLQJ 6SHHGVHWSRLQW 2XWSXWRI Signal overview see Sinamics S List ManualWithout ramp function generator tracking With ramp function generator tracking 12 Starter icon for ramp function generator Limits Speed controller Servo control Speed setpoint filter Speed setpoint filter \QDPLFUHVSRQVH Speed controller adaptationParameterization Servo control 3.3 Speed controller adaptation Servo control Speed controller adaptation Example of speed-dependent adaptation Servo control 3.4 Torque-controlled operation Commissioning of torque control modeTorque-controlled operation Speed-dependent Kpn/Tnn adaptation Servo control Torque-controlled operation OFF responses Servo control 3.5 Torque setpoint limitation Torque setpoint limitation Servo control Torque setpoint limitation Servo control Fixed and variable torque limit settingsSelection Torque limitation mode Variants of torque limitation 0BRIIVHW Example Torque limits with or without offsetActivating the torque limits Examples Servo control 3.6 Current controller Current controller Flux controller for induction motor Closed-loop current controlCurrent and torque limitation Current controller adaptation Display parameters Servo control Current setpoint filter Current setpoint filter IQB Transfer functionServo control 3.7 Current setpoint filter IQBQ Band-stop with infinite notch depth Phase frequency curveStarter filter parameters Band-stop with defined reduction Band-stop with defined notch depth Transfer function general 2nd-order filter General low-pass with reduction Current 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 control Servo control V/f control for diagnostics Characteristic Optimizing the speed controller Optimizing the current and speed controllerGeneral information Optimizing the current controller Servo control Sensorless operation without an encoder Sensorless operation without an encoderExample of speed setpoint step change Parameter overview Servo control 3.11 Sensorless operation without an encoder Behavior once pulses have been canceled 2SHUZLWKHQFRGHU 2SHQORRS Commissioning/optimization Series reactor Servo control Motor data identification Motor data identification Induction motor Permanent-magnet synchronous motor Motor dataType plate data Servo control 3.12 Motor data identification Rotating measurement Motor data identification induction motorParameters to control the MotID Induction motor Determined data gamma Data that are accepted p1960 = Determined data gamma Data that are accepted p1910 = Synchronous motor Motor data identification synchronous motorDetermined data Data that are accepted p1910 = Determined data Data that are accepted p1960 = 0RWRU0RGXOH Deoh Servo control Pole position identification Pole position identificationStandstill measurement Rotating measurement Servo control 3.13 Pole position identification Suitable zero marks are Pole position determination with zero marks SRVVLEOH Overview of key parametersPXVWEHXVHG Angular commutation offset commissioning support p1990 Vdc controlServo control 3.14 Vdc control Idloxuh Description of Vdcmin control p1240 = 23RZHUIDLOXUH 3RZHUUHVWRUH Qvhws Qdfw Description of Vdcmin control without braking p1240 = 8Description of Vdcmax control p1240 = 1 9GFBPD Description of Vdcmax control without acceleration p1240 = 7 Servo control Dynamic Servo Control DSC Dynamic Servo Control DSC Deactivating ActivatingServo control 3.15 Dynamic Servo Control DSC Speed setpoint filter DiagnosticsExternal encoder systems except motor encoder Servo control 3.16 Travel to fixed stop SignalsTravel to fixed stop Application examples Servo control Travel to fixed stop Commissioning for PROFIdrive telegrams 2 to Signal chart MESSAGEW.1 Signal name Servo control Vertical axes Vertical axesPage Sensorless vector control Slvc Vector control Vector control Sensorless vector control Slvc Switchover conditions for Slvc 2SHQORRS Vector control 4.1 Sensorless vector control Slvc6WDUW ORVHGORRS Benefits of vector control with an encoder Vector control with encoderVector control Vector control with encoder Speed controller Motor model changeVector control 4.3 Speed controller 6SHHG Frqwuro Vector control Speed controller6SHHGDFWXDOYDOXH Vector control 4.4 Speed controller adaptation 9HFWRU Vector control Speed controller adaptation $GDSWLYHFRQWUROUDQJH SBQRQVWDQWXSSHUVSHHGUDQJH Speed-dependent Kpn/Tnn adaptation VC only Speed controller pre-control and reference modelDynamic response reduction field weakening Slvc only 6SHHG Urrs Lqmhfwlrq 6SHHG Vhwsrlqw 6SHHGDFWXDOYDOXH Reference model For reference model DroopVector control 4.6 Droop $FWXDOVSHHG Prerequisites Vector control 4.7 Torque control Torque control 11 Closed-loop speed/torque control Vector control Torque control Torque setpoint Vector control Torque limiting Torque limiting Description Vector control 4.9 Vdc control Properties 73RZHU Description of Vdcmin control 6ZLWFKRQOHYHO Description of Vdcmax control Vector control 4.10 Current setpoint filter Current controller adaptation Motor data identification and rotating measurement Motor identification p1910 Data determined using p1910 Deoh 6HULHV 0RWRU0RGXOH DEOHDQG Rotating measurement p1960 Carrying out motor identification Carrying out the rotating measurement p1960 Motor data identification at standstill Vector control 4.13 Efficiency optimization Efficiency optimizationLtvhws Induction motors, rotating Instructions for commissioning induction motors ASMParameter Description Remark Supplementary conditions Deoh Permanent-magnet synchronous motors, rotating0RWRU0RGXOH 0RWRU Description Remark ˭ ຘ ˭ ຘ N7 QRP 151 Encoder adjustment using a zero mark Automatic encoder adjustmentIntegration Pole position identification Vector control 4.16 Flying restart Flying restart 155 Vector control Synchronization Synchronization Vector control 4.18 Simulation operation Simulation operationDescription Prerequisite Commissioning Redundance operation power unitsFeatures Vector control Redundance operation power units Prerequisites BypassVector control 4.20 Bypass Commissioning the bypass function Bypass with synchronization with overlap p1260 = 5HDFWRU ExampleParameter Description 1HWZRUN RQYHUWHUZLWK9ROWDJH 26 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 Rqyhuwhu Synchronization 167 Page Prwru Introduction1RPLQDO ZRUNLQJSRLQWRI RDG Vector V/f control r0108.2 = IntroductionMeaning FCC 3HUPDQHQWYROWDJHERRVW Voltage boostVector V/f control r0108.2 = 0 5.2 Voltage boost Application / property IQ Permanent voltage boost p1310Voltage boost at acceleration p1311 IOLQHDU Voltage boost Vector V/f control r0108.2 =Dfwlyh VHW Vector V/f control r0108.2 = 0 5.3 Slip compensation Slip compensation 9GFBFWUO7Q Vector V/f control r0108.2 = 0 5.4 Vdc control PLQ Switching Vdcmin control on/off kinetic buffering 177 Function diagrams see Sinamics S List Manual Restrictions Changing over unitsGroups of units Function in Starter Reference parameters/normalizationsBasic functions Reference parameters/normalizations Basic functions 6.2 Reference parameters/normalizations Using Starter offlineSize Scaling parameter Default at initial commissioning Scaling for vector object Scaling for object AInf Scaling for servo objectScaling for object BInf Basic functions Modular machine conceptOverview of important parameters refer to the List Manual Example of a sub-topology 3DUWLDO 7RSRORJ\ Basic functions Modular machine concept 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 Basic functions Automatic restart vector, servo, infeed Automatic restart vector, servo, infeed P1210 Mode Meaning Automatic restart modeStarting attempts p1211 and waiting time p1212 Monitoring time line supply return p1213 191 Internal voltage protection booksize External armature short-circuit braking 193 Internal armature short-circuit synchronous motors Internal armature short-circuit braking booksize/DC brake Activation of DC brake by BI DC brake induction motors QB6WDUW DC braking as fault response 197 Basic functions OFF3 torque limits OFF3 torque limits Commissioning via parameters Technology function friction characteristic Commissioning via Starter Simple brake controlBasic functions Simple brake control Basic functions 6.11 Simple brake control Function chart simple brake control Simple brake control r0108.14 = Actual motor operating hours Runtime operating hours counterTotal system runtime Relative system runtime Basic functions Parking axis and parking sensor Parking axis and parking sensorParking a sensor Parking an axis Basic functions 6.13 Parking axis and parking sensor Example parking axis and parking sensorExample parking axis Example parking sensor Overview key parameters Function chart parking sensor Basic functions 6.14 Position tracking Position trackingGeneral Information Terminology Measuring gear Features Measuring gear characteristicsBasic functions Position tracking 3RVLWLRQ 0RWRU Ryhuiorz2IIVHWIRUHQFRGHURYHUIORZ Virtual multiturn encoder p0412 Measuring gearbox configuration p0411Qfrghu Tolerance window p0413 Basic functions Terminal Module 41 TM41 Terminal Module 41 TM41 Basic functions 6.15 Terminal Module 41 TM41 General description Hardware requirements 14 Block diagram of the incremental encoder emulation 6592&21752 Commissioning steps Incremental encoder emulation using a speed setpoint p4400 = Basic functions 6.16 Updating the firmware Updating the firmware Upgrading firmware and the project in Starter Upgrade the projectBasic functions Updating the firmware Commissioning via parameter only with BOP20 Function modules Definition and commissioning Function modules Technology controller Technology controller Function modules 7.2 Technology controller Commissioning with StarterExamples Fill level control 7HFBFWU.S 7HFBFWU7Q Parameter Designation Example Closed-loop control Motorized potentiometer 7RUTXH1P@ Extended monitoring functionsDescription of load monitoring Function modules Extended monitoring functions Function modules 7.3 Extended monitoring functions Speed setpoint monitoring Function modules Extended brake control Extended brake control Function modules 7.4 Extended brake control Starting against applied brakeEmergency brake Operating brake for crane drives Example, operating brake for a crane drive Free modules Configuration, control/status wordsStandstill zero-speed monitoring Release/apply brake Signal name Parameters Signal name Binector inputControl and status messages for extended brake control RQWURO8QLW Braking ModuleBraking Module function module Function modules 7.5 Braking Module Fast DC link discharge booksize Acknowledgement of faults Cooling system function module Cooling systemFunction modules 7.6 Cooling system 234 Extended torque control kT estimator, Servo Motor/drive converter identification Description of the kT estimator KT estimator General featuresClosed-loop position control Position actual value conditioning Position actual value sensing with rotary encoders Function modules Closed-loop position control 239 Indexed actual value acquisition Properties Load gear position tracking Features Example of position area extension 10 Position tracking p2721 = Configuration of the load gear p2720 Tolerance window p2722 Virtual multiturn encoder p2721 Integration Function diagrams see Sinamics S List Manual Position controller 6HWSRLQW Monitoring functions DPVZLWFKLQJVLJQDO DPVZLWFKLQJVLJQDO DPVZLWFKLQJSRVLWLRQ Measuring probe evaluation and reference mark search Integration Function modules 7.9 Basic positioner Basic positioner Function modules Basic positioner DFNODVKS Mechanical system Positive None Negative Immediately P2604 Traversing direction Switch in compensation value Maximum velocity Limits Maximum acceleration/deceleration Software limit switches Jerk limitation Stop cam$FFHOHUDWLRQ Vshhg 7LPH 9HORFLW\ Function diagram overview see Sinamics S List Manual Referencing Set reference point Absolute encoder adjustment Reference point approach for incremental measurement systems 18 Example homing with reference cam Search for reference, travel to reference cam 263 Search for reference, Travel to reference point On-the-fly homing 265 Instructions for switching data sets EDS5 EDS6 EDS7 Traversing blocks Positioning Fixed Endstop Endlesspos Endlessneg Wait Goto Intermediate stop and reject traversing task 0101, Continueexternalalarm Fixed Stop Waiting Introduction Travel to fixed stop Fixed stop reached Fixed stop is not reached Cancel Vertical axes Integration Function diagram overview see List Manual Direct setpoint input MDI LHGYHORFLW\VHWSRLQW MDI mode with the use of PROFIdrive telegram Intermediate stop and canceling traversing block 7 Jog Setpoint static r2683.2 Status signalsTracking mode active r2683.0 Traversing command active r2684.15 Direct output 1 r2683.10 Direct output 2 r2683.11 Following error in tolerance r2684.8Target position reached r2684.10 Velocity limiting active r2683.1 DCC axial winderReference point set r2684.11 Acknowledgement, traversing block activated r2684.12 Function blocks Dn/dt Calculation of the moment of inertia for torque pre-control P03410...n Motor moment of inertia / MotID Mmom inert Parameters for the function diagrams for torque pre-controlR1493 Moment of inertia, total 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 eff 287 Parallel connection of chassis power units vector RQWURO8QLW Application examplesLQHUHDFWRU LQH0RGXOH 0RWRU0RGXOH L4 0RWRU0RGXOH Protection against Precautions Responses Power unit protection, generalOFF2 Thermal monitoring and overload responses Monitoring and protective functions 8.3 Block protection Block protection Block protection Stall protection only for vector control 0RWRUVWDOOHG Thermal motor protection Sensor monitoring for cable breakage / short-circuit Temperature measurement via KTYTemperature measurement via PTC Function diagrams for thermal motor protection Parameters for thermal motor protection Page Standards and Directives Safety IntegratedGeneral information Explanations, standards, and terminology Two-channel monitoring structure Safety Integrated basic functions General information Supported functions Prerequisites for the extended functions Properties of Safety Integrated parameters Parameter, Checksum, Version, Password Checking the checksum Safety Integrated versionsFrom FW2.5 the following applies Parameter overview for password see Sinamics S List Manual Password Forced dormant error detection Safety Integrated basic functions 9.2 Safety instructions Safety instructionsPlease note the following during switch-on Safety Integrated basic functions 9.3 Safe Torque Off STO Functional features of Safe Torque OffSafe Torque Off STO Selecting/deselecting Safe Torque Off Enabling the Safe Torque Off STO function Examples, Booksize Status for Safe Torque OffParameter overview see List Manual Response time with the Safe Torque Off function Safe Stop 1 SS1, time controlled Functional features of Safe StopRelease of the SS1 function Status for Safe Stop Safe Brake Control SBC Enabling the Safe Brake Control SBC function Functional features of Safe Brake Control SBCTwo-channel brake control 5HOD\ Response time with the Safe Brake Control function Switch-off signal path Overview of the safety function terminals for Sinamics S120 Grouping drives not for CU310 Terminals for STO, SS1 time-controlled, SBC Example Terminal groups Commissioning the STO, SBC and SS1 functions General information about commissioning safety functionsCommissioning notes Replacing Motor Modules with the current FW release Prerequisites for commissioning the safety functionsStandard commissioning of the safety functions Power on Procedure 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 STO Paths Adjust specified checksumsSet the new Safety password Stop a Stop response Safety faults Stop response Action Effect Triggered Acknowledging the safety faultsStop F Acceptance test Description of faults and alarmsAcceptance test and certificate General information about acceptance Completion of certificate DocumentationScope of a complete acceptance test Documentation Functional test Drive number FW version SI version Drive number SI function Safe Torque Off STO function Acceptance test for Safe Torque Off STODescription Status Safe Stop 1 function SS1, time-controlled Acceptance test for Safe Stop 1, time controlled SS1 Safe Brake Control function SBC Acceptance test for Safe Brake Control SBCAcceptance test and certificate 332 Checksums Data backupCompletion of certificate SI parameters Application examples Safety Integrated basic functions 9.9 Application examplesMachine manufacturer LQH0RGXOH Description of functions Behavior for Emergency Stop Safety Integrated basic functions Application examples Switching on the drives Behavior when the protective door is opened Description of the parameters Overview of parameters and function diagramsNo. of Motor Name Changeable to Module MM 339 Page Controller, Supervisor, and Drive Unit Features Controller, Supervisor Drive UnitCommunications according to PROFIdrive General information about PROFIdrive for Sinamics Interface IF1 and IF2 Application classes Application class Application class 1 Standard drive $XWRPDWLRQ 7HFKQRORJ\ Application class 2 Standard drive with technology function Application class 3 positioning drive Dynamic Servo Control DSC Application class 4 central motion control Telegrams and process data General information Cyclic communicationTelegram Description Class What telegrams are available? Receive process data Telegram interconnectionsDword Structure of the telegrams Telegram structure Drive object Telegrams p0922 Value Interface ModeProcedure Drive object Assumption SettingsMonitoring telegram failure Description Example emergency stop with telegram failure Description of control words and setpoints Name Signal Data typeOverview of control words and setpoints Bit Meaning Comments CTW1 control word STW1 control word 1, positioning mode, p0108.4 = 357 ECTW1 control word for Infeed CTW2 control word 359 PosSTW positioning mode, p0108.4 =1 Satzanw positioning mode, p0108.4 =1 Xerr position deviation Nsolla speed setpoint a 16-bitNsollb speed setpoint B 32-bit GnSTW encoder n control word MDIVel pos MDI velocity MDIMode pos MDI modeKPC position controller gain factor MDIPos pos MDI position Torquered torque reduction Over pos velocity override Comment Abbreviation Name SignalDescription of status words and actual values Overview of status words and actual values STW1 status word 366 STW1 status word 1, positioning mode, p0108.4 = STW2 status word Nactb Speed setpoint B 32 bit Nacta Speed setpoint a 16 bitMeldw message word Application 371 ESTW1 status word for Infeed MTnZSF/MTnZSS PosZSW AktSatz Encoder n control word GnCTW, n = 1, 2 XistPControl and status words for encoder Description Example of encoder interface Bit Signal status, description Example 1 Find reference mark Signal status, description Example 2 Flying measurement Encoder 3 control word G3CTW Encoder 2 control word G2CTWEncoder n status word GnSTW, n = 1, 2 Name Signal status, description Communication Profibus DP/PROFINET IO Bit Name Signal status, descriptionEncoder 1 actual position value 1 G1XACT1 Encoder 1 actual position value 2 G1XACT2 7UDQVPLWF\FOLF 3DUNHGHQFRGHUQFRGHUHUURU RUIO\LQJ Encoder 2 actual position value 2 G2XACT2 Error code in GnXIST2Encoder 2 status word G2STW Encoder 2 actual position value 1 G2XACT1 Central control and status words Description Encoder 3 actual position value 1 G3XACT1Encoder 3 actual position value 2 G3XACT2 Visualization parameters drive Adigital digital outputs Receive signalsTransmit signals Custw control word for Control Unit, CU Cuzsw status word for Control Unit, CU Sync Edigital digital inputs MTnZSF and MTnZSS Features of the central probe Motion Control with PROFIdrive Description Example central probe Overview of closed-loop control \FOH Structure of the data cycle6SHHG RQWUROZLWK General information about acyclic communication Description Acyclic communicationDSSOLFD ULWHUHT Characteristics of the parameter channel5HDGUHT ZLWKRXWGDWD Parameter response Offset Parameter request OffsetField Data type Values Comment 395 Error Meaning Comment Additional Value Info Error values in DPV1 parameter responses 397 398 Task description Basic procedureDetermining the drive object numbers Example 1 read parameters Prerequisites Information about the parameter request Activity Information about the parameter response QBVHWB Version Parameter address .. th parameter address Parameter value .. th parameter value General information about Profibus for Sinamics Features Master SlaveCommunication via Profibus DP General information about Profibus Sequence of drive objects in the telegram Bus access method Example Example telegram structure for cyclic data transmission Task Component and telegram structure Configuration settings e.g. HW Config for Simatic S7 DP slave properties details DP slave properties overview Commissioning Profibus 25 Interfaces and diagnostic LED Setting the Profibus address Bus terminating resistor and shielding Device master fileCommissioning for VIK-NAMUR Device identification Diagnosis options Commissioning steps example with Simatic S7 DBB, DBW, DBD Simatic HMI addressingPro Tool and WinCC flexible Field Value 27 Monitoring telegram failure Sequence SettingsMotion Control with Profibus Example emergency stop with telegram failure Assumption Designations and descriptions for Motion Control Sequence of data transfer to closed-loop control systemName Value1 Limit value Description 418 Minimum times for reserves Setting criteria for timesData Time required µs User data integrity General information Description Slave-to-slave communicationsPublisher Applications SubscriberLinks and taps Prerequisites and limitations Example, setpoint assignment Setpoint assignment in the subscriber Setpoints Activation in the Subscriber Configuring telegram ChkCfgActivating/parameterizing slave-to-slave communications Activation in the Publisher ,QGLFDWLRQLQE\WHV &RXQWHGIURPYHUVLRQLGHQWLILHU +HDGHU9HUVLRQLGHQWLILHU 1XPEHURIOLQNV 3XEOLVKHU3DGGUHVV Commissioning of the Profibus slave-to-slave communication Settings in HW Config 427 35 Insert new slot 429 38 Telegram assignment for slave-to-slave communication Commissioning in Starter 41 Display of the telegram extension 433 GSD GeräteStammDaten file GSD File 435 OFF1 None OFF2 OFF3 NoneImmediately General information about Profinet IO Communications via Profinet IOGeneral information about Profinet IO for Sinamics Definition Isochronous real time communication IRT Definition Real Time RT and determinism Device name Addresses Definition MAC addressIP address IP address assignment Definition Sub-network mask Default routerData transfer Features Replacing Control Unit CU320 IO Device Sequence of drive objects in the data transfer Hardware setupNew device ID for Profinet from FW2.5 SP1 DCP flashing ReferencesClock generation Telegrams Routing with CBE20 Connecting the supervisor IRTtop RT classesRT classes for Profinet IO Description IRTflex Data exchange Set RT classProfinet IO with RT Not isochronous Profinet IO with IRT Overview Refresh timeSync domain Send clock/refresh time Profinet IO with IRTtopTime-scheduled data transmission Motion Control/Isochronous drive link with Profinet Motion Control with Profinet Tdcmax 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 CU320 Properties of the cyclic interfaces IF1 and IF2 FeaturePlugged hardware interface PZD Interface hardware assignment ParametersAdditional parameters for IF2 P8839 A8550 PZD interface hardware assignment incorrect Alarm Motor changeover Example motor switchover for four motorsApplications 11.3 Motor changeover Applications Motor changeover Parameter Settings Remark Applications Example of a star/delta switchoverProcedure for switching over the motor data set Preconditions Parameter Settings Comments Procedure for star/delta switchover Integration Example, distributed topology Application examples with the DMC20Applications Application examples with the DMC20 Applications 11.4 Application examples with the DMC20 Example, hot plugging 6LQJOH Instructions for offline commissioning with Starter Overview of key parameters see Sinamics S List Manual Control Units without infeed controlApplications 11.5 Control Units without infeed control 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 Unit Description Drive Functions Parameter types ParameterParameter categories Qihhg Basic information about the drive system 12.1 Parameter7HUPLQDO0RGXOH 2SWLRQ%RDUG Saving parameters in a non-volatile memory Resetting parametersAccess level Access level Basic information about the drive system 12.2 Data sets CDS Command Data SetCDS Command Data Set Data sets DDS Drive Data Set Example Switching between command data set 0DDS Drive Data Set Supplementary conditions and recommendations EDS Encoder Data SetEDS Encoder Data Set MDS Motor Data Set MDS Motor Data Set Motor Encoder P0186 P0187 P0188 P0189 Copying a command data setExamples for a data set assignment Copying a drive data set Copying the motor data set Basic information about the drive system 12.3 Drive objects Drive objects Overview of drive objects Configuring drive objects Binectors, connectors Bico technology interconnecting signalsBinectors, BI Binector Input, BO Binector Output Connectors, CI Connector Input, CO Connector Output Interconnecting signals using Bico technologySymbol Name Description Notation Interconnecting signals using Bico technology 3DUDPHWHUQXPEHU ULYH Remhfw QGHQXPEHU Example 1 Interconnection of digital signalsSample interconnections Example 2 Connection of OFF3 to several drives Copying drives Connector-binector converterBico technology Bico interconnections to other drives Scaling 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 p2007 Digital inputs Digital inputs/outputs Basic information about the drive system Inputs/outputs Digital outputs Bidirectional digital inputs/outputs ˩V Analog inputs Analog outputs General information about the BOP20 Parameterizing using the BOP20 Basic Operator PanelOverview of displays and keys Key Information on the displaysInformation on the keys Display Name Description BOP20 functionsParameters for BOP All drive objects Drive object, Control Unit Other drive objects e.g. SERVO, VEKTOR, INFEED, TM41 etc Displays and using the BOP20Operating display Parameter display QWHJHUQXPEHU Value displayExample Changing a parameter HFLPDOQXPEHU 3DUDPHWHUGLVSOD\ Example Changing binector and connector input parameters Displaying faults Fault and alarm displays1HWIDXOW ULYHQR Iodvklqj Fkdqjh On / OFF OFF1 Controlling the drive using the BOP20Displaying alarms Bit r0019 Name Action Reaction Examples of replacing components Starter PG Action Reaction Comments 501 Exchanging a Sinamics Sensor Module Integrated Data backup on CompactFlash cardFile names and storage location for the data Data transfer from CompactFlash card to Sensor Module Replacing a deviceOrder number Sinamics Sensor Module Integrated Target topology DRIVE-CLiQ topologyElectronic rating plate Actual topology Comparison of topologies at Power On Rules for wiring with DRIVE-CLiQ DRIVE-CLiQ rules General rules 507 Recommended rules Component Connecting the motor encoder via DRIVE-CLiQ 6LQJOH 0RWRU 0RGXOH Component VSM connection Servo Vector Rules for different firmware releasesRules for FW2.1 Rules for FW2.2 Servo Rules for FW2.3 Rules for FW2.4 Rules for FW2.5 SP1 $FWLYH LQH 0RGXOH Sample wiring for vector drives$FWLYH Qwhuidfh 0RGXOH 26 Drive line-up chassis with different pulse frequencies Sample wiring of Vector drives connected in parallel 516 Blocksize Sample wiring Power Modules Chassis Changing the offline topology in StarterTopology tree view Comment Starter Sample wiring for servo drives 30 Sample servo topology Sample wiring for vector U/f drives 31 Sample vector U/f topology Number of controllable drives Basic information about the drive system Servo control Mixed operation System sampling times P0112 P01150 P01151 P01152 P01153 P01154 P01155 P01156 Setting the sampling times 525 Setting the sampling times using p0115 Rules for setting the sampling time 527 Number P0112 P01150 P1800 Active Infeed and Smart Infeed Default settings for the sampling timesBasic Infeed Number P0112 P01150 P1800 Examples when changing sampling times / pulse frequenciesMixed Starter is in the online mode Basic information about the drive system 12.13 Licensing Licensing Generating a license key via the WEB License Manager Properties of the license keyEntering the license key Letter/number Decimal Ascii code Overview of key parameters see Sinamics S List Manual HW component Order number Version Revisions Availability of hardware components HW component Availability of SW functionsAppendix Availability of SW functions SW function SW function Servo Vector HW component DCC SINAMICS, DCC Simotion SW function Available Servo Vector HW componentServo Vector HW component TM54F SW function Available Servo Vector HW component Since FW 540 Appendix List of abbreviations List of abbreviationsGerman meaning English meaning DCB FAQCSM DAC Appendix LSS LEDLIN LSB PLL PelvPEM PID SLP SILSLI SLM WEA VDEVDI VSMPage Overview of Sinamics Documentation 07/2007 Page URP Page Index Index JOG Edigital SBC SS1 VPM Siemens AG