S120 Drive FCT Man 0620 en-US
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Marian ChobodaS120 Drive FCT Man 0620 en-US
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Marian ChobodaFunction Manual
SINAMICS
S120
Drive functions
Edition 06/2020 www.siemens.com/drives
Introduction 1
Fundamental safety
instructions 2
Infeed 3
SINAMICS
Extended setpoint channel 4
S120
Drive functions
Servo control 5
Vector control 6
Function Manual
U/f control (vector control) 7
Basic functions 8
Function modules 9
Monitoring functions and
protective functions 10
Safety Integrated Basic
Functions 11
Applications 12
Web server 13
Basic information about the
drive system 14
Valid as of:
Firmware version 5.2 SP3
Appendix A
06/2020
6SL3097-5AB00-0BP3
Legal information
Warning notice system
This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage
to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices
referring only to property damage have no safety alert symbol. These notices shown below are graded according to
the degree of danger.
DANGER
indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING
indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION
indicates that minor personal injury can result if proper precautions are not taken.
NOTICE
indicates that property damage can result if proper precautions are not taken.
If more than one degree of danger is present, the warning notice representing the highest degree of danger will be
used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property
damage.
Qualified Personnel
The product/system described in this documentation may be operated only by personnel qualified for the specific
task in accordance with the relevant documentation, in particular its warning notices and safety instructions.
Qualified personnel are those who, based on their training and experience, are capable of identifying risks and
avoiding potential hazards when working with these products/systems.
Proper use of Siemens products
Note the following:
WARNING
Siemens products may only be used for the applications described in the catalog and in the relevant technical
documentation. If products and components from other manufacturers are used, these must be recommended or
approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance
are required to ensure that the products operate safely and without any problems. The permissible ambient
conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks
All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may
be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability
We have reviewed the contents of this publication to ensure consistency with the hardware and software described.
Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this
publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG Document order number: 6SL3097-5AB00-0BP3 Copyright © Siemens AG 2004 - 2020.
Digital Industries Ⓟ 08/2020 Subject to change All rights reserved
Postfach 48 48
90026 NÜRNBERG
GERMANY
Table of contents
1 Introduction ......................................................................................................................................... 17
1.1 The SINAMICS converter family .......................................................................................... 17
1.2 General information about SINAMICS documentation......................................................... 18
1.3 Usage phases and their documents/tools ............................................................................ 21
1.4 Where can the various topics be found?.............................................................................. 22
1.5 Training and support.......................................................................................................... 23
1.6 Using OpenSSL .................................................................................................................. 24
1.7 General Data Protection Regulation .................................................................................... 25
2 Fundamental safety instructions......................................................................................................... 27
2.1 General safety instructions................................................................................................. 27
2.2 Warranty and liability for application examples ................................................................... 28
2.3 Security information .......................................................................................................... 29
3 Infeed................................................................................................................................................... 31
3.1 Active Infeed...................................................................................................................... 32
3.1.1 Active Infeed closed-loop control booksize ......................................................................... 33
3.1.2 Active Infeed closed-loop control chassis ............................................................................ 35
3.1.3 Line supply and DC link identification ................................................................................. 37
3.1.4 Active Infeed open-loop control ......................................................................................... 38
3.1.5 Reactive current control ..................................................................................................... 41
3.1.6 Harmonics controller.......................................................................................................... 41
3.1.7 Parameterizable bandstop filters for Active Infeed Controls in chassis format ....................... 42
3.1.8 Active phase failure detection ............................................................................................ 43
3.1.9 Messages (see SINAMICS S120/S150 List Manual)............................................................... 43
3.1.10 Function diagrams (see SINAMICS S120/S150 List Manual) ................................................. 44
3.1.11 Parameters (see SINAMICS S120/S150 List Manual) ............................................................ 44
3.2 Basic Infeed ....................................................................................................................... 46
3.2.1 Restrictions for Basic Line Modules ..................................................................................... 47
3.2.2 Basic Infeed open-loop control ........................................................................................... 48
3.2.3 Function diagrams and parameters .................................................................................... 50
3.3 Smart Infeed...................................................................................................................... 52
3.3.1 Line supply and DC link identification routine for Smart Infeed Booksize.............................. 54
3.3.2 Extended Smart Mode........................................................................................................ 55
3.3.3 Smart Infeed open-loop control.......................................................................................... 55
3.3.4 Function diagrams and parameters .................................................................................... 58
3.4 Line contactor control ........................................................................................................ 59
3.5 Pre-charging and bypass contactor Chassis and Chassis-2.................................................... 61
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4 Extended setpoint channel.................................................................................................................. 63
4.1 Motorized potentiometer ................................................................................................... 66
4.2 Fixed setpoints................................................................................................................... 68
4.3 Speed setpoint................................................................................................................... 69
4.3.1 Main/supplementary setpoint and setpoint scaling ............................................................. 69
4.3.2 Jog .................................................................................................................................... 70
4.3.3 Direction of rotation limiting and direction reversal ............................................................ 74
4.4 Skip frequency bands and speed limits ............................................................................... 76
4.5 Ramp-function generator ................................................................................................... 78
4.5.1 Ramp-function generator tracking...................................................................................... 81
4.5.2 Signal overview, function diagrams and important parameters .......................................... 86
5 Servo control........................................................................................................................................ 89
5.1 Comparison between servo control and vector control........................................................ 90
5.2 Influencing calculation of the open-loop control and closed-loop control parameters .......... 94
5.3 Setpoint addition ............................................................................................................... 95
5.4 Speed setpoint filter ........................................................................................................... 97
5.5 Speed controller ................................................................................................................ 99
5.5.1 Speed controller adaptation ............................................................................................. 100
5.5.2 Torque-controlled operation............................................................................................. 102
5.6 Controller parameters adaptation..................................................................................... 105
5.7 Torque setpoint limitation ................................................................................................ 108
5.8 Current setpoint filter ....................................................................................................... 113
5.9 Current controller ............................................................................................................ 120
5.10 Autotuning ...................................................................................................................... 122
5.10.1 One Button Tuning........................................................................................................... 122
5.10.2 Online tuning .................................................................................................................. 128
5.10.2.1 "Drive-based" online tuning .............................................................................................. 128
5.10.2.2 Adaptation of the control parameters ............................................................................... 132
5.10.2.3 Problem handling ............................................................................................................ 133
5.10.3 Current setpoint filter adaptation...................................................................................... 134
5.10.3.1 Stability of the speed control loop .................................................................................... 138
5.10.3.2 Lower and upper limit frequencies ................................................................................... 139
5.10.3.3 Remedy for insufficient adaptation ................................................................................... 139
5.10.4 Messages (see SINAMICS S120/S150 List Manual)............................................................. 139
5.10.5 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 139
5.11 Notes about the electronic motor model........................................................................... 141
5.12 Increased stall power at the voltage limit.......................................................................... 142
5.13 U/f control ....................................................................................................................... 145
5.14 Optimizing the current and speed controller..................................................................... 149
5.15 Encoderless operation...................................................................................................... 151
5.16 Motor data identification.................................................................................................. 157
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5.16.1 Motor data identification for induction motors.................................................................. 163
5.16.1.1 Determining the optimum flux characteristic .................................................................... 166
5.16.1.2 Flux reduction.................................................................................................................. 168
5.16.2 Motor data identification for synchronous motors ............................................................. 171
5.16.3 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 173
5.17 Pole position identification ............................................................................................... 174
5.17.1 Determining the commutation angle offset ...................................................................... 181
5.17.2 Fine synchronization ........................................................................................................ 182
5.17.3 Setting of the elasticity-based pole position identification ................................................. 184
5.18 Vdc control ...................................................................................................................... 194
5.19 Dynamic Servo Control (DSC) ........................................................................................... 199
5.20 Travel to fixed stop ........................................................................................................... 204
5.21 Vertical axis ..................................................................................................................... 208
5.22 Variable signaling function............................................................................................... 209
5.23 Central probe evaluation .................................................................................................. 211
5.23.1 Examples ......................................................................................................................... 217
5.23.2 Function diagrams and parameters .................................................................................. 218
5.24 Voltage precontrol ........................................................................................................... 220
5.24.1 Function diagrams and parameters .................................................................................. 228
6 Vector control .................................................................................................................................... 231
6.1 Technology application (application) (p0500)................................................................... 236
6.2 Vector control without encoder (SLVC) ............................................................................. 237
6.2.1 Three-phase induction motor ........................................................................................... 237
6.2.2 Permanent-magnet synchronous motors .......................................................................... 242
6.2.3 Synchronous reluctance motors ....................................................................................... 244
6.3 Vector control with encoder ............................................................................................. 247
6.4 Speed controller .............................................................................................................. 248
6.4.1 Speed controller adaptation ............................................................................................. 250
6.4.2 Speed controller precontrol and reference model.............................................................. 253
6.5 Droop .............................................................................................................................. 257
6.6 Open actual speed value .................................................................................................. 259
6.7 Closed-loop torque control ............................................................................................... 261
6.8 Torque limiting ................................................................................................................ 264
6.9 Vdc control ...................................................................................................................... 266
6.9.1 Function diagrams and parameters .................................................................................. 269
6.10 Current setpoint filter ....................................................................................................... 270
6.11 Speed actual value filter ................................................................................................... 271
6.12 Current controller adaptation ........................................................................................... 272
6.13 Motor data identification and rotating measurement ........................................................ 273
6.13.1 Overview ......................................................................................................................... 273
6.13.2 Motor data identification.................................................................................................. 274
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6.13.3 Rotating measurement..................................................................................................... 277
6.13.4 Shortened rotating measurement..................................................................................... 279
6.13.5 Overview of important parameters................................................................................... 280
6.14 Pole position identification ............................................................................................... 282
6.14.1 Operation without an encoder ......................................................................................... 282
6.14.2 Operation with encoder ................................................................................................... 283
6.14.3 Messages and parameters ................................................................................................ 285
6.15 Efficiency optimization ..................................................................................................... 287
6.15.1 Efficiency optimization for induction motors ..................................................................... 287
6.15.2 Efficiency optimization for reluctance motors ................................................................... 289
6.15.3 Function diagrams and parameters .................................................................................. 290
6.16 Fast magnetization for induction motors .......................................................................... 291
6.17 Flying restart ................................................................................................................... 295
6.17.1 Fast flying restart ............................................................................................................. 297
6.17.2 Flying restart for a synchronous reluctance motor ............................................................ 299
6.17.3 Messages and parameters ................................................................................................ 300
6.18 Synchronization ............................................................................................................... 301
6.19 Voltage Sensing Module................................................................................................... 303
6.20 Simulation mode ............................................................................................................. 305
6.21 Redundancy mode power units ........................................................................................ 306
6.22 Bypass ............................................................................................................................. 307
6.22.1 Bypass with synchronization with overlap......................................................................... 309
6.22.2 Bypass with synchronization without overlap.................................................................... 312
6.22.3 Bypass without synchronization ....................................................................................... 313
6.22.4 Function diagrams and parameters .................................................................................. 316
6.23 Asynchronous pulse frequency......................................................................................... 317
7 U/f control (vector control) ................................................................................................................ 319
7.1 Technology application (application) (p0500)................................................................... 323
7.2 Voltage boost .................................................................................................................. 324
7.3 Slip compensation ........................................................................................................... 328
7.4 Resonance damping......................................................................................................... 329
7.5 Vdc control ...................................................................................................................... 330
8 Basic functions................................................................................................................................... 335
8.1 Switching over units ........................................................................................................ 335
8.2 Reference parameters/scaling........................................................................................... 337
8.3 Checking for a short-circuit/ground fault at a motor .......................................................... 341
8.4 Modular machine concept................................................................................................ 342
8.5 Sine-wave filter ................................................................................................................ 345
8.6 Motor reactors ................................................................................................................. 347
8.7 du/dt filter plus Voltage Peak Limiter................................................................................. 349
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8.8 du/dt filter compact plus Voltage Peak Limiter................................................................... 351
8.9 Pulse frequency wobbling ................................................................................................ 353
8.10 Direction reversal without changing the setpoint .............................................................. 354
8.11 Automatic restart............................................................................................................. 356
8.12 Armature short-circuit...................................................................................................... 359
8.12.1 Internal armature short-circuit braking ............................................................................. 360
8.12.2 External armature short-circuit braking............................................................................. 361
8.12.3 Internal voltage protection ............................................................................................... 364
8.12.4 Setting the fault response ................................................................................................ 365
8.12.5 Function diagrams (see SINAMICS S120/S150 List Manual) ............................................... 365
8.13 DC braking....................................................................................................................... 366
8.13.1 Activating a function via fault reaction ............................................................................. 368
8.13.2 Activating a function via OFF fault responses.................................................................... 368
8.13.3 Configuring a function as a response to a speed threshold ................................................ 369
8.13.4 Setting the fault response ................................................................................................ 370
8.13.5 Function diagrams (see SINAMICS S120/S150 List Manual) ............................................... 371
8.13.6 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 371
8.14 Motor Module as a Braking Module .................................................................................. 372
8.14.1 Configuring resistors ........................................................................................................ 373
8.14.2 Activating the "Braking Module" function ......................................................................... 376
8.14.3 Protective equipment ....................................................................................................... 379
8.14.4 Overview of the important parameters............................................................................. 379
8.15 OFF3 torque limits ........................................................................................................... 381
8.16 Technology function friction characteristic ....................................................................... 382
8.17 Simple brake control ........................................................................................................ 384
8.18 System runtime / operating hours counter........................................................................ 387
8.19 Energy-saving display....................................................................................................... 389
8.20 Encoder diagnostics ......................................................................................................... 392
8.20.1 Datalogger....................................................................................................................... 392
8.20.2 Encoder dirty signal ......................................................................................................... 393
8.20.3 Early encoder failure detection ......................................................................................... 393
8.20.4 Function diagrams and parameters .................................................................................. 394
8.21 Tolerant encoder monitoring............................................................................................ 395
8.21.1 Encoder track monitoring................................................................................................. 396
8.21.2 Zero mark tolerance......................................................................................................... 397
8.21.3 Freezing the speed raw value ........................................................................................... 398
8.21.4 Adjustable hardware filter ................................................................................................ 398
8.21.5 Edge evaluation of the zero mark ..................................................................................... 399
8.21.6 Pole position adaptation .................................................................................................. 400
8.21.7 Pulse number correction for faults.................................................................................... 401
8.21.8 "Tolerance band pulse number" monitoring ...................................................................... 402
8.21.9 Signal edge evaluation (1x, 4x) ........................................................................................ 403
8.21.10 Setting the measuring time to evaluate speed "0" ............................................................. 404
8.21.11 Sliding averaging of the speed actual value ...................................................................... 404
8.21.12 Troubleshooting............................................................................................................... 405
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8.21.13 Tolerance window and correction..................................................................................... 408
8.21.14 Dependencies .................................................................................................................. 409
8.21.15 Overview of important parameters................................................................................... 411
8.22 Parking axis / parking encoder .......................................................................................... 412
8.23 Position tracking .............................................................................................................. 415
8.23.1 Position tracking with a measuring gearbox...................................................................... 416
8.24 Encoder as drive object .................................................................................................... 420
8.25 Terminal Module 41 ......................................................................................................... 423
8.25.1 SIMOTION mode .............................................................................................................. 423
8.25.2 SINAMICS mode............................................................................................................... 424
8.25.3 Zero mark emulation (SINAMICS mode)............................................................................ 426
8.25.4 Synchronization of the zero marks (SINAMICS mode)........................................................ 429
8.25.5 Limit frequencies for TM41 .............................................................................................. 430
8.25.6 Example in the SINAMICS mode ....................................................................................... 431
8.25.7 Function diagrams and parameters .................................................................................. 432
8.26 Firmware update.............................................................................................................. 434
8.26.1 Updating the firmware and STARTER project data using the web server ............................. 436
8.26.2 Downgrade lock............................................................................................................... 436
8.26.3 Protection against power failure ....................................................................................... 436
8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units ................................. 438
8.27.1 Configuring the essential service mode ............................................................................ 441
8.27.2 Function diagrams and parameters .................................................................................. 442
8.28 Pulse/direction interface................................................................................................... 443
8.29 Derating function for chassis units.................................................................................... 445
8.30 Parallel connection of motors........................................................................................... 446
9 Function modules .............................................................................................................................. 449
9.1 Technology controller ...................................................................................................... 451
9.1.1 Function diagrams (see SINAMICS S120/S150 List Manual) ............................................... 453
9.2 Extended monitoring functions ........................................................................................ 456
9.3 Extended Brake Control.................................................................................................... 458
9.4 Braking Module Extern..................................................................................................... 464
9.5 Cooling unit..................................................................................................................... 468
9.6 Extended torque control (kT estimator, servo) .................................................................. 470
9.7 Position control................................................................................................................ 473
9.7.1 Position actual value conditioning .................................................................................... 473
9.7.1.1 Indexed actual value acquisition....................................................................................... 477
9.7.1.2 Load gear position tracking .............................................................................................. 478
9.7.1.3 Function diagrams and parameters .................................................................................. 484
9.7.2 Position controller............................................................................................................ 485
9.7.3 Monitoring functions ....................................................................................................... 486
9.7.4 Measuring probe evaluation and reference mark search.................................................... 488
9.7.5 Commissioning the function ............................................................................................ 489
9.8 Basic positioner................................................................................................................ 491
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9.8.1 Mechanical system........................................................................................................... 493
9.8.2 Limits .............................................................................................................................. 496
9.8.2.1 Maximum velocity ........................................................................................................... 496
9.8.2.2 Maximum acceleration/deceleration................................................................................. 496
9.8.2.3 Limit traversing range ...................................................................................................... 497
9.8.2.4 Jerk limitation.................................................................................................................. 500
9.8.2.5 Starting against a closed brake ......................................................................................... 501
9.8.2.6 Function diagrams (see SINAMICS S120/S150 List Manual) ............................................... 501
9.8.2.7 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 501
9.8.3 EPOS and safe setpoint velocity limitation ........................................................................ 502
9.8.4 Referencing ..................................................................................................................... 502
9.8.4.1 Set reference position ...................................................................................................... 504
9.8.4.2 Absolute encoder adjustment........................................................................................... 504
9.8.4.3 Absolute encoder adjustment with offset acceptance........................................................ 506
9.8.4.4 Referencing with DRIVE-CLiQ encoders ............................................................................. 507
9.8.4.5 Reference point approach (incremental measuring system) .............................................. 508
9.8.4.6 Flying referencing ............................................................................................................ 512
9.8.4.7 Data set switchover.......................................................................................................... 513
9.8.4.8 Function diagrams (see SINAMICS S120/S150 List Manual) ............................................... 514
9.8.4.9 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 515
9.8.5 Referencing with several zero marks per revolution .......................................................... 515
9.8.5.1 Evaluating BERO signals ................................................................................................... 517
9.8.6 Safely referencing under EPOS ......................................................................................... 519
9.8.7 Traversing blocks ............................................................................................................. 521
9.8.8 Travel to fixed stop ........................................................................................................... 528
9.8.9 Direct setpoint input (MDI)............................................................................................... 531
9.8.10 Jog .................................................................................................................................. 533
9.8.11 Status signals................................................................................................................... 534
9.9 Master/slave function for Active Infeed ............................................................................. 537
9.9.1 Basic structure ................................................................................................................. 539
9.9.2 Commissioning the function ............................................................................................ 541
9.9.3 Types of communication .................................................................................................. 543
9.9.4 Explanations for the function diagrams ............................................................................ 544
9.9.5 Function diagrams and parameters .................................................................................. 545
9.10 Parallel connection of power units.................................................................................... 546
9.10.1 Applications of parallel connections ................................................................................. 549
9.10.1.1 Parallel connection of Basic Line Modules......................................................................... 551
9.10.1.2 Parallel connection of Smart Line Modules ....................................................................... 553
9.10.1.3 Parallel connection of Active Line Modules ....................................................................... 555
9.10.1.4 Parallel connection of Motor Modules .............................................................................. 557
9.10.2 Commissioning the parallel connection ............................................................................ 560
9.10.3 Additional drive in addition to the parallel connection ...................................................... 561
9.11 Extended stop and retract ................................................................................................ 564
9.11.1 Commissioning the function ............................................................................................ 565
9.11.2 Valid trigger sources ........................................................................................................ 565
9.11.3 Invalid trigger sources ...................................................................................................... 566
9.11.4 Configuring ESR responses ............................................................................................... 566
9.11.4.1 Extended stopping ........................................................................................................... 566
9.11.4.2 Extended retract .............................................................................................................. 567
9.11.4.3 Regenerative operation.................................................................................................... 568
9.11.5 Restrictions for ESR .......................................................................................................... 569
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9.11.6 PROFIdrive telegram for ESR ............................................................................................. 570
9.11.7 Function diagrams and parameters .................................................................................. 570
9.12 Moment of inertia estimator ............................................................................................ 572
9.12.1 Commissioning the function module................................................................................ 577
9.12.2 Supplementary functions for vector control...................................................................... 578
9.12.2.1 Moment of inertia precontrol ........................................................................................... 578
9.12.2.2 Additional functions......................................................................................................... 580
9.12.3 Function diagrams (see SINAMICS S120/S150 List Manual) ............................................... 580
9.12.4 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 580
9.13 Additional controls for Active Infeed................................................................................. 582
9.14 Advanced Position Control (including Active Vibration Suppression).................................. 583
9.14.1 Commissioning the function module................................................................................ 587
9.14.2 Active Vibration Suppression (APC without sensor on the load side).................................. 589
9.14.2.1 Activating the function .................................................................................................... 593
9.14.2.2 Measuring the function.................................................................................................... 594
9.14.3 APC to reduce machining-related oscillation ..................................................................... 595
9.14.3.1 Activating the function .................................................................................................... 597
9.14.3.2 Measuring the function.................................................................................................... 598
9.14.4 APC with encoder combination and differential position feedback:.................................... 598
9.14.4.1 Important notes for parameterization ............................................................................... 602
9.14.4.2 Measuring the function.................................................................................................... 603
9.14.5 APC with acceleration feedback........................................................................................ 603
9.14.5.1 Important notes for parameterization ............................................................................... 608
9.14.5.2 Measuring the function.................................................................................................... 609
9.14.6 APC with load velocity control .......................................................................................... 609
9.14.6.1 Important notes for parameterization ............................................................................... 611
9.14.6.2 Measuring the function.................................................................................................... 611
9.14.7 Additional Information..................................................................................................... 612
9.14.8 Measuring frequency responses ....................................................................................... 615
9.14.8.1 Use case SINUMERIK ........................................................................................................ 615
9.14.8.2 Application with STARTER................................................................................................. 615
9.14.8.3 Configuring measuring functions ..................................................................................... 617
9.14.9 Function diagrams and parameters .................................................................................. 618
9.15 Cogging torque compensation ......................................................................................... 620
9.15.1 Activating the function module ........................................................................................ 623
9.15.2 Activate cogging torque compensation............................................................................. 623
9.15.3 Filling compensation tables.............................................................................................. 623
9.15.4 Compensating periodic position errors ............................................................................. 626
9.15.5 Messages and parameters ................................................................................................ 627
10 Monitoring functions and protective functions................................................................................. 629
10.1 Power unit protection ...................................................................................................... 629
10.1.1 Thermal monitoring and overload responses .................................................................... 630
10.2 Thermal motor protection ................................................................................................ 635
10.2.1 Thermal motor models..................................................................................................... 636
10.2.1.1 Thermal motor model 1 ................................................................................................... 636
10.2.1.2 Thermal motor model 2 ................................................................................................... 638
10.2.1.3 Thermal motor model 3 ................................................................................................... 639
10.2.1.4 Function diagrams (see SINAMICS S120/S150 List Manual) ............................................... 640
10.2.1.5 Messages (see SINAMICS S120/S150 List Manual)............................................................. 640
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10.2.1.6 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 641
10.2.2 Temperature measurements in the motor......................................................................... 642
10.2.2.1 Temperature sensors........................................................................................................ 642
10.2.2.2 Sensor Modules ............................................................................................................... 643
10.2.2.3 Terminal Modules ............................................................................................................ 647
10.2.2.4 Motor Modules ................................................................................................................ 657
10.2.2.5 Power Modules (Chassis format) ...................................................................................... 658
10.2.2.6 CU310-2 and CUA31/CUA32 (adapter).............................................................................. 658
10.2.2.7 Motor with DRIVE-CLiQ..................................................................................................... 660
10.2.2.8 Temperature sensor evaluation ........................................................................................ 660
10.2.2.9 Function diagrams (see SINSMAICS S120/S150 List Manual) ............................................. 662
10.2.2.10 Parameters (see SINSMAICS S120/S150 List Manual) ........................................................ 662
10.2.3 Calculating time remaining .............................................................................................. 664
10.2.4 Motor overload protection according to IEC/UL 61800-5-1 ................................................ 664
10.3 Blocking protection .......................................................................................................... 666
10.4 Stall protection for vector control ..................................................................................... 667
11 Safety Integrated Basic Functions ..................................................................................................... 669
11.1 Latest information ........................................................................................................... 669
11.2 General information......................................................................................................... 671
11.2.1 Explanations, standards and terminology ......................................................................... 671
11.2.2 Supported functions ........................................................................................................ 673
11.2.3 Control possibilities.......................................................................................................... 675
11.2.4 Parameters, checksum, version ........................................................................................ 676
11.2.5 Handling the Safety password .......................................................................................... 677
11.2.6 Forced checking procedure (test stop) .............................................................................. 680
11.2.6.1 Forced checking procedure or test of the switch-off signal paths (test stop) for Safety
Integrated Basic ............................................................................................................... 680
11.2.6.2 Forced checking procedure (test stop) with POWER ON .................................................... 681
11.3 Safety instructions ........................................................................................................... 682
11.4 Safe Torque Off (STO)....................................................................................................... 684
11.5 Safe Stop 1 (SS1, time controlled) .................................................................................... 688
11.5.1 SS1 with OFF3 ................................................................................................................. 688
11.5.2 SS1 with external stop...................................................................................................... 690
11.5.3 Function diagrams and parameters .................................................................................. 690
11.6 Safe Brake Control (SBC) .................................................................................................. 691
11.6.1 SBC for Motor Modules in the chassis format .................................................................... 693
11.7 Response times................................................................................................................ 695
11.7.1 Controlling via terminals on the Control Unit and Motor Module ....................................... 696
11.7.2 Control via PROFIsafe ....................................................................................................... 697
11.7.3 Control via TM54F............................................................................................................ 698
11.8 Controlling via terminals on the Control Unit and Motor/Power Module............................. 699
11.8.1 Simultaneity and tolerance time of the two monitoring channels...................................... 702
11.8.2 Bit pattern test ................................................................................................................. 704
11.9 Control via TM54F............................................................................................................ 706
11.9.1 Design ............................................................................................................................. 706
11.9.2 Fault acknowledgment..................................................................................................... 707
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Table of contents
11.9.3 F-DI function.................................................................................................................... 707
11.9.4 Function of the F-DO........................................................................................................ 709
11.10 Commissioning the functions "STO", "SBC" and "SS1"......................................................... 712
11.10.1 General information on commissioning Safety Integrated Functions ................................. 712
11.10.2 Commissioning with Startdrive......................................................................................... 713
11.10.2.1 STO/SS1/SBC (Basic Functions).......................................................................................... 713
11.10.3 Commissioning via direct parameter access ...................................................................... 715
11.10.4 Safety faults..................................................................................................................... 717
11.11 Acceptance test and acceptance report ............................................................................ 720
11.11.1 Acceptance test structure................................................................................................. 722
11.11.2 Safety Logbook ................................................................................................................ 724
11.11.3 Acceptance test ............................................................................................................... 724
11.11.3.1 Preparing the acceptance test .......................................................................................... 725
11.11.3.2 Carrying out an acceptance test (example) ....................................................................... 726
11.12 Overview of parameters and function diagrams................................................................ 729
12 Applications ....................................................................................................................................... 731
12.1 Application examples ....................................................................................................... 731
12.2 Switch on infeed unit via a drive axis ................................................................................ 734
12.3 Control Units without infeed control................................................................................. 737
12.4 Quick stop in the event of a power failure or emergency stop (servo)................................ 739
12.5 Motor changeover............................................................................................................ 741
12.6 Application examples with DMC20 ................................................................................... 746
12.7 DCC and DCB extension applications ................................................................................ 750
13 Web server ......................................................................................................................................... 751
13.1 Fundamentals.................................................................................................................. 754
13.1.1 Supported Internet browsers ............................................................................................ 754
13.1.2 Accessing the web server ................................................................................................. 754
13.1.2.1 Access via service interface X127 ..................................................................................... 754
13.1.2.2 Access via PROFINET interface X150 ................................................................................. 755
13.1.2.3 Calling the web server...................................................................................................... 756
13.1.3 Access protection............................................................................................................. 756
13.1.3.1 Access rights.................................................................................................................... 757
13.1.4 SINAMICS write and know-how protection........................................................................ 758
13.1.5 Dialog screen forms in the web server .............................................................................. 759
13.1.6 Changing parameter values.............................................................................................. 760
13.1.7 Administrator password ................................................................................................... 761
13.1.7.1 Assigning the administrator password .............................................................................. 761
13.1.7.2 Changing the administrator password .............................................................................. 763
13.1.8 User login ........................................................................................................................ 763
13.1.9 User logout...................................................................................................................... 764
13.1.9.1 Automatic logout............................................................................................................. 764
13.1.10 Layout of the start page ................................................................................................... 765
13.1.10.1 Navigation ....................................................................................................................... 766
13.1.10.2 Call support information .................................................................................................. 767
13.1.10.3 Saving settings retentively................................................................................................ 768
13.1.11 Using SSL/TLS certificates for secure data transfer ............................................................. 769
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13.1.11.1 Overview ......................................................................................................................... 769
13.1.11.2 Using a self-created or purchased certificate ..................................................................... 771
13.1.11.3 Using a self-signed certificate ........................................................................................... 773
13.1.11.4 Internet Explorer 11 application ....................................................................................... 774
13.1.11.5 Using Google Chrome and Microsoft edge........................................................................ 781
13.1.11.6 Using Mozilla Firefox ........................................................................................................ 789
13.2 Diagnostic functions ........................................................................................................ 797
13.2.1 “Drive objects and components” display area .................................................................... 797
13.2.2 “Alarms” display area ........................................................................................................ 799
13.2.2.1 Filtering messages ........................................................................................................... 801
13.2.2.2 Acknowledging faults ...................................................................................................... 802
13.2.3 “Diagnostics buffer” display area ....................................................................................... 802
13.2.4 “Communication” display area .......................................................................................... 804
13.2.5 “Trace files” display area ................................................................................................... 804
13.3 Creating and adjusting the parameter list ......................................................................... 806
13.3.1 Overview ......................................................................................................................... 806
13.3.2 Creating a parameter list .................................................................................................. 806
13.3.3 Adding parameters .......................................................................................................... 807
13.3.4 Selecting/entering parameters.......................................................................................... 808
13.3.5 Changing the parameter sequence ................................................................................... 809
13.3.6 Deleting parameters......................................................................................................... 809
13.3.7 Changing the list properties ............................................................................................. 809
13.3.8 Deleting a parameter list .................................................................................................. 809
13.4 Backup and restore .......................................................................................................... 811
13.4.1 Overview ......................................................................................................................... 811
13.4.2 Backing up parameters..................................................................................................... 811
13.4.3 Restore file parameters..................................................................................................... 812
13.4.4 Restoring the factory setting ............................................................................................ 813
13.5 System settings................................................................................................................ 814
13.5.1 Setting or changing user accounts.................................................................................... 814
13.5.2 Password forgotten .......................................................................................................... 816
13.5.3 Configuring the IP connection .......................................................................................... 820
13.5.4 Using functions that require a license ............................................................................... 821
13.5.5 Updating the firmware via the web server......................................................................... 823
13.5.5.1 Loading firmware and STARTER project files into the drive ................................................. 824
13.5.5.2 Loading STARTER project data into the drive ..................................................................... 826
13.5.6 System restoration ........................................................................................................... 827
14 Basic information about the drive system ......................................................................................... 829
14.1 Parameter........................................................................................................................ 829
14.2 Drive objects.................................................................................................................... 833
14.3 Licensing ......................................................................................................................... 835
14.3.1 System reactions to under-licensing ................................................................................. 839
14.3.2 License Key...................................................................................................................... 840
14.3.2.1 Creating and saving a License Key .................................................................................... 840
14.3.2.2 Display/enter License Key ................................................................................................. 842
14.3.3 Trial License mode ........................................................................................................... 843
14.3.3.1 Activating Trial License mode ........................................................................................... 845
14.3.4 Messages (see SINAMICS S120/S150 List Manual)............................................................. 847
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Table of contents
14.3.5 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 847
14.4 BICO technology: Interconnecting signals ......................................................................... 848
14.4.1 Binectors, connectors....................................................................................................... 848
14.4.2 Interconnecting signals using BICO technology................................................................. 849
14.4.3 Internal coding of the binector/connector output parameters............................................ 850
14.4.4 Sample interconnections.................................................................................................. 850
14.4.5 Notes on BICO technology................................................................................................ 851
14.4.6 Scaling ............................................................................................................................ 852
14.4.7 Propagation of faults........................................................................................................ 853
14.5 Data sets.......................................................................................................................... 854
14.5.1 CDS: Command data set................................................................................................... 854
14.5.2 DDS: Drive Data Set.......................................................................................................... 855
14.5.3 EDS: Encoder Data Set...................................................................................................... 856
14.5.4 MDS: Motor Data Set........................................................................................................ 857
14.5.5 Function diagrams and parameters .................................................................................. 858
14.6 Inputs/outputs ................................................................................................................. 860
14.6.1 Digital inputs/outputs....................................................................................................... 860
14.6.2 Use of bidirectional inputs/outputs on the CU ................................................................... 863
14.6.3 Analog inputs .................................................................................................................. 865
14.6.4 Analog outputs ................................................................................................................ 866
14.7 Write and know-how protection ....................................................................................... 868
14.7.1 Write protection ............................................................................................................... 868
14.7.2 Activating/deactivating write protection ........................................................................... 869
14.7.3 Know-how protection ...................................................................................................... 869
14.7.4 Configuring know-how protection .................................................................................... 873
14.7.5 Managing the exception list ............................................................................................. 877
14.8 Component replacement ................................................................................................. 880
14.8.1 Replacing components..................................................................................................... 880
14.8.2 Examples of replacing components .................................................................................. 881
14.9 Data backup .................................................................................................................... 883
14.9.1 Backing up the non-volatile memory ................................................................................ 883
14.9.2 Redundant data backup on memory card ......................................................................... 885
14.10 DRIVE-CLiQ ...................................................................................................................... 887
14.10.1 DRIVE-CLiQ topology ........................................................................................................ 887
14.10.2 DRIVE-CLiQ diagnostics .................................................................................................... 888
14.10.3 Autonomous emergency operation .................................................................................. 889
14.11 System rules, sampling times and DRIVE-CLiQ wiring ........................................................ 891
14.11.1 Overview of system limits and system utilization .............................................................. 891
14.11.2 System rules .................................................................................................................... 892
14.11.3 Special configurations and topologies............................................................................... 895
14.11.4 Rules on the sampling times............................................................................................. 895
14.11.4.1 Rules when setting the sampling times............................................................................. 895
14.11.4.2 Rules for isochronous mode ............................................................................................. 898
14.11.4.3 Default settings for the sampling times ............................................................................ 899
14.11.4.4 Setting the pulse frequency.............................................................................................. 901
14.11.4.5 Setting sampling times..................................................................................................... 902
14.11.4.6 Parameters (see SINAMICS S120/S150 List Manual) .......................................................... 902
14.11.5 Rules for wiring with DRIVE-CLiQ ...................................................................................... 903
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Table of contents
14.11.5.1 Binding DRIVE-CLiQ interconnection rules......................................................................... 904
14.11.5.2 Recommended interconnection rules ............................................................................... 906
14.11.5.3 Rules for automatic configuration..................................................................................... 909
14.11.5.4 Changing the offline topology in the STARTER commissioning tool .................................... 922
14.11.5.5 Modular machine concept: Offline correction of the reference topology ............................ 922
14.11.6 Notes on the number of controllable drives ...................................................................... 924
14.11.6.1 Number of drives depending on the control mode and cycle times.................................... 924
14.11.6.2 Cycle mix for servo control and vector control .................................................................. 931
A Appendix............................................................................................................................................ 935
A.1 List of abbreviations......................................................................................................... 935
A.2 Documentation overview ................................................................................................. 947
A.3 Supported sample topologies ........................................................................................... 948
A.4 Parameterization using the BOP20 ................................................................................... 955
A.4.1 Introduction..................................................................................................................... 955
A.4.2 General information on BOP20......................................................................................... 955
A.4.3 Displays and using the BOP20 .......................................................................................... 958
A.4.4 Fault and alarm displays ................................................................................................... 963
A.4.5 Controlling the drive using the BOP20 .............................................................................. 964
A.4.6 Important functions via BOP20......................................................................................... 964
A.5 Replacing an encoder for SIMOTICS motors ...................................................................... 966
A.6 Availability of hardware components................................................................................ 968
A.7 Availability of SW functions .............................................................................................. 976
A.8 Functions of SINAMICS S120 Combi ................................................................................. 988
Index .................................................................................................................................................. 991
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Table of contents
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16 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Introduction 1
1.1 The SINAMICS converter family
With the SINAMICS converter family, you can solve any individual drive task in the low-voltage,
medium-voltage and DC voltage range. From converters to motors and controllers, all Siemens
drive components are perfectly matched to each other and can be easily integrated into your
existing automation system. With SINAMICS you are prepared for digitization. You benefit from
highly efficient engineering with a variety of tools for the entire product development and
production process. And you also save space in the control cabinet – thanks to the integrated
safety technology.
You can find additional information about SINAMICS at the following address (http://
www.siemens.com/sinamics).
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 17
Introduction
1.2 General information about SINAMICS documentation
1.2 General information about SINAMICS documentation
SINAMICS documentation
The SINAMICS documentation is organized in the following categories:
• General documentation/catalogs
• User documentation
• Manufacturer/service documentation
Standard scope
The scope of the functionality described in this document can differ from that of the drive system
that is actually supplied.
• Other functions not described in this documentation might be able to be executed in the
drive system. However, no claim can be made regarding the availability of these functions
when the equipment is first supplied or in the event of service.
• The documentation can also contain descriptions of functions that are not available in a
particular product version of the drive system. Please refer to the ordering documentation
only for the functionality of the supplied drive system.
• Extensions or changes made by the machine manufacturer must be documented by the
machine manufacturer.
For reasons of clarity, this documentation does not contain all of the detailed information on all
of the product types, and cannot take into consideration every conceivable type of installation,
operation and service/maintenance.
Target group
This documentation is intended for machine manufacturers, commissioning engineers, and
service personnel who use the SINAMICS drive system.
Benefits
This manual provides all of the information, procedures and operator actions required for the
particular usage phase.
Siemens MySupport/Documentation
You can find information on how to create your own individual documentation based on
Siemens content and adapt it for your own machine documentation at the following address
(https://support.industry.siemens.com/My/ww/en/documentation).
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18 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Introduction
1.2 General information about SINAMICS documentation
Additional information
You can find information on the topics below at the following address (https://
support.industry.siemens.com/cs/de/en/view/108993276):
• Ordering documentation/overview of documentation
• Additional links to download documents
• Using documentation online (find and search in manuals/information)
Questions relating to the technical documentation
Please send any questions about the technical documentation (e.g. suggestions for
improvement, corrections) to the following email address
(mailto:docu.motioncontrol@siemens.com).
FAQs
You can find Frequently Asked Questions about SINAMICS under Product Support (https://
support.industry.siemens.com/cs/de/en/ps/faq).
Siemens Support while on the move
With the "Siemens Industry Online Support" app, you can access more than 300,000 documents
for Siemens Industry products – any time and from anywhere. The app supports you in the
following areas, for example:
• Resolving problems when executing a project
• Troubleshooting when faults develop
• Expanding a system or planning a new system
Furthermore, you have access to the Technical Forum and other articles that our experts have
drawn up:
• FAQs
• Application examples
• Manuals
• Certificates
• Product announcements and much more
The "Siemens Industry Online Support" app is available for Apple iOS and Android.
Data matrix code on the rating plate
The data matrix code on the rating plate contains the specific device data. This code can be read-
in with any smartphone and technical information for the appropriate device can be displayed
via the "Industry Online Support" mobile app.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 19
Introduction
1.2 General information about SINAMICS documentation
Websites of third-party companies
This document includes hyperlinks to websites of third-party companies. Siemens is not
responsible for and shall not be liable for these websites or their content, as Siemens has not
checked the information contained in the websites and is not responsible for the content or
information they provide. The use of such websites is at the user's own risk.
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20 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Introduction
1.3 Usage phases and their documents/tools
1.3 Usage phases and their documents/tools
Usage phase Document/tool
Orientation SINAMICS S Sales Documentation
Planning/configuration • SIZER Engineering Tool
• Configuration Manuals, Motors
Deciding/ordering SINAMICS S120 catalogs
• SINAMICS S120 and SIMOTICS (Catalog D 21.4)
• SINAMICS Converters for Single-Axis Drives and SIMOTICS Motors (Catalog D 31)
• SINAMICS Converters for Single-Axis Drives – Built-In Units (D 31.1)
• SINAMICS Converters for Single-Axis Drives – Distributed Converters (D 31.2)
• SINAMICS S210 Servo Drive System (D 32)
• SINUMERIK 840 Equipment for Machine Tools (Catalog NC 62)
Installation/assembly • SINAMICS S120 Equipment Manual for Control Units and Supplementary System
Components
• SINAMICS S120 Equipment Manual for Booksize Power Units
• SINAMICS S120 Equipment Manual for Chassis Power Units
• SINAMICS S120 Equipment Manual for Chassis Power Units, Liquid-cooled
• SINAMICS S120 Equipment Manual water-cooled chassis power units for common
cooling circuits
• SINAMICS S120 Equipment Manual for Chassis Power Units, Air-cooled
• SINAMICS S120 Equipment Manual for AC Drives
• SINAMICS S120 Equipment Manual Combi
• SINAMICS S120M Equipment Manual Distributed Drive Technology
• SINAMICS HLA System Manual Hydraulic Drives
Commissioning • Startdrive Commissioning Tool
• SINAMICS S120 Getting Started with Startdrive
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120 Function Manual Drive Functions
• SINAMICS S120 Safety Integrated Function Manual
• SINAMICS S120 Function Manual Communication
• SINAMICS S120/S150 List Manual
• SINAMICS HLA System Manual Hydraulic Drives
Usage/operation • SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120/S150 List Manual
• SINAMICS HLA System Manual Hydraulic Drives
Maintenance/servicing • SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120/S150 List Manual
References • SINAMICS S120/S150 List Manual
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 21
Introduction
1.4 Where can the various topics be found?
1.4 Where can the various topics be found?
Software Manual
Alarms Described in order of ascending numbers SINAMICS S120/S150 List Manual
Parameters Described in order of ascending numbers SINAMICS S120/S150 List Manual
Function block di‐ Sorted according to topic SINAMICS S120/S150 List Manual
agrams Described in order of ascending numbers
Drive functions SINAMICS S120 Function Manual Drive Functions
Communication topics SINAMICS S120 Function Manual Communication2)
Safety Integrated Basic and Extended Functions SINAMICS S120 Safety Integrated Function Manual
Basic Functions SINAMICS S120 Function Manual Drive Functions
Commissioning Of a simple SINAMICS S120 drive with Getting Started1)
STARTER
Commissioning With STARTER SINAMICS S120 Commissioning Manual1)
Commissioning Of a simple SINAMICS S120 drive with Start‐ Getting Started with Startdrive2)
drive
Commissioning With Startdrive SINAMICS S120 Commissioning Manual with Startdrive2)
Web server SINAMICS S120 Function Manual Drive Functions
Hardware Manual
Control Units • Control Units • DRIVE‑CLiQ HUB SINAMICS S120 Equipment Manual for Control Units and
and expansion Modules Supplementary System Components
• Option Boards
components
• Terminal Modules • VSM10
• Encoder system
connection
Booksize • Line connection • DC link components SINAMICS S120 Equipment Manual for Booksize
power units Power Units
• Line Modules • Braking resistors
• Motor Modules • Control cabinet de‐
sign
Chassis power units SINAMICS S120 Equipment Manual for Chassis Power
Units, air, liquid or water cooled
AC drive components SINAMICS S120 Equipment Manual for AC Drives
S120 Combi components SINAMICS S120 Equipment Manual Combi
Diagnostics via STARTER SINAMICS S120 Commissioning Manual1)
LEDs Startdrive SINAMICS S120 Commissioning Manual with Startdrive2)
Meaning of the LEDs Equipment Manuals
High Frequency Drive components SINAMICS S120 System Manual High Frequency Drives
1)
Up to firmware version 5.1 SP1
2)
From firmware version 5.2
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22 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Introduction
1.5 Training and support
1.5 Training and support
Training
You can find information on SITRAIN at the following address (http://www.siemens.com/sitrain).
SITRAIN offers training courses for products, systems and solutions in drive and automation
technology from Siemens.
Technical Support
To ask a technical question or create a support request, click on "Support Request" at the
following address and select "Create Request".
See also
Technical Support (https://support.industry.siemens.com/cs/ww/en/sc)
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 23
Introduction
1.6 Using OpenSSL
1.6 Using OpenSSL
Many SINAMICS products include OpenSSL. The following applies to these products:
• This product contains software (https://www.openssl.org/) that has been developed by the
OpenSSL project for use in the OpenSSL toolkit.
• This product contains cryptographic software (mailto:eay@cryptsoft.com) created by Eric
Young.
• This product contains software (mailto:eay@cryptsoft.com) developed by Eric Young.
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24 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Introduction
1.7 General Data Protection Regulation
1.7 General Data Protection Regulation
Compliance with the General Data Protection Regulation
Siemens respects the principles of data protection, in particular the data minimization rules
(privacy by design).
For this product, this means:
The product does not process neither store any person-related data, only technical function data
(e.g. time stamps). If the user links these data with other data (e.g. shift plans) or if he stores
person-related data on the same data medium (e.g. hard disk), thus personalizing these data, he
has to ensure compliance with the applicable data protection stipulations.
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Introduction
1.7 General Data Protection Regulation
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26 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Fundamental safety instructions 2
2.1 General safety instructions
WARNING
Danger to life if the safety instructions and residual risks are not observed
If the safety instructions and residual risks in the associated hardware documentation are not
observed, accidents involving severe injuries or death can occur.
• Observe the safety instructions given in the hardware documentation.
• Consider the residual risks for the risk evaluation.
WARNING
Malfunctions of the machine as a result of incorrect or changed parameter settings
As a result of incorrect or changed parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the parameterization against unauthorized access.
• Handle possible malfunctions by taking suitable measures, e.g. emergency stop or
emergency off.
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Fundamental safety instructions
2.2 Warranty and liability for application examples
2.2 Warranty and liability for application examples
Application examples are not binding and do not claim to be complete regarding configuration,
equipment or any eventuality which may arise. Application examples do not represent specific
customer solutions, but are only intended to provide support for typical tasks.
As the user you yourself are responsible for ensuring that the products described are operated
correctly. Application examples do not relieve you of your responsibility for safe handling when
using, installing, operating and maintaining the equipment.
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Fundamental safety instructions
2.3 Security information
2.3 Security information
Siemens provides products and solutions with industrial security functions that support the
secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is necessary
to implement – and continuously maintain – a holistic, state-of-the-art industrial security
concept. Siemens’ products and solutions constitute one element of such a concept.
Customers are responsible for preventing unauthorized access to their plants, systems,
machines and networks. Such systems, machines and components should only be connected to
an enterprise network or the internet if and to the extent such a connection is necessary and only
when appropriate security measures (e.g. firewalls and/or network segmentation) are in place.
For additional information on industrial security measures that may be implemented, please
visit
https://www.siemens.com/industrialsecurity (https://www.siemens.com/industrialsecurity).
Siemens’ products and solutions undergo continuous development to make them more secure.
Siemens strongly recommends that product updates are applied as soon as they are available
and that the latest product versions are used. Use of product versions that are no longer
supported, and failure to apply the latest updates may increase customer’s exposure to cyber
threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed
under
https://www.siemens.com/industrialsecurity (https://new.siemens.com/global/en/products/
services/cert.html#Subscriptions).
Further information is provided on the Internet:
Industrial Security Configuration Manual (https://support.industry.siemens.com/cs/ww/en/
view/108862708)
WARNING
Unsafe operating states resulting from software manipulation
Software manipulations, e.g. viruses, Trojans, or worms, can cause unsafe operating states in
your system that may lead to death, serious injury, and property damage.
• Keep the software up to date.
• Incorporate the automation and drive components into a holistic, state-of-the-art industrial
security concept for the installation or machine.
• Make sure that you include all installed products into the holistic industrial security concept.
• Protect files stored on exchangeable storage media from malicious software by with suitable
protection measures, e.g. virus scanners.
• On completion of commissioning, check all security-related settings.
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Fundamental safety instructions
2.3 Security information
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30 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Infeed 3
Overview
Infeed units or Line Modules contain the central line infeed unit for the intermediate DC circuit.
Various Line Modules are available to address the various application profiles:
• Active Line Modules (ALM)
Active Line Modules can supply energy and return regenerative energy to the line supply. A
Braking Module and braking resistor are required only if the drives need to be decelerated in
a controlled manner after a power failure (i.e. when energy cannot be fed back to the supply).
For an infeed unit with an ALM, a line reactor or an Active Interface Module is required.
• Basic Line Modules (BLM)
Basic Line Modules are only suitable for infeed operation, i.e. they cannot feed regenerative
energy back into the grid. If regenerative energy accrues, e.g. when braking the drives, it
must be converted to heat via a Braking Module and a braking resistor.
• Smart Line Modules (SLM)
Smart Line Modules can supply energy and return regenerative energy to the line supply. A
Braking Module and braking resistor are required only if the drives need to be decelerated in
a controlled manner after a power failure (i.e. when energy cannot be fed back to the supply).
For an infeed unit with an SLM, the matching line reactor is required.
Parameter assignment
Line Modules are parameterized in the Startdrive engineering tool via the "Infeed" drive object.
Note
Smart Line Modules 5 kW and 10 kW
Smart Line Modules of performance class 5 kW and 10 kW do not have DRIVE-CLiQ interfaces and
cannot be configured in the Startdrive engineering tool and in the STARTER commissioning tool.
The following information must be taken into consideration for the commissioning of SLMs of
performance class 5 kW and 10 kW:
• For communicating with the Control Unit, SLMs must be wired with a digital input of the
Control Unit via terminals.
• The recommended ON and OFF sequence for activating the SLMs must be adhered to.
You can find further information on the wiring of Smart Line Modules with the Control Unit and
for the recommended ON/OFF sequence in the Equipment Manual SINAMICS S120 Booksize
power units.
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Infeed
3.1 Active Infeed
3.1 Active Infeed
Function description
The Active Infeed control works in conjunction with the line reactor or an
Active Interface Module and the Active Line Module as step-up controller. The level of the DC link
voltage can be defined through parameters, and, by means of the control, it is independent of
line voltage fluctuations.
The open and closed-loop control firmware of the Active Line Module runs on the Control Unit
assigned to it. The Active Line Module and Control Unit communicate via DRIVE-CLiQ.
The operating modes "Parallel connection" and "Master/Slave connection" of power units are
described in this manual in Chapter "Function modules (Page 449)".
Features
• Controlled DC link voltage whose level can be adjusted (independent of line voltage
fluctuations)
• Regenerative feedback capability
• Specific reactive current setting
• Low line harmonics, sinusoidal line current (cos φ = 1)
• Several Active Line Modules connected in parallel
• Master/Slave operation for several Active Line Modules
• Configurable bandstop filters for Active Line Modules of the Chassis format
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32 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Infeed
3.1 Active Infeed
3.1.1 Active Infeed closed-loop control booksize
Overview
The following figure gives an overview of the structure of an Active Infeed control.
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Active Infeed control for Active Line Modules in Booksize design
Active Line Modules of the Booksize format can be operated in the following modes depending
on the parameterized line voltage (p0210):
• Active Mode
In the Active Mode, the DC link voltage is regulated to a variable setpoint (p3510) which
results in a sinusoidal line current (cos φ = 1). The level of the reactive current is also
controlled and can be specifically defined.
• Smart Mode
Energy recovery capability is maintained in Smart Mode, although there is a lower DC link
voltage in comparison to the Active Mode. The DC link voltage is dependent on the current
line voltage. The Extended Smart Mode can be activated as an option (see Chapter "Extended
Smart Mode (Page 55)").
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 33
Infeed
3.1 Active Infeed
The DC link voltage setpoint (p3510) and the control type are preset as follows during
commissioning in line with the connection voltage (p0210):
Table 3-1 Presetting the control type and DC link voltage Booksize
Supply voltage p0210 [V] 380 to 400 401 to 415 416 to 440 460 480
Control type p3400.0 "0" = Active Mode "1" = Smart Mode
Vdc_set p3510 [V] 600 625 562 to 5941) 6211) 6481)
1)
Voltages specified for the Smart Mode are derived from the rectified line supply voltage. The DC link voltage setpoint (p3510)
has no effect in this control mode.
The closed-loop controlled mode of Booksize power units for p0210 > 415 V can be enabled if
the maximum stationary DC link voltage (p0280) is increased as follows: p0280 ≥ 1.5 · p0210
and p0280 > 660 V.
In this case, the setpoint of the DC link voltage p3510 is not adapted automatically. p3510 = 1.5
· p0210 is recommended. The voltage-controlled operation is activated with p3400.0 = 0 and
p3400.3 = 1.
Voltage Sensing Module 10 (VSM10)
Using a Voltage Sensing Module 10 (VSM10) to detect the line voltage, drives can also be
operated in systems with significant frequency fluctuations beyond the range defined in
IEC 61000-2-4 if certain supplementary conditions are met. Significant frequency fluctuations
may occur, e.g. in (isolated) diesel-electric systems but not in large interconnected systems such
as the European power grid.
In non-European countries, especially in countries with power distribution over a wide
geographical region (large countries such as Australia, USA, China), line voltage dips occur more
frequently, the dips are somewhat lower and, above all, they can occur for longer periods of time
up to several seconds. In such grids, the use of the Voltage Sensing Module is urgently
recommended.
Commissioning an ALM Booksize
During commissioning, the device supply voltage (p0210) and the selection of an optional line
filter (p0220) must be parameterized.
Following automatic commissioning, the appropriate filter for the matching Active Interface
Module is preset as the line filter. If the drive line-up is set up differently, then the line filter type
must be adjusted using p0220.
When it is first switched on with a new/modified network, an automatic controller setting must
be implemented using the line and DC link identification routine (p3410).
While the identification routine is running, it is not permissible that other loads are switched-in/
switched-out.
Note
In a supply system without regenerative feedback capability (e.g. generators), regenerative
operation must be inhibited via the binector input p3533.
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Infeed
3.1 Active Infeed
Note
When a Wideband Line Filter is connected, it must be parameterized with p0220 = 1...5. The
temperature sensor must be connected to terminal X21 of the Active Line Module.
The DC link voltage (p3510) can be set within the following limits:
• Upper limit:
– Maximum DC link voltage (p0280)
– Product of line voltage (p0210) and max. step-up factor (r3508)
• Lower limit: Supply voltage (p0210) multiplied by 1.42
3.1.2 Active Infeed closed-loop control chassis
Overview
The following figure gives an overview of the structure of an Active Line Module. In addition, the
figure shows the differences between the Chassis and Chassis-2 designs.
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Operating mode of the Active Infeed Control for Active Line Modules of the Chassis format
Active Line Modules of the Chassis format (ALM Chassis) work exclusively in Active Mode.
In the Active Mode, the DC link voltage is regulated to a variable setpoint (p3510) which results
in a sinusoidal line current (cos φ = 1).
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 35
Infeed
3.1 Active Infeed
The DC link voltage setpoint (p3510) is preset depending on the supply voltage (p0210) using
the equation p3510 = 1.5 · p0210.
Commission an ALM Chassis
The device supply voltage (p0210) must be parameterized during commissioning. The
necessary line filter (p0220) is preset.
When it is first switched on with a new or modified network, an automatic controller setting
should be implemented using the supply/DC-link identification routine (p3410).
Note
While the identification routine is running, it is not permissible that other loads are switched-in/
switched-out.
Note
In a supply system without regenerative feedback capability (e.g. generators), regenerative
operation must be inhibited via the binector input p3533.
Special features of Active Interface Modules the format Chassis-2
Active Line Modules of the Chassis-2 format (ALM Chassis-2) works in a way comparable to the
ALMs of the Chassis format with a higher and adjustable pulse frequency. To further minimize
phase effects on the system, the upstream Active Interface Module of the Chassis-2 format
(AIM Chassis-2) has been redesigned.
The pre-charging and main contactor must be provided externally for Chassis-2 Active Interface
Modules. The control and feedback of the switches required for operation are implemented and
monitored using the software of the Chassis-2 Active Line Module. The necessary signal
interconnections are described in the following manual:
• SINAMICS S120 Device manual for air-cooled Chassis power unit
Opening and closing times of the contacts being used can be adjusted in parameter p0255
(power unit contactor monitoring time). In the case of parallel connection of Chassis-2 ALMs,
the following constraints apply:
• The signals must be connected to each Chassis-2 ALM. This is the only way to achieve a valid
operating mode for the parallel connection.
Setting the DC link voltage
NOTICE
Overheating of the components
An excessively high step-up factor for Active Line Modules can overheat and destroy
components.
• In parameter p3508 (step-up factor), enter the value "2.00" at a maximum.
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36 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Infeed
3.1 Active Infeed
The DC link voltage (p3510) can be set for both the ALMs for the Chassis format and the ALMs
for the Chassis-2 format within the following limits:
• Upper limit:
– Maximum DC link voltage (p0280)
– Product of the supply voltage (p0210) and step-up factor (max. p3508 = 2.00)
• Lower limit: Supply voltage (p0210) multiplied by 1.42
For ALMs in the Chassis and Chassis-2 formats, the following DC link voltage values apply
(p0280):
Device voltage Default setting Minimum Maximum
380 to 480 V 750 V 50 V 785 V
500 to 690 V 0.875 · p0210 + 502 V 50 V 1130 V
The values are entered in the parameter p0280 (DC link voltage maximum).
3.1.3 Line supply and DC link identification
Function description
The characteristic line supply and DC link quantities are determined using the automatic
parameter identification routine. They provide the basis to optimally set the controllers in the
Line Module.
An optimal setting of the current and voltage control is achieved with the line supply and DC link
identification routine. The dynamic response of the current control can be adjusted with p3560.
Note
Repetition of the supply / DC link identification
If the line supply environment or the components connected to the DC link change (e.g. after
installation of the equipment at the customer's site or after expanding the drive line-up), the
supply/DC-link identification routine should be repeated with p3410 = 5. Only then can it be
guaranteed that the infeed unit operates with the optimum controller settings.
When the identification function is activated, alarm A06400 is output.
Note
While the identification routine is running, it is not permissible that other loads are switched-in/
switched-out.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 37
Infeed
3.1 Active Infeed
Identification methods
The following identification types are available:
• p3410 = 4: Identify and save controller setting with L adaptation
An identification run for the total inductance and DC link capacitance is initiated when the
pulses are next enabled (2 measuring routines with different current magnitudes). The data
acquired (r3411 and r3412) is entered into p3421 and p3422. At the same time, the
parameters for current controller adaptation are recalculated (p3620, p3622). The
parameters for the infeed unit are then automatically stored in a non-volatile memory.
The infeed unit continues to operate without any interruption with the new controller
parameters.
• p3410 = 5: Reset, save ID and controller setting with L adaptation
Unlike p3410 = 4, the parameter values for line inductance and DC link capacitance are reset
before the first identification run (p3421 = p0223 and p3422 = p0227).
Note
Identification using p3410 = 5 should preferably be used. The identification can be carried
out for both Active Line Modules of the Chassis format and for ALMs of the Chassis-2 format.
• p3410 = 6: Robust controller setting for Active Line Modules the Chassis-2 format
(ALM Chassis-2)
For ALM Chassis-2, you can use p0220 ≥ 110 to select the corresponding
Active Interface Modules of the Chassis-2 format (AIM Chassis-2) automatically and carry out
an automated controller setting with p3410 = 6. During the automated controller setting, the
value of the DC link is determined in a substantially shortened measurement. All of the other
controller parameters are already preset by setting p3410 = 6.
The following advantages and disadvantages must be observed:
– Adjustments relating to the controller parameters and grid identification are not required
for modified grid parameters (e.g. switchover to another grid).
– Unlike identification over p3410 = 5, the automated controller setting leads to losses in
the dynamic response.
P3410 = 0 is automatically set when an identification routine is successfully completed.
Additional identification methods are listed in the SINAMICS S120/S150 List Manual.
3.1.4 Active Infeed open-loop control
Description
The Active Line Module can be controlled via the BICO interconnection using terminals or the
fieldbus. The operating status is indicated on the operating display r0002. The missing enable
signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable
pulses) must be connected in accordance with the manual of the corresponding power units.
The drive unit must have been commissioned for the first time.
Acknowledging faults
Faults that are still present but the causes of which have been rectified can be acknowledged
using a 0/1 edge at the "1st acknowledge faults" signal (p2103).
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Infeed
3.1 Active Infeed
Switching on the ALM
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Note
The infeed unit can be switched on by issuing an enable signal at the EP terminals and a positive
signal edge at OFF1 (p0840).
Requirements
• Commissioning takes place via the STARTER commissioning tool.
• No PROFIdrive telegrams activated.
Switching off the ALM
The Active Line Module is switched off by the same procedure used to switch it on, but in the
reverse order. However, there is no pre-charging at switch off.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 39
Infeed
3.1 Active Infeed
Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This
allows the attached drives to be braked in a controlled manner. Before the infeed unit is switched
off, the drives connected to the DC link should be in pulse inhibit mode.
Control and status messages
Table 3-2 Active Infeed open-loop control
Signal name Internal control Binector input Display of internal PROFIdrive telegram
word control word 370
ON/OFF1 STWAE.0 p0840 ON/OFF1 r0898.0 E_STW1.0
OFF2 STWAE.1 p0844 1 OFF2 and p0845 r0898.1 E_STW1.1
2 OFF2
Enable operation STWAE.3 p0852 Enable operation r0898.3 E_STW1.3
Disable motor opera‐ STWAE.5 p3532 Disable motor op‐ r0898.5 E_STW1.5
tion eration
Inhibit regenerating STWAE.6 p3533 Inhibit regenerat‐ r0898.6 E_STW1.6
ing
Acknowledge fault STWAE.7 p2103 1 Acknowledge or r2138.7 E_STW1.7
p2104 2 Acknowledge or
p2105 3 Acknowledge
Master control by PLC STWAE.10 p0854 Master control by r0898.10 E_STW1.10
PLC
Table 3-3 Active Infeed status message
Signal name Internal status word Parameter PROFIdrive telegram 370
Ready to start ZSWAE.0 r0899.0 E_ZSW1.0
Ready ZSWAE.1 r0899.1 E_ZSW1.1
Operation enabled ZSWAE.2 r0899.2 E_ZSW1.2
Fault active ZSWAE.3 r2139.3 E_ZSW1.3
No OFF2 active ZSWAE.4 r0899.4 E_ZSW1.4
Switching on inhibited ZSWAE.6 r0899.6 E_ZSW1.6
Alarm active ZSWAE.7 r2139.7 E_ZSW1.7
Switch-on operation active ZSWAE.8 r0899.8 E_ZSW1.8
Control requested ZSWAE.9 r0899.9 E_ZSW1.9
Precharging complete ZSWAE.11 r0899.11 E_ZSW1.11
Line contactor closed ZSWAE.12 r0899.12 E_ZSW1.12
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Infeed
3.1 Active Infeed
3.1.5 Reactive current control
Function description
A reactive current setpoint can be set to compensate the reactive current or to stabilize the line
voltage in infeed operation. The total setpoint is the sum of the fixed setpoint p3610 and the
dynamic setpoint via the connector input p3611.
• The direction of rotation of the line supply is compensated automatically with reactive
current control.
– A negative reactive current setpoint (r0076 < 0) causes an inductive reactive current
(overexcited operation, lower output voltage and or lagging current).
– A positive reactive current setpoint (r0076 > 0) generates a capacitive reactive current
(overexcited operation, high output voltage and/or leading current).
• The closed-loop control limits the reactive current setpoint dynamically in such a way that the
sum of the active current setpoint and the reactive current setpoint does not exceed the
maximum device current.
• The reactive current demand of a line filter selected in the configuration wizard is
automatically supplied by the Active Infeed Module. This means that the display value of the
current reactive current setpoint in r0075 no longer corresponds with the parameterized
total reactive current setpoint.
• The reactive power setpoint of the Active Infeed Module with respect to the line supply can
be obtained by multiplying the parameterized total reactive current setpoint by 1.73 rated
line voltage.
3.1.6 Harmonics controller
Function description
Harmonics in the line voltage cause harmonics in the line currents. With the activation of the
harmonics controller, the ALM generates a pulse pattern that contains harmonic components in
addition to the fundamental component. Ideally, the Active Infeed now sets an equally large
harmonic voltage to the harmonic voltage on the line side, and does not consume any power for
this harmonic. Despite the harmonic component of the line voltage, the line current remains
almost sinusoidal and does not load the line supply with additional harmonic currents. However,
the specific compensation of voltage harmonics to improve the line supply quality is not
possible.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 41
Infeed
3.1 Active Infeed
Example: Setting the harmonics controller
The 5th and 7th harmonics harmonics are to be compensated.
Table 3-4 Example parameters for the harmonics controller
Index p3624 p3625
[0] 5 100 %
[1] 7 100 %
The phase currents in parameter p0069[0 ... 2] (U, V, W) can be checked using the trace function of the
commissioning tool.
3.1.7 Parameterizable bandstop filters for Active Infeed Controls in chassis format
Overview
Parameterizable band-stop filters that can be used to dampen system resonance are available for
the current control loop. The main application for these band-stop filters is in weak line supplies
in which the resonance point of the line filter can drop to one quarter of the controller frequency.
Resonance effects in oscillating line supplies can be suppressed with the aid of these band-stop
filters.
Function description
The band-stop filters are managed in the "Supplementary closed-loop control" function module.
Activating the function module
1. Select the infeed unit in the project navigator and open the "Properties" shortcut menu.
The "Object properties" dialog then opens.
2. Click the "Function modules" tab.
3. Activate the "Additional closed-loop controls" function module in the function modules
selection with a mouse click.
Parameter r0108.03 indicates whether the function module has been activated.
Parameterizing the function
Because the same filter algorithms are involved, the settings of the band-stop filters are always
comparable with the settings of the current setpoint filters (see Section "Current setpoint filter
(Page 113)").
To prevent resonance effects for nets with low short-circuit power (small RSC), a band-stop filter
(with defined notch depth) for approx. 0.25-fold controller frequency (see p0115) is chosen
typically. Appropriate values for the attenuation are preset for the numerator and the
denominator. Only the natural frequencies for the numerator and the denominator may need to
be adapted.
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Infeed
3.1 Active Infeed
You can configure the band-stop filters for the Active Infeed using the following parameters:
• Negative phase-sequence system control (p3639 ff)
• Fixed setpoints (p2900 ff)
• Output voltage setpoint filter; activation with p5200.0 = 1
• Actual current value filter; activation with p5200.2 = 1
• Vdc actual value filter; activation with p1656.4 = 1
3.1.8 Active phase failure detection
Overview
Activate phase failure detection can be used with all Active Line Module types.
The function detects high-resistance network phase failures quickly and reliably, and thereby
protects workpieces during processing from damage caused by uncontrolled movements of the
drive axes. Through the active detection, network phase failures are even recognized in no-load
operation or with low load.
Function description
The function is an expansion of the "Negative phase-sequence system controller" and is
contained in several function modules. For a lower load on the cycle time, we recommend
activating the function via the "Supplementary closed-loop control" function module.
Commissioning the function
To start the function, proceed as follows:
1. Enable the "Supplementary closed-loop control" function module.
The activation of the function module is displayed with r0108.3 = 1.
2. Set p3640.0 = 1 to activate the negative sequence system current controller.
3. Check the set thresholds in p3647[0...2].
– Index 0: Threshold limit
– Index 1: Signaling threshold
– Index 2: Smoothing time
4. Set p3640.1 = 1 and p3640.2 = 1.
If the threshold set p3647.[0] is exceeded, then alarm A06208 is output and r3405.2 = 1 is
set (phase failure detected).
3.1.9 Messages (see SINAMICS S120/S150 List Manual)
• A06208 Infeed: Line voltage asymmetry
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 43
Infeed
3.1 Active Infeed
3.1.10 Function diagrams (see SINAMICS S120/S150 List Manual)
• 8910 Active Infeed overview
• 8920 Active Infeed - Control word, sequence control, infeed
to
• 8940 Active Infeed - controller modulation depth reserve / controller DC link voltage
(p3400.0 = 0)
• 8946 Active Infeed - current precontrol / current controller / gating unit (p3400.0 = 0)
to
• 8964 Active Infeed - signals and monitoring function, line frequency/Vdc monit.
(p3400.0 = 0)
3.1.11 Parameters (see SINAMICS S120/S150 List Manual)
• r0002 Infeed operating display
• r0046.0...29 CO/BO: Missing enable signals
• r0069[0...8] CO: Phase current actual value
• r0108.3 Drive objects of the function module / Supplementary closed-loop con‐
trol
• p0210[0...1] Device supply voltage
• p0220[0...1] Infeed line filter type
• p0255[0...7] Power unit contactor monitoring time
• p0280 DC link voltage maximum steady-state
• p0840 BI: ON/OFF (OFF1)
• p0844 BI: No coast down / coast down (OFF2)
• p0852 BI: Enable operation/Inhibit operation
• r0898.0...10 CO/BO: Control word sequence control infeed
• r0899.0...12 CO/BO: Status word sequence control infeed
• r2138.7...15 CO/BO: Control word, faults/alarms
• r2139.0...15 CO/BO: Status word, faults/alarms 1
• p3400 Infeed configuration word
• r3405.0...7 CO/BO: Infeed status word
• p3410 Infeed identification method
• r3411[0...1] Infeed inductance identified
• r3412[0...1] Infeed DC link capacitance identified
• p3508 Infeed step-up factor maximum
• p3510 Infeed DC link voltage setpoint
• p3533 BI: Infeed, inhibit regenerative operation
• p3560 Infeed Vdc controller proportional gain
• p3610 Infeed reactive current fixed setpoint
• p3611 CI: Infeed reactive current supplementary setpoint
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Infeed
3.1 Active Infeed
• p3624[0...1] Infeed harmonics controller order
• p3625[0...1] Infeed harmonics controller scaling
• r3626[0...1] Infeed harmonics controller output
• p3640 Negative phase-sequence system controller configuration
• p3647[0...2] Negative phase-sequence system controller phase asymmetry
Parameterizable bandstop filters
• p1656 Signal filter activation
• p1677 Vdc actual value filter 5 type
• p1678 Vdc actual value filter 5 denominator natural frequency
• p1679 Vdc actual value filter 5 denominator natural frequency
• p1680 Vdc actual value filter 5 numerator natural frequency
• p1681 Vdc actual value filter 5 numerator damping
• p2900 CO: Fixed value 1 [%] / fixed value 1 [%]
• p2901 CO: Fixed value 2 [%] / fixed value 2 [%]
• p5200 Signal filter activation
• p5201 Output voltage setpoint filter 5 type
• p5202 Output voltage setpoint filter 5 denominator natural frequency
• p5203 Output voltage setpoint filter 5 denominator damping
• p5204 Output voltage setpoint filter 5 numerator natural frequency
• p5205 Output voltage setpoint filter 5 numerator damping
• p5211 Current actual value filter 7 type
• p5212 Current actual value filter 7 denominator natural frequency
• p5213 Current actual value filter 7 denominator damping
• p5214 Current actual value filter 7 numerator natural frequency
• p5215 Current actual value filter 7 numerator damping
Active phase failure detection
• p3640 Negative phase-sequence system controller configuration
• p3647[0...2] Negative phase-sequence system controller phase asymmetry
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 45
Infeed
3.2 Basic Infeed
3.2 Basic Infeed
Overview
The following figure gives an overview of the structure of a Basic Infeed in Booksize format.
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The following figure gives an overview of the structure of a Basic Infeed in Chassis format.
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Infeed
3.2 Basic Infeed
Description
The Basic Infeed open-loop control can be used to switch on/off the Basic Line Module (BLM). The
BLM is an unregulated infeed unit without regenerative feedback capability.
The open-loop control firmware for the BLM is on the assigned Control Unit (CU). BLM and CU
communicate via DRIVE-CLiQ.
Features
• For BLM in Chassis and Booksize formats
• Unregulated DC link voltage
• Integrated control of external braking resistors (with temperature monitoring) with BLMs of
the performance class 20 kW and 40 kW
Commissioning BLM of the Booksize format (20 or 40 kW)
The device supply voltage must be parameterized in p0210 during commissioning.
Connecting an external braking resistor
If an external braking resistor is used, the temperature switch of the external braking resistor
must be connected to the terminal X21 of the BLM. If an external braking resistor has not been
connected, the Braking Module must be deactivated via p3680 = 1.
Commissioning BLM of the Chassis format
The device supply voltage must be parameterized in p0210 during commissioning.
Connecting a Braking Module externally
Connection of a Braking Module externally is optional. If a Braking Module is used externally, a
braking resistor must be connected to the Braking Module.
3.2.1 Restrictions for Basic Line Modules
Restrictions for Basic Line Modules
WARNING
Unplanned movement of individual drives
If several Motor Modules are supplied from one infeed unit without energy recovery capability,
unplanned acceleration of individual drives can occur if the Vdc_max control is incorrectly
parameterized. This can result in death or serious injury.
• Only activate the Vdc_max control for the Motor Module whose drive has the highest moment
of inertia.
• Inhibit this function for all other Motor Modules, or set this function to monitoring only.
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Infeed
3.2 Basic Infeed
If several Motor Modules are supplied from one infeed unit without energy recovery capability
(e.g. a Basic Line Module), or on power failure or overload (for SLM / ALM), the Vdc_max control may
only be activated for a Motor Module with a high moment of inertia. For Motor Modules with a
low moment of inertia, this function must be disabled or monitoring must be set.
If the Vdc_max control is active for multiple Motor Modules, then the controllers may have negative
effects on each other in the case of unfavorable parameter assignment. The drives may become
unstable and individual drives may unintentionally accelerate.
Remedy
• activate the Vdc_max control:
– Vector control: p1240 = 1 (factory setting)
– Servo control: p1240 = 1
– U/f control: p1280 = 1 (factory setting)
• Inhibit Vdc_max control:
– Vector control: p1240 = 0
– Servo control: p1240 = 0 (factory setting)
– U/f control: p1280 = 0
• Activate the Vdc_max monitoring
– Vector control: p1240 = 4 or 6
– Servo control: p1240 = 4 or 6
– U/f control: p1280 = 4 or 6
3.2.2 Basic Infeed open-loop control
Overview
The Basic Line Module can be controlled via a BICO interconnection, e.g. using terminals or
fieldbus. The operating status is indicated on the operating display r0002. The missing enable
signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable
pulses) must be connected in accordance with the manual of the corresponding power units.
Description
The Basic Line Module can be controlled via a BICO interconnection, e.g. using terminals or
fieldbus. The operating status is indicated on the operating display r0002. The missing enable
signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals (enable
pulses) must be connected in accordance with the manual of the corresponding power units.
Acknowledging faults
Faults that are still present but the causes of which have been rectified can be acknowledged
using a 0/1 edge at the "1st acknowledge faults" signal (p2103).
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Infeed
3.2 Basic Infeed
Switching on the BLM
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Note
The infeed unit can be switched on by issuing an enable signal at the EP terminals and a positive
signal edge at OFF1 (p0840).
Requirements
• Commissioning takes place via the STARTER commissioning tool.
• No PROFIdrive telegrams activated.
Switching off the BLM
For switching off, carry out the steps for switching on in the reverse order. However, there is no
pre-charging at switch off.
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Infeed
3.2 Basic Infeed
Control and status messages
Table 3-5 Basic Infeed open-loop control
Signal name Internal Binector input Display of internal PROFIdrive tele‐
control control word gram 370
word
ON/OFF1 STWAE.0 p0840 BI: ON/OFF1 r0898.0 E_STW1.0
OC/OFF2 STWAE.1 p0844 BI: 1. OFF2 and r0898.1 E_STW1.1
p0845 BI: 2. OFF2
Acknowledge fault STWAE.7 p2103 BI: 1. Acknowledge faults or r2138.7 E_STW1.7
p2104 BI: 2. Acknowledge faults or
p2105 BI: 3. Acknowledge faults
Master control by PLC STWAE.10 p0854 BI: Master control by PLC r0898.10 E_STW1.10
Table 3-6 Basic Infeed status message
Signal name Internal status word Parameter PROFIdrive telegram 370
Ready to start ZSWAE.0 r0899.0 E_ZSW1.0
Ready ZSWAE.1 r0899.1 E_ZSW1.1
Operation enabled ZSWAE.2 r0899.2 E_ZSW1.2
Fault active ZSWAE.3 r2139.3 E_ZSW1.3
No OFF2 active ZSWAE.4 r0899.4 E_ZSW1.4
Switching on inhibited ZSWAE.6 r0899.6 E_ZSW1.6
Alarm active ZSWAE.7 r2139.7 E_ZSW1.7
Control requested ZSWAE.9 r0899.9 E_ZSW1.9
Precharging complete ZSWAE.11 r0899.11 E_ZSW1.11
Line contactor closed ZSWAE.12 r0899.12 E_ZSW1.12
3.2.3 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8710 Basic Infeed overview
• 8720 Basic Infeed - Control word, sequence control, infeed
• 8726 Basic Infeed - Status word, sequence control, infeed
• 8732 Basic Infeed - Sequencer
• 8738 Basic Infeed - Missing enables, line contactor control
• 8750 Basic Infeed - Interface to the Basic Infeed power unit (control signals,
actual values)
• 8760 Basic Infeed - Signals and monitoring functions (p3400.0 = 0)
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Infeed
3.2 Basic Infeed
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0002 Infeed operating display
• r0046.0...29 CO/BO: Missing enable signals
• p0210 Device supply voltage
• p0840 BI: ON/OFF (OFF1)
• p0844 BI: No coast down / coast down (OFF2)
• r0898.0...10 CO/BO: Control word sequence control infeed
• r0899.0...12 CO/BO: Status word sequence control infeed
• p1240[0...n] Vdc controller or Vdc monitoring configuration
• p1280[0...n] Vdc controller or Vdc monitoring configuration (V/f)
• r2138.7...15 CO/BO: Control word, faults/alarms
• r2139.0...15 CO/BO: Status word, faults/alarms 1
• p3680 BI: Inhibit Braking Module internally
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Infeed
3.3 Smart Infeed
3.3 Smart Infeed
Overview
The following figure gives an overview of the structure of a Smart Infeed in Booksize format.
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The following figure gives an overview of the structure of a Smart Infeed in Chassis format.
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Infeed
3.3 Smart Infeed
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Description
The firmware of the Smart Line Module is located on the assigned Control Unit. The Smart Line
Module and Control Unit communicate via DRIVE-CLiQ.
Features
• For Smart Line Modules with a power ≥ 16 kW
• Unregulated DC link voltage
• Regenerative feedback capability
Commissioning SLM
The device connection voltage (p0210) must be parameterized during commissioning. The
Extended Smart Mode can be activated as an option (see Chapter "Extended Smart Mode
(Page 55)").
Note
In a supply system without regenerative feedback capability (e.g. generators), the regenerative
operation of the infeed unit must be deactivated via the binector input p3533.
Smart Line Modules do not support kinetic buffering in generator mode.
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Infeed
3.3 Smart Infeed
3.3.1 Line supply and DC link identification routine for Smart Infeed Booksize
Function description
The characteristic line supply and DC link quantities are determined using the automatic
parameter identification routine. They provide the basis to optimally set the controllers in the
Line Module.
Note
If the line supply environment or the components connected to the DC link change (e.g. after
installation of the equipment at the customer's site or after expanding the drive line-up), the
supply/DC-link identification routine should be repeated with p3410 = 5. Only then can it be
guaranteed that the infeed unit operates with an optimum controller setting.
When the identification function is activated, alarm A06400 is output.
Note
While the identification routine is running, it is not permissible that other loads are switched-in/
switched-out.
Note
The line supply and DC link identification routine is not permissible for Smart Line Modules of the
Chassis type.
Identification methods
The following identification types are available:
• p3410 = 4: Identify and save controller setting with L adaptation
An identification run for the total inductance and DC link capacitance is initiated when the
pulses are next enabled (2 measuring routines with different current magnitudes). Data
determined during the identification routine (r3411 and r3412) is entered into p3421 and
p3422 and the controller is recalculated. At the same time, the parameters for current
controller adaptation are determined (p6320, p6322). All of the parameters for the infeed
unit are then automatically stored in a non-volatile memory. The infeed unit continues to
operate without any interruption with the new controller parameters.
• p3410 = 5 (preferred): Reset, save ID and controller setting with L adaptation
Unlike p3410 = 4, the parameter values for line inductance and DC link capacitance are reset
before the first identification run (p3421 = p0223 and p3422 = p0227).
Note
Identification using p3410 = 5 should preferably be used.
P3410 = 0 is automatically set when an identification routine is successfully completed.
For additional identification methods, see the SINAMICS S120/S150 List Manual.
It may be necessary to reset the closed-loop controller to the factory settings if an identification
run was unsuccessful, for example.
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Infeed
3.3 Smart Infeed
3.3.2 Extended Smart Mode
Requirements
• The Smart Mode is active (p3400.0 = 1).
Function description
The operating mode "Extended Smart Mode" represents and extension of the Smart Mode, and
facilitates a higher efficiency no-load operation and partial load operation as well as a more
rugged operating behavior.
Features
The function is characterized by the following features:
• Significantly reduced reactive power drawn in no-load operation and partial load operation.
At rated load or overload, the operating behavior is equivalent to the Smart Mode.
• More stable DC link voltage in no-load operation and partial load operation.
At rated load or overload, the operating behavior is equivalent to the Smart Mode.
• Increased degree of ruggedness with respect to brief line disturbances.
• After each POWER ON, automatic adaptation to the actual line parameters.
Restrictions
The function is not available for Smart Line Modules with 5 and 10 kW.
Activating the function
Activate the Extended Smart Mode with p3440.1 = 1.
All other adjustable parameters (p3441 and following) are appropriately preset for standard
applications, or are automatically optimized with the first operating enable (p3440.2 = 0).
3.3.3 Smart Infeed open-loop control
Description
The Smart Line Module can be controlled via the BICO interconnection, e.g. using terminals or
the fieldbus. The operating status is indicated on the operating display r0002. The missing
enable signals for operation (r0002 = 00) are mapped in parameter r0046. The EP terminals
(enable pulses) must be connected in accordance with the manual of the corresponding power
units. The drive unit must have been commissioned for the first time.
Acknowledging faults
Faults that are still present but the causes of which have been rectified can be acknowledged
using a 0/1 edge at the "1st acknowledge faults" signal (p2103).
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 55
Infeed
3.3 Smart Infeed
Switching on the SLM
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Infeed
3.3 Smart Infeed
Note
The infeed unit can be switched on by issuing an enable signal at the EP terminals and a positive
signal edge at OFF1 (p0840).
Requirements
• Commissioning takes place via the STARTER commissioning tool.
• No PROFIdrive telegrams activated.
Switching off the SLM
The Active Line Module is switched off by the same procedure used to switch it on, but in the
reverse order. However, there is no pre-charging at switch off.
Switching off the controller with the OFF1 signal is delayed by the time entered in p3490. This
allows the attached drives to be braked in a controlled manner.
Control and status messages
Table 3-7 Smart Infeed open-loop control
Signal name Internal Binector input Display of internal PROFIdrive
control control word telegram 370
word
ON/OFF1 STWAE.0 p0840 BI: ON/OFF1 r0898.0 E_STW1.0
OFF2 STWAE.1 p0844 BI: 1. OFF2 and r0898.1 E_STW1.1
p0845 BI: 2. OFF2
Enable operation STWAE.3 p0852 BI: Enable operation r0898.3 E_STW1.3
Inhibit regenerating STWAE.6 p3533 BI: Infeed, inhibit regenerative r0898.6 E_STW1.6
operation
Acknowledge fault STWAE.7 p2103 BI: 1. Acknowledge faults or r2138.7 E_STW1.7
p2104 BI: 2. Acknowledge faults or
p2105 BI: 3. Acknowledge faults
Master control by PLC STWAE.10 p0854 BI: Master control by PLC r0898.10 E_STW1.10
Table 3-8 Smart Infeed status message
Signal name Internal status word Parameter PROFIdrive telegram 370
Ready to start ZSWAE.0 r0899.0 E_ZSW1.0
Ready ZSWAE.1 r0899.1 E_ZSW1.1
Operation enabled ZSWAE.2 r0899.2 E_ZSW1.2
Fault active ZSWAE.3 r2139.3 E_ZSW1.3
No OFF2 active ZSWAE.4 r0899.4 E_ZSW1.4
Switching on inhibited ZSWAE.6 r0899.6 E_ZSW1.6
Alarm active ZSWAE.7 r2139.7 E_ZSW1.7
Control requested ZSWAE.9 r0899.9 E_ZSW1.9
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Infeed
3.3 Smart Infeed
Signal name Internal status word Parameter PROFIdrive telegram 370
Precharging complete ZSWAE.11 r0899.11 E_ZSW1.11
Line contactor closed ZSWAE.12 r0899.12 E_ZSW1.12
3.3.4 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8810 Smart Infeed overview
• 8820 Smart Infeed - Control word, sequence control, infeed
• 8826 Smart Infeed - Status word, sequence control, infeed
• 8828 Smart Infeed - Status word, infeed
• 8832 Smart Infeed - Sequencer
• 8838 Smart Infeed - Missing enables, line contactor control
• 8850 Smart Infeed - Interface to the Smart Infeed (control signals, actual values)
• 8860 Smart Infeed - Signals and monitoring functions, line voltage monitoring
• 8864 Smart Infeed - Signals and monitoring functions, line frequency and Vdc mon‐
itoring
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0002 Infeed operating display
• r0046.0...29 CO/BO: Missing enable signals
• p0210 Device supply voltage
• p0840 BI: ON/OFF (OFF1)
• p0844 BI: No coast down / coast down
• p0852 BI: Enable operation / disable operation
• r0898.0...10 CO/BO: Control word sequence control infeed
• r0899.0...12 CO/BO: Status word sequence control infeed
• r2138.7...15 CO/BO: Control word, faults/alarms
• r2139.0...15 CO/BO: Status word, faults/alarms 1
• p3400 Infeed configuration word
• r3405.0...7 CO/BO: Infeed status word
• p3410 Infeed identification method
• p3421 Infeed inductance
• p3422 Infeed DC link capacitance
• p3440 Smart Mode configuration
• p3533 BI: Infeed, inhibit regenerative operation
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Infeed
3.4 Line contactor control
3.4 Line contactor control
Function description
This function can be used to control an external line contactor. Opening and closing the line
contactor can be monitored by evaluating the feedback contact in the line contactor. For the
"Infeed", "Servo" and "Vector" drive objects, the line contactor can be controlled over r0863.1.
More detailed information can be found in the SINAMICS S120 manuals.
Commissioning the function
The following describes the commissioning of a line contactor control based on an example.
Assumptions
The following assumptions are taken as a basis in the case example:
• The line contactor is controlled over a digital output of the Control Unit (DI/DO 8).
• Line contactor feedback uses a digital input of the Control Unit (DI/DO 9).
• Line contactor switching time is less than 100 ms.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 59
Infeed
3.4 Line contactor control
Procedure
To commission the line contactor control, proceed as follows:
1. Connect the line contactor control contact to DI/DO 8
Observe the maximum output current of the digital output. If necessary, use an auxiliary
contactor.
You will find additional information on the maximum output current of the digital output DI/
DO 8 in the "X122 Digital inputs/outputs" chapter of the SINAMICS S120 Control Units and
additional system components manual.
2. Parameterize DI/DO 8 as an output (p0728.8 = 1).
3. Assign parameter p0738 the control signal for the line contactor r0863.1
4. Connect the line contactor feedback contact to DI/DO 9.
5. Assign p0860 with input signal r0722.9.
6. Enter the monitoring time for the line contactor (100 ms) in p0861.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8938 Active Infeed - Missing enables, line contactor control
Parameters (see SINAMICS S120/S150 List Manual)
• p0860 BI: Line contactor, feedback signal
• r0863.0...2 CO/BO: Drive coupling status word / control word
• p0867 Power section main contactor hold time after OFF1
• p0869 Configuration sequence control
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3.5 Pre-charging and bypass contactor Chassis and Chassis-2
3.5 Pre-charging and bypass contactor Chassis and Chassis-2
Function description
Pre-charging is the term for the procedure used to charge the DC link capacitors via resistors. Pre-
charging is carried out from the feeding supply network. The precharging input circuit limits the
charging current of the DC link capacitors.
• Chassis format
The pre-charging input circuit for Active Infeed and Smart Infeed Modules consists of a pre-
charge contactor with pre-charging resistors and a bypass contactor. The Active Line Module
controls the pre-charging input circuit in the Active Interface Module through terminals.
• Chassis-2 format
The pre-charging and main contactor must be provided externally for
Active Interface Modules. The control and feedback of the switches required for operation
are implemented and monitored using the software of the Active Line Modules. The
necessary signal interconnections are described in the manual referred to below: Opening
and closing times of the contacts being used can be adjusted using parameter p0255 (power
unit contactor monitoring time).
• Sizes FI, GI, HI and JI
The precharging input circuit in the Active Interface Module of module types FI and GI
contains the bypass contactor. The bypass contactor must be provided separately for frame
sizes HI and JI.
• Smart Line Module
With the Smart Line Module, precharging is integrated in the Smart Line Module itself. The
bypass contactor must be implemented in this case.
• Basic Line Modules (Thyristor)
For Basic Line Modules with thyristors, the built-in thyristors are connected instead of a
bypass contactor. For Basic Line Modules with diodes, the bypass contactor is implemented
as a circuit breaker.
Further information
You will find more detailed information in the following manual:
• SINAMICS S120 Manual for Chassis Power Units, Air-cooled
Procedure during switch-on
• The precharging contactor is closed and the DC link is charged via the precharging resistors.
• Once precharging is complete, the bypass contactor is closed and the precharging contactor
opened. The DC link is precharged and ready for operation. If precharging could not be
completed, fault F06000 is output.
Procedure during switch-off
• The pulses are inhibited and the bypass contactor is then opened.
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3.5 Pre-charging and bypass contactor Chassis and Chassis-2
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Extended setpoint channel 4
Overview
• Servo control
In servo control, the extended setpoint channel is deactivated through the factory setting.
If an extended setpoint channel is required, it has to be activated.
• Vector control
The extended setpoint channel is always activated in vector control.
Function description
In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor
control.
The setpoint for the motor control can also come from the technology controller (see Chapter
"Technology controller (Page 451)").
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 63
Extended setpoint channel
Features
The function is characterized by the following features:
• Main/supplementary setpoint, setpoint scaling
• Direction limitation and direction reversal
• Suppression bandwidths and setpoint limitation
• Ramp-function generator
Setpoint sources
The closed-loop control setpoint can be interconnected from various sources using BICO
technology, e.g. at p1070 CI: Main setpoint (see function diagram 3030).
There are various options for setpoint input:
• Fixed speed setpoints
• Motorized potentiometer
• Jog
• Fieldbus
– Setpoint via PROFIBUS, for example
• Analog inputs of the following exemplary components:
– e.g. Terminal Board 30 (TB30)
– e.g. Terminal Module 31 (TM31)
– e.g. Terminal Module 41 (TM41)
Activating a function module (servo control)
The function module "Expanded setpoint channel" in the servo control is activated in Startdrive
using "Drive axis > Parameters > Basic parameter assignment > Function modules".
In the r0108.8 parameter, you then check the current configuration.
Note
When the "extended setpoint channel" function module for servo control is activated, under
certain circumstances, the number of drives in the multi-axis group that can be controlled from
a Control Unit is reduced.
Properties of servo control without the "Extended setpoint channel" function module
• The setpoint is directly interconnected to p1155 (e.g. from a higher-level controller or
technology controller).
• For EPOS, the setpoint is interconnected to p1160.
Drive functions
64 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
• Dynamic Servo Control (DSC)
Using DSC together with function module "Extended setpoint channel" has a negative impact
on the CPU time of the CU. This is why we recommend deactivating function module
"Extended setpoint channel" when using DSC.
• Deceleration ramp OFF1 via p1121
The deceleration ramp in p1121 is also active when the "Extended setpoint channel" is
deactivated.
• Deceleration ramp OFF3 via p1135
The deceleration ramp in p1135 is also active when the "Extended setpoint channel" is
deactivated.
• For PROFIdrive telegrams 2 to 103 and 999 only (free assignment)
• STW 1 bit 5 (freeze ramp-function generator), no function
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 65
Extended setpoint channel
4.1 Motorized potentiometer
4.1 Motorized potentiometer
Function description
The "Motorized potentiometer" function is used to simulate an electromechanical potentiometer
for setpoint input.
You can switch between manual and automatic mode for setpoint input. The specified setpoint
is routed to an internal ramp-function generator. Setting values, start values and braking with
OFF1 do not require the ramp-function generator of the motorized potentiometer.
The output of the ramp-function generator for the motorized potentiometer is available for
further interconnection via a connector output (e.g. interconnection to connector input p1070
- CI: Main setpoint, an additional ramp-function generator is then active).
Features of manual operation (p1041 = 0)
For manual operation, the function is characterized by the following features:
• Separate binector inputs for Raise and Lower are used to adjust the input setpoint:
– p1035 BI: Motorized potentiometer, setpoint, raise
– p1036 BI: Motorized potentiometer, setpoint, lower
• Invert setpoint (p1039)
• Configurable ramp-function generator, e.g.:
– Ramp-up/ramp-down time (p1047/p1048) referred to p1082
– Setting value (p1043/p1044)
– Activate/deactivate initial rounding (p1030.2 = 1/0)
• Non-volatile storage of the setpoints via p1030.3 = 1
• Configurable setpoint for Power ON (p1030.0)
– Starting value is the value in p1040 (p1030.0 = 0)
– Starting value is the stored value (p1030.0 = 1)
Features of automatic mode (p1041 = 1)
For automatic mode, the function is characterized by the following features:
• The input setpoint is specified via a connector input (p1042).
• The motorized potentiometer acts like a "normal" ramp-function generator.
• Configurable ramp-function generator, e.g.:
– Activate/deactivate (p1030.1 = 1/0)
– Ramp-up/ramp-down time (p1047/p1048)
– Setting value (p1043/p1044)
– Activate/deactivate initial rounding (p1030.2 = 1/0)
Drive functions
66 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.1 Motorized potentiometer
• Non-volatile storage of the setpoints via p1030.3 = 1
• Configurable setpoint for Power ON (p1030.0)
– Starting value is the value in p1040 (p1030.0 = 0)
– Starting value is the stored value (p1030.0 = 1)
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3001 Setpoint channel overview
• 2501 Internal control/status words - Control word, sequence control
• 3020 Setpoint channel - Motorized potentiometer
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1030[0...n] Motorized potentiometer configuration
• p1035[0...n] BI: Motorized potentiometer, setpoint, raise
• p1036[0...n] BI: Motorized potentiometer, setpoint, lower
• p1037[0...n] Motorized potentiometer, maximum speed
• p1038[0...n] Motorized potentiometer, minimum speed
• p1039[0...n] BI: Motorized potentiometer, inversion
• p1040[0...n] Motorized potentiometer start value
• p1041[0...n] BI: Motorized potentiometer, manual/automatic
• p1042[0...n] CI: Motorized potentiometer, automatic setpoint
• p1043[0...n] BI: Motorized potentiometer, accept setting value
• p1044[0...n] CI: Motorized potentiometer, setting value
• r1045 CO: Motorized potentiometer, speed setpoint in front of the ramp-func‐
tion generator
• p1047[0...n] Motorized potentiometer, ramp-up time
• p1048[0...n] Motorized potentiometer, ramp-down time
• r1050 CO: Motorized potentiometer, setpoint after the ramp-function gener‐
ator
• p1082[0...n] Maximum speed
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 67
Extended setpoint channel
4.2 Fixed setpoints
4.2 Fixed setpoints
Function description
The "Fixed setpoints" function can be used to specify preset speed setpoints. These fixed
setpoints are defined using parameters and selected via binector inputs. Both the individual
fixed setpoints and the effective fixed setpoint are available for further interconnection via a
connector output (e.g. to connector input p1070 - CI: Main setpoint).
Features
The function is characterized by the following features:
• Number of fixed setpoints: Fixed setpoint 1 to 15
• Selection of fixed setpoints: Binector input bits 0 to 3
– Binector input bits 0, 1, 2 and 3 = 0 → setpoint = 0 active
– Unused binector inputs have the same effect as a "0" signal
Parameterizing the function (STARTER)
In the STARTER commissioning tool, the "Fixed setpoints" parameterizing screen form in the
project navigator under the relevant drive is called by double-clicking "Setpoint channel" > "Fixed
setpoints".
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3001 Setpoint channel overview
• 3010 Setpoint channel - Fixed speed setpoints
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1001[0...n] CO: Fixed speed setpoint 1
...
• p1015[0...n] CO: Fixed speed setpoint 15
• p1020[0...n] BI: Fixed speed setpoint selection Bit 0
• p1021[0...n] BI: Fixed speed setpoint selection Bit 1
• p1022[0...n] BI: Fixed speed setpoint selection Bit 2
• p1023[0...n] BI: Fixed speed setpoint selection Bit 3
• r1024 CO: Fixed speed setpoint effective
• r1197 Current fixed speed setpoint number
Drive functions
68 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.3 Speed setpoint
4.3 Speed setpoint
4.3.1 Main/supplementary setpoint and setpoint scaling
Function description
The supplementary setpoint can be used to incorporate correction values from lower-level
controllers. This can be easily carried out using the addition point for the main/supplementary
setpoint in the setpoint channel. Both variables are imported via two separate sources and
added in the setpoint channel.
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 3001 Setpoint channel overview
• 3030 Setpoint channel - Main setpoint / supplementary setpoint, setpoint scaling, jog‐
ging
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1070[0...n] CI: Main setpoint
• p1071[0...n] CI: Main setpoint scaling
• r1073 CO: Main setpoint effective
• p1075[0...n] CI: Supplementary setpoint
• p1076[0...n] CI: Supplementary setpoint scaling
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 69
Extended setpoint channel
4.3 Speed setpoint
• r1077 CO: Supplementary setpoint effective
• r1078 CO: Total setpoint effective
4.3.2 Jog
Function description
The "Jog" function is typically used to slowly move a machine part, e.g. a conveyor belt. The "Jog
mode" can also be used to move a drive into the required position independent of the sequence.
The jog mode can be selected via digital inputs or fieldbus (e.g. PROFIBUS). This means that the
setpoint is specified via p1058[0...n] and p1059[0...n].
When a jog signal is present, the motor is accelerated to the jog setpoint with the acceleration
ramp of the ramp-function generator (referred to the maximum speed p1082; see figure "Flow
diagram: Jog 1 and jog 2"). After the jog signal has been deselected, the motor is decelerated via
the set ramp of the ramp-function generator.
Note
The "Jog" function is not PROFIdrive-compliant!
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Drive functions
70 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.3 Speed setpoint
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Features
• If both jog signals are issued at the same time, the current speed is maintained (constant
speed phase).
• Jog setpoints are approached and exited via the ramp-function generator.
• Jog is possible from the "Ready to start" state.
• If ON/OFF1 = "1" and jog are selected simultaneously, ON/OFF1 has priority.
Therefore ON/OFF1 = "1" must not be active for jog to be activated.
• OFF2 and OFF3 have priority over jog.
• The switch-on command is issued via p1055 and p1056.
• The jog speed is defined via p1058 and p1059.
• The following applies in "Jog mode":
– The main speed setpoints (r1078) are disabled.
– The supplementary setpoint 1 (p1155) is disabled.
– The supplementary setpoint 2 (p1160) is forwarded and added to the current speed.
• The suppression bandwidths (p1091 to p1094) and the minimum limit (p1080) in the
setpoint channel are also active in jog mode.
• The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1).
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 71
Extended setpoint channel
4.3 Speed setpoint
Flow diagram
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Drive functions
72 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.3 Speed setpoint
Control and status messages
Table 4-1 Jog control
Signal name Internal con‐ Binector input PROFIdrive/Siemens
trol word telegram 1 ... 352
0 = OFF1 STWA.0 p0840 BI: ON/OFF1 STW1.0
0 = OFF2 STWA.1 p0844 BI: 1. OFF2 STW1.1
p0845 BI: 2. OFF2
0 = OFF3 STWA.2 p0848 BI: 1. OFF3 STW1.2
p0849 BI: 2. OFF3
Operation ena‐ STWA.3 p0852 BI: Operation enabled STW1.3
bled
Jog 1 STWA.8 p1055 BI: Jog bit 0 STW1.81)
Jog 2 STWA.9 p1056 BI: Jog bit 1 STW1.91)
1)
Interconnected automatically in telegrams 7, 9, 110, and 111 only.
Table 4-2 Jog status message
Signal name Internal status word Parameter PROFIdrive/Siemens
telegram 1 to 352
Ready to start ZSWA.0 r0899.0 ZSW1.0
Ready ZSWA.1 r0899.1 ZSW1.1
Operation enabled ZSWA.2 r0899.2 ZSW1.2
Switching on inhibited ZSWA.6 r0899.6 ZSW1.6
Pulses enabled ZSWA.11 r0899.11 ZSW2.102)
2)
Only available in Interface Mode p2038 = 0.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3001 Setpoint channel overview
• 2610 Sequence control - Sequencer
• 3030 Setpoint channel - Main/supplementary setpoint, setpoint scaling, jogging
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1055[0...n] BI: Jog bit 0
• p1056[0...n] BI: Jog bit 1
• p1058[0...n] Jog 1 speed setpoint
• p1059[0...n] Jog 2 speed setpoint
• p1082[0...n] Maximum speed
• p1120[0...n] Ramp-function generator ramp-up time
• p1121[0...n] Ramp-function generator ramp-down time
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 73
Extended setpoint channel
4.3 Speed setpoint
4.3.3 Direction of rotation limiting and direction reversal
Requirements
• The settings to limit the direction of rotation and direction reversal are only active if the
setpoint is entered using p1070 (main setpoint), p1075 (supplementary setpoint) or a
motorized potentiometer. If the setpoint is entered using p1155, p1160, p1430 or the
Dynamic Servo Control (DSC) function, then the functions are not active.
Function description
For a reversing operation, the motor direction of rotation is reversed by inverting the setpoint.
Set the signal source for setpoint inversion in p1113[0...n]. In p1110[0...n] or p1111[0...n], set
the signal source for inhibiting in the negative or in the positive direction. The settings for
minimum speed (p1080) remain active for p1110 = 1 or p1111 = 1.
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 3001 Setpoint channel overview
• 3040 Setpoint channel - Direction limitation and direction reversal
Parameters (see SINAMICS S120/S150 List Manual)
• p1070[0...n] CI: Main setpoint
• p1075[0...n] CI: Supplementary setpoint
• p1080[0...n] Minimum speed
Drive functions
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Extended setpoint channel
4.3 Speed setpoint
• p1110[0...n] BI: Inhibit negative direction
• p1111[0...n] BI: Inhibit positive direction
• p1113[0...n] BI: Setpoint inversion
• p1155[0...n] CI: Speed controller, speed setpoint 1
• p1160[0...n] CI: Speed controller, speed setpoint 2
• p1430[0...n] CI: Speed precontrol
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 75
Extended setpoint channel
4.4 Skip frequency bands and speed limits
4.4 Skip frequency bands and speed limits
Function description
In the range from 0 rpm to the speed setpoint, a drive train (e.g. motor, clutch, shaft, machine)
can have one or more points of resonance. These resonances lead to oscillations. The
suppression bandwidths can be used to prevent operation in the resonant frequency range.
In p1082 set the speed limits in both directions. Using p1083, further restrict the positive
direction of rotation, and using p1086 the negative direction of rotation.
Set the minimum speed in p1080. The set minimum speed acts as absolute value in the positive
and negative directions of rotation, and in operation is not fallen below.
Note
You must not confuse the minimum speed with the negative speed limit p1086 (speed limit in
the negative direction of rotation).
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Figure 4-7 Skip frequency bands, setpoint limitation, minimum speed
Minimum speed
Using parameter p1106[0...n], a minimum speed n_min s_src or minimum velocity can be set,
which is wired via BICO.
Drive functions
76 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.4 Skip frequency bands and speed limits
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3001 Setpoint channel overview
• 3050 Setpoint channel - Skip frequency bands and speed limiting
Parameters (see SINAMICS S120/S150 List Manual)
Setpoint limitation
• p1080[0...n] Minimum speed
• p1082[0...n] Maximum speed
• p1083[0...n] CO: Speed limit in positive direction of rotation
• r1084 CO: Speed limit positive effective
• p1085[0...n] CI: Speed limit in positive direction of rotation
• p1086[0...n] CO: Speed limit in negative direction of rotation
• r1087 CO: Speed limit negative effective
• p1088[0...n] CI: Speed limit in negative direction of rotation
• p1106[0...n] CI: Minimum speed signal source
• r1119 CO: Ramp-function generator setpoint at the input
Skip frequency bands
• p1091[0...n] Skip speed 1
...
• p1094[0...n] Skip speed 4
• p1101[0...n] Skip speed bandwidth
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 77
Extended setpoint channel
4.5 Ramp-function generator
4.5 Ramp-function generator
Function description
The "Ramp-function generator" function limits the jerk and the acceleration, which occur when
the setpoint suddenly changes (step function). The stress on the mechanical system is reduced
by avoiding or reducing sudden torque changes (torque steps). Further, resonance effects in the
complete drive train are reduced.
The ramp-up time p1120[0...n] and ramp-down time p1121[0...n] can be used to set mutually
independent acceleration and deceleration ramps. This allows a controlled transition to be
made in the event of setpoint changes.
The maximum speed p1082[0...n] is used as a reference value for calculating the ramps from the
ramp-up and ramp-down time. For a quick stop (OFF3), a special adjustable ramp is available via
the ramp-down time p1135[0...n] (e.g. for quick, controlled stopping after an EMERGENCY OFF
button has been pressed).
The following versions are available:
• Basic ramp-function generator
The basic ramp-function generator has the following general features:
– Ramp up and ramp down
– Ramp down for quick stop (OFF3)
– Tracking configurable via parameter p1145
– Setting values for the ramp-function generator
• Extended ramp-function generator
In addition to the basic ramp-function generator, the extended ramp-function generator also
has initial and final rounding.
Note
The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1).
Specific features of the basic ramp-function generator
The basic ramp-function generator is characterized by the following features:
• Ramp-up time Tup p1120[0...n]
• Ramp-down time Tdn p1121[0...n]
• OFF3 ramp-down:
– OFF3 ramp-down time p1135[0...n]
• Set ramp-function generator:
– Setting value ramp-function generator p1144[0...n]
– Signal, set ramp-function generator p1143[0...n]
• Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 1)
Drive functions
78 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.5 Ramp-function generator
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Specific features of the extended ramp-function generator
The extended ramp-function generator is characterized by the following features:
• Ramp-up time Tup p1120[0...n]
• Ramp-down time Tdn p1121[0...n]
• Initial rounding IR p1130[0...n]
• Final rounding FR p1131[0...n]
• Effective ramp-up time
Tup_eff = Tup + (IR/2 + FR/2)
• Effective ramp-down time
Tdn_eff = Tdn + (IR/2 + FR/2)
– OFF3 ramp-down
– OFF3 ramp-down time p1135[0...n]
– OFF3 initial rounding p1136[0...n]
– OFF3 final rounding p1137[0...n]
• Set ramp-function generator
– Setting value ramp-function generator p1144[0...n]
– Signal, set ramp-function generator p1143[0...n]
• Select ramp-function generator rounding type p1134[0...n]
– p1134 = "0": continuous smoothing; rounding is always active. Overshoots can occur. If
the setpoint changes, final rounding is carried out and then the direction of the new
setpoint is adopted.
– p1134 = "1": discontinuous smoothing; for a setpoint change, the change is immediately
made to the direction of the new setpoint.
• Ramp-function generator configuration, deactivate rounding at zero point p1151[0...n]
• Freezing of the ramp-function generator using p1141 (not in jog mode r0046.31 = 1)
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 79
Extended setpoint channel
4.5 Ramp-function generator
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Scaling of the up ramp and the down ramp
In order to be able to influence the ramp times set in parameters p1120 and p1121 cyclically via
PROFIdrive telegrams, scaling is available for the ramp times.
• Using p1138[0...n], the signal source for scaling the ramp-up time p1120[0...n] of the ramp-
function generator is set.
• Using p1139[0...n], the signal source for scaling the ramp-down time p1121[0...n] of the
ramp-function generator is set.
The ramp times can be changed independently of one another in a cyclic PROFIdrive telegram.
If the ramp-up time and the ramp-down time are to be changed together, then the scaling factor
transferred in the PROFIdrive telegram is connected to both connectors.
The scaling also affects the initial and final rounding. However, it does not have the same effect
as in the acceleration ramp. This is the reason why an incorrect effective ramp-up time is
displayed. With scaling of approx. 50% to 200%, you get the most accurate effective ramp-up
times.
Override of the ramp-function generator
• Down ramp for Safety Integrated Functions:
If Safety Integrated Functions are activated and the down ramp is monitored, only the OFF3
ramp according to p1135 is effective. The speed setpoint limit is selected using p1051/p1052.
• Down ramp for the "Extended stop and retract" function module (ESR):
If ESR is activated, p0893 is used to enter the setpoint for the end speed of the ramp-function
generator. Instead of the ramp time of the ramp-function generator, ramp-down is controlled
using the OFF3 ramp.
Drive functions
80 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.5 Ramp-function generator
4.5.1 Ramp-function generator tracking
Overview
A ramp-function generator (RFG) can be operated with or without tracking.
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Operation without RFG tracking
• p1145 = 0
• Drive accelerates until t2, although setpoint < actual value
Operation with standard RFG tracking
• At p1145 > 1 (values between 0 and 1 are not practical), RFG tracking is activated when the
torque limit is approached. The ramp-function generator output therefore only exceeds the
actual speed value by a deviation that can be defined in p1145.
• t1 and t2 almost identical
Note
Smaller motors
For smaller motors and depending on the controller settings required for the application, in spite
of the fact that RFG tracking has been activated, higher deviations can occur between the
setpoint and the actual value. This deviation can result in a sudden dip in the torque load and can
therefore result in a higher, uncontrollable change in the speed (speed step).
By setting parameter p1400.16 = 1, the setpoint becomes even more closely linked to the actual
value. Speed steps are reduced, and the integral component of the speed controller is only
stopped if this reaches the torque limit.
Function description
The following functions are available for RFG tracking:
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 81
Extended setpoint channel
4.5 Ramp-function generator
Standard RFG tracking
If the drive reaches the torque limit, and the actual speed dips, then the ramp-function generator
output does not track the speed actual value. If the torque limit is overshot during the ramp-up
because the ramp-up time was selected too small, the effective ramp-up time of the ramp-
function generator lengthens.
As soon as the load torque decreases, the drive re-accelerates at the current limit to the speed
setpoint. The ramp-up is extended or stopped when the torque, power or current limit is
reached.
Drive functions
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Extended setpoint channel
4.5 Ramp-function generator
p1145 can be used to set the permitted following error. The speed setpoint is so tracked to the
set permitted following error. If the torque decreases, the ramp-up continues to the speed
setpoint at the torque or current limit.
• Illustrating the principle of operation:
Q5)*
MOL2
MOL1
ML
t1 t2 t3 t4 t
nVHW =
n5)* =
nDFW =
M2/ = Overload torque
M/ = Load torque
Figure 4-11 Standard RFG tracking
Time Explanation
t1, t3 For t1 and t3, the load torque (ML) increases to the overload torque (MOL). The torque limit
of the drive is exceeded.
At t3, the overload torque (MOL) is higher than that at t1.
t1 At t1 the drive is being ramped up along specified ramp-function generator ramp.
t1 → t2 Between t1 and t2, the overload torque prevents the motor from continuing to accelerate
to the speed setpoint along the ramp-function generator ramp. The ramp-function gen‐
erator output (nRFG) tracks the speed actual value (nact) via p1145 > 1.
t2 At t2, the overload torque (MOL) decreases to the load torque (ML).
t2 → t3 Between t2 and t3, the drive accelerates along the ramp-function generator ramp up to
speed setpoint (nset).
t3 At t3, the ramp-function generator has reached the speed setpoint (nset). Contrary to t1,
at t3 a higher overload torque (MOL) begins to act on the drive.
For standard RFG tracking, the ramp-function generator output (nRFG) follows the set‐
point or stops. As a consequence, the ramp-function generator output does not follow
(track) the speed actual value (nact).
t3 → t4 Between t3 and t4, the overload torque almost completely brakes the drive down to zero
speed. The ramp-function generator output (nRFG) does not track the speed actual value
(nact) via p1145 > 1.
t4 At t4, the overload torque (MOL) decreases to the load torque (ML).
t4 → tx As the ramp-function generator output (nRFG) between t3 and t4 does not track the speed
actual value (nact), from t4, the drive accelerates without ramp-function generator ramp
to the speed setpoint (nset) at the current or torque limit.
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 83
Extended setpoint channel
4.5 Ramp-function generator
Extended RFG tracking
If the drive reaches the torque limit, and the actual speed dips, for extended RFG tracking, the
RFG output does not track the speed actual value. As a consequence, the drive does not return
Drive functions
84 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Extended setpoint channel
4.5 Ramp-function generator
to the current limit, but instead back to the original speed setpoint along the up ramp that has
been set.
• Illustrating the principle of operation:
Q5)*
MOL2
MOL1
ML
t1 t2 t3 t4 t
nVHW =
n5)* =
nDFW =
M2/ = Overload torque
M/ = Load torque
Figure 4-12 Extended RFG tracking
Time Explanation
t1, t3 For t1 and t3, the load torque (ML) increases to the overload torque (MOL). The torque limit
of the drive is exceeded.
At t3, the overload torque (MOL) is higher than that at t1.
t1 At t1 the drive is being ramped up along specified ramp-function generator ramp.
t1 → t2 Between t1 and t2, the overload torque prevents the motor from continuing to accelerate
to the rated speed along the ramp-function generator ramp. The ramp-function gener‐
ator output (nRFG) tracks the speed actual value (nact) via p1145 > 1.
t2 At t2, the overload torque (MOL) decreases to the load torque (ML).
t2 → t3 Between t2 and t3, the drive accelerates along the ramp-function generator ramp up to
speed setpoint (nset).
t3 At t3, the ramp-function generator has reached the speed setpoint (nset). Contrary to t1,
at t3 a higher overload torque (MOL) begins to act on the drive.
For extended RFG tracking, the ramp-function generator output (nRFG) follows the speed
actual value (nact) or stops. As a consequence, the ramp-function generator output fol‐
lows (tracks) the speed actual value (nact).
t3 → t4 Between t3 and t4, the overload torque almost completely brakes the drive down to zero
speed. The ramp-function generator output (nRFG) tracks the speed actual value (nact) via
p1145 > 1.
t4 At t4, the overload torque (MOL) decreases to the load torque (ML).
t4 → tx As the ramp-function generator output (nRFG) between t3 and t4 tracks the speed actual
value (nact), from t4, the drive accelerates along the ramp-function generator ramp to the
speed setpoint (nset).
• Possible settings:
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 85
Extended setpoint channel
4.5 Ramp-function generator
– p1115.1 = 1:
RFG tracking is always active. For load surges, the ramp-function generator output tracks
the speed actual value. Tracking ends at speed setpoint = 0.
– p1151.2 = 1:
RFG tracking is always active. For load surges, the ramp-function generator output tracks
the speed actual value. The tracking continues for a polarity change.
4.5.2 Signal overview, function diagrams and important parameters
Signal overview (see SINAMICS S120/S150 List Manual)
• Control signal STW1.2 OFF3
• Control signal STW1.4 Enable ramp-function generator
• Control signal STW1.5 Start/stop ramp-function generator
• Control signal STW1.6 Enable setpoint
• Control signal STW2.1 Bypass ramp-function generator
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3001 Setpoint channel overview
• 3060 Setpoint channel - Basic ramp-function generator
• 3070 Setpoint channel - Extended ramp-function generator
• 3080 Setpoint channel - Ramp-function generator selection, status word, tracking
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1051[0...n] CI: Speed limit in RFG, positive direction of rotation
• p1052[0...n] CI: Speed limit RFG, negative direction of rotation
• p1083[0...n] CO: Speed limit in positive direction of rotation
• p1115 Ramp-function generator selection
• r1119 CO: Ramp-function generator setpoint at the input
• p1120[0...n] Ramp-function generator ramp-up time
• p1121[0...n] Ramp-function generator ramp-down time
• p1122[0...n] BI: Bypass ramp-function generator
• p1130[0...n] Ramp-function generator initial rounding time
• p1131[0...n] Ramp-function generator final rounding time
• p1134[0...n] Ramp-function generator rounding type
• p1135[0...n] OFF3 ramp-down time
• p1136[0...n] OFF3 initial rounding time
• p1137[0...n] OFF3 final rounding time
• p1138[0...n] CI: Ramp-function generator ramp-up time scaling
Drive functions
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Extended setpoint channel
4.5 Ramp-function generator
• p1139[0...n] CI: Ramp-function generator, ramp-down time
• p1140[0...n] BI: Enable ramp-function generator/disable ramp-function generator
• p1141[0...n] BI: Continue ramp-function generator/Freeze ramp-function generator
• p1143[0...n] BI: Accept ramp-function generator setting value
• p1144[0...n] CI: Ramp-function generator setting value
• p1145[0...n] Ramp-function generator tracking intensity
• p1148 [0...n] Ramp-function generator tolerance for ramp-up and ramp-down active
• r1149 CO: Ramp-function generator acceleration
• r1150 CO: Ramp-function generator speed setpoint at the output
• p1151 [0...n] Ramp-function generator configuration
• p1400[0...n] Speed control configuration
Drive functions
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Extended setpoint channel
4.5 Ramp-function generator
Drive functions
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Servo control 5
Overview
The servo control mode enables operation with a high dynamic response and precision for a
motor with motor encoder.
Function description
In the Servo control mode, the connected motor is emulated in a vector model based on its
equivalent circuit diagram data. Consequently, the servo control constitutes a field-oriented
control.
In contrast to vector control, the vector model is optimized according to other criteria in servo
control. In favor of achieving a high dynamic performance, a small deterioration in the control
accuracy and control quality is accepted.
Features
Special features of the servo control include:
• Maximum computing speed
• Shortest sampling times
• Maximum dynamic performance
• High output frequencies (> 800 Hz)
• Preferably used with permanent magnet synchronous motors with the appropriate dynamic
performance
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 89
Servo control
5.1 Comparison between servo control and vector control
5.1 Comparison between servo control and vector control
The basic features and properties of the Servo and Vector control modes are compared in the
following table.
Table 5-1 Comparison: Servo/vector control
Subject Servo control Vector control
Typical applications • Drives with highly dynamic motion con‐ • Speed and torque-controlled drives
trol with high speed and torque accuracy,
• Drives with high speed and torque ac‐ particularly in operation without an en‐
curacy coder (sensorless operation)
(servo synchronous motors)
• Angular-locked synchronism with iso‐
chronous PROFIdrive
• For use in machine tools and clocked
production machines
• High output frequency
Maximum number of drives that can • 1 infeed unit + 6 drives • 1 infeed unit + 3 drives
be controlled by one Control Unit (with current controller sampling times (with current controller sampling times
125 μs or 250 μs or
speed controller sampling times speed controller sampling times of
125 μs) 1 ms)
• 1 infeed unit + 3 drives • 1 infeed unit + 6 drives
(with current controller sampling times (with current controller sampling times
62.5 μs or 400 μs/500 μs or
speed controller sampling times speed controller sampling times
62.5 μs) 1.6 ms/2 ms)
• 1 infeed unit + 1 drive • U/f control:
(with controller sampling times 1 infeed unit + 12 drives
31.25 μs or speed controller sampling (with current controller sampling times
times 62.5 μs) 500 μs or
• Mixed operation, servo control with speed controller sampling times
125 µs with U/f, max.11 drives 2000 μs)
• Mixed operation, vector control with
500 µs with U/f, max.11 drives
Note
Carefully observe and comply with the notes and information in Chapter "Rules for
wiring with DRIVE-CLiQ (Page 903)".
Additional information on the sampling conditions is provided in Chapter "Rules on the
sampling times (Page 895)".
Dynamic response High Medium
Drive functions
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Servo control
5.1 Comparison between servo control and vector control
Subject Servo control Vector control
Connectable motors • Synchronous servomotors • Synchronous motors (including torque
• Permanent-magnet synchronous mo‐ motors)
tors • Permanent-magnet synchronous mo‐
• Induction motors tors
• Torque motors • Induction motors
• Linear motors • Reluctance motors - textile (only for U/f
control)
• Synchronous reluctance motors
• Separately excited synchronous motors
Note
Synchronous motors of the 1FT6, 1FK6
and 1FK7 series cannot be connected.
Position interface via PROFIdrive for Yes Yes
higher-level motion control
Encoderless speed control Yes Yes (from standstill)
• Applicable from 10 % rated motor • Applicable for the following motor
speed; open-loop controlled operation types:
below this. – Induction motors
– Permanent-magnet synchronous
motors
– Synchronous reluctance motors
Motor data identification Yes Yes
Speed controller sampling time op‐ Yes Yes
timization
U/f control Yes Yes (various characteristics)
Encoderless No Yes, as of 10% rated motor speed, open-
Torque control loop controlled operation below this
Field-weakening range for induction With encoder: ≤ 5% rated motor speed
motors • ≤ 16 % speed at the start of field weak‐
ening
Without encoder:
• ≤ 5 % speed at the start of field weak‐
ening
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 91
Servo control
5.1 Comparison between servo control and vector control
Subject Servo control Vector control
Maximum output frequency for • 2600 Hz with 31.25 μs / 16 kHz • 300 Hz with 250 μs/4 kHz
closed-loop control (dependent on or with 400 μs/5 kHz
• 1300 Hz with 62.5 μs / 8 kHz
the hardware)
• 650 Hz with 125 μs / 4 kHz • 240 Hz with 500 μs / 4 kHz
• 300 Hz with 250 μs / 2 kHz
Note Note
The specified values apply depending on Contact the engineering department of
the actual component used, and can be Siemens AG if higher output frequencies
achieved without optimization. are required.
Higher frequencies can be set under the
following conditions, and using additional
optimization (tuning) runs:
• Up to 3000 Hz:
– Operation without an encoder
– In conjunction with controlled in‐
feeds
• Up to 3200 Hz:
– Operation with encoder
– In conjunction with controlled in‐
feeds
• Absolute upper limit 3200 Hz
From frequencies > 550 Hz, a license is re‐
quired due to export regulations.
Note
Observe the derating characteristics in the Equipment Manuals! When using du/dt and
sine-wave filters, the maximum output frequency is 150 Hz.
Speed setpoint channel Optional Standard
(ramp-function generator) • Reduces the number of drives from 6 to
5 Motor Modules with current control‐
ler sampling times of 125 μs or speed
controller sampling times of 125 μs.
Drive functions
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Servo control
5.1 Comparison between servo control and vector control
Subject Servo control Vector control
Parallel connection of power units No No
• Applicable for power units in the fol‐
lowing formats:
– Blocksize
– Booksize (exceptions: Active Line
Modules, power class 55 kW, 80 kW
or 120 kW)
Yes
• Applicable for power units in the fol‐
lowing formats:
– Cabinet
– Chassis
– Chassis-2 (Active Line Modules and
Motor Modules)
Additional information on connecting power units in parallel is provided in Chapter
"Parallel connection of power units (Page 546)".
Permissible range of the ratio be‐ The permissible range of the ratio between The permissible range of the ratio between
tween the rated motor current the rated motor current (p0305) and rated the rated motor current (p0305) and rated
(p0305) and rated Motor Module Motor Module current (r0207) is, for servo Motor Module current (r0207) is, for vector
current (r0207) control, 1:1 to 1:4. control, 1.3:1 to 1:4.
With restrictions regarding the torque ac‐ With restrictions regarding the torque ac‐
curacy and smooth running operation, a curacy and smooth running operation, a
ratio of up to 1:8 is possible. ratio of up to 1:8 is possible.
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 93
Servo control
5.2 Influencing calculation of the open-loop control and closed-loop control parameters
5.2 Influencing calculation of the open-loop control and closed-loop
control parameters
Using parameter p0500 (technological application), you can influence the calculation of open-
loop control and closed-loop control parameters. The default setting helps you find suitable
values for standard applications.
You can make pre-assignments for the following technological applications:
Value p0500 Application
100 Standard drive (servo)
101 Feed drive (limit current limitation)
102 Spindle drive (rated current limitation)
103 1)
Feed drive (maximum power limitation)
1)
The value is only used for 1FK2 motors.
An overview of the influenced parameters and the set values is provided in the "SINAMICS S120/
S150 List Manual".
Calling the calculation
You call the calculation of the parameters, which influence the technological application, as
follows:
• When exiting quick commissioning using p3900 > 0
• When automatically calculating the motor/closed-loop control parameters with
p0340 = 1, 3, 5
• When calculating the technology-dependent parameters with p0578 = 1
Drive functions
94 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Servo control
5.3 Setpoint addition
5.3 Setpoint addition
Function description
Setpoint addition allows up to 2 speed setpoints to be combined. While main and
supplementary setpoints used in the setpoint channel are influenced by speed limits and the
ramp-function generator, the speed setpoint is directly active here. As a consequence, up ramps
and down ramps of a ramp-function generator are eliminated.
Speed actual values of a higher-level position control are suitable as source, which can be
entered using a PROFIdrive telegram. Interconnect the telegram control word as BICO source.
The speed setpoint is then refreshed in the bus cycle, e.g. in the PROFINET cycle.
A supplementary speed setpoint can, through setpoint addition, minimize disturbing
influences on the speed setpoint from the position control.
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Parameterizing the function
Proceed as follows to parameterize the function:
1. Interconnect the signal source for p1155.
2. Interconnect the signal source for p1160.
3. To activate the interpolator for the speed setpoint, in the drop-down list for 1189[1] select
"yes".
Interpolator
When using a speed setpoint from a higher-level control system, the speed setpoints are only
refreshed (updated) in the bus cycle. The bus cycle is normally significantly slower than the
current controller cycle of the SINAMICS drive, which can result in steps. When using an
interpolator, the speed setpoint is linearly interpolated between the bus cycles, so that steps that
possibly occur can be eliminated.
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 95
Servo control
5.3 Setpoint addition
Speed actual value at the instant of OFF1 / OFF3
If an event initiates OFF1 or OFF3 - and the "Extended setpoint channel" function module is not
active - then the drive ramps down via the OFF1 and OFF3 times parameterized in the "Ramp
down" dialog.
1. Enter a value in p1121[0] for the OFF1 ramp-down time.
2. Enter a value in p1135 for the OFF3 ramp-down time.
3. To activate the interpolator for the down ramp, in the drop-down list for p1189[0], select
"Yes".
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3080 Setpoint channel - ramp-function generator selection, status word, tracking
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1121[0...n] Ramp-function generator ramp-down time
• p1135[0...n] OFF3 ramp-down time
• p1155[0...n] CI: Speed controller, speed setpoint 1
• p1160[0...n] CI: Speed controller, speed setpoint 2
• p1189[0...n] Speed setpoint configuration
Drive functions
96 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Servo control
5.4 Speed setpoint filter
5.4 Speed setpoint filter
Function description
The "Speed setpoint filter" function allows you to hide or to attenuate certain frequency ranges.
Speed setpoint filters do not have any effect on the stability of the speed controller, because they
lie in the setpoint channel. The dynamic response in the control behavior is reduced by the
smoothing.
The various filter types are identical in structure and can be set via parameters p1415[0...n]
(Filter 1) and p1421[0...n] (Filter 2) as follows:
• Band-stop filter
• Low-pass 1st order (PT1)
• Low-pass 2nd order (PT2)
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Activating and parameterizing a function
You can activate 2 speed setpoint filters in the Startdrive engineering tool via parameter
p1414[0...n].
To activate and to parameterize the speed setpoint filters, proceed as follows:
1. Select group parameter p1414[0] and open the sub categorization.
2. Select the required speed setpoint filter - and in the drop-down list of the parameter line,
select setting "[1] Yes".
Repeat this procedure for every speed setpoint filter that you wish to additionally activate.
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 97
Servo control
5.4 Speed setpoint filter
3. Parameterize the following values for each activated speed setpoint filter (parameter range
p1415 to p1426):
– Type
– Time constant
– Denominator natural frequency
– Denominator damping
– Numerator natural frequency
– Numerator damping
4. Then save the modified project settings.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5020 Servo control - Speed setpoint filter and speed precontrol
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1414[0...n] Speed setpoint filter activation
• p1415[0...n] Speed setpoint filter 1 type
• p1416[0...n] Speed setpoint filter 1 time constant
• p1417[0...n] Speed setpoint filter 1 denominator natural frequency
• p1418[0...n] Speed setpoint filter 1 denominator damping
• p1419[0...n] Speed setpoint filter 1 numerator natural frequency
• p1420[0...n] Speed setpoint filter 1 numerator damping
• p1421[0...n] Speed setpoint filter 2 type
• p1422[0...n] Speed setpoint filter 2 time constant
• p1423[0...n] Speed setpoint filter 2 denominator natural frequency
• p1424[0...n] Speed setpoint filter 2 denominator damping
• p1425[0...n] Speed setpoint filter 2 numerator natural frequency
• p1426[0...n] Speed setpoint filter 2 numerator damping
Drive functions
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Servo control
5.5 Speed controller
5.5 Speed controller
Function description
For operation with an encoder, the speed controller controls the speed of the motor based on
the actual values provided by the encoder. For operation without an encoder, the speed
controller controls the speed of the motor based on calculated speed actual values.
Special characteristics of the speed controller include:
• Speed setpoint filter
• Speed controller adaptation
Note
Speed and torque cannot be controlled simultaneously. If speed control is activated, this has
priority over torque control.
Limits
The maximum speed r1082 is preset with the default value of the selected motor and becomes
effective when commissioning the system. The ramp-up and ramp-down times for the encoder
relate to this value.
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Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 99
Servo control
5.5 Speed controller
5.5.1 Speed controller adaptation
Function description
The following types of adaptation are available with the "Speed controller" function:
• Free Kp_n adaptation
• Speed-dependent Kp_n/Tn_n adaptation
• Controller parameters adaptation
Additional information is provided in Chapter "Controller parameters adaptation (Page 105)".
Free Kp_n adaptation
The free Kp_n adaptation is active during operation with encoder, as well as during operation
without encoder. The free Kp_n adaptation provides an added factor for the speed-dependent Kp_n
adaptation during operation with encoder.
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Speed-dependent Kp_n/Tn_n adaptation
Speed-dependent Kp_n/Tn_n adaptation is only active in "operation with encoder" mode and also
affects the Tn_n value.
Drive functions
100 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Servo control
5.5 Speed controller
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 5050 Servo control - Speed controller adaptation (Kp_n-/Tn_n adaptation)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
Free Kp_n adaptation
• p1455[0...n] CI: Speed controller P gain adaptation signal
• p1456[0...n] Speed controller P gain adaptation lower starting point
• p1457[0...n] Speed controller P gain adaptation upper starting point
• p1458[0...n] Lower adaptation factor
• p1459[0...n] Upper adaptation factor
Speed-dependent Kp_n/Tn_n adaptation
• p1460[0...n] Speed controller P gain adaptation speed, lower
• p1461[0...n] Speed controller Kp adaptation speed, upper scaling
• p1462[0...n] Speed controller integral time adaptation speed, lower
• p1463[0...n] Speed controller Tn adaptation speed, upper scaling
• p1464[0...n] Speed controller adaptation speed, lower
• p1465[0...n] Speed controller adaptation speed, upper
• p1466[0...n] CI: Speed controller P gain scaling
Drive functions
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Servo control
5.5 Speed controller
5.5.2 Torque-controlled operation
Function description
The changeover from speed-controlled to torque-controlled operation is implemented with
selection of the operating modes (p1300) or via a binector input (p1501). This changeover
renders all torque setpoints from the speed control ineffective. The setpoints for torque control
mode are selected by parameterization.
Features
Moreover, special features of the torque control also include:
• Torque setpoint can be specified:
– The torque setpoint source can be selected.
– The torque setpoint can be scaled.
– An additional torque setpoint can be entered.
• Display of the overall torque
Activating torque-controlled operation
To initiate torque-controlled operation, proceed as follows:
1. Set torque-controlled operation as follows:
– p1300 = 2 or p1501 = "1" signal
2. Enter the torque setpoint using the following parameter:
– p1511: Signal source for supplementary torque 1
– p1512: Signal source for scaling supplementary torque 1.
– p1513: Signal source for supplementary torque 2
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3. Issue the enable signals.
Torque-controlled operation is activated and is set correctly.
Drive functions
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Servo control
5.5 Speed controller
OFF responses
Once you have activated torque-controlled operation, you can parameterize the OFF responses
1, 2 and 3 as follows:
• OFF1 and p1300 = 23
– Response as for OFF2
• OFF1, p1501 = "1" signal and p1300 ≠ 23
– No separate braking response; the braking response is provided by a drive that specifies
the torque.
– The pulses are suppressed when the brake application time (p1217) expires. Standstill is
detected when the actual speed value is less than the speed threshold (p1226) or when
the monitoring time (p1227) that started when speed setpoint ≤ speed threshold
(p1226) has expired.
– Switching-on inhibited is activated.
• OFF2
– Immediate pulse suppression, the drive coasts to standstill.
– The motor brake (if parameterized) is closed immediately.
– Switching-on inhibited is activated.
• OFF3
– Switch to speed-controlled operation
– n_set = 0 is input immediately to brake the drive along the OFF3 deceleration ramp
(p1135).
– When standstill is detected, the motor brake (if parameterized) is closed.
– The pulses are suppressed when the motor brake application time (p1217) has elapsed.
Standstill is detected when the actual speed value is less than the speed threshold
(p1226) or when the monitoring time (p1227) that started when speed setpoint ≤ speed
threshold (p1226) has expired.
– Switching-on inhibited is activated.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5060 Servo control - Torque setpoint, switchover control mode
• 5610 Servo control – torque limiting/reduction, interpolator
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1300[0...n] Open-loop/closed-loop control operating mode
• r1406.8...12 CO/BO: Control word, speed controller
• p1501[0...n] BI: Change over between closed-loop speed/torque control
• p1511[0...n] CI: Supplementary torque 1
• p1512[0...n] CI: Supplementary torque 1 scaling
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Servo control
5.5 Speed controller
• p1513[0...n] CI: Supplementary torque 2
• r1515 Supplementary torque total
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5.6 Controller parameters adaptation
5.6 Controller parameters adaptation
Overview
Mechanical resonances in machine tools and individual drive trains cannot be minimized at will.
Oscillations, strains, compressions and torsions in the material cannot be avoided by design.
Furthermore, the mechanical resonances that occur are strongly dependent on the load and the
position at which the load is applied. Accelerations and jerk can further increase the mechanical
resonances in the material.
The surface quality of workpieces can be improved greatly by damping of mechanical
resonances through control loop adaptation.
Function description
Using the "Controller parameters adaptation" function module, control of machine operation
can be adapted to changing operating conditions (e.g. different velocities or axis positions).
Through programming, the user can notify the controller of a changed load. The controller also
specifies velocities, accelerations and jerk. From these parameters and using the data measured
beforehand, the controller can calculate and activate adaptation factors for the drives to be
controlled. This achieves a damping of mechanical resonances.
After the function module has been activated, the control loop parameters are adapted
dynamically during the runtime using adaptation blocks. When doing this, the control system
cyclically transfers up to 4 adaptation factors using PROFIBUS-/PROFINET telegrams. By means
of Siemens telegrams 146, 148 and 149, the adaptation factors are interconnected via p2788
(adaptation factor signal source).
Adaptation factors
The adaptation factors are calculated by the control system and transferred as input variables to
the drive via PROFIBUS/PROFINET telegrams. The control parameters are then adapted based on
the calculated input variables.
The following settings are possible:
• p2780 (Activate adaptation block)
• p2782 (Adaptation mode)
• p2783 (Adaptation lower limit value)
• p2784 (Adaptation upper limit value)
Diagnostics
The currently active adaptation factor is indicated in r2789[0...5].
Activating an adaptation block
To activate individual adaptation blocks, proceed as follows:
1. Activate the "Controller parameters adaptation" function module.
2. Set the signal source of the respective block (p2788[0...5]).
You can activate a maximum of 5 adaptation blocks.
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Servo control
5.6 Controller parameters adaptation
3. Set the adaptation mode for the corresponding block (p2782[0...5]). The following modes
and diagnostic parameters are available:
Val‐ Mode Supplementary conditions Diagnostics
ue
0 No adaptation – –
1 Speed controller P gain (Kp) • Sampling time = 1 ms The active P gain of the veloc‐
ity controller is indicated in
r1468
2 Speed controller integral time • Sampling time = 1 ms The active integral time of the
reciprocal value (1/Tn) velocity controller is indicated
in r1469.
3 Current setpoint filter 1 de‐ • Sampling time = 40 ms The active denominator and
nominator/numerator fre‐ numerator frequencies are in‐
• Due to computation
quency dicated in r2790 and r2791.
times, the adaptation
cannot be executed syn‐
chronously with the
speed controller.
4 Current setpoint filter 2 de‐ • Sampling time = 40 ms
nominator/numerator fre‐
quency
5 Speed setpoint filter 1 denom‐ • Sampling time = 40 ms
inator/numerator frequency
6 Speed controller reference • Sampling time = 40 ms The active natural frequency
model natural frequency is indicated in r2790.
• Due to computation
times, the adaptation
cannot be executed syn‐
chronously with the
speed controller.
7 APC/AVS/APC-ECO derivative- • Sampling time = 1 ms The active derivative action
action time (Tv) time of the load speed control‐
• "Advanced Positioning
ler for APC and AVS is indica‐
Control (APC)" or "Active
ted in r3762.
Vibration Suppression
(AVS/APC-ECO)" func‐
tion module is activated.
8 APC filter 2.1 denominator/ • Sampling time = 40 ms The active denominator and
numerator frequency • "Advanced Position Con‐ numerator frequencies are in‐
dicated in r2790 and r2791.
trol" (APC) function mod‐
ule is activated.
4. Activate the block for the desired drive data sets (DDS) (p2780[0...5].0...31).
More detailed information on the individual drive data sets can be found in the
SINAMICS S120/S150 List Manual.
Control parameters
The following controller parameters are adapted depending on the selected mode:
• Mode 1: p1460
• Mode 2: p1462
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5.6 Controller parameters adaptation
• Mode 3: p1658, p1660
• Mode 4: p1663, p1665
• Mode 5: p1417, 1419
• Mode 6: p1433, p1434
• Mode 7: p3761
• Mode 8: p3721, p3723
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5055 Controller parameter adaptation (r0171.29=1)
Parameters (see SINAMICS S120/S150 List Manual)
• p2780[0...5] Activate adaptation block
• p2782[0...5] Adaptation mode
• p2783[0...5] Adaptation lower limit value
• p2784[0...5] Adaptation upper limit value
• p2788[0...5] Adaptation factor signal source
• r2789[0...5] Active adaptation factor
• r2790 Active adaptation denominator natural frequency
• r2791 Active adaptation numerator natural frequency
• r1468 Speed controller P gain active
• r1469 Speed controller integral time active
• r3762 AVS/APC load speed controller 1 derivative action time active
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Servo control
5.7 Torque setpoint limitation
5.7 Torque setpoint limitation
Function description
The torque setpoint can be limited to a maximum permissible value in all four quadrants.
Different limits can be parameterized for motor and regenerative modes.
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Figure 5-7 Current / torque setpoint limiting
Applications
The main applications for torque setpoint limitation are:
• Travel to fixed stop
• Tension control for continuous goods conveyors and winders
• Limiting the torque to the maximum possible torque depending on the mounted mechanical
system
Default value
When commissioning the system for the first time, function "Torque setpoint limiting" is pre-
assigned depending on the value set in p0500. The following settings are possible:
p0500 Torque limit pre-assignment
Bit 100: Standard drive (servo) Rated torque
Bit 101: Feed drive (limitation of the maximum current) Maximum torque
Bit 102: Spindle drive (limiting the rated current) Rated torque
Bit 103: Feed drive (limiting the maximum power) Maximum torque
Set p0340 = 5 to change the pre-assignment.
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5.7 Torque setpoint limitation
Features
The connector inputs of the function are initialized with fixed torque limits. If required, the
torque limits can also be defined dynamically during operation.
• A control bit can be used to select the torque limitation mode. The following alternatives are
available:
– Upper and lower torque limit
– Motor and regenerative torque limit
• Additional power limitation configurable
– Motor mode power limit
– Regenerative mode power limit
• The following limits influence the resulting torque limit:
– Maximum current limit (p0640)
– Stall power limiting (p0326, p0388)
This limit involves a physical limit, which corresponds to the maximum converter output
voltage. It is only permissible to change the limit if the associated motor data have not
been correctly set.
• Offset of the setting values also possible (see the diagram below)
– Vertical axes:
For vertical axes, at standstill the drive holds the force caused by the weight of the load.
You can set the offset to the force due to weight if the torque limits are specified without
the force due to the weight of the load.
• The following torque limits are displayed via parameters:
– Lowest of all upper torque limits with and without offset
– Highest of all lower torque limits with and without offset
Entering torque limits
WARNING
Uncontrolled movement of the drive as a result of incorrect parameter assignment
If there is no counterforce, incorrect parameterization of the fixed torque limits in p1520 and
p1521 or the dynamic torque limits in p1522 or p1528 and p1523 or p1529, can result in
uncontrolled drive motion resulting in death or severe injury.
• For drives where there is no active counterforce, the lower torque limit must be set to a
negative value.
• Check the active torque limits in r1538 (active upper torque limit) and r1539 (active lower
torque limit).
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Servo control
5.7 Torque setpoint limitation
Depending on the specific application, torque limits can be set as follows:
• No torque limits:
No torque limits have to be set.
• Fixed adjustable torque limits:
If fixed torque limits must be set, then you can set the sources for the limits in p1520 and
p1521.
• Dynamic torque limits:
If torque limits must be dynamically restricted in operation, then you can set the sources for
the limits in p1522 or p1523 (torque limit as value) or p1528 respectively p1529 (scaling
factor).
• Setting the torque limits using a torque offset:
It is only necessary to set a torque offset if a force due to weight acts against the torque, and
you wish to set the torque limits minus the force due to weight that acts.
• Torque limits for motoring and generating operation can be set independently of one
another.
Example: torque limits with / without offset
Using p1522 and p1523, the torque range can be dynamically reduced between the fixed range,
upper (p1520 + p1532) and lower (p1521 + p1532) The dynamic limits are also shifted by the
offset.
0 0
S S
S
S
S
S
0BRIIVHW 0BRIIVHW!
S S
Figure 5-8 Example: torque limits with / without offset
Fixed and variable torque limit settings
The following table provides an overview of the setting of fixed and variable torque limits.
Selection Torque limitation mode
Mode Maximum upper or lower torque limits Maximum motor or regenerative mode torque
p1400.4 = 0 limits p1400.4 = 1
Fixed torque limit Upper torque limit (as positive val‐ p1520 Motor mode torque limit (as positive p1520
ue) value)
Lower torque limit (as negative p1521 Regenerative mode torque limit (as p1521
value) negative value)
Source for variable torque Upper torque limit p1522 Motor mode torque limit p1522
limit Lower torque limit p1523 Regenerative mode torque limit p1523
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5.7 Torque setpoint limitation
Selection Torque limitation mode
Source for variable scaling Upper torque limit p1528 Motor mode torque limit p1528
factor of torque limit Lower torque limit p1529 Regenerative mode torque limit p1529
Torque offset for torque Shifts the upper and lower torque p1532 Shifts the motor and regenerative p1532
limit limits together mode torque limits together
Setting the torque limiting
To activate torque limiting, proceed as follows:
1. Parameterize the fixed range in p1520 and p1521.
2. Using p1400, define the mode of the torque limiting, upper/lower (p1400.4 = 0) or motoring/
generating (p1400.4 = 1).
3. If required, set the torque offset in p1532.
It is only necessary to set a torque offset if a force due to weight acts against the torque, and
you wish to set the torque limits minus the force due to weight that acts.
4. If required, select the sources for the dynamic restriction of the torque limits in p1522 or
p1523 (torque limit as value) or p1528 respectively p1529 (scaling factor).
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5609 Servo control, generation of the torque limits, overview
• 5610 Servo control – torque limiting/reduction, interpolator
• 5620 Servo control - Motoring/generating torque limit
• 5630 Servo control - Upper/lower torque limit
• 5640 Servo control - Mode changeover, power/current limiting
Parameters (see SINAMICS S120/S150 List Manual)
• p0326[0...n] Motor stall torque correction factor
• p0340[0...n] Automatic calculation of motor/control parameters
• p0388 Motor stall torque correction factor for p1402.6 = 1
• p0500 Technological application
• p0640[0...n] Current limit
• p1400[0...n] Speed control configuration
• r1508 CO: Torque setpoint before supplementary torque
• r1509 CO: Torque setpoint before torque limiting
• r1515 Supplementary torque total
• p1520[0...n] CO: Torque limit upper/motoring
• p1521[0...n] CO: Torque limit lower/regenerative
• p1522[0...n] CI: Torque limit upper/motoring
• p1523[0...n] CI: Torque limit lower/regenerative
• r1526 CO: Torque limit upper/motoring without offset
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Servo control
5.7 Torque setpoint limitation
• r1527 CO: Torque limit, lower/regenerative without offset
• p1528[0...n] CI: Torque limit upper/motoring scaling
• p1529[0...n] CI: Torque limit, lower/regenerative scaling
• p1530[0...n] Power limit motoring
• p1531[0...n] Power limit regenerative
• p1532[0...n] CO: Torque limit, offset
• r1533 Current limit torque-generating, total
• r1534 CO: Total upper torque limit
• r1535 CO: Torque limit, lower total
• r1538 CO: Upper effective torque limit
• r1539 CO: Lower effective torque limit
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5.8 Current setpoint filter
5.8 Current setpoint filter
The current setpoint filters 1 to 4 are activated by default. If more than 4 current setpoint filters
are required, you can activate current setpoint filters 5 to 10 in offline mode in the object
properties of the drive.
Activating and setting current setpoint filters 5 to 10
To activate and to set current setpoint filters 5 to 10, proceed as follows:
1. Mark the desired servo drive in the project navigator and open the "Properties" context menu.
The "Object Properties" dialog opens.
2. Click the "Function modules" tab.
3. Activate the "Extended current setpoint filters" function module in the function modules
selection with a mouse click.
4. Download the data to the target system.
5. Select group parameter p1656[0] online and open the sub categorization.
6. Select the required current setpoint filter (e.g. P1656[0].0) - and in the drop-down list of the
parameter line, select setting "[1] Active".
Repeat this procedure for every speed setpoint filter that you wish to additionally activate.
7. Select group parameter p5200[0] and open the sub-categorization.
8. Select the required additional current setpoint filter, in the parameter line, open the value
selection and select setting "[1] Active".
Repeat this procedure for every additional speed setpoint filter that you wish to activate.
9. The activated current setpoint filters must then be subsequently parameterized.
Current setpoint fil‐ Setting in the parameter area
ter
1 to 4 p1657 to p1676
5 to 10 p5201 to p5230
For each activated current setpoint filter, parameterize the following values:
– Type
– Denominator natural frequency
– Denominator damping
– Numerator damping
– Numerator natural frequency
As long as the parameter setting p1699 = 1 is active, the background calculation of the filter
data is not performed, even when filter parameters are changed.
Note
The set parameter values of the current setpoint filters 5 to 10 are lost if you deactivate the
extended current setpoint filters again in the Properties dialog.
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Servo control
5.8 Current setpoint filter
10.Make the setting p1699 = 0 to start calculating the filter data.
11.Then save the modified project settings.
Parameterization example
Four current setpoint filters connected in series can be parameterized as follows, for example:
• Lowpass 2nd order (PT2: -40 dB/decade) (type 1)
• General filter 2nd order (type 2)
• Band-stop filter
• Low-pass with reduction by a constant value
In addition to the amplitude response, the phase response is also shown in the following. A
phase shift results in a control system delay and should be kept to a minimum.
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Figure 5-9 Current setpoint filter
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5.8 Current setpoint filter
Additional examples
The following examples demonstrate the features of the parameterizable current setpoint
filters.
Low-pass 2nd order (PT2 filter)
The following figure shows the transfer function for low-pass 2nd order.
+
V
V '1
yV
˭I1 ˭I1
fN = Denominator natural fre‐
quency
DN = Denominator damping
Table 5-2 Example: PT2 filter
Filter parameters Amplitude log frequency curve Phase frequency curve
Characteristic frequency
I1 +]
fN = 500 Hz G%
Damping DN = 0.7 dB
Band-stop filter with infinite notch depth
Table 5-3 Example: Band-stop filter with infinite notch depth
Filter parameters Amplitude log frequency curve Phase frequency curve
Blocking frequency fSp =
500 Hz I%% +]
Bandwidth (-3 dB) fBB =
500 Hz
Notch depth K = -∞ dB
Reduction Abs = 0 dB
I +]
Simplified conversion to parameters for general order filters:
• Infinite notch depth at the blocking frequency
• Numerator natural frequency fZ = fSp
• Numerator damping DZ = 0
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Servo control
5.8 Current setpoint filter
• Denominator natural frequency fN = fSp
• Denominator damping
I%%
'1
I6S
Band-stop filter with defined notch depth
Table 5-4 Example: Band-stop filter with defined notch depth
Filter parameters Amplitude log frequency curve Phase frequency curve
Blocking frequency fSp =
500 Hz
Bandwidth fBB = 500 Hz
Notch depth K = -20 dB . G%
Reduction Abs = 0 dB
Simplified conversion to parameters for general order filters:
• No reduction or increase after the blocking frequency
• Defined notch at the blocking frequency K[dB] (e.g. -20 dB)
• Numerator natural frequency fZ = fSp
• Numerator damping
.
I%%y
'=
I6S
• Denominator natural frequency fN = fSp
• Denominator damping
I%%
'1
I6S
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5.8 Current setpoint filter
Band-stop filter with defined reduction
Table 5-5 Example: Band-stop filter with defined reduction
Filter parameters Amplitude log frequency curve Phase frequency curve
Blocking frequency fSP =
500 Hz
$EV G%
Bandwidth fBB = 500 Hz
Notch depth K = -∞ dB
Reduction ABS = -20 dB
General conversion to parameters for general order filters:
• Numerator natural frequency
ω=
I= = = I6S
2π
• Numerator damping
2
.
1 1 I%%
'= y y 1
2 $EV $EV
10 I6Sy
• Denominator natural frequency
˶1 $EV
I1 ˭ I6Sy
• Denominator damping
I%%
'1 $EV
I6Sy
General low-pass with reduction
Table 5-6 Example: Low-pass with reduction
Filter parameters Amplitude log frequency curve Phase frequency curve
Characteristic frequency
I$EV +]
fAbs = 500 Hz G%
Damping D = 0.7
Reduction Abs = -10 dB
$EV G%
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Servo control
5.8 Current setpoint filter
Conversion to parameters for general order filters:
• Denominator natural frequency fN = fAbs (start of reduction)
• Numerator natural frequency fZ
I= I$EV
$EV
• Denominator damping DN = 0.7
• Numerator damping: DZ = 0.7
General 2nd order filter
The following image shows the transfer function for a general filter 2nd order.
V '=
˭I= ˭I= yV
+ V
V '1
˭I1 ˭I1 yV
fZ = Numerator natural frequency
DZ =numerator damping
fN = Denominator natural frequency
DN = Denominator damping
Table 5-7 Example: General 2nd order filter
Filter parameters Amplitude log frequency curve Phase frequency curve
Numerator frequency fZ =
500 Hz I1 +]
Numerator damping DZ =
0.02 dB
Denominator frequency
fN = 900 Hz
I= +]
Denominator damping DN
= 0.15 dB
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5700 Servo control - Current control, overview
• 5710 Servo control - Current setpoint filters 1 ... 4
• 5711 Servo control - Current setpoint filters 5 … 10 (r0108.21 = 1)
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5.8 Current setpoint filter
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0108[0...n] Drive objects function module
• p1400[0...n] Speed control configuration
• p1656[0...n] Current setpoint filter activation
• p1657[0...n] Current setpoint filter 1 type
• p1658[0...n] Current setpoint filter 1 denominator natural frequency
• p1659[0...n] Current setpoint filter 1 denominator damping
• p1660[0...n] Current setpoint filter 1 numerator natural frequency
• p1661[0...n] Current setpoint filter 1 numerator damping
• p1662[0...n] … Current setpoint filter 2 (for distribution see current setpoint filter 1)
p1666[0...n]
• p1667[0...n] … Current setpoint filter 3 (for distribution see current setpoint filter 1)
p1671[0...n]
• p1672[0...n] … Current setpoint filter 4 (for distribution see current setpoint filter 1)
p1676[0...n]
• p1699 Filter data acceptance
• p5200[0...n] Current setpoint filter 5 ... 10 activation
• p5201[0...n] … Current setpoint filter 5 (for distribution see current setpoint filter 1)
p5205[0...n]
• p5206[0...n] … Current setpoint filter 6 (for distribution see current setpoint filter 1)
p5210[0...n]
• p5211[0...n] … Current setpoint filter 7 (for distribution see current setpoint filter 1)
p5215[0...n]
• p5216[0...n] … Current setpoint filter 8 (for distribution see current setpoint filter 1)
p5220[0...n]
• p5221[0...n] … Current setpoint filter 9 (for distribution see current setpoint filter 1)
p5225[0...n]
• p5226[0...n] … Current setpoint filter 10 (for distribution see current setpoint filter 1)
p5230[0...n]
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Servo control
5.9 Current controller
5.9 Current controller
Function description
The current controller is pre-assigned based on the electrical motor data, and generally, does not
have to be adapted in operation. When required, you can measure and optimize the current
controller frequency response using the appropriate measuring functions.
Features
Features of the current controller include:
• Current and torque limitation
• Current controller acts as PI controller
• Current controller adaptation is possible
• Closed-loop flux control is possible for an induction motor
Current and torque limitation
The current and torque limitations are preset when the system is commissioned for the first time
and must be adjusted according to the respective application.
Current controller adaptation
The P gain of the current controller can be reduced (depending on the current) by means of
current controller adaptation. Current controller adaptation can be deactivated with the setting
p1402.2 = 0.
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 5700 Servo control - Current control, overview
• 5710 Servo control - Current setpoint filter 1 ... 4
• 5714 Servo control - Iq and Id controller
• 5722 Servo control - Field current / flux specification, flux reduction, flux controller
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5.9 Current controller
Overview of important parameters (see SINAMICS S120/S150 List Manual)
Current control
• p1701[0...n] Current controller reference model dead time
• p1715[0...n] Current controller P gain
• p1717[0...n] Current controller integral time
Current and torque limitation
• p0323[0...n] Maximum motor current
• p0326[0...n] Motor stall torque correction factor
• p0640[0...n] Current limit
• p1520[0...n] CO: Torque limit upper/motoring
• p1521[0...n] CO: Torque limit lower/regenerative
• p1522[0...n] CI: Torque limit upper/motoring
• p1523[0...n] CI: Torque limit lower/regenerative
• p1524[0...n] CO: Torque limit upper/motoring scaling
• p1525[0...n] CO: Torque limit, lower/regenerative scaling
• r1526 CO: Torque limit upper/motoring without offset
• r1527 CO: Torque limit, lower/regenerative without offset
• p1528[0...n] CI: Torque limit upper/motoring scaling
• p1529[0...n] CI: Lower or regenerative torque limit scaling
• p1530[0...n] Power limit motoring
• p1531[0...n] Power limit regenerative
• p1532[0...n] CO: Torque limit, offset
• r1533 Current limit torque-generating, total
• r1534 CO: Total upper torque limit
• r1535 CO: Torque limit, lower total
• r1538 CO: Upper effective torque limit
• r1539 CO: Lower effective torque limit
Current controller adaptation
• p0391[0...n] Current controller adaptation, starting point KP
• p0392[0...n] Current controller adaptation, starting point KP adapted
• p0393[0...n] Current controller adaptation, P gain adaptation
• p1590[0...n] Flux controller P gain
• p1592[0...n] Flux controller integral time
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Servo control
5.10 Autotuning
5.10 Autotuning
Function description
The term "Autotuning" comprises all drive-internal functions that adapt controller parameters
during operation based on internal measured variables. The settings are written to the
parameters, but are not saved permanently.
Applications
• Support of the commissioning
• Adaptation of the controller during major changes in the mechanical system
Autotuning process
The following table provides an overview of the most important autotuning processes and their
basic functions.
Processes Explanation
One Button Tuning Using this procedure, the speed controller and EPOS controller can be automat‐
(recommended) ically tuned (optimized). In this regard, a controlled system is measured once and
the controller is then set.
Online tuning Using this procedure, controller parameters are determined from the constantly
estimated or parameterized moments of inertia (motor torque and moment of
inertia).
Deactivate online tuning as soon as the controller data has been calculated and
the established values for controller optimization, as well as the filter settings
have been saved in a non-volatile (RAM to ROM) memory.
Current setpoint filter Mechanical resonant frequencies can be filtered using this procedure. To filter a
adaptation resonant frequency, a selected current setpoint filter is automatically shifted to a
mechanical resonant frequency.
We recommend this procedure for plants and systems, which in operation man‐
ifest a changing mechanical resonant frequency, whose influencing variable is
unknown. However, if the influencing variable is known, then we recommend
using function "Controller parameters adaptation (Page 105)" instead.
5.10.1 One Button Tuning
Overview
The One Button Tuning function automatically optimizes the speed and position controller of a
drive.
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Function description
With One Button Tuning (OBT), the mechanical drive train is measured using short test signals
and the controller parameters are optimally adapted to the existing mechanics. As this is a drive-
internal function, no external engineering tool is required.
NOTICE
Changing the controller parameters manually
Manually changing controller parameters that were set automatically by One Button Tuning
can result in an unstable controller and therefore material damage.
• Do not change the following parameters during One Button Tuning:
p0430, p1160, p1413 to p1426, p1428, p1429, p1433 to p1435, p1441, p1460 to 1465,
p1498, p1513, p1656 to p1676, p1703, p2533 to p2539, p2567, p2572, p2573
Disable Advanced Positioning Control (APC)
Disable the "Advanced Positioning Control" (APC) function before you use the OBT together with
the APC function.
Use of an external measuring system
Only the motor measuring system is taken into account when optimizing the position controller.
• Disadvantages:
– Using an external measuring system for position control can result in an unstable
controller setting.
– Different sampling times for current and speed controllers are not supported.
• Recommendation:
Do not use the OBT in configurations in which an external measuring system is used.
Activating the "Autotuning" function
The "Autotuning" function is activated/deactivated with parameter p5300. The following
settings are possible:
Val‐ Reaction
ue
-1 Deactivates the "Autotuning" function. Automatically sets p5300 = 0. The preset values for the
speed and position controller are restored.
0 Deactivates the "Online tuning" function. To store the determined values for the speed and po‐
sition controller retentively, set p0977 = 1 or execute the "Copy RAM to ROM" command.
1 Activates the "One Button Tuning" function. The moment of inertia is determined once. The
controller parameters and current setpoint filters are also determined once using a noise signal as
excitation source.
You set this function in p5301 after activation.
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Val‐ Reaction
ue
2 Activates the "Online tuning" function. The moment of inertia is estimated. The controller pa‐
rameters are recalculated if the moment of inertia changes by more than 5% compared to the last
calculation.
You set this function in p5302 after activation.
Note
Settings in p5300 may change the parameters p5280 and p1400. After deactivating autotuning
(p5300 = 0), check the settings in p5280 and p1400 and correct them if necessary.
Configuring the "One Button Tuning" function
You configure the "One Button Tuning" function using parameter p5301. The following settings
are possible:
Bit Explanation
00 Determining the speed controller gain:
• The speed controller gain is determined and set with the aid of a noise signal.
01 Determining the current setpoint filter:
• Any required current setpoint filters are determined and set with the aid of a noise signal. In
this way, a higher dynamic response can be achieved in the speed control loop.
02 Determining the moment of inertia:
• The moment of inertia is determined and set with the aid of a test signal.
• Requirements:
– Distance limiting has been set in p5308.
– The duration of the test signal has been set in p5309.
• If this bit is not set, the moment of inertia must be set manually in p1498.
04 Detecting load oscillations:
• Any existing load oscillations (low-frequency resonances) are detected by means of a test
signal.
• Requirement:
– Sufficient distance limiting has been set in p5308.
• The function detects frequencies in the range of approx. 2 Hz to 95 Hz and does not need an
external measuring system on the load. The frequencies detected (zero positions and pole
positions) are displayed in p5294[0...2] and r5295[0...2].
• You set active oscillation damping with bit 05.
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Bit Explanation
05 Suppressing detected load oscillations:
• Any existing load oscillations (low-frequency resonances) are detected by means of a test
signal and set in p3752. The frequency of the smallest detected zero position is hereby en‐
tered in p3752.
• Requirements:
– The moment of inertia was determined automatically (p5301.2 = 1; see above) or man‐
ually in p1498.
– The "APC" function module is activated (p0108.7 = 1).
– The "APC without sensor on the load side" function is activated (p3700.2 = 1).
• Important notes:
– After the function is performed, Advanced Positioning Control must be activated by set‐
ting p3700.0 to 1.
07 Activating synchronized axes:
• Activation of this function is required for interpolating axes.
• With this function, the axes are adapted to the dynamic response set in p5275. The time in
p5275 should be set with the lowest dynamic response in accordance with the axis.
08 Determining the moment of inertia from the frequency response:
• With this function, the moment of inertia is determined from the frequency response using a
test signal. When bit 02 is inactive, the moment of inertia is transferred in addition to p1498.
• To determine the moment of inertia with greater accuracy, we recommend setting the tra‐
versing distance via p5308 before the measurement.
• You can restrict the frequency range for the measurement using p5323 and p5324.
Settings for safe operation
After activation of the OBT, the mechanical drive train is measured using test signals. The control
parameters are then calculated for the most dynamic operation possible. The following settings
can be made to ensure safe operation of online tuning:
Measuring via noise excitation
With this method, the drive performs a movement with a superimposed noise signal for a few
seconds.
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The following options are available:
• Speed controller gain:
To set the speed controller gain, set p5301.0 = 1.
Parameter p5292 is a multiplier for this gain. An amplitude reserve of 7 dB and 45° phase
margin is taken into account with p5292 = 100%.
• Current setpoint filter:
The current setpoint filters 2 to 4 are set in order to achieve greater gains in the speed control
loop. Bandstop filters are usually applied to mechanical resonances.
To configure the current setpoint filters 2 to 4, set p5301.1 = 1.
The current setpoint filters are only determined when a greater speed controller gain p1460
can be achieved.
• Active oscillation damping:
An existing load oscillation can be dampened during the positioning action by means of
active oscillation damping.
To perform the measurement, the following conditions must be met:
– Check in p1498 whether the moment of inertia has been set.
– The "Advanced Positioning Control (APC)" function module must be activated.
Proceed as follows to set the measurement:
– Set p3700.2 = 1.
The "APC without sensor on the load side" function is activated.
The fault behavior and the synchronous operation properties may become worse due to
this setting.
– Set p5301.5 = 1.
The frequency of the detected load oscillation is set in p3752 "AVS controller pre-
assignment natural oscillation frequency".
– Check in p3752 whether the frequency of the detected load oscillation has been set.
Measuring with low-frequency speed setpoint signal
With this method, a very low-frequency speed setpoint signal (triangular) is applied to the drive.
The motor hereby makes a clearly visible movement. The distance limiting and duration of the
test signal must be set in p5308 and p5309.
The moment of inertia of the drive train is estimated using this method. All the remaining
controller parameters are set. The setting is performed in the same way as for "Online tuning".
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Additional settings and displays
The following table provides an overview of further settings and displays in the parameters.
Parameter Adjustment range Factory setting Setting / display (with explanations)
p5271[0...n] – 0000 1100 bin Configuration of the OBT. The following settings are possible:
• Bit 03: Activates speed precontrol
– Only relevant for EPOS.
• Bit 04: Activates torque precontrol
– If EPOS is active, then the torque precontrol from EPOS is
used (p2567).
– If EPOS is not active, then the speed/torque precontrol of
the speed controller is used (p1493, p1428, p1429).
• Bit 07: Activates voltage precontrol
r5276 – – Display of the estimated position controller gain for OBT:
• If position control is implemented using a higher-level open-
loop control system, the open-loop control system can assume
the values displayed here.
r5277 – – Display of the estimated precontrol symmetrizing time of the po‐
sition controller for OBT:
• If position control is implemented using a higher-level open-
loop control system, the open-loop control system can assume
the values displayed here.
p5292 25% to 125% 80% Dynamic response factor for the P gain of the speed controller:
• The speed control may become instable if the values are too
high.
r5293 – – Display of the proportional gain established for the speed control‐
ler, calculated from the FFT measurement by OBT
r5294 – – Display of the identified mechanical zero positions
r5295 – – Display of the identified mechanical pole positions
p5296[0] 1% to 300% 10% Setting the amplitude of the noise signal for the functions
p5301.0 and p5301.1.
• The value refers to the rated torque of the motor r0333.
p5296[1] 1% to 300% 30% Setting the amplitude of the noise signal for the functions
p5301.4 and p5301.5:
• The value refers to the rated torque of the motor r0333.
p5297[0] -210000 to 210000 0 rpm Setting the rotational feed offset for the functions p5301.0 and
rpm p5301.1:
-210000 to 210000 0 m/min • The setting should prevent non-linear effects, such as backlash
or stiction, influencing the measured values.
m/min
p5297[1] -210000 to 210000 0 rpm Setting the rotational feed offset for the functions p5301.4 and
rpm p5301.5:
-210000 to 210000 0 m/min • The setting prevents non-linear effects, such as backlash or
stiction, from influencing the measured values.
m/min
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Parameter Adjustment range Factory setting Setting / display (with explanations)
r5306[0...n] – – Status display of the auto tuning functions that have been execu‐
ted:
• The display relates to the action of the p5300 last executed,
and is therefore not only applicable for the OBT.
p5308 0 to 30000 degrees 0 degree Distance limiting for the OBT:
0 to 30000 mm 0 mm • Following activation of the OBT (p5300), the traversing range
in positive and negative direction is restricted to the set dis‐
tance limiting specified in degrees. The value 360 ° corre‐
sponds with one full rotation of the motor.
p5309 0 ms to 5000 ms 2000 ms OBT test signal duration:
• The duration of the test signal is limited to 2000 ms after ac‐
tivation of the OBT (p5300). If this value is exceeded, the fault
F07093 (A) is output with fault value 2 and the OBT is aborted.
5.10.2 Online tuning
5.10.2.1 "Drive-based" online tuning
Overview
The "Online tuning" function is enabled via the "Moment of inertia estimator (Page 572)"
function module and can be used with EPOS for simple positioning tasks.
Requirements
• The "Moment of inertia estimator" function module is activated (p1400.18 = 1).
Function description
Through the online tuning, the relevant controller parameters for the speed controller and
position controller (including precontrol) are set automatically in operation.
The automatic calculation of the controller parameters also depends on the moment of inertia
of the motor and the load. The load moment of inertia can be set manually in p1498 or
(preferably) automatically by activation of the moment of inertia estimator.
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When the moment of inertia estimator is activated, the moment of inertia is determined during
operation with alternating load torques and is considered in the one-off or cyclic recalculation
of the controller parameters.
NOTICE
Unstable controller for excessively low stiffness between the motor and load
Only the motor measuring system is taken into account for the calculation of the controller
parameters.
When a load-side measuring system is used for the position control, this can result in an
unstable controller setting if there is insufficient stiffness between the motor inertia and
relatively high load moments of inertia – which in turn can lead to material damage.
• If the stiffness is too low, reduce the load dynamic factor using p5273.
• For all DDS where the same EDS is assigned with TTL/HTL encoder, ensure that the identical
parameterization is used (e.g. p5300[0] = -1 and p5300[1] = -1, etc.).
NOTICE
Changing the controller parameters manually
Manually changing controller parameters that were set automatically by online tuning can
result in an unstable controller and therefore material damage.
• Do not change the following parameters during the online tuning:
p1413, p1414 to p1426, p1428, p1429, p1433 to p1435, p1441, p1460 to p1465, p1656
to p1676, p1703, p2533 to p2539, p2567
Note
Moment of inertia estimator
Observe and adhere to the notes and instructions in Chapter Moment of inertia estimator
(Page 572).
Use with changed control loop
Only use online tuning if the control loop (e.g. moments of inertia, resonance frequencies)
changes during operation. If the control loop does not change, use One Button Tuning.
Activating the "Autotuning" function
Autotuning is activated / deactivated via p5300. The following settings are possible:
Val‐ Reaction
ue
-1 Deactivates the "Autotuning" function and automatically sets p5300 = 0. The preset values for the
speed and position controller are restored.
0 Deactivates the "Online tuning" function. To store the determined values for the speed and po‐
sition controller retentively, set p0977 = 1 or execute the "Copy RAM to ROM" command.
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Val‐ Reaction
ue
1 Activates the "One Button Tuning" function. The moment of inertia is determined once. The
controller parameters and current setpoint filters are also determined once using a noise signal as
excitation source.
You set this function in p5301 after activation.
2 Activates the "Online tuning" function. The moment of inertia is estimated. The controller pa‐
rameters are recalculated if the moment of inertia changes by more than 5% compared to the last
calculation.
You set this function in p5302 after activation.
Note
Settings in p5300 change the parameters p5280 and p1400. After deactivating autotuning
(p5300 = 0), check the settings in p5280 and p1400 and correct them if necessary.
Configuring the "Online tuning" function
To configure the online tuning, proceed as follows:
1. Activate the online tuning via p5300 = 2.
2. Configure the sequential control system using p5302.
The following settings are possible:
Bit Reaction
00 The speed controller gain is determined and set with the aid of a noise signal.
"Function is being prepared"
01 Any required current setpoint filters are determined and set with the aid of a noise signal.
In this way, a higher dynamic response can be achieved in the speed control loop.
"Function is being prepared"
02 The moment of inertia is determined using the inertia estimator.
If this bit is not set, the load moment of inertia must be parameterized manually in p1498.
The test signal must have been previously set in p5308 and p5309.
03 If "Once" is set, the inertia estimator is deactivated after successful determination of the
moment of inertia by p1498.
The parameters must then be saved in non-volatile memory (p0977 = 1).
If "Cyclically" is parameterized, the moment of inertia is determined continuously and the
controller parameters are adapted.
As soon as the moment of inertia has been successfully established (r1407.26 = 1), we
recommend saving the parameters. The necessity for resettling of the controllers following
a POWER ON will thus be avoided.
06 The function Current setpoint filter adaptation (Page 134) is enabled. This function can be
useful for damping a variable resonance in the mechanical system.
07 The axes are adapted to the dynamic response set in p5275. This setting is required for
interpolating axes.
Recommendation:
Set the time in p5275 according to the axis with the lowest dynamic response.
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3. Set the controllers via p5271.
Proceed in the specified sequence:
– Evaluate the estimated load for the speed controller gain with p5273.
– Activate the speed precontrol with the basic positioner (EPOS).
– Activate the torque precontrol.
– If you have activated the speed precontrol (bit 3) or torque precontrol (bit 4):
Use the controller as PD controller in the position control loop to increase the dynamic
response of the position controller.
– Determine the maximum acceleration limits for the basic positioner (EPOS).
– Do not change the speed controller gain (Kp).
– Activate the voltage precontrol.
4. To save the determined values for speed and position controllers, save the parameters in a
non-volatile memory (RAM to ROM or p0977 = 1).
In this way, the start values for the online tuning are retained, e.g. after POWER ON.
Through deactivation and reactivation of the online tuning, the estimated load moment of
inertia and the load torques are reset.
Settings for safe operation
The following settings can be made to ensure safe operation of online tuning:
• Current setpoint filter
The natural frequency of the first PT2 filter behaves proportional to the current controller and
speed controller cycles. The faster the sampling, the higher the positive feedback frequency
and therefore the higher the frequency must be set for the current setpoint filter.
A lower dynamic response via p5272 makes the control loop less sensitive to resonance
from the drive train.
A higher dynamic response via p5272 makes the control loop more sensitive to resonance
from the drive train.
The instability of the control loop through resonance can also be avoided through the
parameterization of additional band-stop filters in the current setpoint.
• Speed actual value filter
An actual speed value filter is required, for example, when the resolution of the encoder is
relatively poor. Depending on the encoder resolution and the motor moment of inertia, an
actual speed value filter (p1441) is calculated. The time constant of the actual speed value
filter is taken into account in the calculation of the controller parameters.
• Adaptive resonance filter
The limit frequencies for the adaptive resonance filter are pre-assigned according to the set
sampling time. These can be changed manually.
Additional settings and displays
Parame‐ Explanation
ter
p5272 Used to set the dynamic response factor for the entire P gain of the speed controller.
p5273 Used to set the estimated load inertia for the P gain of the speed controller with the load dynamic response factor.
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Parame‐ Explanation
ter
r5274 Indicates the estimated dynamic response of the speed control loop as PT1 time constant.
p5275 Used to set the same time constants for the dynamic time constant. In this way, the interpolating drives receive a
defined dynamic response via the precontrol.
Positioning without overshoot cannot be achieved in all cases.
r5276 Shows the estimated Kv factor. This value can be used for a higher-level control system, to set the position
controller gain. This applies only when Dynamic Servo Control (DSC) is active in the drive.
r5277 Indicates the estimated precontrol symmetry time. This value can be used for a higher-level control system, to
symmetrize the position controller precontrol. This applies only when Dynamic Servo Control (DSC) is active in the
drive.
Examples of applications
Online tuning is applied in the following cases:
• Positioning axes
A positioning axis application can always be used when an axis performs a point-to-point
motion independently of other axes. p5302.7 = 0 must be set. The axis is thus optimized for
positioning without overshoot.
• Interpolating axes (EPOS position controller with higher-level control)
Interpolating axis applications are required when several axes jointly perform a path motion,
for example, in which the deviation to the contour should be as small as possible. Parameter
p5302.7 = 1 must be set. The precontrol must not be switched off subsequently.
The controlled dynamic response is set with parameter p5275. All interpolating axes must
have the same value.
With values that are too small, the axis can overshoot during positioning. If this has a
negative effect on the application, the value in p5275 must be increased in all axes. The axis
with the largest estimated time constant (r5274) in the settled state is the determining axis.
5.10.2.2 Adaptation of the control parameters
As soon as the "Online tuning" is active, the controller parameters are adapted to the estimated
moment of inertia. However, the controller parameters are only recalculated when the moment
of inertia has changed more than 5% compared to the last calculation. Otherwise the controller
settings are not changed.
All adaptive controller settings also depend on the moment of inertia, e.g. determined by the
estimator. If p5271.2 = 1 is set, the Kp factor depends directly on this moment of inertia. All other
variables are only indirectly dependent on the moment of inertia.
Kp (speed controller gain)
The speed controller gain is set proportional to the motor moment of inertia. The gains are
proportional to the dynamic response factor p5272. An adaptation of the Kp factor depending
on the estimated moment of inertia is only performed when p5271.2 is set.
Parameter p5273 is used to set how many percent of the estimated load moment of inertia is to
be taken into account as effective moment of inertia for the calculation of the Kp factor. With 0%,
only the motor moment of inertia is effective, with 100%, the total moment of inertia is used for
the calculation of the Kp factor.
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When calculating the speed controller gain, the time constants of the parameterized current
setpoint or actual speed value filter are also taken into account.
Tn (integral time, speed controller)
The integral time results from the estimated dynamic response of the speed control loop
(r5274).
Reference model
The reference model adapts the speed setpoint for the integrator input of the speed controller
to the dynamic response of the speed controller. This reduces speed overshoots during setpoint
changes.
Position controller
Two cases can be selected for the position control via bit p5271.0:
• p5271.0 = 0 (not active)
In this case, the position controller acts like a normal closed-loop P controller. The position
controller gain (servo gain factor) is adapted depending on the estimated dynamic response
of the speed control loop and the sample times.
• p5271.0 = 1 (active)
If this bit is set and the estimated dynamic response (r5274) is greater than 16 ms, then the
first speed setpoint filter is parameterized as D filter. With the parameterization, the gain for
higher frequencies is greater and the filter has a more differentiated effect in the bandwidth
of the speed controller (larger phase reserve). This corresponds to a PD controller. The servo
gain factor may then be increased significantly.
The precontrol balancing is also adapted. The balancing of the speed controller precontrol
depends on parameters p5271 and p5275.
Determining the maximum acceleration limits
Prerequisite is that the pulses have been disabled in the drive and the maximum moment of
inertia has been determined.
The maximum target acceleration for the basic positioner (EPOS) is determined with the aid of
the inertia estimator. This is performed only once after the activation of bit p5271.5. The load
torques and a control reserve of 20% are taken into account.
The user must decide to what extent this maximum acceleration is permissible for the
mechanical system of the machine (elastomechanical system) or for the thermal load capability
of the motor (depending on the load cycle). The calculated acceleration (p2572) or deceleration
(p2573) may have to be reduced by the commissioning engineer.
5.10.2.3 Problem handling
Possible problems and remedies are described in the following.
Drive vibrates
If the drive vibrates audibly, then the speed controller may have become instable at a mechanical
resonance.
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Remedy
• The instability in the control loop through resonance can be avoided by parameterizing band-
stop filters in the current setpoint.
• Activate the adaptive resonance filter (see Section "Current setpoint filter adaptation
(Page 134)") and, if required, traverse forward and backward and wait a few seconds to see
whether the oscillation stops. If the whistling stops and also can no longer be heard during
operation, then the axis is ready.
• If required, the dynamic response of the axis can be decreased. To do this, the value of
parameter p5272 can be decreased.
Motor hums at very low speeds
If the drive has an encoder with poor resolution, the motor may hum at very low speeds or at
standstill.
Remedy
• Increase the actual speed value smoothing (p1441) or reduce the dynamic response (p5272).
• Set parameter p5271.1 to reduce the controller gains for low speeds.
Poor positioning behavior
Poor positioning behavior is possible when the dynamic response of the drive is relatively low.
The achievable dynamic response depends on the quality and the dimensioning of the
elastomechanical drive train.
Remedy
Increase the value of parameter p5272 in order to increase the dynamic response of the drive.
The drive may become instable if the values are too high (see, for example, the section "Drive
vibrates" further above).
5.10.3 Current setpoint filter adaptation
Overview
We recommend function "Current setpoint filter adaptation" for plants and systems, which in
operation manifest a changing mechanical resonant frequency, whose influencing variable is
unknown. However, if the influencing variable is known, then we recommend using function
"Controller parameters adaptation (Page 105)".
If the system only contains mechanical resonant frequencies that remain constant, they must be
exclusively suppressed using fixed current setpoint filters (e.g. settings using the "One Button
Tuning (Page 122)").
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Requirements
Make the following settings before you activate the current setpoint filter adaptation:
1. Parameterize the desired current setpoint filter as band-stop filter.
2. Assign the required current setpoint filter to the adaptation using parameter p5281 (e.g. for
filter 4, with p5281 = 4).
Note
If the requirements are not met, the fault F07419 "Drive: Current setpoint filter adaptation error"
is output. The fault value indicates which requirement has not been satisfied.
Function description
The function automatically shifts a selected current setpoint filter to a mechanical resonant
frequency. A detailed description of the principle of operation and all the relevant parameters is
subsequently provided in this chapter.
Enabling the function
The function is activated for S120 drives together with the "Moment of inertia estimator
(Page 572)" function module.
Activating/deactivating current setpoint filter adaptation
Active/deactivate the current setpoint filter adaptation via parameter p5280. The following
settings are possible:
Setting Explanation
-1 The function is deactivated together with the associated filter (see p5281).
With this setting, not only the adaptation, but also an assigned filter is deactivated. The asso‐
ciated bit is automatically deleted in parameters p1656 and p5200. However, the filter is not
reset in its characteristic, it retains the values saved last. In contrast, the adaptation parameter
is automatically reset to "0".
0 The function is inactive.
The adaptation is deactivate with this setting. However, an assigned filter can still remain
active. The filter function is not affected by this setting.
1 The function is permanently active.
As a result of the activation, a mechanical resonance frequency is determined and the appro‐
priate blocking frequency is automatically set. If the bandstop filter has still not been activated
(see p1656 or p5200), then it is activated automatically.
While the function generator generates a signal with the "noise" signal shape (p4820 = 4), the
adaptation is temporarily inactive.
Note
The current setpoint filters 1 to 4 are activated by default. The extended current setpoint filters
5 to 10 can be activated additionally (see Chapter "Current setpoint filter (Page 113)").
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Further parameters of the current setpoint filter adaptation and their purpose:
p5281 Specifies which of the current setpoint filters is to be used for the adaptation.
p5282 Defines the lower limit frequency.
p5283 Defines the upper limit frequency.
p5284 Defines the activation threshold of the adaptation.
p5285 Shows the current blocking frequency.
Note
Deviation with activated online tuning (p5300 = 2)
The denominator damping of the adapted filter is set automatically. You can also overwrite this
setting.
Further explanations for the principle of operation
If, after the pulse enable, a resonant frequency has been excited to such a degree that the
internal activation threshold is exceeded, the adaptation moves the band-stop filter to this
resonant frequency. If, however, the resonant frequency has not been excited enough or there
is no interfering resonant frequency, the band-stop filter stops and the current blocking
frequency does not change.
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5.10 Autotuning
The calculated values for the numerator and denominator damping of the band-stop ilter
are tracked during the movement so that the bandwidth of the band-stop ilter increases
with increasing blocking frequency.
The current frequency of the band-stop ilter can be read and recorded via r5285. This
frequency is also written to the appropriate frequency parameters of the adapted current
setpoint ilter.
Supplementary conditions
• Due to the operating principle of the adaptation, the base adaptation algorithm can only
work reliably with systems that have one single mechanical resonant frequency. Undesirable
movements of the adapted filter between the resonances can occur for systems with several
mechanical resonant frequencies.
• Because of the operating principle of the adaptation, inaccuracies can occur during the
adaptation of the blocking frequency. This generally happens if encoders with poor
resolution (e.g. resolvers) are used. In such cases, the resonant frequency is only partly
suppressed.
Remedy: To reduce the inaccuracies, the actual speed value smoothing time constant in
parameter p1441 can be increased.
• Stepped setpoint changes of the speed or velocity can cause unwanted movements of the
adaptive current setpoint filter.
• If in addition to a variable mechanical resonant frequency, the system also contains non-
variable mechanical resonant frequencies, the non-variable frequencies must be suppressed
with fixed current setpoint filters. The adapted band-stop filter should be the last filter in the
filter cascade of the band-stop filters. Otherwise the adaptation may be subject to
interference from non-variable resonant frequencies, which may cause unwanted
movements of the blocking frequency.
Bandstops for non-variable Adapted bandstop for
Low pass
Resonance frequencies variable Resonance frequency
Current setpoint 4
Current setpoint 3 Current setpoint
filter 5 Current setpoint
Current setpoint Current setpoint 2
Current filter 1
setpoint
Figure 5-11 Example: Current setpoint filter 5 as the last filter used in the cascade
Internal activation threshold
The internal activation threshold can be weighted via parameter p5284:
• If the adaptation reacts too sensitively to other disturbances such as jumps in the speed or
load torque, the activation threshold should be set high.
• If the adaptation is too insensitive and resonant frequencies do not occur despite strong
excitation, the activation threshold can be reduced.
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Servo control
5.10 Autotuning
Range of movement of the adapted filter
The range of movement of the adapted filter can be limited with parameter p5282 or p5283.
Start value of the adaptation
The frequency with which the adaptation starts at the pulse enable is always the current
blocking frequency of the filter. It can be read in parameter r5285 and in the frequency
parameters of the filter. After a pulse inhibit and renewed pulse enable, this start value is always
the blocking frequency last determined before the pulses were inhibited. After switching the
drive off and on, the adaptation starts with the frequency stored in the frequency parameters of
the adapted filter.
You have the following options in order to find a suitable start value for the frequency of the
adaptation:
• Use the current position of the resonant frequency as start value:
– To do this, read the current resonant frequency from the frequency response
measurement.
OR
– Determine the current resonant frequency from one cycle of the "One Button Tuning".
OR
• Use 500 Hz as start value.
The start value may be above or below the sought resonant frequency. This value should be set
as blocking frequency of the respective band-stop filter before the adaptation is activated and
the pulse enable set.
5.10.3.1 Stability of the speed control loop
Moving the band-stop filter changes the phase and amplitude frequency response of the speed
control loop. The stability of the speed control loop is not checked by the current setpoint filter
adaptation. If the current setpoint filter adaptation is operated with activated online tuning
(p5300 = 2), the parameter settings that guarantee the stability are made automatically.
If autotuning is not activated, the settings that prevent instability must be made by the user. You
must also ensure a sufficiently large phase reserve. The phase or amplitude frequency response
of the adapted filter and the lower limit frequency of the adaptation (p5282) must be taken into
consideration during this.
A resonant frequency can be moved by the active control. An instability of the controller can be
caused by too high a controller gain that has a higher amplitude than the mechanical resonant
frequency and therefore influences the adaptation.
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5.10 Autotuning
5.10.3.2 Lower and upper limit frequencies
Parameter p5283 for the upper limit frequency has an internal upper limit that is only effective
with active adaptation and depends on the settings for the adapted current setpoint filter. The
following applies:
• If the adaptation is active, p5283 is limited immediately to this internal value when written.
• If the adaptation is not active, p5283 is automatically limited to the internal value when the
adaptation is activated.
For the case that one of the limit frequency parameters (p5282 or p5283) is written and the
current blocking frequency of the band-stop filter is beyond the relevant new limit frequency, the
following applies:
• If the adaptation is active, the band-stop filter is automatically set to the relevant limit
frequency when p5282 or p5283 is written.
• If the adaptation is not active, the band-stop filter is automatically set to the relevant limit
frequency when the adaptation is activated.
5.10.3.3 Remedy for insufficient adaptation
If the adaptation does not change the blocking frequency of the adapted current setpoint filter
during operation, then the mechanical resonant frequency is not sufficiently excited and
therefore has no negative effect on the operation. If you nevertheless want to change the
behavior of the adaptation, the following options are available:
• Change the activation threshold (p5284).
• Change the blocking frequency in the relevant filter parameters in order to obtain a different
start value for the adaptation.
• Increase the speed controller gain via p1460 or p5272 to further excite the mechanical
resonant frequency. However, observe the stability of the control loop with this setting.
5.10.4 Messages (see SINAMICS S120/S150 List Manual)
• F07419 Drive: Incorrect current setpoint filter adaptation
5.10.5 Parameters (see SINAMICS S120/S150 List Manual)
• p0108[0...n] Drive objects function module
• p1400[0...n] Speed control configuration
• p1498[0...n] Load moment of inertia
• p3700 AVS/APC configuration
• p3752[0...n] AVS controller pre-assignment natural oscillation frequency
• p5271[0...n] Online / One Button Tuning configuration
• p5272[0...n] Online tuning dynamic response factor
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5.10 Autotuning
• p5273[0...n] Online tuning load dynamic response factor
• r5274 CO: Online / One Button Tuning dynamic response estimated
• p5275[0...n] Online / One Button Tuning dynamic response time constant
• r5276 Online / One Button Tuning Kv factor estimated
• r5277 Online / One Button Tuning precontrol symmetrizing time estimated
• p5280[0...n] Current setpoint filter adaptation configuration
• p5281[0...n] Current setpoint filter adaptation assignment
• p5282[0...n] Current setpoint filter adaptation lower limit frequency
• p5283[0...n] Current setpoint filter adaptation upper limit frequency
• p5284[0...n] Current setpoint filter adaptation activation threshold
• r5285[0...n] Current setpoint filter adaptation current frequency
• p5292 FFT tuning dynamic response factor
• r5293 FFT tuning speed controller P gain identified
• r5294[0...5] FFT tuning zero position identified
• r5295[0...5] FFT tuning pole position identified
• p5296[0...2] FFT tuning PRBS amplitude
• p5297[0...2] FFT tuning PRBS offset
• p5300[0...n] Autotuning selection
• p5301[0...n] "One button tuning" configuration
• p5302[0...n] "Online tuning" configuration
• r5306[0...n] Autotuning status
• p5308[0...n] One Button Tuning test signal distance limiting
• p5309[0...n] One Button Tuning test signal duration
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Servo control
5.11 Notes about the electronic motor model
5.11 Notes about the electronic motor model
A model change takes place within the speed range p1752 · (100 % - p1756) and p1752. With
induction motors with encoder, the torque image is more accurate in higher speed ranges; the
effect of the rotor resistance and the saturation of the main field inductance are corrected. With
synchronous motors with encoder, the commutation angle is monitored. If the kT estimator has
been activated, the torque image for synchronous motors is more accurate too.
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Servo control
5.12 Increased stall power at the voltage limit
5.12 Increased stall power at the voltage limit
Function description
Using this function, during operation, you can briefly increase the spindle power to the stall
power limit. The stall power limit is the range in which the motor power is limited as a result of
the maximum converter output voltage. This stall power range is normally marked in the motor
data sheets (voltage limit characteristic) and depends on the motor type (induction/
synchronous motor) and the DC link voltage magnitude (see figures shown further below).
Restriction
An increased stall power is not possible for motors that have sufficient clearance to the voltage
limiting characteristic over the complete speed range.
Note
As a result of the field-orientated control, for operation at the voltage limit there is no danger of
the motor stalling. This applies regardless of whether the operation takes place at the voltage
limit with or without activated increased stall power.
Activation/deactivation effects
Activating and deactivating the increased stall power as the following effect:
• Increased stall power; p1402.6 = 1
– The motor stall torque correction factor can be set via p0388.
– The stall power can be set higher since it will be reduced by a controller as required.
• Normal stall power; p1402.6 = 0
– The motor stall torque correction factor can be set via p0326.
– Stall power must be very precisely set.
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5.12 Increased stall power at the voltage limit
An increased stall power (p1402.6 = 1) provides an improvement for both synchronous and
induction motors in the following ranges:
• For induction motors, the stall power decreases with the speed (see "voltage limiting
Characteristics" in the figure below).
Figure 5-12 Induction motor: Power-torque characteristic
• For synchronous motors, the stall power represents a constant power limit (see "voltage
limiting power" in the figure below).
Figure 5-13 Synchronous motor: Power-torque characteristic
Using r1549[1], when braking from a high speed, the stall power setting can be recorded using
a trace. The following must be observed:
• If a ramp-function generator is active, this should be deactivated so that the power limit can
be reached.
• If the motor in the stall power range is braked along the set limits (p640, p1520, p1521,
p1531), and r1549[1] remains set at zero, then p0388 should be increased. If p0388 remains
set too low, then the maximum possible motor power at the stall power limit is not reached.
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Servo control
5.12 Increased stall power at the voltage limit
Specifics for induction motors
For induction motors, the higher stall power (p1402.6 = 1) is automatically pre-assigned when
recommissioning. At the same time, the motor stall power limiting remains deactivated
(p1402.3 = 0), so that the new control is only active in the generator mode.
Note
When motoring (accelerating, machining), the new closed-loop control can result in increased
motor losses for some motors; this means that even in spite of a higher active power drawn, the
torque at the motor shaft is not increased.
A combination of the higher stall power (p1402.6 = 1) with the activated stall power limiting
motoring (p1402.3 = 1) is only recommended if shorter acceleration times can be achieved than
with p1402.3 = 0.
As a result of the new voltage management, when an overload condition is demanded in the
stall power range, if required, additional field weakening can be implemented in order to set the
operating point with the maximum power.
In encoderless operation, in the high field weakening range, this additional field weakening can
destabilize the motor model. Increasing the speed actual value smoothing time without encoder
(p1451, e.g. to 15 ms) or reducing the speed controller P gain in encoderless operation (p1470)
can counteract this effect.
Special situation, synchronous motors
For synchronous motors, the higher stall power (p1402.6 = 1) is not automatically pre-
assigned. An increased motor power with p1402.6 = 1 can only be expected in the stall power
range if the motor can handle the short-circuit current (p0640 > r0331). The power increase is
especially high if the motor has a reluctance torque (p0327 > 90°, p0328 > 0). The increased
power applies both for motors as well as when generating. p1402.3 is not relevant for
synchronous motors.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0326[0...n] Motor stall torque correction factor
• r0331[0...n] Actual motor magnetizing current / short-circuit current
• p0388[0...n] Motor stall torque correction factor for p1402.6 = 1
• p0640[0...n] Current limit
• p1402[0...n] Current control and motor model configuration
• p1520[0...n] CO: Torque limit upper/motoring
• p1521[0...n] CO: Torque limit lower/regenerative
• p1531[0...n] Power limit regenerative
• r1549[0...1] CO: Actual stall power value
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5.13 U/f control
5.13 U/f control
Overview
With U/f control, the following components and data can be checked:
• Motor Module
• Power cable between the Motor Module and motor
• Motor
• DRIVE-CLiQ cable between the Motor Module and motor
• Encoder and actual encoder value
The following motors can be operated with U/f control:
• Induction motors
• Synchronous motors
Note
Operating synchronous motors with activated or deactivated resonance damping
• Speed limitation
When resonance damping is deactivated, synchronous motors may only be operated with
U/f control up to 25 % of the rated motor speed. If resonance damping is activated,
synchronous motors may be operated with U/f control without any speed limiting.
• Stability
When resonance damping is deactivated, for synchronous motors, U/f control is only
stable at low speeds. Higher speeds can result in oscillation problems.
When resonance damping is activated, for synchronous motors, U/f control is stable over
the complete speed range. In the default setting, resonance damping is activated with
suitable parameter values; these parameter values can be kept for most applications. If
you become aware of interference caused by a transient response, you have the option of
gradually increasing the value of p1338 in small steps and evaluating how this affects
your system.
Function description
For U/f control, the drive is operated with an open control loop. In this open-loop control system,
the drive does not require speed feedback and no actual current sensing. The current actual
values only have to be sensed if resonance damping is activated. Operation with U/f control
possible with just a small amount of motor data.
Note
In the U/f mode, the calculated actual speed value is always displayed in r0063. The speed of the
encoder (if installed) is displayed in r0061. If an encoder is not installed, r0061 displays "0".
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Servo control
5.13 U/f control
Note
Restricted applications for U/f control
U/f control must only be used as a diagnostic function (e.g. check of the motor encoder
function). In order to obtain a pure diagnostic mode without any influence on actual values, the
resonance damping must be deactivated (p1338 = 0).
The activated U/f control blocks all other settings, for example current controller or speed
controller.
Structure of U/f control
The following figure shows a schematic of the structure of a U/f control:
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Figure 5-14 Structure of U/f control
U/f characteristic
The speed setpoint is converted to the frequency specification taking into account the number
of pole pairs. The synchronous frequency associated with the speed setpoint is output (no slip
compensation).
The following figure shows the U/f characteristic in schematic form:
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Figure 5-15 U/f characteristic
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5.13 U/f control
Commissioning U/f control
Before commissioning the U/f control, observe the following information:
Note
The run-up at the current limit (p0640) permits a quick run-up of the drive, e.g. when operating
the drive with variable moments of inertia. Only the ramp-function generator stops when the
current limit (p0640) is reached. This does not prevent the current from increasing even further.
In view of this, the parameters you assign must include a safety margin relative to the current
limits for the monitoring functions to prevent the drive from switching off with an overcurrent
fault.
To commission the U/f control, proceed as follows:
1. Check the requirements for U/f control.
– Initial commissioning has been performed:
The parameters for U/f control have been preset with appropriate values.
– Initial commissioning has not been performed:
The following relevant motor data must be checked and corrected:
r0313 Motor pole pair number, actual (or calculated)
p0314 motor pole pair number
p1318 U/f control ramp-up/ramp-down time
p1319 U/f control voltage at zero frequency
p1326 U/f control programmable characteristic frequency 4
p1327 U/f control programmable characteristic voltage 4
p1338[0...n] U/f mode resonance damping gain
p1339[0...n] U/f mode resonance damping filter time constant
p1349[0...n] U/f mode resonance damping maximum frequency
2. Set the rated motor speed via parameter p0311.
3. Activate U/f control with the parameter setting of p1317 = 1.
Note
Automatic activation of additional functions
With p1317 = 1, the following functions are also activated automatically:
• Resonance damping (p1338)
In order to obtain a pure diagnostic mode without any influence on actual values, the
resonance damping must be deactivated (p1338 = 0).
• Vdc controller (p1240, p1244, p1248, p1250)
• Limitation of the up ramp as a result of M, P and I limits
• The ramp-function generator is stopped as soon as the current limit p0640 is exceeded.
4. Issue the enable signals for operation.
5. Enter the speed setpoint.
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Servo control
5.13 U/f control
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5300 Servo control - U/f control for diagnostics
• 5650 Servo control - Vdc_max controller and Vdc_min controller
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0304[0...n] Rated motor voltage
• p0310[0...n] Rated motor frequency
• p0311[0...n] Rated motor speed
• r0313[0...n] Motor pole pair number, current (or calculated)
• p0314[0...n] Motor pole pair number
• p0317[0...n] Motor voltage constant
• p0322[0...n] Maximum motor speed
• p0323[0...n] Maximum motor current
• p0640[0...n] Current limit
• p1082[0...n] Maximum speed
• p1317[0...n] U/f control activation
• p1318[0...n] U/f control ramp-up/ramp-down time
• p1319[0...n] U/f control voltage at zero frequency
• p1326[0...n] U/f control programmable characteristic frequency 4
• p1327[0...n] U/f control programmable characteristic voltage 4
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5.14 Optimizing the current and speed controller
5.14 Optimizing the current and speed controller
Overview
The following tools are available for tuning the controllers:
• Function generator in the commissioning tool
• Trace in the commissioning tool
• Measuring function in the commissioning tool
• Measuring sockets on the Control Unit
Perform optimizations
Note
The optimization of the controller may only be performed by specialists with knowledge of
control technology.
Current controller
The current controller is initialized when the system is commissioned for the first time and is
adequately tuned for most applications.
Speed controller
The speed controller is set in accordance with the motor moment of inertia when the motor is
configured for the first time. The calculated proportional gain is set to approximately 30% of the
maximum possible gain in order to minimize vibrations when the controller is mounted on the
mechanical system of the machine for the first time. The integral time of the speed controller is
always preset to 10 ms. To achieve the full dynamic response, the following parameters must be
optimized:
• Increase the proportional gain Kp_n (p1460)
• Change the integral time Tn_n (p1462)
Automatic controller setting for the speed controller (frequency response analysis)
The automatic speed controller setting has the following features:
• Section identification using FFT analysis
• Automatic setting of filters in the current setpoint arm (e.g. for damping resonance)
• Automatic setting of the controller (gain factor Kp, integral time Tn)
The automatic controller settings can be verified with the measuring functions.
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Servo control
5.14 Optimizing the current and speed controller
Example 1: Measuring the speed controller frequency response
By measuring the speed controller frequency response and the control system, critical resonant
frequencies can, if necessary, be determined at the stability limit of the speed control loop and
dampened using one or more current setpoint filters. This normally enables the proportional
gain to be increased (e.g. Kp_n = 3 default value).
After the Kp_n value has been set, the ideal integral time Tn_n (e.g. reduced from 10 ms to 5 ms)
can be determined.
Example 2: Speed setpoint step change
A rectangular step change can be applied to the speed setpoint via the speed setpoint step
change measuring function. The measuring function has preselected the measurement for the
speed setpoint and the torque-generating current.
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Figure 5-16 Setting the proportional gain Kp
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5.15 Encoderless operation
5.15 Encoderless operation
Overview
Both encoderless and mixed operation (without/with encoder) is possible in the servo control.
Encoderless operation with the motor model allows a higher dynamic response and greater
stability in the servo control than a standard drive with U/f control. Compared with drives with
an encoder, however, speed accuracy is lower and the dynamic response and smooth running
features deteriorate.
Function description
Since the dynamic response in operation without an encoder is lower than in operation with an
encoder, acceleration torque precontrol is implemented to improve the control dynamic
performance. Provided with information regarding the drive torque and taking into account the
existing torque and current limits as well as the load moment of inertia
[(p0341 · p0342) + p1498)], it optimally controls the necessary torque for a required speed
dynamic from a time perspective.
If the motor is operated with and without an encoder (e.g. p0491 ≠ 0 or p1404 < p1082), the
maximum current during operation without an encoder can be reduced via p0642 (reference
value is p0640) in order to minimize interfering, saturation-related motor data changes during
operation without an encoder.
A torque smoothing time can be parameterized via p1517 for the torque precontrol. The speed
controller needs to be optimized for operation without an encoder due to the lower dynamic
response. This can be achieved via p1470 (P gain) and p1472 (integral time).
In the low-speed range, the parameters for actual speed value, orientation and actual flux value
can no longer be calculated due to the accuracy of the measured values and the parameter
sensitivity of the procedure. This is the reason that the system switches over to current/
frequency control (I/f-controlled operation), where only the current and frequency are
impressed. The switchover threshold is set via p1755 and the hysteresis via p1756.
To accept a high load torque even in the open-loop controlled range, the motor current (current
setpoint) can be set using p1612. For this purpose, the drive torque (e.g. friction torque) must
be known or estimated. An additional reserve of approx. 20% should also be added.
In synchronous motors, the torque is converted to the current via the motor torque constant
(p0316). For induction motors, the magnetizing current (r0331) must be additionally taken into
account in p1612. In the lower speed range, the required current cannot be measured directly
on the Motor Module. The default setting is 50% (synchronous motor) or 80% (induction motor)
of the motor rated current (p0305). When parameterizing the motor current (p1612), you must
take into account the thermal motor load, as the current entered in p1612 is impressed in I/f-
controlled operation also without load.
The starting behavior of synchronous motors from standstill can be improved further by
parameterizing the pole position identification (p1982 = 1).
Important notes
• Encoderless operation is not permitted for applications with vertical axes or similar.
• Encoderless operation is not suitable for applications with a higher-level position control.
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5.15 Encoderless operation
Behavior once pulses have been canceled
CAUTION
Evaluating incorrect information about the motor speed
Once the pulses have been canceled, no information about the motor speed is available. The
drive sets its speed actual value = "0" Messages and signals derived from the actual value no
longer provide any information. Evaluating these messages and signals can result in the risk of
injury and material damage.
• Take this behavior into consideration when engineering your plant or system.
Once the pulses have been canceled in operation without an encoder, the current actual speed
value of the motor can no longer be calculated. Once the pulses are enabled again, the system
must search for the actual speed value.
p1400.11 can be used to parameterize whether the search is to begin with the speed setpoint
(p1400.11 = 1) or with speed = 0.0 (p1400.11 = 0). Under normal circumstances, p1400.11 = 0
because the motor is usually started from standstill. If the motor is rotating faster than the
changeover speed p1755 when the pulses are enabled, p1400.11 = 1 must be set.
If the motor is rotating and the start value for the search is as of the setpoint (p1400.11 = 1), the
speed setpoint must be in the same direction as the actual speed before the pulses can be
enabled. A large discrepancy between the actual and setpoint speed can cause a malfunction.
Switchover, open-loop controlled/closed-loop controlled operation, operation with/without
encoder
Operation without an encoder is activated using parameter setting p1300 = 20. If p1300 = 20
or p1404 = 0, operation without an encoder is active across the entire speed range. If the speed
value is less than the changeover speed p1755, the motor is operated in accordance with the
current/frequency.
During operation with an encoder, a switchover can be made to operation without an encoder
when the speed threshold p1404 is exceeded. If p1404 > 0 and p1404 < p1755, a switchover is
not made to operation without an encoder until the speed exceeds p1755.
To prevent encoder evaluation alarms in encoderless operation, set p1402.1 = 1 to park the
encoder evaluation. Reading-in the motor temperature via the encoder evaluation remains
active.
Operation without an encoder is displayed in parameter r1407.1.
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5.15 Encoderless operation
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Figure 5-17 Area switchover
Important notes
• A rotor position encoder is not required in the "Speed controller without encoder" control
type. Temperature evaluation remains active, even when the encoder is parked. This state
can be identified at parameter r0458.26 = 1. When parameter r0458.26 = 0, temperature
sensing is also deactivated.
Series reactor
When high-speed special motors are used, or other low leakage induction motors, a series
reactor may be required to ensure stable operation of the current controller.
The series reactor can be integrated via p0353.
Commission and optimizing the function
Proceed as follows to start and optimize the function:
1. Estimate the maximum motor torque, which can occur below the speed of p1755 without
acceleration. From this, determine the associated motor current p1612.
2. For synchronous motors with high overload setting (p0640 significantly higher than p0305),
it may be necessary to reduce the current limiting in encoderless operation (p0642).
3. For a third-party motor, carry out the stationary measurement and - if possible - also the
rotating measurement and accept the determined data. Check the current controller setting.
You can find more information on stationary/rotating measurement in Chapter "Motor data
identification (Page 157)".
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Servo control
5.15 Encoderless operation
4. If the overall moment of inertia could not be determined by the rotating measurement, you
can determine the overall moment of inertia by means of the following methods:
If ... Then ...
If an encoder is present and the motor has a re‐ determine the moment of inertia using the rotat‐
stricted traversing path (e.g. to use encoderless ing measurement of the MotID (p1959 = 20 hex
operation only for the substitute reaction in the [only Lq characteristic] and p1960 = 1). For linear
event of an encoder fault or for the upper speed motors, p1959 = 420 hex is needed [only com‐
range), ... mutation angle and Lq characteristic].
Alternatives:
• Use One Button Tuning/Moment of inertia de‐
termination from frequency response
(p5301.8 = 1).
• Use One Button Tuning / Estimate inertia
(p5302.2 = 1) together with the distance lim‐
iting function (p5308).
The set distance limiting is adhered to during
measurement with One Button Tuning.
If the motor can endlessly rotate (with/without determine the moment of inertia using the rotat‐
encoder), ... ing measurement of the MotID (p1959 = 404 hex
[i.e. only commutation angle and moment of in‐
ertia] and p1960 = 1).
If the total moment of inertia changes during op‐ determine the moment of inertia using the "Mo‐
eration, ... ment of inertia estimator" function module.
You can find more information on the moment of
inertia estimator in Chapter "Moment of inertia
estimator (Page 572)".
5. Perform the following steps to set the speed controller:
– When the "Moment of inertia estimator" function module is active, accept the moment of
inertia that has been determined.
– Deactivate the "Moment of inertia estimator" function module (p1400.18 = 0).
– Start a trace recording of parameter r0063 (speed actual value) and r0079 (torque).
– Adjust the moment of inertia (p1498; if possible, increase), and in the controlled range,
enter a speed setpoint (speed higher than p1755).
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5.15 Encoderless operation
– Optimize the settling behavior using the P gain (p1470) and the integral time (p1472).
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– Exit the trace recording.
– Finally, again set the appropriate total moment of inertia - or activate the "Moment of
inertia estimator" function module
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5019 Servo control - Speed control and U/f control, overview
• 5050 Servo control - Speed controller adaptation (Kp_n-/Tn_n adaptation)
• 5060 Servo control - Torque setpoint, switchover control mode
• 5210 Servo control - Speed controller without encoder
Parameters (see SINAMICS S120/S150 List Manual)
• p0341[0...n] Motor moment of inertia
• p0342[0...n] Ratio between the total and motor moment of inertia
• p0353[0...n] Motor series inductance
• p0600[0...n] Motor temperature sensor for monitoring
• p0640[0...n] Current limit
• p0642[0...n] Encoderless operation current reduction
• p1300[0...n] Open-loop/closed-loop control operating mode
• p1400[0...n] Speed control configuration
• p1404[0...n] Encoderless operation changeover speed
• r1407.0...26 CO/BO: Status word, speed controller
• p1470[0...n] Speed controller encoderless operation P gain
• p1472[0...n] Speed controller sensorless operation integral time
• p1498[0...n] Load moment of inertia
• p1517[0...n] Acceleration torque smoothing time constant
• p1612[0...n] Current setpoint, open-loop control, encoderless
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5.15 Encoderless operation
• p1755[0...n] Motor model changeover speed encoderless operation
• p1756 Motor model changeover speed hysteresis
Moment of inertia estimator
• p0108[0...n] Drive objects function module
• p1400[0...n] Speed control configuration
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5.16 Motor data identification
5.16 Motor data identification
Overview
The motor data identification (MotID) helps to determine the motor data, particularly of third-
party motors, and contributes to improving the torque accuracy (kT estimator).
Commissioning the function
WARNING
Unplanned motor movements
The motor data identification triggers movements of the motor that can result in death, severe
injury or material damage during operation with mounted mechanical system.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
• Do not carry out a rotating measurement with mechanical distance limiting.
Procedure
To start the function, proceed as follows:
1. Enter the following data:
– Motor data from motor data sheet (p0340 = 3) or rating plate data (p0340 = 1)
– Encoder data (only applies to operation with encoder)
2. Set p3900 = 3.
The motor, open-loop control and closed-loop control parameters are fully calculated and
preset according to p0340 = 1.
Quick commissioning is completed.
3. Set p1909.13 = 1.
In this way, the commutation angle offset is determined during stationary measurement.
4. Set p1910 = 1 to perform stationary measurement.
For synchronous motors:
– If necessary, perform a fine synchronization (e.g. because of overtraveling the zero mark),
(see r1992.8). Absolute encoders do not have to be finely synchronized.
Additional information about performing fine synchronization is provided in Chapter
"Pole position identification (Page 174)" under "Pole position correction with zero marks".
5. Check the setting of the speed controller and optimize the setting if needed in p1460, p1462,
p1470 and p1472.
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5.16 Motor data identification
6. Carry out a rotating measurement without mechanical system. Proceed as follows:
Note
Applications with vertical axes
Do not use the rotating measurement in applications with vertical axes.
– Remove mechanical system:
Remove the mechanical system from the drive.
If you cannot remove the mechanical system and wish to perform a rotating
measurement with mounted mechanical system, read and follow the instructions from
the section "Motor movement with rotating measurement" below.
– Open motor holding brake:
Only open the motor holding brake if this can be done without resulting in any dangerous
situation.
To open the motor holding brake, set p1215 = 2.
With open holding brake, the encoder sign and commutation angle calibration also takes
place.
– Deactivate direction inhibit:
Only deactivate the direction inhibit if this can be done without resulting in a dangerous
situation.
To deactivate the direction inhibit, set p1959.14 = 1 and p1959.15 = 1.
– Disable ramp-up/ramp-down time:
Only deactivate the ramp-up/ramp-down time if this can be done without resulting in any
dangerous situation.
To deactivate the ramp-up/ramp-down time, set p1958 = 0.
– Start rotating measurement:
To start the rotating measurement, set p1960 = 1.
With rotating measurement without mechanical system, only the motor moment of inertia
is determined.
7. To store the results of the MotID retentively, execute the "Copy RAM to ROM" command.
The results of the individual identification are displayed in r3925 to r3928.
Motor movement with stationary measurement
The stationary measurement can result in slight movements of up to 210 degrees electrical.
Motor movement with rotating measurement
The rotating measurement initiates motor movements which can reach the maximum speed
(p1082) and the torque of the motor. The torque corresponds here to the maximum current
(p0640).
Recommendation
To prevent damage/destruction of the load or undesired effects of the load on the measurement,
perform the rotating measurement with a no-load motor without mechanical system.
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5.16 Motor data identification
If you cannot remove the mechanical system, protect it by means of the following measures:
• Parameterize the ramp-up time (p1958)
• Direction limiting (p1959.14 and p1959.15)
• Current and speed limit
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5.16 Motor data identification
Influences on the MotID
The following factors can have a negative impact on the MotID:
• Enable signals:
The enable signals OFF1, OFF2, OFF3 and "Enable operation" are effective and can interrupt
the MotID routine. An interrupted MotID is resumed with another enable.
For information on the enable signals, refer to Chapter "Torque-controlled operation
(Page 102)".
• Direction limiting:
If ... Then ...
The following conditions are fulfilled: Direction limiting from p1110 and p1111 via
• The extended setpoint channel is activated p1960 is taken into consideration.
(r0108.08 = 1). This means that parts of the MotID are not exe‐
cuted.
• Direction limiting in negative (p1110) or pos‐
itive (p1111) direction is active.
• p1959.14 and 15 = 0
– Recommendation:
Deactivate direction limiting with p1959.14 and 15 = 1. This means that the MotID is
complete and more accurate.
NOTICE
Damage to the mechanical system
Deactivating direction limiting can result in damage to the mechanical system.
• Before deactivating direction limiting, make sure that the mechanical system cannot
be damaged.
You can find additional information on direction limiting in the SINAMICS S120/S150 List
Manual.
• Ramp-up/ramp-down time:
If ... Then ...
The following conditions are fulfilled: The maximum ramp-up/ramp-down time of the
• The extended setpoint channel is activated setpoint channel is taken into consideration dur‐
ing MotID via p1960.
(r0108.08 = 1).
This means that individual steps (p1959.5 and 7)
• p1958 = -1
of the rotating MotID are not performed.
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5.16 Motor data identification
– Recommendation:
Deactivate ramp-up/ramp-down time with p1958 = 0. This means that the MotID is
complete and more accurate.
NOTICE
Damage to the mechanical system
Deactivating the ramp-up/ramp-down time can result in damage to the mechanical
system.
• Before deactivating the ramp-up/ramp-down time, make sure that the mechanical
system cannot be damaged.
You can find additional information on ramp-up/ramp-down time in the SINAMICS S120/
S150 List Manual.
Parameters – Motor data (see SINAMICS S120/150 List Manual)
General
• p0311 Rated motor speed
• p0322 Maximum motor speed
• p0350 Motor stator resistance cold
• p0353 Motor series inductance
• p0356 Motor stator leakage inductance
• p0400ff p0400ff encoder data
Induction motor
• p0304 Rated motor voltage
• p0305 Rated motor current
• p0307 Rated motor power
• p0308 Rated motor power factor
• p0310 Rated motor frequency
• p0320 Rated motor magnetizing current
• p0354 Motor rotor resistance cold
• p0358 Motor rotor leakage inductance
• p0360 Motor magnetizing inductance
Permanent-magnet synchronous motor
• p0305 Rated motor current
• p0314 Motor pole pair number
• p0316 Motor torque constant
• p0323 Maximum motor current
• p0341 Motor moment of inertia
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5.16 Motor data identification
Parameters – Rating plate data (see SINAMICS S120/150 List Manual)
Rating plate data is used as start values for the MotID. Therefore, make sure that this data is
entered correctly.
General
• p0304 Rated motor voltage
• p0305 Rated motor current
• p0307 Rated motor power (alternative p0316 with permanent-magnet syn‐
chronous motors)
• p0311 Rated motor speed
• p0322 Maximum motor speed
• p0353 Motor series inductance
• p0400ff Encoder data
Induction motor
• p0308 Rated motor power factor
• p0310 Rated motor frequency
Permanent-magnet synchronous motor
• p0314 Motor pole pair number
• p0315 Motor pole pair width
• p0323 p0323 maximum motor current
Parameters – MotID control (see SINAMICS S120/150 List Manual)
General
• r0108.8 Drive objects function module / Extended setpoint channel
• p1110 BI: Inhibit negative direction
• p1111 BI: Inhibit positive direction
Stationary measure‐
ment
• p0640 Current limit
• p1215 Motor holding brake configuration1)
• p1909 Motor data identification control word
• p1910 Motor data identification routine stationary
• p1959.14 Rotating measurement configuration / positive direction allowed2)
• p1959.15 Rotating measurement configuration / negative direction allowed2)
Rotating measurement
• p0640 p0640 current limit
• p1082 p1082 maximum speed
• p1958 Motor data identification ramp-up/ramp-down time
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5.16 Motor data identification
• p1959 Rotating measurement configuration
• p1960 Rotating measurement selection
1)
If a brake is being used and is operational (p1215 = 1, 3), the stationary measurement is
made with closed brake.
• Recommendation:
Before the MotID, open the brake (p1215 = 2). This also means that the encoder size can
be adjusted and the commutation angle calibrated.
This recommendation does not apply to applications with vertical axes.
2)
The direction of rotation of the motor in p1959.14/15 = 1 depends on the setting in p1821
as outlined below:
• If p1959.14 = 1 (≙ positive direction allowed) and p1821 = 0, the motor rotates clockwise.
• If p1959.14 = 1 (≙ positive direction allowed) and p1821 = 1, the motor rotates counter-
clockwise.
• If p1959.15 = 1 (≙ negative direction allowed) and p1821 = 0, the motor rotates clock‐
wise.
• If p1959.15 = 1 (≙ negative direction allowed) and p1821 = 1, the motor rotates counter-
clockwise.
5.16.1 Motor data identification for induction motors
Function description
The data to be determined is identified in the inverse gamma equivalent circuit diagram and
displayed in r19xx. The parameters p0350, p0354, p0356, p0358 and p0360 taken from the
MotID correspond to the determined data from the T-equivalent circuit diagram of the induction
motor and must not be equated to the data determined from the inverse gamma equivalent
circuit diagram.
Note
Inverse gamma equivalent circuit diagram
The r parameters listed in the following tables show the data determined from the inverse
gamma equivalent circuit diagram.
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5.16 Motor data identification
Stationary measurement
When MotID with transfer (p1910 = 1) is activated, the data determined from the stationary
measurement is automatically entered in the corresponding controller parameters.
Table 5-8 Determining the data using stationary measurement (p1910)
Determined data (gamma) Acceptance of the data (p1910 = 1)
r1912 identified stator resistance p0350 motor stator resistance cold +
p0352 cable resistance
r1913 rotor time constant identified r0384 motor rotor time constant / damping time
constant d axis
r1915 stator inductance identified –
r1925 threshold voltage identified –
r1927 rotor resistance identified r0374 motor rotor resistance cold (gamma)
p0354 motor rotor resistance cold/damping resist‐
ance d-axis
r1932 d inductance r0377 motor leakage inductance total (gamma)
p0353 motor series inductance
p0356 motor leakage inductance
p0358 motor rotor leakage inductance
p1715 current controller P gain
p1717 current controller integral time
r1934 q inductance identified –
r1936 magnetizing inductance identified r0382 motor magnetizing inductance transformed
(gamma)
p0360 motor magnetizing inductance
p1590 flux controller P gain
p1592 flux controller integral time
r1973 encoder pulse number identified1) –
– p0410 encoder inversion actual value2)
1)
The encoder pulse number is only determined with a very high degree of inaccuracy and is only suitable
for making rough checks (p0407/p0408). The sign is negative if inversion is required (p0410.0).
2)
When the encoder inversion is changed through the MotID, fault F07993 is output; it refers to a possible
change in the direction of rotation - and can only be acknowledged using p1910 = -2.
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5.16 Motor data identification
Rotating measurement
When MotID with transfer (p1960 = 1) is activated, the data determined from the rotating
measurement is automatically entered in the corresponding controller parameters.
Table 5-9 Determining the data using rotating measurement (p1960)
Determined data (gamma) Acceptance of the data (p1960 = 1)
r1934 q inductance identified p0356 motor stator leakage inductance
r1935 q inductance identification current p0358 motor rotor leakage inductance/damping
inductance d axis
p0391 current controller adaptation starting point
Kp
p0392 current controller adaptation starting point
Kp adapted
p0393 current controller adaptation P gain adapta‐
tion
r1936 magnetizing inductance identified r0382 motor magnetizing inductance transformed
(gamma)
p0360 motor magnetizing inductance
p1590 flux controller P gain
p1592 flux controller integral time
r1948 magnetizing current identified p0320 rated motor magnetizing current
r1962 saturation characteristic magnetizing cur‐ p2952 flux characteristic coefficient K0x (x = 1)
rent identified1) p2953 flux characteristic coefficient K0x (x = 2)
r1963 saturation characteristic stator inductance p2954 flux characteristic coefficient K0x (x = 3)
identified1)
r1969 moment of inertia identified p0341 (motor moment of inertia) · (times)
p0342 (ratio of moment of inertia/motor) +
p1498 (load moment of inertia)
r1973 encoder pulse number identified2) –
1)
The magnetic design of the motor can be identified from the saturation characteristic.
2)
The encoder pulse number is only determined with a very high degree of inaccuracy and is only suitable
for making rough checks (p0407/p0408). The sign is negative if inversion is required (p0410.0).
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5.16 Motor data identification
Equivalent circuit diagram
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Figure 5-18 Equivalent circuit diagram: Induction motor
5.16.1.1 Determining the optimum flux characteristic
Overview
Determining the optimum flux characteristic with induction motors enables operation in the
overload range (torque > rated torque) with reduced losses and lower power consumption.
• Advantages:
– Longer operation in overload range
– Motor overheats more slowly
– Lower power consumption
– Higher torque for the same current limit
If the torque is limited by the current limiting, then a higher torque is obtained with the
same current limit.
Requirements
• p1959.1 = 1
• MotID with transfer (p1960 = 1) is complete.
Activating the function
The optimum flux characteristic is accepted, determined and activated depending on individual
parameters taken from the MotID via p1960.
To determine the optimum flux characteristic, the saturation characteristic must be determined
for the induction motor used. For some Siemens motors, the coefficients of the saturation
characteristic are automatically pre-assigned from the motor database. If the coefficients are not
automatically preset, the coefficients must be determined by means of a rotating measurement
(p1959).
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5.16 Motor data identification
To determine the coefficients during rotating measurement, the value "1" must be set in p1959.1
(identify saturation characteristic).
The coefficients (K01, K02 and K03) are taken from the rotating measurement via p1960 and
entered in p2952, p2953 and p2954. The optimum flux characteristic can thus be determined
from the calculated ratio between the saturation characteristic and the torque.
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Figure 5-19 Example: Optimum flux characteristic (torque-dependent)
The function is activated when the rotating measurement and the determination of the
coefficients is successfully completed.
If the coefficient is K01 = 0 (p2952 = 0), the optimum flux characteristic is deactivated.
Parameters
• p1959[0...n] Rotating measurement configuration
• p1959.1 Identify saturation characteristic
• p1960 Rotating measurement selection
• p2952[0...n] Flux characteristic coefficient K01
• p2953[0...n] Flux characteristic coefficient K02
• p2954[0...n] Flux characteristic coefficient K03
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5.16 Motor data identification
5.16.1.2 Flux reduction
Overview
By means of flux reduction, losses in the underload range (torque < rated torque) can be
reduced.
• Advantages:
– Lower power consumption with operation in underload range
• Disadvantages:
– The maximum torque is released time-delayed through the flux reduction.
– The fluctuations in the flux and torque setpoint negatively affect the operating behavior
of the motor.
A number of optimizations are available to counteract these effects.
Requirements
• MotID with transfer (p1960 = 1) is complete.
Commissioning the function
The flux reduction is accepted, determined and subsequently optimized depending on
individual parameters taken from the MotID via p1960.
The function is preset in p1581 with a value of 100% (in relation to the rated current).
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5.16 Motor data identification
The measures described below must be performed to ensure stable operation. The
implementation of the measures is determined by the configured induction motor.
• Induction motors with closed rotor slots:
For induction motors with closed rotor slots, we recommend that the integral time of the
current controller (p1717) is tripled.
No flux reduction is possible in operation without encoder.
• Adapting the field weakening factor:
The field weakening factor can be reduced by a factor of 16 in operation with encoder and
by a factor of 4 in operation without encoder. The specified factors are maximum limits for
the reduction of the field weakening factor. Setting smaller factors can also improve the
operating behavior of the motor.
The following formula can be used to determine a permissible field weakening factor ≤ 16
(operation with encoder) or ≤ 4 (operation without encoder):
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SySyS
Calculation example:
– Maximum speed (p1082) = 24,000 rpm
– Speed at the start of field weakening (p0348) = 4000 rpm
– Flux reduction (p1581) = 50 %
– Result: Factor = 12
The calculated factor is > 4. For stable operation without encoder, the calculated factor
is too high and should not be set. For stable operation with encoder, the calculated factor
is well suited, and could even be reduced down to a factor of 16 (p1581 = 37.5 %).
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5.16 Motor data identification
• Smoothing flux build-up/reduction:
To reduce the losses due to constant magnetization/demagnetization, the smoothing time
for the flux setpoint on flux build-up (p1578) or reduction (p1579) can be adjusted.
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Figure 5-20 Excerpt from function diagram 5722
– The smoothing time for flux build-up is preset with 4 ms and can be retained.
– The smoothing time for flux reduction is preset with 200 ms and can be set with the value
from r0384 (motor rotary time constant). In this way, the flux is reduced without current
according to the flux time constant from r0384.
Depending on the size of the motor, the rotor time constant can be between 100 ms and
2 s.
• Smoothing the torque setpoint:
To reduce the losses due to constant torque build-up/reduction, the torque setpoint can be
smoothed via p1656 (activates current setpoint filter) or p1441 (actual speed smoothing
time).
Parameters
• p0384[0...n] Motor rotor time constant / damping time constant d axis
• p1441[0...n] Actual speed smoothing time
• p1578[0...n] Flux reduction flux decrease smoothing time
• p1579[0...n] Flux reduction flux build-up smoothing time
• p1581[0...n] Flux reduction factor
• p1656[0...n] Current setpoint filter activation
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5.16 Motor data identification
5.16.2 Motor data identification for synchronous motors
Function description
Stationary measurement
When MotID with transfer (p1910 = 1) is activated, the data determined from the stationary
measurement is automatically entered in the corresponding controller parameters.
Table 5-10 Determining the data using stationary measurement (p1910)
Determined data Acceptance of the data (p1910 = 1)
r1912 stator resistance identified p0350 motor stator resistance cold +
p0352 cable resistance
r1925 threshold voltage identified –
r1932 d inductance p0356 motor stator leakage inductance +
p0353 motor series inductance
p1715 current controller P gain
p1717 current controller integral time
r1934 q inductance identified –
r1950 voltage emulation error voltage values1) p1952 voltage emulation error final value1) +
r1951 voltage emulation error current values1) p1953 voltage emulation error current offset1) +
p1954 voltage emulation error semiconductor volt‐
age
r1973 encoder pulse number identified2) –
r1984 pole position identification angular differ‐ p0431 commutation angle offset
ence3)
– p0410 encoder inversion actual value4)
1)
Active when the function module "Extended torque control" is activated and compensation of the
voltage emulation error is activated (p1780.8 = 1).
2)
The encoder pulse number is only determined with a very high degree of inaccuracy and is only suitable
for making rough checks (p0407/p0408). The sign is negative if inversion is required (p0410.0).
3)
r1984 indicates the difference of the commutation angle offset before being transferred into p0431.
4)
If the encoder inversion is changed using motor data identification, fault F07993 is output; it refers to
a possible change in the direction of rotation - and can only be acknowledged using p1910 = -2.
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5.16 Motor data identification
Rotating measurement
When MotID with transfer (p1960 = 1) is activated, the data determined from the rotating
measurement is automatically entered in the corresponding controller parameters.
Table 5-11 Determining the data using rotating measurement (p1960)
Determined data Acceptance of the data (p1960 = 1)
r1934 q inductance identified p0356 motor stator leakage inductance
r1935 q inductance identification current p0391 current controller adaptation starting point
Kp
p0392 current controller adaptation starting point
Kp adapted
p0393 current controller adaptation P gain adapta‐
tion
r1937 torque constant identified p0316 motor torque constant
r1938 voltage constant identified p0317 motor voltage constant
r1939 reluctance torque constant identified p0328 motor reluctance torque constant
r1947 optimum load angle identified p0327 optimum motor load angle
r1969 moment of inertia identified p0341 motor moment of inertia ·(times)
p0342 ratio between the total moment of inertia
and that of the motor +
p1498 load moment of inertia
r1973 encoder pulse number identified1) –
r1984 pole position identification angular differ‐ p0431 commutation angle offset
ence2)
1)
The encoder pulse number is only determined with a very high degree of inaccuracy and is only suitable
for making rough checks (p0407/p0408). The sign is negative if inversion is required (p0410.0).
2)
r1984 indicates the difference of the commutation angle offset before being transferred into p0431.
Linear motors
For linear motors:
• p0300 = 4xx
• Parameter p1959 is preset and has the effect that only the q inductance (p1959.05 = 1), the
commutation angle offset (p1959.10 = 1) and the inert mass are measured. The bits
(p1959.14 and 15) for direction inhibits are not evaluated because the distance limits do not
allow long runs in one direction.
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5.16 Motor data identification
Equivalent circuit diagram
0RWRU0RGXOH VHULHV &DEOH 0RWRU
,QGXFWDQFH
S S
S>0@ S>0@ S>0@ S>0@
/YDU 5&DEOH 56 /˰6
S>0@
0RWN(
Figure 5-21 Equivalent circuit diagram: Synchronous motor and cable
5.16.3 Parameters (see SINAMICS S120/S150 List Manual)
• r0047 Identification status
Stationary measurement
• p1909[0...n] Motor data identification control word
• p1910 Motor data identification routine stationary
Rotating measurement
• p1958[0...n] Rotating measurement ramp-up/ramp-down time
• p1959[0...n] Rotating measurement configuration
• p1960 Rotating measurement selection
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5.17 Pole position identification
Overview
For synchronous motors, the pole position identification (PolID) determines the electrical
absolute position that is required to determine the commutation angle (≙ pole position). The
electrical absolute position is usually provided with absolute information by a mechanically or
electrically calibrated encoder here.
Function description
WARNING
Unplanned motor motion when carrying out measurements at motors that are not braked
The measurement for unbraked motors can cause a motor movement with the specified
current that can lead to death or severe injuries.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
WARNING
Faulty safety functions with no pole position identification
If a PollD is not performed, correct functioning of the safety functions of the drive cannot be
guaranteed. This can result in death or serious injury.
• Carry out a PollD.
WARNING
Uncontrolled motor motion as a result of an incorrect control sense of the speed control
loop
If a PolID was used to determine the commutation angle, then the commutation angle must be
redetermined each time the control sense is changed. An incorrect commutation angle may
result in uncontrollable motor movement which can cause death or serious injuries.
• Check the commutation angle offset (F7966) after an actual value inversion and, if
necessary, determine the offset again (p1990 = 1).
Applications
Pole position identification (PolID) is preferably used to determine the electrical absolute
position or for electrical calibration (≙ determination of the commutation angle offset). It is
necessary to determine the electrical absolute position in particular if there is not yet an absolute
position when the drive is switched on.
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Accordingly, we can distinguish between the following applications:
• Determination of the commutation angle after POWER ON or encoder reset:
– You activate the function with p1982 = 1.
– This function is used if the electrical absolute position required for the commutation is not
present after a POWER ON or encoder reset. This is the case, for example, in motors with
an incremental encoder without C/D track or an encoder with distance-coded zero marks.
The commutation angle (≙ pole position) is determined using the function.
• Determining the commutation angle offset:
– You activate the function with p1990 = 1.
– This function is used when the electrical absolute position required for the commutation
is present but not calibrated. This is the case, for example, with absolute encoders if an
encoder replacement has been performed or a built-in motor with encoder has been
installed.
In this context, a built-in motor refers to a motor that is assembled from individual
components (stator, rotor, etc.) and an encoder that is not mechanically calibrated.
As an alternative to mechanical calibration, the absolute position can be calibrated using
the commutation angle offset. In this case, the function identifies the commutation angle
(≙ pole position) once and enters the commutation angle offset in p0431. No further
PolID needs to be performed after the offset is saved.
– On the other hand, the function is also used in motors with an incremental encoder with
zero mark or with distance-coded zero marks. In these cases, the commutation angle (≙
pole position) is determined in relation to the zero mark.
If p0404.15 = 1 (commutation with zero mark) is set, the commutation angle is
determined from the zero mark position and the commutation angle offset after each
PolID with p1982 = 1 and subsequent overtraveling of the zero mark.
– You can find more information on determining the commutation angle offset in Chapter
"Determining the commutation angle offset (Page 181)".
• Plausibility check for encoders with absolute information:
– You activate the PolID with p1982 = 2.
Available procedures
The following procedures are available for pole position identification:
• Saturation-based 1st + 2nd harmonics:
To set this procedure, set p1980 = 0.
• Saturation-based 1st harmonic:
To set this procedure, set p1980 = 1.
• Saturation-based 2-level:
To set this procedure, set p1980 = 4.
• Motion-based:
To set this procedure, set p1980 = 10.
• Elasticity-based:
To set this procedure, set p1980 = 20.
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Determining the suitable method
On the basis of the following table, you can determine the PolID methods that are suitable for
your drive:
Saturation-based Motion-based Elasticity-based
Brake available Possible Not possible Required
Motor can move freely Possible Required Not possible
Motor has no iron Not possible Possible Possible
Supplementary conditions
You can find more detailed information about the constraints that apply to the available process
in Chapter "Pole position identification (Page 174)".
Encoder types
A PolID is not required for the following encoder properties:
• Absolute encoder (e.g. EnDat, DRIVE-CLiQ encoder)
• Encoder with C/D track and number of pole pairs ≤ 8
• Hall sensor
• Resolver with a multiple integer ratio between the motor pole pair number and the encoder
pole pair number
• Incremental encoder with an integer ratio between the number of motor pole pairs and the
number of encoder pulses
PolID on encoder replacement
An encoder replacement is automatically detected for encoders with electronic serial number
and p1990 = 1 is set. This case is valid for all absolute encoders.
An encoder replacement is not automatically detected for encoders without electronic serial
number (e.g. incremental encoders) or encoders that were delivered with a built-in Siemens
motor. After an encoder replacement, p1990 = 1 needs to be set manually.
PolID with Siemens motors
When Siemens motors are used, the process is automatically set depending on the motor type
being used. No further settings are necessary.
PolID for motors that are not listed
When third-party motors are used, the PolID needs to be set manually.
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Procedure
Proceed as follows to perform a PolID:
1. Select a technique with p1980.
2. Set p1990 = 1 to activate the selected technique.
The value in p1982 is not taken into account.
PolID failed
The PolID has failed if:
• The motor provides insufficient or no torque.
• The motor becomes hot too fast.
• A corresponding fault message is displayed.
Supplementary conditions
When selecting a suitable technique for the PolID, you must carefully observe and comply with
the following notes and information.
Note
Selecting a suitable technique for 1FN3 linear motors
The saturation-based technique is the default setting for 1FN3 linear motors. For braked motors,
this technique provides more accurate results than for unbraked motors. To achieve a higher
identification accuracy, you must select either the motion-based or elasticity-based technique.
Selecting the technique suitable for the particular application depends on the general
mechanical conditions (e.g. friction situation, vertical axes, etc.).
Saturation-based PolID
The following notes and supplementary conditions apply to the saturation-based PolID:
• The technique can be performed for both braked and non-braked motors.
• The technique can only be performed for a speed setpoint = 0 or from standstill.
• In order to obtain meaningful measurement results, the specified currents (p0325, p0329)
must be sufficiently high.
• For motors without iron, the pole position cannot be identified with the saturation-based
PolID.
• For 1FN3 motors, it is not permissible to traverse with the 2nd harmonic (p1980 = 0, 4).
• With 1FK7 motors, a two-stage technique must not be used (p1980 = 4). The value in p0329,
which is set automatically, must not be reduced.
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Note
Inaccuracy when determining the commutation angle
If several 1FN3 linear motors are coupled together, and at the same time a saturation-based
PolID is performed for the commutation (p1980 ≤ 4 and p1982 = 1), this can influence the DC
link voltage. Fast current changes in the DC link cannot be completely compensated. In this case,
the commutation angle is not determined precisely.
• If high precision is required, perform the PolIDs in succession. This can be achieved, for
example, by enabling the individual drives one after the other (with a time offset).
Motion-based PolID
For the motion-based technique, the following notes and supplementary conditions apply:
• The motor must be free to move and must not be subject to external forces. The technique
therefore cannot be performed for vertical axes.
• The technique can only be performed for a speed setpoint = 0 or from standstill.
• If there is a motor brake, it must be open (p1215 = 2).
• The specified current magnitude (p1993) must move the motor by a sufficient amount.
• A position sensor must be available and also activated.
Elasticity-based PolID
For the elasticity-based technique, the following notes and supplementary conditions apply:
• A brake must be available and must also be activated during the PolID. Either the drive
controls the brake (p1215 = 1 or 3) or the brake is externally activated in advance of the PolID
start and deactivated again after the operation.
• A position sensor must be available and also activated.
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• Drive axis motion corresponds to the deflection (motion in the μm to mm range).
Uncontrollable axis motion is completely ruled out during the measurement.
WARNING
Uncontrollable axis motion as a result of incorrect settings
With incorrect settings during the elasticity-based PolID, uncontrollable axis motion can
occur when enabling the axis after the measuring procedure, which can cause death or
severe injury.
• Ensure that the settings in the context of this technique are correct.
• Ensure that after completing the technique, the axis cannot move.
• Parameters p3090 to p3096 must be correctly set for a successful elasticity-based PolID. For
a detailed description of the technique, see Chapter "Setting of the elasticity-based pole
position identification (Page 184)".
The following table contains basic information on the relevant parameters:
Parameter Designation Information about parameterization
p3090 PolID elasticity-based The value "0" is preset in the parameter. For motors, where
configuration the brake is installed between the motor and encoder, an
inversion may be required in order to take into account the
relationship between the sign of the deflection and the tor‐
que or force. The inversion is set in bit 0 (p3090[0]).
p3091 PolID elasticity-based The ramp time is preset with 250 ms. This value should only
ramp time be changed if mechanical oscillations are present. General‐
ly, mechanical oscillations occur if the ramp time is too short
(< 250 ms).
p3092 PolID elasticity-based The wait time serves as buffer between the measurement
wait time operations. Set a wait time longer than 5 ms in order to
make a clear distinction between the individual measuring
operations.
p3093 PolID elasticity-based We recommend you set 12 measurement steps to achieve a
measurement count rugged and precise PolID. The precision and duration of the
measurement increases proportionally with the number of
measurement steps.
p3094 PolID elasticity-based The parameter setting depends heavily on the mechanical
deflection expected design and the drive braking force, and must therefore be
set by the customer.
p3095 PolID elasticity-based The maximum permissible deflection preset in the param‐
deflection permitted eter is 1 degree or 1 mm.
p3096 PolID elasticity-based The parameter setting depends heavily on the mechanical
current design and the drive braking force, and must therefore be
set by the customer.
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Parameter (technique-dependent)
The table below gives you an overview of the important parameters depending on the PolID
method selected:
Parame‐ Compact information Saturation- Motion-based Elasticity-based
ter based
p0325[0... Parameter is used to set the current for the 1st phase of + – –
n] the 2-stage technique.
The current of the 2nd phase is set in p0329. The 2-
stage technique is selected with p1980 = 4.
p0329[0... Parameter is used to set the current for the PolID. + – –
n] For 2-stage techniques (p1980 = 4), then the current for
the 2nd phase is set here. The current of the 1st phase
is set in p0325.
p1980[0... Set the required technique for the PolID using this pa‐ Value 0, 1 or 4 Value 10 Value 20
n] rameter.
p1981[0... Parameter is used to set the maximum distance (elec‐ + + –
n] trical angle) when executing the PolID.
p1982[0... You determine the commutation angle or perform a + + +
n] plausibility check using this parameter.
p1983 Perform a PolID for test purposes using this parameter. + + +
r1984 Indicates the angular difference between the actual + + +
electrical commutation angle and that determined from
the PolID.
r1985 Indicates the current characteristic of the PolID for an – – +
elasticity-based technique.
r1986 Indicates the pole position curve of the saturation and + – +
elasticity-based PolID
r1987 Indicates the trigger curve of the PolID. + – +
p1990 Parameter is used to determine the commutation angle + + +
offset for the encoder adjustment.
r1992.0... Display and BICO output for the diagnostics information + + +
15 of the PolID.
p1993[0... Parameter is used to set the current for the motion- – + –
n] based PolID.
p1994[0... Parameter is used to set the current rise time. – + –
n]
p1995[0... Parameter is used to set the gain. – + –
n]
p1996[0... Parameter is used to set the integral time. – + –
n]
p1997[0... Parameter is used to set the smoothing time. – + –
n]
p3090[0... Parameter is used to set the configuration for the elas‐ – – +
n] ticity-based PolID.
p3091[0... Parameter is used to set the ramp time for the current – – +
n] increase.
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Parame‐ Compact information Saturation- Motion-based Elasticity-based
ter based
p3092[0... Parameter is used to set the wait time between 2 meas‐ – – +
n] urements.
The wait time between two measurements is necessary
in order to avoid mechanical resonance effects.
p3093[0... Parameter is used to set the number of measuring op‐ – – +
n] erations.
The result becomes more accurate when the value is
increased; however, the PolID takes longer.
p3094[0... Parameter is used to set the expected deflection. – – +
n] The following setting is practical: p3094 < p3095.
p3095[0... Parameter is used to set the permissible deflection. – – +
n] The following setting is practical: p3094 < p3095.
p3096[0... Parameter is used to set the maximum permissible cur‐ – – +
n] rent.
The following setting is practical: p3096 ≤ min (p0305,
p0640, p0209).
r3097.0... Indicates the status of the elasticity-based PolID. – – +
31
Marking: + = relevant, – = not relevant
5.17.1 Determining the commutation angle offset
Overview
The function is used in the following cases:
• For single calibration of the pole position for absolute encoders
• For calibrating the zero mark position for fine synchronization
Procedure
Set p1990 = 1 to determine the commutation angle offset.
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The determined offset is then entered in p0431.
Table 5-12 Mode of operation of p0431
Incremental without Incremental with one Incremental with dis‐ Absolute encoder
zero mark zero mark tance-coded zero marks
C/D track Shifts the commutation Shifts the commutation Currently not available. Not permitted.
with respect to the C/D with respect to the C/D
track. track and zero mark.
Hall sensor Does not influence the Does not influence the Does not influence the Not permitted.
hall sensor. hall sensor. Shifts the hall sensor. Shifts the
Note: commutation with re‐ commutation with re‐
spect to the zero mark. spect to the absolute po‐
The hall sensor must be
sition (after two zero
mechanically adjusted.
marks have been
passed).
PolID No effect Shifts the commutation Shifts the commutation Shifts the commutation
with respect to the zero with respect to the abso‐ with respect to the abso‐
mark. lute position (after two lute position
zero marks have been
passed).
Note
If a technique for the PolID is selected using p1980, and a catalog motor with factory adjusted
encoder was not parameterized, when it is identified that an encoder has been replaced, then
p1990 is automatically activated.
5.17.2 Fine synchronization
Overview
Fine synchronization prevents measurement scattering and allows additional testing of the
determined pole position.
Suitable zero marks
• One zero mark in the complete traversing range
• One zero mark per mechanical revolution
• Distance-coded zero marks
• Equidistant zero marks:
The ratio between the number of pole pairs and the number of equidistant zero marks per
revolution or the ratio between the zero mark spacing and the pole pair width must be an
integer.
– Example of linear motor:
If the pole pair width is 40 mm, the equidistant zero mark spacing must be an integer
multiple (40, 80, 120, ... mm). In contrast, the zero mark spacing cannot be 20 mm.
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Encoder with zero marks
If suitable zero marks are present and p0404.15 = 1 is set, the commutation angle is
automatically synchronized from the position of the zero mark(s) and the commutation angle
offset after overtraveling of the zero mark(s).
Requirement
• The zero mark(s) was/were calibrated mechanically or electrically.
Procedure
To perform the fine synchronization, proceed as follows:
1. Set p0404.15 = 1.
2. Set p1990 = 1.
3. To overtravel the zero mark(s), traverse the drive by entering a valid speed setpoint.
The commutation angle offset is determined after the PolID and the overtravel of the zero
mark(s) and entered in p0431.
Encoders without zero marks
In motor-encoder configurations that cannot meet the above-specified requirements relating to
zero marks, the zero mark used for the reference point approach can be used as zero mark for the
fine synchronization.
Requirement
• The zero mark(s) was/were calibrated mechanically or electrically.
Procedure
Proceed as follows to determine the zero mark for the fine synchronization:
1. Set the "Commutation with selected zero mark" mode in p0430.24.
The following responses are triggered:
– Via the PROFIdrive encoder interface, the drive receives the request for a reference mark
search.
– Together with the Sensor Module, the drive determines the reference mark as a result of
the parameterization.
– The drive provides the reference mark position via the PROFIdrive encoder interface.
– The drive transfers the same position to the Sensor Module.
– The Sensor Module corrects the commutation angle (fine synchronization).
2. Set p1990 = 1 to determine the commutation angle offset.
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5.17.3 Setting of the elasticity-based pole position identification
Overview
The technique described in the following is an example of the setting of the elasticity-based pole
position identification (PolID) for linear motors and rotary motors.
• You can parameterize this technique in the commissioning tool.
• The following example shows the parameterization in STARTER.
Also observe the notes and information on this technique in Chapter "Pole position identification
(Page 174)".
Requirements
The following requirements must be satisfied in order to be able to perform the elasticity-based
PolID.
• Motor, encoder and brake control have been correctly parameterized.
Procedure
WARNING
Uncontrollable axis motion as a result of incorrect settings
With incorrect settings during the elasticity-based PolID, uncontrollable axis motion can occur
when enabling the axis after the measuring procedure, which can cause death or severe injury.
• Ensure that the settings in the context of this technique are correct.
• Ensure that after completing the technique, the axis cannot move.
Proceed as follows to set the elasticity-based PolID.
1. Open the STARTER commissioning tool.
2. Create a new project and select the components in accordance with your drive configuration.
OR
Call the already saved project in which you want to perform the elasticity-based PolID.
3. Click the button ("Connect to selected target devices") to connect to the target device.
4. Call the expert list for the configured drive.
5. Click the button ("Device trace/function generator") to open the device trace in STARTER.
The device trace opens.
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6. Select the following signals of the configured drive in the device trace.
– r0076: Current actual value field-generating
– r0479[0]: Diagnostics encoder position actual value
Figure 5-22 Device trace: Select signals
The following figure shows further settings in the device trace. In order to obtain good, useful
measurement results, we recommend that you set the displayed values.
Figure 5-23 Device trace: Recommended settings
7. Set the rated motor current in parameter p3096[0] (PolID elasticity-based current).
Note
The rated motor current is displayed in parameter p0305[0].
8. Set the value "20" in parameter p1980[0] (PolID technique)
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9. Set the value "1" in parameter p1982[0] (PolID selection).
You have now activated the elasticity-based PolID.
Note
Setting of further parameters
Further parameters do not have to be set. Leave the other parameters in the factory setting.
10.Click the button ("Start trace") to start the trace.
11.Enable the drive to start the measurement.
The measurement result is displayed.
Note
Enabling the drive via the control panel
An alarm/message may appear when enabling the drive via the control panel.
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12.Compare the deflection at the starting point of the measurement (2) with the deflection at
the end point of the measurement (3).
The following figure shows the measurement result. A guide line (1) is shown for the optical
alignment and aligned as reference line at the starting point (2) of the measurement.
Signal (red/top): Measuring current
Signal (blue/bottom): Deflection
① Guide line
② Starting point of the measurement
③ End point of the measurement
④ Amplitudes of measuring currents 1 to 12 (p3093)
Figure 5-24 Measurement result: Determined deflection
– Result 1: You have set parameter p3096[0] correctly when the deflection at the starting
point of the measurement (2) corresponds to the deflection at the end point of the
measurement (3).
– Result 2: The holding brake is not strong enough when the deflection at the starting point
of the measurement (2) differs significantly from the deflection at the end point of the
measurement (3). In this case, we recommend that you reduce the measuring current
step-by-step until the deflection at the starting point of the measurement corresponds to
the deflection at the end point of the measurement, or approximately. Only continue with
the next step when this has been ensured.
The following figure shows an example of the signal curve of the deflection when the brake
is too weak.
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Signal (red/top): Measuring current
Signal (blue/bottom): Deflection
① Guide line
② Starting point of the measurement
③ End point of the measurement
④ Amplitudes of measuring currents 1 to 12 (p3093)
Figure 5-25 Measurement result: Brake too weak
13.Compare the height of the deflection amplitudes in both directions and determine optically
the highest amplitude in the measurement result.
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14.Determine the stroke of the maximum deflection. The maximum deflection corresponds to
the highest deflection (peak) in the measurement result. The stroke corresponds to the
calculated difference between the lowest (3) and the highest point (4) of the deflection
amplitude.
– Tip: Insert a guide line (1) and move it to the top of the highest deflection. Insert a second
guide line (2) and move it to the zero point of the highest deflection.
① Guide line 1
② Guide line 2
③ Lowest point of the deflection amplitude
④ Highest point of the deflection amplitude
⑤ Display of the difference
Figure 5-26 Determining the highest deflection amplitude
The value calculated as the difference between the lowest (3) and the highest point (4) of the
deflection amplitude is shown in the display bar (5) of the trace. The displayed value
corresponds to the stroke of the deflection amplitude.
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15.To calculate the value for parameter p3094[0] (PolID elasticity-based deflection expected),
set the determined value (difference) in the appropriate formula.
– For linear motors:
'LIIHUHQFH S >PP@
S y
– For rotary motors:
'LIIHUHQFH >r@
S y
S
16.Enter the calculated value in the expert list in parameter p3094[0] (PolID elasticity-based
deflection expected) of the configured drive.
17.Acknowledge the fault.
This completes the configuration.
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18.To check the result, restart the trace and enable the configured drive.
The measurement result is displayed.
Figure 5-27 Measurement result after the configuration
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19.Check the measurement results.
Based on the following questions, you can check the validity of the measurement in relation
to the determination of the PolID.
– Is a fault present for the configured/selected drive after the last measurement?
Note
Possible causes and remedies can be found in the help of the relevant alarm.
– Were different measuring currents taken into account during the measurement?
Note
Different measuring currents are indicated by the varying heights of the current
amplitudes (wave form of the curve) in the measurement result.
– Does the lowest current amplitude of the first 12 measuring points in the measurement
result correspond approximately to the maximum deflection?
Note
The measurement is made up of 12 measuring points (p3093) to determine the
deflection and 4 control measuring points for the plausibility check.
– Do the last 4 measuring points comprise 2 maximum currents, 2 minimum currents, 2
minimum deflections and 2 maximum deflections in different directions?
20.If you can answer all questions with YES, then the technique for the elasticity-based PolID has
been set correctly.
The pole position of the drive has been determined.
21.Click the button ("Copy RAM to ROM") to save the parameter setting in the drive and, if
required, in your project.
22.If you had to answer one of the questions with NO, then the technique for the elasticity-
based PolID is faulty or has failed.
To ensure that all values have been determined correctly and entered in the parameters,
repeat the technique.
Note
Setting of further parameters
If required, change the values in parameters p3090 to p3096 when repeating the technique.
Check the measurement results.
Also observe all steps of the procedure for the elasticity-based PolID.
If repeated attempts to perform the technique fail, please contact the Siemens Support
(https://support.industry.siemens.com/cs/ww/en/).
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0325[0...n] Motor pole position identification current 1st phase
• p0329[0...n] Motor pole position identification current
• p0404[0...n] Encoder configuration active
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• p0430[0...n] Sensor Module configuration
• p0431[0...n] Commutation angle offset
• p0437[0...n] Sensor Module extended configuration
• r0458 Sensor Module properties
• r0459 Sensor Module extended properties
• p0640[0...n] Current limit
• p1082[0...n] Maximum speed
• p1215 Motor holding brake configuration
• p1980[0...n] PolID procedure
• p1981[0...n] PolID maximum distance
• p1982[0...n] PolID selection
• p1983 PolID test
• r1984 PolID angular difference
• r1985 PolID saturation curve
• r1987 PolID trigger curve
• p1990 Encoder adjustment, determine commutation angle offset
• p1991[0...n] Motor changeover, commutation angle offset
• r1992.0...15 CO/BO: PolID diagnostics
• p1993[0...n] PolID motion-based current
• p1994[0...n] PolID motion-based rise time
• p1995[0...n] PolID motion-based gain
• p1996[0...n] PolID motion-based integral time
• p1997[0...n] PolID motion-based smoothing time
• p3090[0...n] PolID elasticity-based configuration
• p3091[0...n] PolID elasticity-based ramp time
• p3092[0...n] PolID elasticity-based wait time
• p3093[0...n] PolID elasticity-based measurement count
• p3094[0...n] PolID elasticity-based deflection expected
• p3095[0...n] PolID elasticity-based deflection permitted
• p3096[0...n] PolID elasticity-based current
• r3097.0...31 BO: Pole ID elasticity-based status
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5.18 Vdc control
5.18 Vdc control
Function description
The voltage in the DC voltage link is monitored for overvoltage/undervoltage. In the case of
overvoltage/undervoltage, the overvoltage/undervoltage is displayed in the form of a fault. The
Vdc control is used to avoid or delay an overvoltage/undervoltage shutdown.
Parameterizing the drive as support drive
To use the Vdc control, an axis with sufficient kinetic energy can be parameterized as support
drive with p1240 = 1, 2 or 3. The support drive either accelerates or brakes in order to support
the DC link voltage.
Axes without sufficient kinetic energy can already be switched-off using p1240 = 4, 5 or 6 before
reaching the DC link shutdown threshold. This is only applicable for axes, which in case of a fault
(e.g. line supply failure) are not important to maintain the DC link voltage, and load the DC link
if they continue to operate.
Changed torque limits
As P controller, the Vdc controller already changes the torque limits if the DC link voltage
increases to the upper DC link voltage threshold (p1244) or decreases to the lower DC link
voltage threshold (p1248), and the corresponding controller is activated.
As a consequence, support drives, which are parameterized with p1240 = 1, 2 or 3, can deviate
from the setpoint speed. For support drives, which are parameterized with p1240 = 7, 8 or 9, it
is possible that the acceleration and braking phases until the speed setpoint is reached are
extended.
You calculate the P gain (p1250) for the Vdc controller using the following formula:
• p1250 = 0.5 · DC link capacitance [mF]
Once the DC link has been identified (p3410), the DC link capacitance [mF] can be read in
p3422 of the infeed module.
The maximum power drawn when motoring (Pmot) of the Motor Modules is:
• Pmot = Vdc, actual value · (Vdc, actual value - p1248) · p1250
The maximum power recovery when generating (Pgen) of the Motor Modules is:
• Pgen = Vdc, actual value · (p1244 - Vdc, actual value) · p1250
Failure of the Line Module
To be able to continue to operate drives when the Line Module fails, proceed as follows:
1. Parameterize the response to fault F07841 to "None".
OR
2. Set p0864 = 1.
Drive functions
194 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Servo control
5.18 Vdc control
Applications
The Vdc controller is used in the following cases:
• Using a Line Module without energy recovery capability (Vdc_max controller)
• Safety measures in the event of a line supply failure (Vdc_min and Vdc_max controller).
Parameterizable faults are available to shut down axes, which in case of a line supply failure
are not important to maintain the DC link voltage and load the DC link if they continue to
operate. By shutting down these axes, in the case of a fault, a support drive can be operated
for a longer period of time.
The voltage limit values of the Vdc control also influence the U/f control. In this case, the
dynamic response of the Vdc control is slower.
Vdc_min control
When the line supply fails, the Line Module can no longer maintain the DC link voltage. This is
especially applicable if Motor Modules in the DC link group draw power.
To maintain the DC link voltage in the event of a line supply failure (e.g. for a controlled
emergency retraction), the Vdc_min controller can be activated for one or more drives
(p1240 = 2, 3). Generally, only one drive is parameterized with Vdc_min control as support drive.
The Vdc_min control already changes the torque limits if the DC link voltage decreases to the
lower DC link voltage threshold (p1248). The motoring power of the support drive is reduced
until the voltage threshold is reached.
If the voltage threshold is fallen below, then the support drive feeds power into the DC link by
braking. If the support drive speed decreases to "0", the kinetic energy of the support drive has
been used, and the support drive can no longer support the DC link.
Supplementary conditions
In order that the support drive goes into the generating mode, the voltage threshold in p1248
must be set above the shutdown threshold of the support drive (r0296).
If the voltage and shutdown threshold are set the same, when reaching the shutdown threshold,
the support drive is switched off and up to the shutdown instant, does not feed any power back
into the DC link.
The recommended minimum clearance between the voltage and shutdown threshold is 10 V.
You calculate the setting value of the voltage threshold using the following formula:
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Pmot_max_drawn corresponds to the maximum motoring power, which all DC link participants draw
from the DC link. You must enter the value for Pmot_max_drawn in the formula, independent of the
sign as absolute value.
The formula for calculating the P gain (p1250) is as follows: p1250 = 0.5 · DC link capacitance
[mF]
It is not permissible that the value set in p1248 is higher than the DC link voltage in normal
operation.
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 195
Servo control
5.18 Vdc control
Response when the line supply returns
When the line supply returns, the Vdc controller is automatically deactivated. The support drive
re-approaches the speed setpoint. If the line supply does not return, then the DC link voltage
collapses as soon as the kinetic energy of the support drive has been depleted.
When the line supply returns, it must be ensured that the drive line-up is not disconnected from
the line supply. For this purpose we recommend using a line contactor that drops out. Further,
the line contactor must be supplied from an uninterruptible power supply (UPS).
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Vdc_min control without braking
If p1240 = 8 or 9 is set, for a low DC link voltage, as a maximum, the support drive reduces the
power drawn down to "0", without actively braking.
Vdc_max control
For Line Modules without energy recovery, or in the event of a line supply failure, when the
drives in the DC link group brake this can result in the DC link voltage increasing up to the
shutdown threshold.
To prevent the system from shutting down due to an overvoltage condition, the Vdc_max
controller can be activated for one or more drives (p1240 = 1, 3). Generally, only one drive is
parameterized with Vdc_max control as support drive.
The Vdc_max control already changes the torque limits if the DC link voltage increases to the
upper DC link voltage threshold (p1244). The generating power of the support drive is reduced
until the voltage threshold is reached.
If the voltage threshold is exceeded, the support drive draws DC link power by accelerating. In
so doing, the support drive draws the power, which the other drives feed into the DC link when
braking. The braking phase is also shortened. Once the support drive has reached the maximum
speed, it is switched off and it no longer draws any power. As a consequence, the support drive
can no longer support the DC link.
Drive functions
196 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Servo control
5.18 Vdc control
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Supplementary conditions
In order that the support drive goes into the motoring mode, the voltage threshold in p1244
must be set below the shutdown threshold of the support drive (r0297).
If the voltage and shutdown threshold are set the same, when reaching the shutdown threshold,
the support drive is switched off, and up to the instant that the DC link is shut down, does not
draw any power.
The recommended minimum clearance between the voltage and shutdown threshold is 10 V.
You calculate the setting value of the voltage threshold using the following formula:
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Pgen_max_fed-in corresponds to the maximum power when generating, which all participants on the
DC link feed into the DC link. You must enter the value for Pgen_max_fed-in in the formula independent
of the sign as absolute value.
The formula for calculating the P gain (p1250) is as follows: p1250 = 0.5 · DC link capacitance
[mF]
It is not permissible that the value set in p1244 is higher than the DC link voltage in normal
operation.
Vdc_max control without acceleration
If p1240 = 7 or 9 is set, for an increased DC link voltage, as a maximum, the drive reduces the
power fed back into the DC link down to "0", without actively accelerating.
Vdc_min monitoring
When the line supply fails, the Line Module can no longer maintain the DC link voltage. This is
especially the case if the Motor Modules draw power from the DC link.
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 197
Servo control
5.18 Vdc control
To ensure that the DC link voltage is not loaded with uncritical drives in the event of a line supply
failure, these uncritical drives can be switched off with fault F07403 and the parameterizable
voltage threshold in p1248. To do this, activate the Vdc_min monitoring with p1240 = 5, 6.
Vdc_max monitoring
For Line Modules without energy recovery, or in the event of a line supply failure, when the
drives brake this can result in the DC link voltage increasing up to the shutdown threshold. To
prevent the system from shutting down due to an overvoltage condition, the Vdc_max
controller can be activated for one or more drives (p1240 = 1, 3).
To ensure that the DC link voltage is not loaded with uncritical drives in the event of a line supply
failure, these uncritical drives can be switched off with fault F07404 and the parameterizable
voltage threshold in p1244. To do this, activate the Vdc_max monitoring with p1240 = 4, 6.
Messages (see SINAMICS S120/S150 List Manual)
• F07403 Drive: Lower DC link voltage threshold reached
• F07403 Drive: Upper DC link threshold reached
• F07841 Drive: Infeed operation withdrawn
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5300 Servo control - U/f control for diagnostics
• 5650 Servo control - Vdc_max controller and Vdc_min controller
Parameters (see SINAMICS S120/S150 List Manual)
• r0056.14 CO/BO: Status word, closed-loop control: Vdc_max controller active
• r0056.15 CO/BO: Status word, closed-loop control: Vdc_min controller active
• r0296 DC link voltage undervoltage threshold
• r0297 DC link voltage overvoltage threshold
• p0864 Infeed operation
• p1240[0...n] Vdc controller or Vdc monitoring configuration
• p1244[0...n] Upper DC link voltage threshold
• p1248[0...n] Lower DC link voltage threshold
• p1250[0...n] Vdc controller proportional gain
• p3410 Infeed identification method
• p3422 Infeed DC link capacitance
Drive functions
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Servo control
5.19 Dynamic Servo Control (DSC)
5.19 Dynamic Servo Control (DSC)
Overview
Function "Dynamic Servo Control" (DSC) is a closed-loop control structure that computes the
position controller in a fast speed controller clock cycle and is supplied with setpoints by the
control system in the position controller cycle. This allows higher position controller gain factors
to be achieved.
Requirements
• n-set mode
• Isochronous PROFIBUS DP or PROFINET IO with IRT
• The position controller gain factor (KPC) and the position deviation (XERR) must be included
in the setpoint telegram of PROFIBUS DP or PROFINET IO with IRT (refer to p0922).
• The actual position value must be transferred to the master in the actual value telegram of
PROFIBUS DP or PROFINET IO with IRT via the encoder interface Gx_XIST1.
• When DSC is activated, the speed setpoint N_SOLL_B from the PROFIdrive telegram from
PROFIBUS DP or PROFINET IO with IRT is used as a speed precontrol value.
• The internal quasi position controller, DSC position controller (FP3090), uses the actual
position value G1_XIST1 from the motor measuring system or the actual position value from
an additional encoder system (telegrams 6, 106, 116, 118, 126, 136 and 138 or free
telegrams).
Function description
A detailed description of the mode of operation is provided in function diagram 3090 in the
SINAMICS S120/S150 List Manual.
Note
Isochronous mode
Isochronous mode is absolutely necessary both on the control side and on the drive side for the
operation of DSC.
PROFIdrive telegrams
The following PROFIdrive telegrams support DSC:
• Standard telegrams 5 and 6
• Siemens telegrams: 5, 6, 105, 106, 116, 118, 125, 126, 136, 138, 139, 146, 148, 149 and
166
Further PZD data telegram types can be used with the telegram extension. The Servo control
type supports a maximum of 20 PZD setpoints and 28 PZD actual values.
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Servo control
5.19 Dynamic Servo Control (DSC)
Operating states
The following operating states are possible in DSC operation:
Linear interpolation of the speed/torque precontrol
Movements in the position controller cycle (speed and torque) can occur due to linear
interpolation of the position. To prevent this behavior, enable the function module "DSC with
spline".
DSC with spline
With the interpolation method, the differentiated position (= speed) does not show any jumps.
The precontrol variables can be generated in a fast speed controller cycle. In this way, the
progressions in speed and torque become smoother.
• Requirement:
The higher-level controller supports the function.
• Activating the function module:
You activate the function module with p0108.6 = 1.
• Available options:
The following options are available with activated function module:
– Without speed and/or torque precontrol
– With speed precontrol
– With speed and torque precontrol
The control behavior is characterized by extremely high path accuracy (i.e. lower
following error) with this option.
The total moment of inertia must be known and set for this option. You determine and set
the total moment of inertia using the "One Button Tuning (Page 122)" function.
• Telegram types:
The following telegram types support "DSC with spline":
– 125, 126, 136, 138, 139, 146, 148, 149
Activate DSC
If the preconditions for DSC are fulfilled, then the DSC structure is activated using a logical
interconnection of the following parameters via a selected PROFIdrive telegram:
• p1190 "DSC position deviation XERR"
• p1191 "DSC position controller gain KPC"
• p1194 "CI: DSC control word DSC_STW"
• p1195 "CI: DSC symmetrizing time constant T_SYMM"
• p1430 "CI: Speed precontrol"
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Servo control
5.19 Dynamic Servo Control (DSC)
If KPC = 0 is transferred, only speed control with the speed precontrol values can be used (p1430,
PROFIdrive N_SOLL_B and p1160 n_set_2). Position-controlled operation requires a transfer of
KPC > 0.
Note
Position controller gain KPC when DSC is activated
After activating dynamic servo control, check the position controller gain KPC in the master. It
may be necessary to correct the setting.
Channel p1155 for speed setpoint 1 and channel r1119 for the extended setpoint are
disconnected when DSC is active. p1160 for speed setpoint 2 and p1430 for the speed
precontrol are added to the speed setpoint from the DSC (see function diagram 3090).
Deactivating the DSC
If the interconnection is removed at the connector input for KPC or XERR (p1191 = 0 or
p1190 = 0), the DSC structure is dissolved and the function deactivated. The sum of r1119 and
p1155 is then added to the values from p1160 and p1430 from the speed precontrol.
Since it is possible to set higher gain factors using DSC, the control loop can become unstable
when DSC is disabled. For this reason, before deselecting DSC, the value for KPC in the master
must be reduced.
Speed setpoint filter
A speed setpoint filter for smoothing the speed setpoint steps is not required when DSC is active.
When using the "DSC" function, it only makes sense to use speed setpoint filter 1 to support the
position controller, e.g. to suppress resonance effects.
External encoder systems (except motor encoder)
If, with DSC active, an external encoder is to be used, this requires the selection of a telegram
with additional actual encoder values: Telegram 6, 106, 116, 118, 126, 136, 138, 146, 148, 166
or free telegrams.
For optimum control in the DSC mode, the same encoder(s) (encoder 2 and/or encoder 3) must
be selected for the control (master) and the drive via parameter p1192 "DSC encoder selection".
If the encoder for the position actual value generation in the control and the encoder selected
for DSC differ regarding their pulse numbers and/or fine resolution, then this must be taken into
account in p1193. The factor represents the ratio of the pulse difference between the encoders
used for the same distance reference. Further, it should be noted that for different encoders
there are no dead times regarding their position actual value sensing (for example as is the case
for EnDat encoders and SSI encoders), as this will otherwise lead to undesirable behavior.
The effect of the parameters p1192 and p1193 is illustrated in function diagram 3090.
Drive functions
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Servo control
5.19 Dynamic Servo Control (DSC)
Wind-up effect
If the drive reaches its torque limits when in the DSC mode (e.g. because of excessively fast
setpoint inputs) then positioning motion can be overshot. The drive exceeds the specified target
here. After a correction by the controller, the drive exceeds the specified target again. This
behavior repeats itself continuously.
Avoiding the wind-up effect
To avoid a wind-up effect, the position controller must be limited to values that the drive can
maintain stable at all times, depending on the acceleration capacity.
Set p1400.17 = 1 to activate dynamic setpoint limiting in the DSC mode. In this case, the total
mass (mtot) must be precisely parameterized (determine the mass p0341, p0342 and p1498
using the Mot ID if appropriate). If the limiting responds, then this is indicated in r1407.19.
Additional information
You can find additional information on the wind-up effect in the description of parameter
p1400.17 and in function diagram 3090 in the SINAMICS S120/S150 List Manual.
Diagnostics
Parameter r1407 indicates which DSC closed-loop control structure is active, e.g. r1407.20 = 1
means "DSC with Spline on".
Requirements for the display:
• p1190 and p1191 must be connected to a signal source with a value of > 0 (DSC structure
activated).
• OFF1, OFF3 and STOP2 must not be active.
• The motor data identification must not be active.
• Master control must not be active.
The following conditions can mean that although the bit is set, the DSC function is not active:
• Isochronous mode has not been selected (r2054 ≠ 4).
• PROFIBUS is not isochronous (r2064[0] ≠ 1).
• On the control side, DSC is not active, which causes the value of KPC = 0 to be transferred to
p1191.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2401 PROFIdrive overview
• 2415 PROFIdrive - Standard telegrams and process data 1
• 2416 PROFIdrive - Standard telegrams and process data 2
• 2419 PROFIdrive - Manufacturer-specific telegrams and process data 1
• 2420 PROFIdrive - Manufacturer-specific telegrams and process data 2
• 2421 PROFIdrive - Manufacturer-specific telegrams and process data 3
• 2422 PROFIdrive - Manufacturer-specific telegrams and process data 4
• 2423 PROFIdrive - Manufacturer-specific/free telegrams and process data
Drive functions
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Servo control
5.19 Dynamic Servo Control (DSC)
• 3090 Setpoint channel - Dynamic Servo Control (DSC) linear and DSC Spline
(r0108.6 = 1)
• 5020 Servo control - Speed setpoint filter and speed precontrol
• 5030 Servo control - Reference model/pre-control balancing/speed limiting
Parameters (see SINAMICS S120/S150 List Manual)
• p0108.6 DSC with spline
• p0341[0...n] Motor moment of inertia
• p0342[0...n] Ratio between the total and motor moment of inertia
• p1160[0...n] CI: Speed controller, speed setpoint 2
• p1190 CI: DSC position deviation XERR
• p1191 CI: DSC position controller gain KPC
• p1192[0...n] DSC encoder selection
• p1193[0...n] DSC encoder adaptation factor
• p1194 CI: DSC control word DSC_STW
• p1195 CI: DSC symmetrizing time constant T_SYMM
• p1400[0...n] Speed control configuration
• p1400.17 DSC position controller limiting active
• r1407.0...26 CO/BO: Status word, speed controller
• r1407.4 Speed setpoint from DSC
• r1407.19 DSC position controller limited
• r1407.20 DSC with spline on
• r1407.21 Speed precontrol for DSC with spline on
• r1407.22 Torque precontrol for DSC with spline on
• p1430[0...n] CI: Speed precontrol
• p1498[0...n] Load moment of inertia
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 203
Servo control
5.20 Travel to fixed stop
5.20 Travel to fixed stop
Function description
This function can be used to move a motor to a fixed stop at a specified torque without a fault
being signaled. When the stop is reached, the specified torque is established and is then
continuously available.
The required torque reduction is achieved by appropriately scaling the upper (≙ motoring)
torque limit and the lower (≙ generating) torque limit.
Applications
• Screwing parts together with a defined torque
• Moving to a mechanical reference point
Signals
For PROFIdrive telegrams 2 to 6, the following signals are automatically interconnected:
• Control word 2, bit 8 (STW2.8)
• Status word 2, bit 8 (ZSW2.8)
For PROFIdrive telegrams 102 to 106, the following signals are also interconnected:
• Message word, bit 1 (MELDW1)
• Process data M_red to the scaling of the torque limit
When the "basic positioner" function module is activated, the signals listed above are
automatically interconnected to the basic positioner.
Drive functions
204 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Servo control
5.20 Travel to fixed stop
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When PROFIdrive telegrams 2 to 6 are used, no torque reduction is transferred. When the "Travel
to fixed stop" function is activated, the motor ramps up to the torque limits specified in p1520
and p1521. If required, a torque reduction can be transferred, e.g. using protocols 102 to 106.
Another option would be to enter a fixed value in p2900 and interconnect it to the torque limits
p1528 and p1529.
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 205
Servo control
5.20 Travel to fixed stop
Signal chart
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Commission PROFIdrive telegrams 2 to 6
To commission the PROFIdrive telegrams 2 to 6, proceed as follows:
1. Activate the "Travel to fixed stop" function via the parameter setting p1545 = "1".
2. Set the required torque limit.
Example:
– p1400.4 = 0 (upper or lower torque limit)
– p1520 = 100 Nm (effective in the upper positive torque direction)
– p1521 = -1500 Nm (effective in the lower negative torque direction)
3. Traverse the motor to stop.
The motor runs at the set torque until it reaches the stop and continues to work against the
stop until the torque limit has been reached, this status being indicated in status bit r1407.7
"Torque limit reached".
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206 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Servo control
5.20 Travel to fixed stop
Control and status messages
Table 5-13 Control: Travel to fixed stop
Signal name Internal control word Binector input PROFIdrive p0922 and/or p2079
Activate travel to fixed stop STW n_ctrl.8 p1545[0...n] STW2.8
Table 5-14 Status message: Travel to fixed stop
Signal name Internal status word Parameter PROFIdrive p0922 and/or p2079
Travel to fixed stop active – r1406.8 ZSW2.8
Torque limits reached ZSW n_ctrl.7 r1407.7 ZSW1.11 (inverted)
Torque utilization < torque thresh‐ ZSW monitoring func‐ r2199.11 MELDEW.1
old value 2 tions 3.11
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5609 Servo control, generation of the torque limits, overview
• 5610 Servo control – torque limiting/reduction, interpolator
• 5620 Servo control - Motoring/generating torque limit
• 5630 Servo control - Upper/lower torque limit
• 8012 Signals and monitoring functions - Torque messages, motor locked/stalled
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1400[0...n] Speed control configuration
• r1407.7 CO/BO: Status word speed controller;
torque limit reached
• p1520[0...n] CO: Torque limit upper/motoring
• p1521[0...n] CO: Torque limit lower/regenerative
• p1522[0...n] CI: Torque limit upper/motoring
• p1523[0...n] CI: Torque limit lower/regenerative
• r1526 CO: Torque limit upper/motoring without offset
• r1527 CO: Torque limit, lower/regenerative without offset
• p1532[0...n] Torque limit, offset
• p1542[0...n] CI: Travel to fixed stop, torque reduction
• r1543 CO: Travel to fixed stop, torque scaling
• p1544 Travel to fixed stop, evaluation torque reduction
• p1545[0...n] BI: Activate travel to fixed stop
• p2194[0...n] Torque threshold value 2
• p2199.11 CO/BO: Status word monitoring;
Torque utilization < torque threshold value 2
Drive functions
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Servo control
5.21 Vertical axis
5.21 Vertical axis
Function description
With a vertical axis without mechanical weight compensation, electronic weight compensation
can be set by offsetting the torque limits (p1532). The torque limits specified in p1520 and
p1521 are shifted by this offset value. The offset value can be read in r0031 and transferred in
p1532.
To reduce compensation after a brake has been released, the torque offset can be
interconnected as a supplementary torque setpoint (p1511 or p1513). As a result, the holding
torque is immediately specified after the brake is released.
Automatically configuring weight compensation
We recommend that this function is used for vertical axes with an almost constant force due to
weight. Start the automatic determination of the force due to weight using p1558 = 1. As soon
as the technique has been started, the torque, which is required to hold the axis, is measured and
entered into p1532. Further, BICO interconnection p1511 = p1532 to the precontrol is
established, and the scaling of the precontrol channel is set to 100 % (p1512 = 1).
The measurement can be started when the pulses are inhibited or the pulses are enabled
(p1558 = 1). If the measurement was started with the pulses inhibited, it is only executed after
the pulses have been enabled. In both cases, after starting, alarm A07991 (Drive: motor data
identification activated) is output. The alarm is automatically withdrawn after the motor data
identification routine has been successfully completed.
Messages (see SINAMICS S120/S150 List Manual)
• A07991 Drive: Motor data identification activated
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5060 Servo control - Torque setpoint, switchover control mode
• 5620 Servo control - Motoring/generating torque limit
• 5630 Servo control - Upper/lower torque limit
Parameters (see SINAMICS S120/S150 List Manual)
• r0031 Actual torque smoothed
• p1511[0...n] CI: Supplementary torque 1
• p1512[0...n] CI: Supplementary torque 1 scaling
• p1513[0...n] CI: Supplementary torque 2
• p1520[0...n] CO: Torque limit, upper/motoring
• p1521[0...n] CO: Torque limit lower/regenerative
• p1532[0...n] CO: Torque limit, offset
• p1558 Vertical axis, measure/precontrol force due to weight
Drive functions
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Servo control
5.22 Variable signaling function
5.22 Variable signaling function
Function description
Using the "Variable signaling" function, BICO interconnections and parameters that have the
attribute "traceable" can be monitored; otherwise they can also be recorded using the "Device
trace" commissioning function.
Note
The variable signaling function works with an accuracy of 8 ms. This value must also to be taken
into account for pickup and dropout delay.
Enter the desired data source into parameter p3291 of the drive object expert list. In parameter
p3295 define a threshold value for the data source. The hysteresis of the threshold value can be
set with p3296. If the threshold value is violated, then an output signal is generated from r3294.
A pickup delay can be set with p3297 and a dropout delay with p3298 for the output signal
r3294.
The setting of a hysteresis results in a tolerance band around the threshold value. If the upper
band limit is exceeded, the output signal r3294 is set to "1", if it drops below the lower band limit
the output signal is set to "0"
You set the sampling time of the variable signaling function in p3299.
After completing the configuration, activate the variable signaling function with p3290.0 = 1.
Example 1: switching on temperature-dependent heating
Heating should be switched on depending on the temperature. For this the analog signal of an
external sensor is connected with the variable signaling function. A temperature threshold and
a hysteresis is defined to prevent the heating from switching on and off constantly.
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5.22 Variable signaling function
Example 2: monitoring the pressure
The pressure as process variable is to be monitored, whereby a temporary overpressure is
tolerated. For this, the output signal of an external sensor is connected with the variable
signaling function. The pressure thresholds and a pull-in delay are set as tolerance time. When
the output signal of the variable signaling function is set, bit 5 in message word MELDW is set
during cyclic communication. The message word MELDW is a component of the telegrams 102,
103, 105, 106, 110, 111, 116, 118, 126.
PRQLWRUHGVLJQDO
+\VWHUHVLVS
7KUHVKROG
S
3LFNXSGHOD\S 'URSRXWGHOD\S
%,&2RXWSXW
VLJQDO
U
VLJQDO
7KUHVKROG )DOOHQEHORZ ([FHHGHG )DOOHQEHORZ
Figure 5-32 Diagram: Variable signaling function
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5301 Servo control - variable signaling function
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p3290 Variable signaling function, start
• p3291 CI: Variable signaling function signal source
• r3294 BO: Variable signaling function, output signal
• p3295 Variable signaling function, threshold value
• p3296 Variable signaling function, hysteresis
• p3297 Variable signaling function, pickup delay
• p3298 Variable signaling function, dropout delay
• p3299 Variable signaling function, sampling time
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5.23 Central probe evaluation
5.23 Central probe evaluation
Overview
Frequently, Motion Control systems have to detect and save the positions of drive axes at an
instant in time defined by an external event. For example, this external event may be the signal
edge of a probe. The following can be necessary:
• Several probes have to be evaluated.
• The actual position values of several axes must be saved with a probe event.
Function description
For the central probe evaluation, the instant in time of the probe signal is detected and saved by
a central function. From the sampling values of the position signals of the various axes, the
control interpolates the times of the actual position values at the probe instant. Three evaluation
procedures are implemented in SINAMICS S120 for this purpose.
The evaluation procedures can be set using parameter p0684:
• With handshake (p0684 = 0):
Factory setting
• Without handshake, 2 edges (p0684 = 1)
A change to p0684 = 0 or 1 is possible in the RUN state.
• Without handshake, more than 2 edges (p0684 = 16)
Measuring several signal edges per probe, without handshake:
A change to p0684 = 16 only becomes active after "Save parameters" and "POWER ON".
Changing p0684 = 16 to p0684 = 0 or 1 only becomes active "After save parameters" and
"POWER ON".
The fail safety of the standard PROFIdrive connection without handshake cannot be guaranteed.
The "Without handshake" function has been released for "integrated" platforms (e.g.
SINAMICS integrated in SIMOTION D425). You must use the "With handshake" function to ensure
absolute reliability when detecting the probe.
PROFIdrive telegrams for the central measuring function
• Telegram 390: No probe
• Telegram 391: 2 probes (when p0684 = 0/1)
• Telegram 392: 6 probes (when p0684 = 0/1)
• Telegram 393: 8 probes (when p0684 = 0/1)
• Telegram 394: No probe
• Telegram 395: 16 probes, time stamp (p0684 = 16)
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5.23 Central probe evaluation
Central measuring with/without handshake
Both measuring procedures have the following points in common:
• Setting the input terminal in p0680
• Signal source, synchronization signal in p0681
• Signal source, control word probe in p0682
• Transfer with the PROFIdrive communication interface
• Synchronizing and monitoring isochronous PROFIdrive
• Prerequisite for measurements is the synchronization between the control and drive.
• Setpoint transfer at start time To and actual value transfer at instant in time Ti in the
PROFIBUS cycle (max. 8 ms).
• Time stamp: Format (drive increments, NC decrements)
• Each valid time stamp in the drive is incremented by 1 in order to make a differentiation
between a valid measuring time zero and an invalid time format. This increment is removed
again by the higher-level control.
• The value "0" in the interface is an invalid time format and indicates that a measured value
is not available.
• Sequencer for the control/status word processing
• Monitoring functions (sign of life)
• Faults
Note
Time-critical data transfer
The status information E_DIGITAL and A_DIGITAL in telegrams 39x are not subject to any precise
time restraints according to the specifications. The transfer of E_DIGITAL and the output of
A_DIGITAL are realized independently of the PROFIBUS cycle with the PROFIdrive PZD sampling
time according to p2048. Depending on the module, this can be set to between 1 ms and 16 ms.
As a consequence, dead times must be expected for the transfer of output values and the
feedback signal of input values.
Although the probe status word MT_ZSW is identical with the content of E_DIGITAL, it is however
directly transferred in PZDs. As a consequence, for time-critical applications measuring probes
or cams should be used.
Central measuring with handshake
With p0684 = 0, you activate the evaluation procedure with handshake for the central probe
evaluation. You can evaluate a maximum of one positive and/or negative edge per probe within
four DP cycles.
TDP = PROFIBUS cycle (also DP cycle)
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5.23 Central probe evaluation
TMAPC = master application cycle time (time frame in which the master application generates new
setpoints)
• Transfer control word probe (BICO p0682 to the PZD3) at start time To in the MAPC clock cycle
• The measurement is activated with a 0/1 transition of the control bit for a falling or rising
edge in the probe control word.
• If the measurement is activated, in data bus cycle (e.g. PROFIBUS cycle: DP cycle) a check is
made as to whether a measured value is available.
• If a measured value is available, then the time stamp is entered into either p0686 or p0687.
• The time stamp is transferred until the control bit for falling or rising edge is set to "0" in the
control word. Then, the associated time stamp is set to "0".
• The measurement is deactivated by a 1/0 transition of the control bit in the probe control
word.
• Transfer with PROFIdrive telegrams 391, 392 or 393
Central measurement without handshake
With p0684 = 1, you activate the evaluation procedure without handshake for the central probe
evaluation. You can evaluate a maximum of two signal edges per probe simultaneously within
two DP cycles.
Requirements
• TDP = TMAPC (cycle ratio = 1:1, cycle reduction not possible).
Procedure
If the measurement is activated, a check is made in the DP cycle as to whether a measured value
was acquired:
• If a measured value is available, then the time stamp is entered in either p0686 or p0687 and
a new measurement is automatically activated.
• If a measured value is not available, then the time stamp zero is entered into either p0686 or
p0687.
• This means that a time stamp is only transferred once before it is overwritten with zero or a
new time stamp.
• The measurement is immediately reactivated after the measured values have been read out.
• Parallel to acquiring new probe events, the measuring results are transferred to the higher-
level control for one DP cycle without evaluating the success.
• For each probe, a maximum of one rising and one falling edge can be detected for each 2 DP
cycles.
• Transfer with PROFIdrive telegrams 391, 392 or 393
Central measurement without handshake (max. 16 signal edges)
With p0684 = 16, you activate the evaluation procedure without handshake for the central
probe evaluation. You can evaluate up to 16 signal edges from a maximum of 2 probes
simultaneously within a DP cycle.
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5.23 Central probe evaluation
DP cycle = PROFIBUS cycle = TDP
TMAPC = master application cycle time (time frame in which the master application generates new
setpoints)
• For each probe, up to 8 rising and/or 8 falling edges can be detected in each DP cycle and
saved in a measurement buffer.
• For each probe it can be selected whether the rising or falling signal edges are to be taken into
account.
• The cyclic measurement is activated with a 0/1 transition of the control bit for the signal
edges in the probe control word.
• After activating the measurement, the measured value buffer is emptied once for
initialization.
• When the buffer is full, the oldest measured value is overwritten first (first in/first out). The bit
"measured value buffer full" in the probe-diagnostic word signals the risk of losing measured
values.
• The measured value buffer is then cyclically emptied and the measured values are converted
in the sense of a measuring task into a time stamp. The time stamps are saved according to
their chronological order, starting with the oldest, in the indexes of parameter r0565[0...15]
for the transfer.
• If several probes of being used, then the time stamps of the measurements are entered into
the telegram block, corresponding to their chronological sequence, from the lowest up to the
highest probe.
• Up to 16 time stamps (MT_ZS), can be entered into telegram 395.
• As soon as there is no longer any space for the time stamps of a probe in telegram 395, then
the "Telegram full" is set in MT_DIAG.
Examples:
– 4 values are transferred from the 1st probe.
– 6 values are transferred from the 2nd probe.
– Only the first 6 measured values are transferred from the 3rd probe - the rest is cut off and
"Full telegram" is signaled in MT_DIAG.
• From a selected probe, all signal edges are always taken into account. Individual signal edges
cannot be selected or deselected.
• The time stamps are transferred in parallel (to acquire new probe events associated with a
time stamp without handshake). A time stamp is only transferred for one DP cycle. Then the
time stamp overwritten with zero or a new time stamp.
• The cyclic measurement is deactivated with a 1/0 transition of the control bit for a falling or
rising signal edge in the probe control word.
• Transfer with PROFIdrive telegram 395.
The PZDs of the probe time stamp are BICO parameters, which are automatically connected with
the indices of the new parameter r0565[16] when the telegram block is selected.
After the measuring function has been activated, for several measured values per DP cycle, the
acquired time stamps are saved in the indices of r0565[0...15] for transfer, corresponding to
their sequence in time starting with the oldest measured value.
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5.23 Central probe evaluation
Probe time stamp references
For telegram 395, the probe time stamps MT_ZS_1...16 are assigned to the telegram locations
using the probe time stamp references MT_ZSB1...4.
Four probe time stamps each (MT_ZS) are assigned a probe time stamp reference (MT_ZSB):
Table 5-15 Assignment, probe time stamp reference to time stamp
Probe time stamp reference Probe time stamp Bits
MT_ZSB1 Reference ZS1 Bits 0...3
Reference ZS2 Bits 4...7
Reference ZS3 Bits 8...11
Reference ZS4 Bits 12...15
MT_ZSB2 Reference ZS5 Bits 0...3
Reference ZS6 Bits 4...7
Reference ZS7 Bits 8...11
Reference ZS8 Bits 12...15
MT_ZSB3 Reference ZS9 Bits 0...3
Reference ZS10 Bits 4...7
Reference ZS11 Bits 8...11
Reference ZS12 Bits 12...15
MT_ZSB4 Reference ZS13 Bits 0...3
Reference ZS14 Bits 4...7
Reference ZS15 Bits 8...11
Reference ZS16 Bits 12...15
Table 5-16 Bit assignment of MT_ZSB1 (r0566[0])
Reference time stamp Probe bit, binary values Edge selection bit
Reference MT_ZS1 Bits 0...2: Bit 3:
000: MT_ZS1 from MT1 0: MT_ZS1 falling edge
001: MT_ZS1 from MT2 1: MT_ZS1 rising edge
010: MT_ZS1 from MT3
011: MT_ZS1 from MT4
100: MT_ZS1 from MT5
101: MT_ZS1 from MT6
110: MT_ZS1 from MT7
111: MT_ZS1 from MT8
Reference MT_ZS2 Bits 4...6: Bit 7:
000: MT_ZS2 from MT1 0: MT_ZS2 falling edge
001: MT_ZS2 from MT2 1: MT_ZS2 rising edge
‑
110: MT_ZS2 from MT7
111: MT_ZS2 from MT8
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5.23 Central probe evaluation
Reference time stamp Probe bit, binary values Edge selection bit
Reference MT_ZS3 Bits 8...10 Bit 11:
000: MT_ZS3 from MT1 0: MT_ZS3 falling edge
001: MT_ZS3 from MT2 1: MT_ZS3 rising edge
‑
110: MT_ZS3 from MT7
111: MT_ZS3 from MT8
Reference MT_ZS4 Bits 12...14 Bit 15
000: MT_ZS4 from MT1 0: MT_ZS4 falling edge
001: MT_ZS4 from MT2 1: MT_ZS4 rising edge
‑
110: MT_ZS4 from MT7
111: MT_ZS4 from MT8
Examples for determining the reference values of the probe evaluation in hex:
• 0000 = 0 hex = time stamp from probe 1 falling edge
• 1000 = 8 hex = time stamp from probe 1 rising edge
• 0001 = 1 hex = time stamp from probe 2 falling edge
• 1001 = 9 hex = time stamp from probe 2 rising edge
Measurement buffer
Each measuring pulse input of a Control Unit 320-2 or 310-2 has one memory for maximum 16
measured value entries (8 rising and 8 falling edges).
The measured values for rising and falling signal edges are sequentially written to the memory.
If the memory is full and a new measured value is entered, all entries move down by one location
and the oldest value drops out. This means that in the case of an overflow the latest 16 values
are contained in the memory. When reading out an entry, the oldest value is taken from the
memory. The remaining entries move down and make space for a new entry (FIFO principle).
Remarks
Other applications can also read the probe status and evaluate the probe measured values.
Example
EPOS controls its probes axis-specifically. A control system can connect to the probe to read its
data and integrate the information into the drive telegram.
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5.23 Central probe evaluation
5.23.1 Examples
Examples of probe evaluation
Hex values in MT_ZSB from the above example:
• 0 hex = time stamp from probe 1, falling edge
• 8 hex = time stamp from probe 1 rising edge
• 1 hex = time stamp from probe 2, falling edge
• 9 hex = time stamp from probe 2, rising edge
Example 1
MT_STW = 100H: a search is only made for rising edges for probe 1
&\FOHQ &\FOHQ &\FOHQ &\FOHQ
07
07B67: KH[ KH[ KH[ KH[
07B=6% KH[ KH[ KH[ KH[
07B=6% KH[ KH[ KH[ KH[
7HOHJUDP
Figure 5-33 A search is made for rising edges for probe 1
In the DP cycle, all time stamps for rising edges are transferred corresponding to their sequence
in time for probe 1.
Example 2
MT_STW = 101H: a search is made for rising and falling edges for probe 1.
&\FOHQ &\FOHQ &\FOHQ &\FOHQ
07
07B67: KH[ KH[ KH[ KH[
07B=6% KH[ KH[ KH[ KH[
07B=6% KH[ KH[ KH[ KH[
7HOHJUDP
Figure 5-34 A search is made for rising and falling edges for probe 1
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5.23 Central probe evaluation
In the DP cycle, all time stamps for rising and falling edges are transferred corresponding to their
sequence in time for probe 1.
Example 3
MT_STW = 303H: a search is made for rising and falling edges for probes 1 and 2.
&\FOHQ &\FOHQ &\FOHQ &\FOHQ
07
07
07B67: KH[ KH[ KH[ KH[
07B=6% KH[ KH[ KH[ KH[
07B=6% KH[ KH[ KH[ KH[
07B=6% KH[ KH[ KH[ KH[
7HOHJUDP
Figure 5-35 A search is made for rising and falling edges for probes 1 and 2
In the DP cycle, initially all time stamps for rising and falling edges of probe 1 are entered.
Afterwards, all time stamps for rising and falling edges of probe 2.
5.23.2 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2423 PROFIdrive - Manufacturer-specific/free telegrams and process data
• 4740 Encoder evaluation - Probe evaluation, measured value memory, encoders 1 ... 3
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0565[0...15] CO: Probe time stamp
• r0566[0...3] CO: Probe time stamp reference
• r0567 CO: Probe diagnostic word
• p0680[0...7] Central probe, input terminal
• p0681 BI: Central probe synchronization signal, signal source
• p0682 CI: Central probe control word signal source
• p0684 Central probe evaluation procedure
• r0685 Central probe control word display
• r0686[0...7] CO: Central probe measuring time, rising edge
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5.23 Central probe evaluation
• r0687[0...7] CO: Central probe measuring time, falling edge
• r0688 CO: Central probe status word display
• r0898.0...14 CO/BO: Control word, sequence control
• r0899.0...15 CO/BO: Drive object status word
• p0922 IF1 PROFIdrive PZD telegram selection
• p0925 PROFIdrive isochronous sign-of-life tolerance
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5.24 Voltage precontrol
5.24 Voltage precontrol
Function description
Using voltage precontrol (p1703), the dynamic response of the q current controller can be
increased independent of the current controller setting - all the way up to the limit that is
physically possible. This means that the current setpoint is established as quickly as possible.
Together with the speed-torque precontrol (p1402.4 = 1, p1517 = 0 ms, p1428, p1429), the
bandwidth of the speed controller dynamic response can be increased.
Especially for synchronous motors, the motor q-inductance (p0356) changes significantly with
the torque-generating current. This response must be taken into account for the precontrol
model.
The individual steps for configuring the voltage feedforward control are described in the
following.
Recommendation
As a result of the higher bandwidth of the current controller, higher frequencies can be excited
- and the phase position changes. As a consequence, after activating the voltage precontrol,
check the speed or position controller and if required - adjusted these as necessary.
Configuring the function
This "Voltage feedforward control" function is configured in the following steps:
Setting the adaptation characteristic
Proceed as follows to determine and set the adaptation characteristic:
1. Determine the q-inductance characteristic using a rotating measurement (p1959.5, p1960
and r1934, r1935).
2. When the identified data are accepted, the parameters of the adaptation characteristic
(p0356, p0391, p0392 and p0393) are appropriately set.
Additionally note the following parameter assignment examples:
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5.24 Voltage precontrol
/TFKDUDFWHULVWLF
PHDVXUHG
SDUDPHWHUL]HGFKDUDFWHULVWLF
p0391 0.33 A
p0392 10.23 A
p0393 39.31%
p0356 10.16 mH
Figure 5-36 Example 1: Adaptation characteristic
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5.24 Voltage precontrol
/TFKDUDFWHULVWLF
PHDVXUHG
SDUDPHWHUL]HGFKDUDFWHULVWLF
p0391 2.09 A
p0392 11 A
p0393 90.67%
p0356 18.24 mH
Figure 5-37 Example 2: Adaptation characteristic
Determining the voltage feedforward control
You determine the voltage feedforward control in several optimization steps. Proceed as follows:
1. To activate voltage precontrol, enter a value of "100" into p1703.
2. Proceed as follows to determine the dead time of the current controller reference model:
– Activate p0340 = 4, and automatically calculate the closed-loop control parameters.
OR
– Perform a One-Button-Tuning with p5271.4 = 1 and p5271.7 = 1 (p5300 = 1).
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5.24 Voltage precontrol
3. Measure a current controller setpoint step and correct the value p1703.
– Repeat the current controller setpoint step until the current actual value reaches the
setpoint without any overshoot or undershoot (see the following sample displays).
Figure 5-38 Example: Voltage precontrol p1703 too low
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5.24 Voltage precontrol
Figure 5-39 Example: Voltage feedforward control p1703 is okay
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5.24 Voltage precontrol
Figure 5-40 Example: Voltage precontrol p1703 too high
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5.24 Voltage precontrol
4. The result can be improved by compensating the voltage emulation error (only for
synchronous motors).
– To do this, activate function module "Extended torque control (Page 470)" (r0108.1).
– Determine the voltage emulation error with the stationary motor data identification
(p1909.14 = 1 and p1910).
– Activate the compensation of the voltage emulation error (p1780.8 = 1).
5. If, after reaching the current setpoint, the current actual value dips, correct the current actual
value via p1734 or p1735 (see the subsequent diagram).
Figure 5-41 Example: Voltage precontrol before optimization (with dip)
Optimizing parameters p1734 and p1735
Proceed as follows to optimize parameters p1734 and p1735:
1. Set the current controller P gain (p1715) lower by a factor of 10.
2. Set the current controller integral time (p1717) higher by a factor of 10.
3. Set the decrease of the eddy current compensation p1734 = 0.
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5.24 Voltage precontrol
4. Measure a current controller setpoint step change again (see figure below)
Figure 5-42 Example: Prior to optimizing
The measurement result in the example indicates that after reaching the setpoint, the
current decays according to an exponential function (1-exp(-t/Tsm)). You estimate the
smoothing time based on the time from the point of contact of the initial tangent with the
final value straight line.
5. Enter the time constant in p1735.
6. In p1734, enter by what percentage the setpoint point of contact should extend beyond the
final value straight line (e.g. (1.5A/1.32A -1)·100 % = 13.6 %).
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5.24 Voltage precontrol
7. Restore the P gain (p1715) and integral time (p1717) of the current controller back to the
original values.
8. Again measure a current controller setpoint step.
Figure 5-43 Example: After optimization
In most cases, the voltage precontrol is correctly set after the eddy current compensation
(see example). If required, you can correct again using p1734.
Legend for the measurement diagrams
Torque-generating current setpoint
Torque-generating current setpoint unsmoothed
Quadrature-axis voltage setpoint
5.24.1 Function diagrams and parameters
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0340[0...n] Automatic calculation of motor/control parameters
• p0356[0...n] Motor stator leakage inductance
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5.24 Voltage precontrol
• p0391[0...n] Current controller adaptation, starting point Kp
• p0392[0...n] Current controller adaptation, starting point Kp adapted
• p0393[0...n] Current controller adaptation, P gain adaptation
• p1402[0...n] Current control and motor model configuration
• p1428[0...n] Speed precontrol symmetrizing dead time
• p1429[0...n] Velocity precontrol balancing time constant
• p1517[0...n] Acceleration torque smoothing time constant
• p1701[0...n] Current controller reference model dead time
• p1703[0...n] Isq current controller precontrol scaling
• p1715[0...n] Current controller P gain
• p1717[0...n] Current controller integral time
• p1734[0...n] Isq current controller precontrol eddy current compensation drop
• p1735[0...n] Isq current controller precontrol eddy current compensation time con‐
stant
• p5271[0...n] Online / One Button Tuning configuration
• p5300[0...n] Autotuning selection
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5.24 Voltage precontrol
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Vector control 6
Function description
The motor connected to a vector control is simulated in a vector model based on data from the
equivalent circuit diagram. The motor module is emulated as precisely as possible to obtain the
best results regarding control precision and control quality.
Features
The vector control is characterized by the following features:
• Normal computing speed
• Best speed accuracy
• Best speed ripple
• Best torque accuracy
• Best torque ripple
The vector control can be used with/without a speed encoder.
Operation with/without encoder
The following options are available for operation with or without an encoder:
• Vector control without encoder (Page 237) (SLVC) as frequency control
• Vector control with encoder (Page 247) as speed-torque control with speed feedback
Using a speed encoder
Use a speed encoder if the following criteria apply:
• High speed accuracy is required.
• High dynamic response (better control and fault behavior) is required.
• Torque control is required in a control range greater than 1:10.
• A defined and/or variable torque must be maintained for speeds below approx. 10% of the
rated motor frequency (p0310).
With regard to setpoint input, vector control is subdivided into:
• Speed control
• Torque/current control (in short: torque control)
Advantages as compared to vector U/f control
Compared with vector U/f control, vector control offers the following benefits:
• Stability for load and setpoint changes
• Short rise times for setpoint changes result in better control behavior.
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Vector control
• Short settling times for load changes result in better fault behavior.
• The motor can be accelerated or braked with the maximum settable torque.
• Motor protection due to variable torque limitation in motor and regenerative mode.
• Drive and braking torque are controlled independently of the speed.
• Maximum breakaway torque possible at speed = 0.
The basic features and properties of the Servo and Vector control modes are compared in the
following table.
Table 6-1 Comparison: Servo/vector control
Subject Servo control Vector control
Typical applications • Drives with highly dynamic motion con‐ • Speed and torque-controlled drives
trol with high speed and torque accuracy,
• Drives with high speed and torque ac‐ particularly in operation without an en‐
curacy coder (sensorless operation)
(servo synchronous motors)
• Angular-locked synchronism with iso‐
chronous PROFIdrive
• For use in machine tools and clocked
production machines
• High output frequency
Maximum number of drives that can • 1 infeed unit + 6 drives • 1 infeed unit + 3 drives
be controlled by one Control Unit (with current controller sampling times (with current controller sampling times
125 μs or 250 μs or
speed controller sampling times speed controller sampling times of
125 μs) 1 ms)
• 1 infeed unit + 3 drives • 1 infeed unit + 6 drives
(with current controller sampling times (with current controller sampling times
62.5 μs or 400 μs/500 μs or
speed controller sampling times speed controller sampling times
62.5 μs) 1.6 ms/2 ms)
• 1 infeed unit + 1 drive • U/f control:
(with controller sampling times 1 infeed unit + 12 drives
31.25 μs or speed controller sampling (with current controller sampling times
times 62.5 μs) 500 μs or
• Mixed operation, servo control with speed controller sampling times
125 µs with U/f, max.11 drives 2000 μs)
• Mixed operation, vector control with
500 µs with U/f, max.11 drives
Note
Carefully observe and comply with the notes and information in Chapter "Rules on the
sampling times (Page 895)".
Additional information on the sampling conditions is provided in Chapter "Rules for
wiring with DRIVE-CLiQ (Page 903)".
Dynamic response High Medium
Drive functions
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Vector control
Subject Servo control Vector control
Connectable motors • Synchronous servomotors • Synchronous motors (including torque
• Permanent-magnet synchronous mo‐ motors)
tors • Permanent-magnet synchronous mo‐
• Induction motors tors
• Torque motors • Induction motors
• Linear motors • Reluctance motors - textile (only for U/f
control)
• Synchronous reluctance motors
• Separately excited synchronous motors
Note
Synchronous motors of the 1FT6, 1FK6
and 1FK7 series cannot be connected.
Position interface via PROFIdrive for Yes Yes
higher-level motion control
Encoderless speed control Yes Yes (from standstill)
• Applicable from 10 % rated motor • Applicable for the following motor
speed; open-loop controlled operation types:
below this. – Induction motors
– Permanent-magnet synchronous
motors
– Synchronous reluctance motors
Motor data identification Yes Yes
Speed controller sampling time op‐ Yes Yes
timization
U/f control Yes Yes (various characteristics)
Encoderless No Yes, as of 10% rated motor speed, open-
Torque control loop controlled operation below this
Field-weakening range for induction With encoder: ≤ 5% rated motor speed
motors • ≤ 16 % speed at the start of field weak‐
ening
Without encoder:
• ≤ 5 % speed at the start of field weak‐
ening
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 233
Vector control
Subject Servo control Vector control
Maximum output frequency for • 2600 Hz with 31.25 μs / 16 kHz • 300 Hz with 250 μs/4 kHz
closed-loop control (dependent on or with 400 μs/5 kHz
• 1300 Hz with 62.5 μs / 8 kHz
the hardware)
• 650 Hz with 125 μs / 4 kHz • 240 Hz with 500 μs / 4 kHz
• 300 Hz with 250 μs / 2 kHz
Note Note
The specified values apply depending on Contact the engineering department of
the actual component used, and can be Siemens AG if higher output frequencies
achieved without optimization. are required.
Higher frequencies can be set under the
following conditions, and using additional
optimization (tuning) runs:
• Up to 3000 Hz:
– Operation without an encoder
– In conjunction with controlled in‐
feeds
• Up to 3200 Hz:
– Operation with encoder
– In conjunction with controlled in‐
feeds
• Absolute upper limit 3200 Hz
From frequencies > 550 Hz, a license is re‐
quired due to export regulations.
Note
Observe the derating characteristics in the Equipment Manuals! When using du/dt and
sine-wave filters, the maximum output frequency is 150 Hz.
Speed setpoint channel Optional Standard
(ramp-function generator) • Reduces the number of drives from 6 to
5 Motor Modules with current control‐
ler sampling times of 125 μs or speed
controller sampling times of 125 μs.
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Vector control
Subject Servo control Vector control
Parallel connection of power units No No
• Applicable for power units in the fol‐
lowing formats:
– Blocksize
– Booksize (exceptions: Active Line
Modules, power class 55 kW, 80 kW
or 120 kW)
Yes
• Applicable for power units in the fol‐
lowing formats:
– Cabinet
– Chassis
– Chassis-2 (Active Line Modules and
Motor Modules)
Additional information on connecting power units in parallel is provided in Chapter
"Parallel connection of power units (Page 546)".
Permissible range of the ratio be‐ The permissible range of the ratio between The permissible range of the ratio between
tween the rated motor current the rated motor current (p0305) and rated the rated motor current (p0305) and rated
(p0305) and rated Motor Module Motor Module current (r0207) is, for servo Motor Module current (r0207) is, for vector
current (r0207) control, 1:1 to 1:4. control, 1.3:1 to 1:4.
With restrictions regarding the torque ac‐ With restrictions regarding the torque ac‐
curacy and smooth running operation, a curacy and smooth running operation, a
ratio of up to 1:8 is possible. ratio of up to 1:8 is possible.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 235
Vector control
6.1 Technology application (application) (p0500)
6.1 Technology application (application) (p0500)
Function description
Using parameter p0500, you can influence the calculation of open-loop control and closed-loop
control parameters. The default setting helps you find suitable values for standard applications.
You can make preassignments for the following technological applications:
Value p0500 Application
0 Standard drive (vector)
1 Pumps and fans
2 Encoderless control down to f = 0 (passive loads)
4 Dynamic response in the field weakening range
5 Starting with high breakaway torque
6 High load moment of inertia (e.g. centrifuges)
An overview of the influenced parameters and the set values is provided in the "SINAMICS S120/
S150 List Manual".
Instantiating the calculation of the parameters
You call the calculation of the parameters, which influence the technological application, as
follows:
• When exiting quick commissioning with p3900 > 0
• When automatically calculating the motor/closed-loop control parameters with
p0340 = 1, 3, 5 (for p0500 = 6: p0340 = 1, 3, 4)
• When calculating the technology-dependent parameters with p0578 = 1
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6.2 Vector control without encoder (SLVC)
6.2 Vector control without encoder (SLVC)
Function description
During operation via the "Sensorless vector control" function (SLVC), the position of the flux and
actual speed must be determined using the electric motor model. The motor model is buffered
by the incoming currents and voltages. At low frequencies (approx. 0 Hz), the motor model
cannot determine the speed with sufficient accuracy. For this reason, in this range, the vector
control can be changed over from closed-loop to open-loop control.
Motor types
The function can be used for the following motor types:
• Three-phase induction motors
• Permanent-magnet synchronous motors (PMSM)
• Synchronous reluctance motors (RESM)
6.2.1 Three-phase induction motor
Description
The changeover between closed-loop/open-loop control is controlled by means of the time and
frequency conditions (p1755, p1756, p1758). If the setpoint frequency at the ramp-function
generator input and the actual frequency are below p1755 · (1 - (p1756/100 %)) simultaneously,
then the system does not wait for the time condition.
f_act
p1755 [1/min]
p1755 [1/min]
p1756
• 1−
100% t
RSHQFRQWUROORRS
FORVHGFRQWUROORRS t
p1758
Figure 6-1 Changeover conditions for SLVC
Setting the torque setpoint
In open-loop operation, the calculated actual speed value is the same as the setpoint value. For
static loads (e.g. for cranes) or during acceleration, you adapt the parameters p1610 (torque
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Vector control
6.2 Vector control without encoder (SLVC)
setpoint static) and p1611 (additional acceleration torque) to the required maximum torque.
The drive can then generate the static or dynamic load torque that occurs.
• If, for induction motors (ASM), p1610 is set to 0%, then only the magnetizing current r0331
is impressed.
If 100% is set, the rated motor current p0305 is impressed.
• If, for reluctance motors (RESM) p1610 is set to 0 %, then only the no-load magnetizing
current is impressed.
If 100% is set, the rated motor current p0305 is impressed.
• For permanent-magnet synchronous motors (PMSM), for p1610 = 0%, a precontrol absolute
value, derived from the additional torque r1515, remains instead of the magnetizing current
of the induction motor.
To prevent stalling of the drive during acceleration, the supplementary acceleration torque
p1611 can be increased or acceleration precontrol for the speed controller can be used. This
avoids thermal overloading of the motor at low speeds.
If the moment of inertia of the drive is almost constant, acceleration precontrol with p1496
offers more advantages than the supplementary acceleration torque with p1611. You can
determine the drive moment of inertia using the rotating measurement: p1900 = 3 and
p1960 = 1.
Features of the vector control without encoder for speed feedback
The vector control without encoder for speed feedback has the following characteristics at low
frequencies:
• Closed-loop controlled operation for passive loads up to approx. 0 Hz output frequency
(p0500 = 2), for p1750.2 = 1 and p1750.3 = 1.
• Start an induction motor in the closed-loop controlled mode (after the motor has been
completely excited), if the speed setpoint before the ramp-function generator is greater than
p1755.
• Reversing without the need to change into the open-loop controlled mode is possible, if the
range of the changeover speed p1755 is passed through in a shorter time than the
changeover delay time set in p1758, and the speed setpoint in front of the ramp-function
generator lies outside the open-loop controlled speed range of p1755.
• In the "Torque control" mode, at low speeds, the system always changes over into the open-
loop controlled mode.
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6.2 Vector control without encoder (SLVC)
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Figure 6-2 Zero crossover and when induction motors start in closed-loop or open-loop controlled
operation
Advantages of the controlled operation down to f = 0 Hz
Closed-loop operation to approx. 0 Hz (can be set using parameter p1755) and the possibility to
start or reverse at 0 Hz directly in closed-loop operation (can be set using parameter p1750)
result in the following benefits:
• No changeover operation required within closed-loop control (bumpless behavior, no
frequency dips, no discontinuities in the torque).
• Closed-loop speed control without encoder down to and including 0 Hz
• Passive loads down to a frequency of 0 Hz
• Steady-state closed-loop speed control down to approx. 0 Hz possible
• Higher dynamic performance when compared to open-loop controlled operation
Note
If, in the closed-loop controlled mode, start from 0 Hz or reversing takes longer than 2 s, or the
time set in p1758 - then the system automatically changes over from closed-loop controlled into
open-loop controlled operation.
Note
Operation in encoderless torque control only makes sense if, in the speed range below the
changeover speed of the motor model (p1755), the setpoint torque is greater than the load
torque. The drive must be able to follow the setpoint and the associated setpoint speed (p1499,
FBD 6030).
Passive loads
In the closed-loop controlled mode, for passive loads, induction motors can be operated under
steady-state conditions down to 0 Hz (standstill) without changing over into the open-loop
controlled mode.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 239
Vector control
6.2 Vector control without encoder (SLVC)
Make the following settings for this:
1. Set p0500 = 2 (technological application = passive loads for encoderless control to f = 0).
2. Set p0578 = 1 (calculate technology-dependent parameters).
The following parameters are then set automatically:
– p1574 = 2 V for induction motors
– p1574 = 4 V for separately excited synchronous motors
– p1750.2 = 1, closed-loop operation down to 0 Hz for passive loads
– p1802 = 4 SVM/FLB without overcontrol
– p1803 = 106% (factory setting)
As a consequence, the "Passive load" function is automatically activated.
Note
If p0500 is parameterized when commissioning the motor, the calculation is carried out
automatically via p0340 and p3900. p0578is is then set automatically.
Closed-loop control without changeover between closed-loop and open-loop speed control is
restricted to applications with passive load:
A passive load only has a reactive effect on the drive torque of the driving motor at the starting
point, e.g. high inertia masses, pumps, fans, centrifuges, extruders, travel drives, or horizontal
conveyors.
Standstill without a holding current is possible for as long as required. Then, at standstill, only
the magnetizing current is impressed in the motor.
Note
Generator operation
Steady-state generator operation at frequencies close to 0 Hz is not permissible in this operating
mode.
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Figure 6-3 Vector control without an encoder
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Vector control
6.2 Vector control without encoder (SLVC)
Blocking drives
If the load torque is higher than the torque limiting of the encoderless closed-loop vector control,
the drive is braked to zero speed (standstill). In order that the open-loop controlled mode is not
selected after the time p1758, p1750.6 can be set to 1. Under certain circumstances the "Motor
blocked delay time" (p2177) must be increased.
Note
Exception for reversing drives
It is not permissible to use this setting if the load can force the drive to reverse.
Active loads
Active loads that can be used to reverse the drive, e.g., hoisting gear, must be started in the open-
loop speed control mode. In this case, bit p1750.6 must be set to 0 (open-loop controlled
operation when the motor is blocked). The static (steady state) torque setpoint p1610 must be
greater than the maximum occurring load torque.
Note
Loads that can drive the motor
For applications with high regenerative load torques at low speeds, p1750.7 can also be set to
1. As a result, the speed changeover limits of the motor model are increased and a faster
changeover can be made into open-loop controlled operation.
Drive functions
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Vector control
6.2 Vector control without encoder (SLVC)
6.2.2 Permanent-magnet synchronous motors
Description
Permanent-magnet synchronous motors (PMSM) are always started and reversed in the open-
loop controlled mode. The changeover speeds are set to 10% as well as 5% of the rated motor
speed. Changeover is not subject to any time condition (p1758 is not evaluated). Prevailing load
torques (motor or regenerative) are adapted in open-loop operation, facilitating constant-
torque crossover to closed-loop operation even under high static loads. Whenever the pulses are
enabled, the rotor position is identified.
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Sy S
Figure 6-4 Zero point and starting in the open-loop controlled mode at low speeds
Closed-loop controlled operation down to f = 0 Hz
The actual rotor position can be continuously determined down to 0 Hz (standstill). With
Siemens 1FW4 and 1PH8 torque motors, the load can be maintained at standstill or, from
standstill, the motor can accelerate any load up to rated torque.
When the function is activated, at low speeds, additional noise can be heard, depending on the
motor design.
The procedure is suitable for motors with internal magnets.
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Vector control
6.2 Vector control without encoder (SLVC)
6WDUW =HURFURVVLQJ
I0+)SXOVHV I0+)SXOVHV
QVHW QDFW QVHW QDFW
S S
0VHW 0DFW 0VHW 0DFW
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+LJKIUHTXHQF\SXOVHV +LJKIUHTXHQF\SXOVHV
S[ S
Figure 6-5 Zero point in closed-loop operation down to zero speed
Note
Only open-loop controlled operation is permitted when using a sine-wave filter.
Note
1FW4 torque motors
Siemens "1FW4" torque motors can be started from standstill and operated in the closed-loop
torque controlled mode. The function is activated with parameter p1750.5 = 1.
Third-party motors must be checked on a case-for-case basis.
Supplementary conditions for the use of third-party motors
• The procedure is very suitable for motors with magnets within the rotor core (IPMSM - Interior
Permanent Magnet Synchronous Motors).
• The ratio of stator quadrature reactance (Lsq): Stator direct-axis reactance (Lsd) must be >
1.5.
• The asymmetrical reactance ratio (Lsq:Lsd) is maintained in the motor up to a certain current;
this determines the possible operating limits of the method. If the procedure should be
operable up to the rated motor torque, then the reactance ratio must be retained up to the
rated motor current.
The following parameter input is prerequisite for optimal response:
• Saturation characteristic: p0362 to p0369
• Load characteristic: p0398, p0399
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Vector control
6.2 Vector control without encoder (SLVC)
Commissioning sequence for closed-loop controlled operation to zero speed:
• Perform the commissioning with motor data identification at standstill.
• Enter the parameters for the saturation characteristic and the load characteristic.
• Activate closed-loop controlled operation down to zero speed via parameter p1750.5 = 1.
The following advantages are obtained by maintaining closed-loop controlled operation:
• No torque irregularities as a result of changeover operations in the closed-loop control
structure
• Closed-loop speed and torque control without encoder (sensorless) up to and including 0 Hz.
• Higher dynamic performance when compared to open-loop controlled operation
• Encoderless operation of drive line-ups (e.g. in the paper industry, master-slave operation)
is possible.
• Active (including hanging/suspended) loads down to zero frequency.
Note
Motor reactor, sine-wave filter, dv/dt filter
The process cannot be used with the present motor reactors, sine-wave filters and dv/dt filters.
6.2.3 Synchronous reluctance motors
Description
Synchronous reluctance motors (RESM) are operated in vector control with/without encoder.
Synchronous reluctance motors are motors that do not have a damping cage. The advantages
of this motor type include:
• No rotor losses
• Energy efficient operation in the partial load range with reduced flux
• Fast magnetization at high load torques
Note
No U/f control
Synchronous reluctance motors must not be operated with U/f control, as this is only intended
for diagnostic purposes.
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Vector control
6.2 Vector control without encoder (SLVC)
Note
Synchronous reluctance motors are considered to be synchronous motors
Generally, the data for "Synchronous motors" provided in the SINAMICS S120 Manuals also
applies to "Synchronous reluctance motors". Any deviating behavior/response of synchronous
reluctance motors is always explicitly specified.
Features
For the motor type RESM in the default configuration (without test signal), at low speeds the
system changes over into speed-controlled operation is also started in this way. The load torque
requirement expected must be known for open-loop speed controlled operation, and can be
parameterized using p1610 and p1611.
When reaching the voltage limit (depending on the load and speed), the motor flux is
appropriately reduced (field weakening). Depending on the torque demanded, the required
motor current increases up to the available current limit. If the speed is increased further, the
current must be reduced to below the available current limit in order to maintain the voltage
limit. In this range, the motor power available is therefore solely limited by the available voltage;
for synchronous reluctance motors, as a result of the saturation attributes, it is slightly below
that for induction motors.
Closed-loop controlled operation down to f = 0 Hz
Due to the magnetically anisotropic rotor, sensorless field-oriented operation can be continued
until standstill (f = 0 Hz) in the synchronous reluctance motor. A replacement of the field
orientation at low speed in an open-loop mode, as physically required with other machines, can
thus be omitted in the synchronous reluctance motor.
To determine the rotor position and speed from voltage and current, not only their large signal
levels are used. Additive small excitation pulses are superimposed on the driving fundamental
voltage and the resulting current changes, which are dependent on the rotor position, are
evaluated.
Functionally, the process permits a behavior that is completely equivalent to control operation
with speed-position sensor. For example, sensorless torque control can be used without limiting
the speed range. The achieved dynamics are only insignificantly reduced compared to operation
with sensor for the vast majority of vector applications.
Requirements
• Vector control
• Only Motor Modules in the "Booksize" format
• Valid license ("Advanced synchronous reluctance control")
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Vector control
6.2 Vector control without encoder (SLVC)
• Limited number of axes (see Chapter "Overview of system limits and system utilization
(Page 891)")
• Max. cable lengths (depending on the sampling times and shielding):
Sampling times Length Features
250 µs 100 m Unshielded cable1)
50 m Shielded cable
500 µs 300 m Unshielded cable1)
150 m Shielded cable
1)
Unshielded cables should be connected to the converter output without reactors.
Enabling controlled operation with test signal
Proceed as follows to activate controlled operation with a test signal:
1. Set the required operating mode (p1300[0...n]).
2. To activate controlled operation with test signal (superimposed technique), set p1750.5 = 1.
3. If message F01040 (parameter backup and POWER ON required), back up the parameters and
carry out a warm restart (p0009 = 30, p0976 = 2, 3) or a POWER ON.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6030 Vector control - Speed setpoint, droop
• 6730 Vector control - Interface to Motor Module (ASM, p0300 = 1)
• 6731 Vector control - interface to the Motor Module (PMSM, p0300 = 2)
• 6792 Vector control - Interface to the Motor Module (RESM, p0300 = 6)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0305[0...n] Rated motor current
• r0331[0...n] Actual motor magnetizing current / short-circuit current
• p0500 Technology application
• p1300[0...n] Open-loop/closed-loop control operating mode
• p1574[0...n] Dynamic voltage reserve
• p1610[0...n] Torque setpoint static (without encoder)
• p1611[0...n] Supplementary acceleration torque (without encoder)
• p1750[0...n] Motor model configuration
• p1755[0...n] Motor model changeover speed encoderless operation
• p1756 Motor model changeover speed encoderless operation
• p1758[0...n] Motor model changeover delay time, closed/open-loop control
• p1802[0...n] Modulator mode
• p1803[0...n] Maximum modulation depth
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Vector control
6.3 Vector control with encoder
6.3 Vector control with encoder
Benefits of vector control with an encoder
• The speed can be controlled right down to 0 Hz (standstill)
• Constant torque in the rated speed range
• Compared with speed control without an encoder, the dynamic response of drives with an
encoder is significantly better because the speed is measured directly and integrated in the
model created for the current components.
• Higher speed accuracy
Motor model change
A model change takes place between the current model and the observer model within the
speed range p1752 · (100 % - p1753) and p1752. In the current model range (i.e at lower
speeds), torque accuracy depends on whether thermal tracking of the rotor resistance is carried
out correctly. In the observer-model range and at speeds of less than approx. 20% of the rated
speed, torque accuracy depends primarily on whether thermal tracking of the stator resistance
is carried out correctly. If the resistance of the supply cable is greater than 20 ... 30% of the total
resistance, this should be entered in p0352 before motor data identification is carried out
(p1900 / p1910).
To deactivate thermal adaptation, set p0620 = 0. This may be necessary if adaptation cannot
function accurately enough.
Causes for inaccuracies:
• A sensor is not used for the temperature measurement and the ambient temperatures vary
greatly.
• The overtemperatures of the motor (p0626 to p0628) deviate greatly from the default
settings due to the motor design.
Drive functions
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Vector control
6.4 Speed controller
6.4 Speed controller
Overview
The control modes with/without encoder have the same speed controller structure. The speed
controller structure comprises the following components:
• PI controller
• Speed controller precontrol
• Droop
The total of the output variables result in the torque setpoint which is reduced to the permissible
magnitude by means of the torque setpoint limitation.
Function description
The speed controller receives its setpoint (r0062) from the setpoint channel and its actual value
(r0063) either directly from the speed sensor (control with sensor (VC)) or indirectly via the
motor model (control without sensor (SLVC)). The system deviation is increased by the PI
controller and, in conjunction with the precontrol, results in the torque setpoint.
When the load torque increases, the speed setpoint is reduced proportionately when droop is
active, which means that the single drive within a group (two or more mechanically connected
motors) is relieved when the torque becomes too large.
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Figure 6-6 Overview: Speed controller
The optimum speed controller setting can be determined via the automatic speed controller
tuning function (p1900 = 1, rotating measurement).
If the moment of inertia has been specified, the speed controller (Kp, Tn) can be calculated by
means of automatic parameterization (p0340 = 4). The controller parameters are defined in
accordance with the symmetrical optimum as follows:
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Vector control
6.4 Speed controller
Tn = 4 · Ts
Kp = 0.5 · r0345 / Ts = 2 · r0345 / Tn
Ts = total of the short delay times (contains p1442 and p1452)
If vibration develops with these settings, reduce speed controller gain Kp manually. Actual speed
smoothing can also be increased (standard procedure for gearless or high-frequency torsional
vibration) and the controller calculation performed again because this value is also used to
calculate Kp and Tn.
The following relationships apply for tuning:
• If Kp is increased, the controller becomes faster and overshoot is decreased. However, signal
ripples and oscillations in the speed control loop will increase.
• If Tn is reduced, the controller also becomes faster. However, this increases the overshoot.
When setting the speed control manually, you are advised to define the possible dynamic
response via Kp (and actual speed value smoothing) first, so that the integral time can
subsequently be reduced as much as possible. Please note that the closed-loop control must also
remain stable in the field-weakening range.
To suppress any vibrations that occur in the speed controller, it is usually only necessary to
increase the smoothing time in p1452 for operation with an encoder or p1442 for operation
without an encoder or reduce the controller gain.
The integral output of the speed controller can be monitored via r1482 and the limited controller
output via r1508 (torque setpoint).
Note
In comparison with speed control with an encoder, the dynamic response of drives without an
encoder is significantly reduced. The actual speed is derived by means of a model calculation
from the converter output variables for current and voltage that have a corresponding
interference level. To this end, the actual speed must be adjusted by means of filter algorithms
in the software.
Speed controller response when a brake is opened
After a motor has been a magnetized, "Open brake" is controlled. The value that the BICO input
delivers defines the speed controller response:
• BICO input p1475 (torque setting value for the motor holding brake) supplies a value of 0:
– The speed controller I component is immediately enabled; this means that the system can
respond to a slipping load and establish a holding torque.
– Depending on the parameter assignment, the speed setpoint remains inhibited until the
brake opening time has elapsed (p1275.6 = 0) - or until the brake feedback signal is
received (p1275.6 = 1).
• BICO input p1475 (torque setting value for the motor holding brake) supplies a value ≠ 0:
– The speed controller I component is held at the specified setting value until the "Brake
open" feedback signal is received.
– Only then are the speed controller I component and the speed setpoint enabled.
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Vector control
6.4 Speed controller
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6040 Vector control - Speed controller with/without encoder
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0062 CO: Speed setpoint after filter
• r0063[0...2] CO: Speed actual value
• p0340[0...n] Automatic calculation of motor/control parameters
• r0345[0...n] Nominal motor starting time
• p1442[0...n] Speed controller actual speed value smoothing time
• p1452[0...n] Speed controller actual speed value smoothing time (without encoder)
• p1460[0...n] Speed controller P gain adaptation speed, lower
• p1462[0...n] Speed controller integral time adaptation speed, lower
• p1470[0...n] Speed controller encoderless operation P gain
• p1472[0...n] Speed controller sensorless operation integral time
• p1475[0...n] CI: Speed controller torque setting value for motor holding brake
• p1478[0...n] CI: Speed controller integrator setting value
• r1482 CO: Speed controller I torque output
• r1508 CO: Torque setpoint before supplementary torque
• p1960 Rotating measurement selection
6.4.1 Speed controller adaptation
Function description
With the speed controller adaptation, vibrations that can occur in the speed controller are
suppressed.
Speed-dependent Kp_n/Tn_n adaptation is activated by default. The required values are
automatically calculated when commissioning and for the rotating measurement. If, in spite of
the automatic calculation, speed oscillations do occur, then in addition the Kp_n component can
be tuned using the free Kp_n adaptation. The free Kp_n adaptation is activated by connecting a
signal source at p1455. The factor calculated from this is multiplied by the Kp_n value of the speed-
dependent adaptation. The range of action of the free Kp_n adaptation is set using parameters
p1456 to p1459.
In addition using p1400.6 = 1, the Tn_n component of the speed-dependent adaptation can be
tuned. The Tn_n value of the speed-dependent adaptation is divided by the factor of the free
adaptation.
The Kp_n/Tn_n adaptation can be deactivated with p1400.5 = 0. As a consequence, the dynamic
reduction of the speed controller is deactivated.
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6.4 Speed controller
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6.4 Speed controller
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① Constant lower speed range (n < p1464)
② Adaptation range (p1464 < n < p1465)
③ Constant upper speed range (n > p1465)
Figure 6-8 Speed controller-Kp_n/Tn_n adaptation
For operation without encoder, a higher value is in p1464 than in p1465. As a consequence, the
behavior is inverted: Kp increases with increasing speed and Tn decreases.
Special case: Encoderless operation in field-weakening range
In encoderless operation, dynamic reduction for the field-weakening range can be activated
with p1400.0 = 1.
Kp/Tn ∼ flux setpoint
Kp/Tn decreases proportionally with the flux setpoint (minimum: Factor 0.25).
This dynamic reduction is activated to reduce the controller dynamic response in the field-
weakening range. Up to the field-weakening range, the higher controller dynamic of the speed
controller is kept.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6050 Vector control - Speed controller adaptation (Kp_n-/Tn_n adaptation)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1400.0 Speed control configuration: Automatic Kp/Tn adaptation active
• p1400.5 Speed control configuration: Kp/Tn adaptation active
• p1400.6 Speed control configuration: Free Tn adaptation active
• p1470 Speed controller encoderless operation P gain
• p1472 Speed controller sensorless operation integral time
Drive functions
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6.4 Speed controller
Free Tn_n adaptation
• p1455[0...n] CI: Speed controller P gain adaptation signal
• p1456[0...n] Speed controller P gain adaptation lower starting point
• p1457[0...n] Speed controller P gain adaptation upper starting point
• p1458[0...n] Lower adaptation factor
• p1459[0...n] Upper adaptation factor
• p1466[0...n] CI: Speed controller P gain scaling
Speed-dependent Kp_n/Tn_n adaptation
• p1460[0...n] Speed controller P gain adaptation speed, lower
• p1461[0...n] Speed controller Kp adaptation speed, upper scaling
• p1462[0...n] Speed controller integral time adaptation speed, lower
• p1463[0...n] Speed controller Tn adaptation speed, upper scaling
• p1464[0...n] Speed controller adaptation speed, lower
• p1465[0...n] Speed controller adaptation speed, upper
Dynamic response reduction field weakening (SLVC only)
• p1400.0 Speed control configuration: Automatic Kp/Tn adaptation active
6.4.2 Speed controller precontrol and reference model
Speed controller precontrol
The command behavior of the speed control loop can be improved by calculating the
acceleration torque from the speed setpoint and connecting it on the line side of the speed
controller. The torque setpoint "mv" is calculated as follows:
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This torque setpoint "mv" is applied to the current controller or the current controller is
precontrolled using adaptation elements directly as additive reference variable (enabled via
p1496).
The motor moment of inertia p0341 is calculated directly during commissioning or when the
entire set of parameters is calculated (p0340 = 1). The factor p0342 between the total moment
of inertia J and the motor moment of inertia must be determined manually or by means of speed
controller tuning. The acceleration is calculated from the speed difference over the time "dn/dt".
Note
When speed controller tuning is carried out, the ratio between the total moment of inertia and
that of the motor (p0342) is determined and acceleration precontrol scaling (p1496) is set to
100%.
When p1400.2 = p1400.3 = 0, precontrol balancing is set automatically.
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6.4 Speed controller
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If the speed controller has been correctly adjusted, it only has to compensate for disturbance
variables in its own control loop, which can be achieved by means of a relatively small change
to the correcting variables. Speed setpoint changes, on the other hand, are carried out without
involving the speed controller and are, therefore, performed more quickly.
The effect of the precontrol variable can be adapted according to the application via the
evaluation factor p1496. If p1496 = 100%, precontrol is calculated in accordance with the motor
and load moment of inertia (p0341, p0342). A balancing filter is used automatically to prevent
the speed controller from acting against the injected torque setpoint. The time constant of the
balancing filter corresponds to the equivalent delay time of the speed control loop. Speed
controller precontrol is correctly set (p1496 = 100%, calibration via p0342) when the I
component of the speed controller (r1482) does not change during a ramp-up or ramp-down in
the range n > 20 % · p0310. Thus, precontrol allows a new speed setpoint to be approached
without overshoot. (Requirement: Torque limiting does not switch in and the moment of inertia
remains constant.)
If the speed controller is precontrolled through injection, the speed setpoint (r0062) is delayed
with the same smoothing time (p1442 or p1452) as the actual value (r1445). This ensures that
no target/actual difference (r0064) occurs at the controller input during acceleration, which
would be attributable solely to the signal propagation time.
When speed precontrol is activated, the speed setpoint must be specified continuously or
without a higher interference level (avoids sudden torque changes). An appropriate signal can
be generated by smoothing the speed setpoint or activating the ramp-function generator
rounding p1130 – p1131.
The starting time r0345 (Tstart) is a measure for the total moment of inertia J of the machine and
describes the time during which the unloaded drive can be accelerated with the rated motor
torque r0333 (Mmot,rated) from standstill to the rated motor speed p0311 (nmot,rated).
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6.4 Speed controller
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If these supplementary conditions are in line with the application, the starting time can be used
as the lowest value for the ramp-up or ramp-down time.
Note
The ramp-up and ramp-down times (p1120; p1121) of the ramp-function generator in the
setpoint channel should be set accordingly so that the motor speed can track the setpoint during
acceleration and braking. This ensures that speed controller precontrol is functioning optimally.
The acceleration precontrol using a connector input (p1495) is activated by the parameter
settings p1400.2 = 1 and p1400.3 = 0. p1428 (dead time) and p1429 (time constant) can be set
for balancing purposes.
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The reference model is activated with p1400.3 = 1.
The reference model is used to emulate the speed control loop with a P speed controller.
The loop emulation can be set in p1433 to p1435. It is activated when p1437 is connected to the
output of model r1436.
The reference model delays the setpoint-actual deviation for the integral component of the
speed controller so that transient conditions can be suppressed.
The reference model can also be emulated externally and its output signal injected via p1437.
Drive functions
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6.4 Speed controller
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6031 Vector control - Precontrol balancing reference/acceleration model
• 6040 Vector control - Speed controller with/without encoder
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0311[0...n] Rated motor speed
• r0333[0...n] Rated motor torque
• p0341[0...n] Motor moment of inertia
• p0342[0...n] Ratio between the total and motor moment of inertia
• r0345[0...n] Nominal motor starting time
• p1400[0...n] Speed control configuration
• p1428[0...n] Speed precontrol balancing dead time
• p1429[0...n] Speed precontrol balancing time constant
• p1496[0...n] Acceleration precontrol scaling
• r1518[0...1] CO: Acceleration torque
Reference model
• p1400[0...n] Speed control configuration
• p1433[0...n] Speed controller reference model natural frequency
• p1434[0...n] Speed controller reference model damping
• p1435[0...n] Speed controller reference model dead time
• r1436 CO: Speed controller reference model speed setpoint output
• p1437[0...n] CI: Speed controller reference model I component input
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6.5 Droop
6.5 Droop
Requirements
• All coupled drives must be operated in vector control and closed-loop speed control, with or
without an encoder.
• Only a single common ramp-function generator may be used for mechanically coupled
drives.
Function description
The "Droop" function ensures that the speed setpoint is reduced proportionately as the load
torque increases. The function is enabled via parameter p1492.
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② Only active for sensorless vector control (SLVC).
Figure 6-10 Speed controller with static injection
The droop has a torque limiting effect on a drive that is mechanically coupled to a different speed
(e.g. guide roller on a goods train). In connection with the torque setpoint of a leading speed-
controlled drive, a very effective load distribution can also be implemented. With the appropriate
setting (in contrast to torque control or load distribution with overload and limitation), this load
distribution controls even a smooth mechanical coupling or the case of slipping.
This method is only suitable to a limited extent for drives that are accelerated and braked with
significant changes in speed.
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6.5 Droop
The droop feedback is used, for example, in applications in which two or more motors are
connected mechanically or operate with a common shaft and fulfill the above requirements. It
limits the torque differences that can occur as a result of the mechanical coupling by
appropriately modifying the speeds of the individual motors. The drive is relieved when the
torque is too large.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6030 Vector control - Speed setpoint, droop
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0079 CO: Torque setpoint
• r1482 CO: Speed controller I torque output
• p1488[0...n] Droop input source
• p1489[0...n] Droop feedback scaling
• r1490 CO: Droop feedback speed reduction
• p1492[0...n] BI: Droop feedback enable
• r1508 CO: Torque setpoint before supplementary torque
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6.6 Open actual speed value
6.6 Open actual speed value
Function description
Via the parameter p1440 (CI: Speed controller actual speed value) is the signal source for the
actual speed value of the speed controller. In the factory setting, the unsmoothed actual speed
value r0063[0] is the default signal source.
Via parameter p1440, a filter can be switched into the actual value channel or an external actual
speed value can be fed in, according to the specific system requirements.
Parameter r1443 displays the actual speed value present at p1440.
Note
When feeding in an external actual speed value, ensure the monitoring functions continue to be
derived from the motor model.
Behavior for speed control with an encoder (p1300 = 21)
A motor encoder must always be available for the speed or position signal of the motor model
(e.g. evaluation via SMC, see p0400). The actual speed of the motor (r0061) and the position
information for synchronous motors still come from this motor encoder and are not influenced
by the setting in p1440.
Interconnection of p1440:
When interconnecting connector input p1440 with an external actual speed value, ensure the
speed scaling is the same (p2000).
The external speed signal should correspond to the average speed of the motor encoder (r0061).
Behavior for speed control without an encoder (p1300 = 20)
Depending on the transmission path of the external speed signal, dead times will occur; these
dead times must be taken into account in the speed controller's parameter assignment (p1470,
p1472) and can lead to corresponding losses in the dynamic performance.
Signal transmission times must therefore be minimized.
p1750.2 = 1 should be set so that the speed controller is also able to work at standstill (closed-
loop controlled operation to zero frequency for passive loads). Otherwise, at low speeds it
switches over to speed-controlled operation, so that the speed controller is switched off and the
measured actual speed no longer has an influence.
Drive functions
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6.6 Open actual speed value
Monitoring of the speed deviation between motor model and external speed
The external actual speed (r1443) is compared with the actual speed of the motor model
(r2169). If the deviation is greater than the tolerance threshold set in p3236, after the switch-
off delay time set in p3238 expires, fault F07937 (Drive: Speed deviation motor model to
external speed) is generated and the drive switched-off corresponding to the set response
(factory setting: OFF2).
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 6040 Vector control - Speed controller with/without encoder
• 8012 Signals and monitoring function - Torque messages, motor locked/stalled
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0063[0...2] CO: Speed actual value
• p1440[0...n] CI: Speed controller actual speed value input
• r1443 CO: Actual speed value actual speed value on actual value input
• r2169 CO: Actual speed value smoothed messages
• r2199.7 CO/BO: Status word, monitoring 3
Speed deviation model / external in tolerance
• p3236[0...n] Speed threshold 7
• p3237[0...n] Hysteresis speed 7
• p3238[0...n] OFF delay n_act_motor_model = n_act_external
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6.7 Closed-loop torque control
6.7 Closed-loop torque control
Function description
For speed control without encoder (p1300 = 20) or with encoder (p1300 = 21), a changeover
can be made to torque control (following drive) using BICO parameter p1501. A changeover
cannot be made between speed and torque control if torque control is selected directly with
p1300 = 22 or 23. The torque setpoint and/or supplementary setpoint can be entered using BICO
parameter p1503 (CI: torque setpoint) or p1511 (CI: supplementary torque setpoint). The
supplementary torque is active both with torque and speed control. This particular feature with
the supplementary torque setpoint allows a precontrol torque to be applied for speed control.
Note
For safety reasons, connecting to fixed torque setpoints is currently not possible.
Regenerative energy may accumulate, and this must be either fed back into the supply system
or converted into heat using a braking resistor.
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The total of the two torque setpoints is limited in the same way as the speed control torque
setpoint. Above the maximum speed (p1082), a speed limiting controller reduces the torque
limits in order to prevent the drive from accelerating any further.
A "real" torque control (with self-adjusting speed) is only possible in closed-loop but not open-
loop control for sensorless vector control (SLVC).
In open-loop control, the torque setpoint adjusts the setpoint speed via a ramp-function
generator (integration time ~ p1499 · p0341 · p0342). For this reason, encoderless torque
control at standstill is only suitable for applications that require an acceleration torque but no
load torque (e.g. traction drives). This restriction does not apply to torque control with sensor.
Drive functions
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6.7 Closed-loop torque control
OFF responses
• OFF1 and p1300 = 22, 23
– Response as for OFF2
• OFF1, p1501 = "1" signal and p1300 ≠ 22, 23
– No separate braking response; the braking response is provided by a drive that specifies
the torque.
– The pulses are suppressed when the brake application time (p1217) expires. Standstill is
detected when the actual speed value is less than the speed threshold (p1226) or when
the monitoring time (p1227) that started when speed setpoint ≤ speed threshold
(p1226) has expired.
– Switching-on inhibited is activated.
• OFF2
– Immediate pulse suppression, the drive coasts to standstill.
– The motor brake (if parameterized) is closed immediately.
– Switching-on inhibited is activated.
• OFF3
– Switch to speed-controlled operation
– n_set = 0 is input immediately to brake the drive along the OFF3 deceleration ramp
(p1135).
– When standstill is detected, the motor brake (if parameterized) is closed.
– The pulses are suppressed when the motor brake application time (p1217) has elapsed.
Standstill is detected when the actual speed value is less than the speed threshold
(p1226) or when the monitoring time (p1227) that started when speed setpoint ≤ speed
threshold (p1226) has expired.
– Switching-on inhibited is activated.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6060 Vector control - Torque setpoint
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0341[0...n] Motor moment of inertia
• p0342[0...n] Ratio between the total and motor moment of inertia
• p1300[0...n] Open-loop/closed-loop control operating mode
• p1499[0...n] Accelerating for torque control, scaling
• p1501[0...n] BI: Change over between closed-loop speed/torque control
• p1503[0...n] CI: Torque setpoint
• p1511[0...n] CI: Supplementary torque 1
• p1512[0...n] CI: Supplementary torque 1 scaling
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6.7 Closed-loop torque control
• p1513[0...n] CI: Supplementary torque 2
• p1514[0...n] Supplementary torque 2 scaling
• r1515 Supplementary torque total
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6.8 Torque limiting
6.8 Torque limiting
Function description
The torque limiting value specifies the maximum permissible torque. Different limits can be
parameterized for motoring and generating operation.
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• p0640[0...n] Current limit
• p1520[0...n] CO: Torque limit upper/motoring
• p1521[0...n] CO: Torque limit lower/regenerative
• p1522[0...n] CI: Torque limit upper/motoring
• p1523[0...n] CI: Torque limit lower/regenerative
• p1524[0...n] CO: Torque limit upper/motoring scaling
• p1525[0...n] CO: Torque limit, lower/regenerative scaling
• p1530[0...n] Motor mode power limit
• p1531[0...n] Regenerative mode power limit
The currently active torque limit values are displayed in the following parameters:
• r0067 CO: Output current maximum
• r1526 Torque limit, upper/motoring without offset
• r1527 Torque limit, lower/regenerative without offset
All of the following limits apply to the torque setpoint, which is present either at the speed
controller output in the case of speed control, or at the torque input in the case of torque control.
The minimum/maximum value of the different limits is used in each case. This minimum/
maximum is cyclically calculated and displayed in the following parameters:
• r1538 CO: Upper effective torque limit
• r1539 CO: Lower effective torque limit
These cyclic values therefore limit the torque setpoint at the speed controller output / torque
input or indicate the instantaneous maximum possible torque. If the torque setpoint is limited
in the Motor Module, this is indicated via the following diagnostic parameters:
• r1407.8 CO:/BO: Status word speed controller: Upper torque limit active
• r1407.9 CO:/BO: Status word speed controller: Lower torque limit active
Drive functions
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6.8 Torque limiting
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6060 Vector control - Torque setpoint
• 6630 Vector control - Upper/lower torque limit
• 6640 Vector control - Current/power/torque limits
Drive functions
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6.9 Vdc control
6.9 Vdc control
Function description
The "Vdc control" function can be activated using the appropriate measures if an overvoltage or
undervoltage is present in the DC link.
• Overvoltage in the DC link
– Typical cause
The drive is operating in regenerative mode and is supplying too much energy to the DC
link.
– Remedy
Reduce the regenerative torque to maintain the DC link voltage within permissible limits.
With the Vdc controller activated, the converter automatically partly extends the ramp-
down time of a drive if the shutdown supplies too much energy to the DC link.
• Undervoltage in the DC link
– Typical cause
Failure of the supply voltage or supply for the DC link.
– Remedy
Specify a regenerative torque for the rotating drive to compensate the existing losses,
thereby stabilizing the voltage in the DC link (kinetic buffering).
Note
During operation of the Braking Module, the following must be observed:
• You must set the threshold of the Braking Module below the Vdc_max threshold.
• You must switch off the Vdc_max controller.
Properties
• Vdc control
– This comprises Vdc_max control and Vdc_min control (kinetic buffering), which are
independent of each other.
– Joint PI controller. The dynamic factor is used to set Vdc_min and Vdc_max control
independently of each other.
• Vdc_max control
– This function can be used to control momentary regenerative load without shutdown
using "overvoltage in the DC link".
– Vdc_max control is only recommended with a supply without active closed-loop control for
the DC link and without feedback.
• Vdc_min control (kinetic buffering)
– With this function, the kinetic energy of the motor is used for buffering the DC link voltage
in the event of a momentary power failure, thereby delaying the drive.
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6.9 Vdc control
Vdc_min control
In the event of a power failure, Vdc_min is activated when the Vdc_min switch-on level is undershot.
This controls the DC link voltage and maintains it at a constant level. The motor speed is
reduced.
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When the power supply is restored, the DC link voltage increases again and Vdc_min control is
deactivated again at 5% above the Vdc_min switch-on level. The motor continues operating
normally.
If the power supply is not re-established, the motor speed continues to drop. When the threshold
in p1257 is reached, this results in a response in accordance with p1256.
Once the time threshold (p1255) has elapsed without the line voltage being re-established, a
fault is triggered (F07406), which can be parameterized as required (factory setting: OFF3).
The Vdc_min controller can be activated for a drive. Other drives can participate in supporting the
DC link, by transferring to them a scaling of their speed setpoint from the controlling drive via
BICO interconnection.
Note
If it is expected that the line supply will return, you must make sure that the drive lineup is not
disconnected from the line supply. It could become disconnected, for example, if the line
contactor drops out. The line contactor must be supplied, e.g. from an uninterruptible power
supply (UPS).
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6.9 Vdc control
Vdc_max control
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The switch-on level for Vdc_max-control (r1242) is calculated as follows:
• When automatic switch-in level sensing is disabled (p1254 = 0)
r1242 = 1.15 · p0210 (Drive unit line supply voltage, DC link)
• When automatic switch-in level sensing is enabled (p1254 = 1)
r1242 = Vdc_max - 50 V (Vdc_max: Overvoltage threshold of the Motor Module)
Restrictions for Basic Line Modules
WARNING
Unplanned movement of individual drives
If several Motor Modules are supplied from one infeed unit without energy recovery capability,
unplanned acceleration of individual drives can occur if the Vdc_max control is incorrectly
parameterized. This can result in death or serious injury.
• Only activate the Vdc_max control for the Motor Module whose drive has the highest moment
of inertia.
• Inhibit this function for all other Motor Modules, or set this function to monitoring only.
If several Motor Modules are supplied from one infeed unit without energy recovery capability
(e.g. a Basic Line Module), or on power failure or overload (for SLM / ALM), the Vdc_max control may
only be activated for a Motor Module with a high moment of inertia. For Motor Modules with a
low moment of inertia, this function must be disabled or monitoring must be set.
If the Vdc_max control is active for multiple Motor Modules, then the controllers may have negative
effects on each other in the case of unfavorable parameter assignment. The drives may become
unstable and individual drives may unintentionally accelerate.
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6.9 Vdc control
Remedy
• activate the Vdc_max control:
– Vector control: p1240 = 1 (factory setting)
– Servo control: p1240 = 1
– U/f control: p1280 = 1 (factory setting)
• Inhibit Vdc_max control:
– Vector control: p1240 = 0
– Servo control: p1240 = 0 (factory setting)
– U/f control: p1280 = 0
• Activate the Vdc_max monitoring
– Vector control: p1240 = 4 or 6
– Servo control: p1240 = 4 or 6
– U/f control: p1280 = 4 or 6
6.9.1 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6220 Vector control - Vdc_max controller and Vdc_min controller
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1240[0...n] Vdc controller or Vdc monitoring configuration
• r1242 Vdc_min controller switch-on level
• p1243[0...n] Vdc_max controller dynamic factor
• p1245[0...n] Vdc_min controller switch-on level (kinetic buffering)
• r1246 Vdc_min controller switch-on level (kinetic buffering)
• p1247[0...n] Vdc_min controller dynamic factor (kinetic buffering)
• p1250[0...n] Vdc controller proportional gain
• p1251[0...n] Vdc controller integral time
• p1252[0...n] Vdc controller rate time
• p1254 Vdc_max controller automatic ON level detection
• p1256[0...n] Vdc_min controller response (kinetic buffering)
• p1257[0...n] Vdc_min controller speed threshold
• r1258 CO: Vdc controller output
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6.10 Current setpoint filter
6.10 Current setpoint filter
Function description
You can parameterize the two current setpoint filters 1 and 2 connected in series as follows:
• 2nd order lowpass (PT2: -40 dB/decade)
• Band-stop filter
• Low-pass with reduction
• General 2nd order filter
Band-stop filter and low-pass filter with reduction are converted into the parameters of the
general 2nd order filter. The phase frequency curve is shown alongside the amplitude log
frequency curve. A phase shift results in a control system delay and should be kept to a minimum.
You activate the current setpoint filters with p1656[0...n].0 = 1 and p1656[0...n].1 = 1. You set
the current setpoint parameters with p1657 to p1666.
As long as the parameter setting p1699 = 1 is active, the background calculation of the filter data
is not performed, even when filter parameters are changed. Only with parameter setting p1699
= 0, is the calculation performed.
Examples for the current setpoint filter can be found in the description of the servo control in
Chapter "Current setpoint filter (Page 113)".
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6710 Vector control - Current setpoint filter
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1655[0...4] CI: Current setpoint filter / actual speed value filter natural frequency
tuning
• p1656[0...n] Current setpoint filter activation
• p1657[0...n] Current setpoint filter 1 type
• p1658[0...n] Current setpoint filter 1 denominator natural frequency
• p1659[0...n] Current setpoint filter 1 denominator damping
• p1660[0...n] Current setpoint filter 1 numerator natural frequency
• p1661[0...n] Current setpoint filter 1 numerator damping
• p1662[0...n] Current setpoint filter 2 type
• p1663[0...n] Current setpoint filter 2 denominator natural frequency
• p1664[0...n] Current setpoint filter 2 denominator damping
• p1665[0...n] Current setpoint filter 2 numerator natural frequency
• p1666[0...n] Current setpoint filter 2 numerator damping
• p1699 Filter data acceptance
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6.11 Speed actual value filter
6.11 Speed actual value filter
Function description
For vector control, an actual speed value filter can be set. You can parameterize the actual speed
value filter as follows:
• 2nd order lowpass (PT2: -40 dB/decade)
• General 2nd order filter
You activate the actual speed value filter with p1656.4 = 1. You set the speed actual value filter
parameters with p1677 to p1681.
As long as the parameter setting p1699 = 1 is active, the background calculation of the filter data
is not performed, even when filter parameters are changed. Only with parameter setting p1699
= 0, is the calculation performed.
Note
For the vector control, there are two current setpoint filters and one actual speed value filter. The
actual speed value filter has been allocated the number "5".
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4702 Encoder evaluation - vector control, overview
• 4715 Encoder evaluation - speed actual value and pole position sensing, encoder1,
n_act_filter5
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1655[0...4] CI: Current setpoint filter / actual speed value filter natural frequency
tuning
• p1656[0...n] Current setpoint filter / actual speed value filter activation
• p1677[0...n] Actual speed value filter 5 type
• p1678[0...n] Actual speed value filter 5 denominator natural frequency
• p1679[0...n] Actual speed value filter 5 denominator damping
• p1680[0...n] Actual speed value filter 5 numerator natural frequency
• p1681[0...n] Actual speed value filter 5 numerator damping
• p1699 Filter data acceptance
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6.12 Current controller adaptation
6.12 Current controller adaptation
Function description
Current controller adaptation can be used to adapt the P gain of the current controller and the
dynamic precontrol of the Iq current controller depending on the current. The current controller
adaptation is directly activated with setting p1402.2 = 1 or deactivated with p1402.2 = 0. It is
automatically activated with p1959.5 (p1959.5 = 1) or deactivated (p1959.5 = 0).
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When swapping the Iq interpolation points (e.g. for ASM), the current controller adaptation
appears as follows:
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p0392 < p0391
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6714 Vector control - Iq and Id controller
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0391[0...n] Current controller adaptation, starting point KP
• p0392[0...n] Current controller adaptation, starting point KP adapted
• p0393[0...n] Current controller adaptation P gain scaling
• p1402[0...n] Current control and motor model configuration
• p1703 Isq current controller precontrol scaling
• p1715[0...n] Current controller P gain
• p1717[0...n] Current controller integral time
• p1959[0...n] Rotating measurement configuration
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6.13 Motor data identification and rotating measurement
6.13 Motor data identification and rotating measurement
6.13.1 Overview
WARNING
Unexpected motor motion during motor data identification
Motor movement caused by the motor data identification routine can result in death, severe
injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
There are two motor data identification options which are based on each other:
• Motor data identification (Page 274) with p1910 (standstill measurement)
For measuring the motor equivalent circuit diagram parameters. Obligatory for operation
with vector control.
• Rotating measurement (Page 277) with p1960
To improve the torque accuracy and to optimize the speed control. This should be performed
only after a motor data identification.
Note
Motor brake opened
If there is a motor brake, it must be open for the rotating measurement (p1215 = 2).
For synchronous motors, the motor brake must also be open for the standstill measurement so
that the motor can orient itself.
The two motor data identifications can be selected more easily via p1900.
• p1900 = 2
Activates the standstill measurement (motor not rotating).
• p1900 = 1
Additionally activates the rotating measurement. p1910 is set to = 1, and p1960 is set
depending on the actual control mode (p1300).
The rotating measurement can also be activated subsequently using p1900 = 3.
If a synchronous motor is being used (p0300 = 2), then with p1900 > 0, the encoder adjustment
(p1990 = 1) is automatically activated. The procedure used can be set in p1980.
For the selection p1900 = 1, 3, the parameter p1960 is set depending on p1300:
• p1960 = 1, when p1300 = 20 or 22 (without encoder)
• p1960 = 2, when p1300 = 21 or 23 (with encoder)
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6.13 Motor data identification and rotating measurement
The measurements, parameterized using p1900 are started in the following sequence after the
drive has been enabled:
Measurements and After successful measurement:
conclusion
Standstill measurement Pulse inhibit activated and parameter is set to "0": p1910 = 0
Encoder adjustment Pulse inhibit activated and parameter is set to "0": p1990 = 0
Rotating measurement Pulse inhibit activated and parameter is set to "0": p1960 = 0
Successful completion Pulse inhibit activated and parameter is set to "0": p1900 = 0
Note
To set the new controller setting permanently, the data must be saved in a non-volatile memory.
The measurement progress can be tracked using r0047.
Completion of the individual motor data identification runs can be read via parameters r3925 to
r3928.
The motor data identification runs influence only the currently valid motor data set (MDS).
6.13.2 Motor data identification
Function description
The motor data identification can be activated via p1900 = 2 or p1910 = 1. It is used to determine
the motor parameters (equivalent circuit diagram) at standstill.
For control engineering reasons, you are strongly advised to carry out motor data identification
because the equivalent circuit diagram data and motor cable resistance can only be estimated
if the data on the rating plate is used. For this reason, the stator resistance is very important for
the stability of encoderless vector control or for the voltage boost in the U/f characteristic. Motor
data identification is essential if long supply cables or third-party motors are used. When motor
data identification is started, the following data is determined with p1910 on the basis of the
data on the rating plate:
Table 6-2 Determined data
Determined data for p1910 = 1 Induction motor Permanent mag‐ Synchronous re‐
net luctance motor
synchronous mo‐
tor
Rated magnetization current (p0320) x ‑ ‑
Stator resistance (p0350) x x x
Rotor resistance (p0354) x ‑ ‑
Stator leakage inductance (p0356) x x ‑
Stator inductance d axis (p0357) ‑ x ‑
Rotor leakage inductance (p0358) x ‑ ‑
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6.13 Motor data identification and rotating measurement
Determined data for p1910 = 1 Induction motor Permanent mag‐ Synchronous re‐
net luctance motor
synchronous mo‐
tor
Magnetizing inductance (p0360) x ‑ ‑
Drive converter valve threshold voltage x x x
(p1825)
Converter valve interlocking times x x x
(p1828 ... p1830)
Since the rating plate data contains the initialization values for identification, you must ensure
that it is entered correctly and consistently (taking into account the connection type (star/delta))
so that the above data can be determined.
It is advisable to enter the motor supply cable resistance (p0352) before the standstill
measurement (p1910) is performed, so that it can be subtracted from the total measured
resistance when the stator resistance is calculated (p0350).
Entering the cable resistance improves the accuracy of thermal resistance adaptation,
particularly when long supply cables are used. This governs behavior at low speeds, particularly
during encoderless vector control.
For p1909.20 = 1 (and p0352 = 0), the supply cable resistance is set from the difference of the
measured value and the default value of the automatic parameterization or the value of the data
set for list motors. The supply cable resistance then normally no needs to be entered.
Specifics for induction motors
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If an output filter (see p0230) or series inductance (p0353) is used, the data for this must also
be entered before the standstill measurement is carried out.
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6.13 Motor data identification and rotating measurement
The inductance value is then subtracted from the total measured value of the leakage. With sine-
wave filters, only the stator resistance, valve threshold voltage, and valve interlocking time are
measured.
Note
With diffusion of more than 35% to 40% of the motor nominal impedance, the dynamic response
of the speed and current control is restricted to the area of the voltage limit and to field
weakening mode.
Note
The standstill measurement must be carried out when the motor is cold. In p0625, enter the
estimated motor ambient temperature during the measurement (for PT1000 or KTY sensor: Set
p0600, p0601 and read r0035). This is the reference point for the thermal motor model and
thermal RS/RR adaptation.
The rated magnetization current and the magnetization characteristic should, if possible, be
determined during the rotating measurement (p1900 = 3) (without encoder: p1960 = 1; with
encoder: p1960 = 2). The magnetization characteristic can be used to calculate the field-
generating current in the field-weakening range more accurately, thereby increasing torque
accuracy.
Note
In comparison with standstill measurement (p1910) for induction motors, rotating
measurement (p1960) allows the rated magnetizing current and saturation characteristic to be
determined much more accurately.
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6.13 Motor data identification and rotating measurement
Note
To set the new controller setting permanently, the data must be saved in a non-volatile memory.
Note
At the end of the motor data identification, all dependent control parameters are calculated
automatically (p0340 = 3)
Procedure
To perform the motor data identification, proceed as follows:
1. Activate motor data identification with p1900 = 2 (or p1910 = 1).
Alarm A07991 is displayed.
2. Motor data identification starts the next time that the motor is switched on.
3. After a successful motor data identification, parameter p1900 (or p1910) is reset to "0".
If the identification was not successful, then instead, fault F07990 is output.
4. Parameter r0047 indicates the actual status of the measurement or identification.
Measurement without automatic adaptation of the control parameters (p1909.17)
p1909.17 = 1 can be used, for example, to measure the motor parameters after a motor
replacement, without automatically adapting the control parameters via p0340.
6.13.3 Rotating measurement
Requirements
• The "Rotating measurement" function is only performed after the motor data identification
(p1910).
Function description
The "Rotating measurement" function can be activated via p1960 or p1900 = 3.
The function contains a speed control tuning with which the drive's moment of inertia is
ascertained and the speed controller is set. In addition, the saturation characteristic and rated
magnetizing current of induction motors are measured and so make a significant contribution
to improving the torque accuracy.
If the rotating measurement is not to be carried out using the speed set in p1965, this parameter
can be changed before the measurement is started. Higher speeds are recommended.
For induction motors, a similar approach applies for the speed in p1961, at which the saturation
characteristic is determined and the encoder test is carried out.
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6.13 Motor data identification and rotating measurement
The speed controller is set to the symmetrical optimum in accordance with dynamic factor
p1967. Parameter p1967 must be set before the optimization run and only affects the
calculation of the controller parameters. If, during the measurement, it becomes clear that, with
the specified dynamic factor, the drive cannot operate in a stable manner or the torque ripples
are too large, the dynamic response is reduced automatically and the result displayed in r1968.
In this case, a check must be performed to see whether the drive is running stable across the
entire setting range. The dynamic response might need to be reduced or the Kp_n/Tn_n
adaptation for the speed controller parameterized accordingly.
Note
Dynamic response reduced too much
If the dynamic response of the speed controller is reduced excessively because of load
oscillations, the oscillation test can also be deactivated (p1959.4 = 0).
Recommendations
• Induction motors
When commissioning induction machines, you are advised to proceed as follows:
– Before connecting the load, a complete "rotating measurement" (p1900 = 3 or without
encoder: p1960 = 1; with encoder: p1960 = 2) should be carried out. Since the induction
machine is idling, you can expect highly accurate results for the saturation characteristic
and the rated magnetizing current.
– When the load is connected, speed controller tuning should be repeated because the total
moment of inertia has changed. This is realized by selecting parameter p1960 (without
encoder: p1960 = 3; with encoder: p1960 = 4). During the speed optimization, the
saturation characteristic recording is automatically deactivated in parameter p1959.
• Permanent-magnet synchronous motors
When permanent-magnet synchronous motors are commissioned, the speed controller
should be tuned (p1900 = 3 or p1960 > 0) when the load is connected.
Procedure
WARNING
Unexpected motor motion during motor data identification
Motor movement caused when optimizing the speed controller can result in death, severe
injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
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6.13 Motor data identification and rotating measurement
The following measurements are carried out when the enable signals are set and a switch-on
command is issued in accordance with the settings in p1959 and p1960.
• Encoder test
If a speed encoder is used, the direction of rotation and the pulse number are checked.
• Induction motors only:
– Measurement of the saturation characteristic (p0362 to p0369)
– Measurement of the magnetizing current (p0320) and determination of the offset
voltage of the converter for offset compensation
– Measurement of the saturation of the leakage inductance, for induction motors, and
setting of the current controller adaptation (p0391 to p0393)
This measurement is automatically activated for 1LA1 and 1LA8 motors (p0300 = 11, 18)
(see p1959.5).
• Speed controller tuning
– p1470 and p1472, when p1960 = 1 (operation without encoder)
– p1460 and p1462, when p1960 = 2 (operation with encoder)
– Setting the Kp adaptation
• Acceleration precontrol setting (p1496, p1517)
• Setting for ratio between the total moment of inertia and that of the motor (p0342)
Note
Saving the controller setting in a non-volatile memory
To set the new controller setting permanently, the data must be saved in a non-volatile memory.
Note
Operation with encoder
If speed controller tuning is used for operation with encoder, then the closed-loop control
operating mode is automatically changed over to closed-loop speed control without encoder, so
that the encoder test can be carried out.
6.13.4 Shortened rotating measurement
Function description
A normal rotating measurement cannot always be performed when a load is connected. When
switching the motor on for the first time, a short measurement of the moment of inertia and the
measurement of the magnetizing current and the saturation characteristic can be performed
with a simplified measuring procedure. The following settings are possible:
• Measurement shortened (p1959.12 = 1)
• After measurement: Direct transition to operation (p1959.13 = 1)
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6.13 Motor data identification and rotating measurement
During the rotating measurement, the drive is not run up to the rated speed, but up to the value
in p1965 related to the rated speed (p0310). In the factory setting, this is 40 %. Parameter p1965
can be adapted to the operational requirements, but must be large enough so that the machine
can safely leave the open-loop controlled mode. The machine should still be operated as far as
possible in no-load operation (torque < 30 % Mrated).
During the rotating measurement, the saving of parameters is blocked because automatic
parameter adjustments made for the measurement are withdrawn again after the
measurement.
Measurement shortened (p1959.12 = 1)
If you have set bit 12 in parameter p1959, a shortened rotating measurement is performed with
reduced accuracy for the measurement of the moment of inertia. In this case, the magnetizing
current is measured only once instead of twice. The measurement of the acceleration processes
and the vibration test are not used at all.
After the end of the measurement, the drive is shut down and all the parameters modified for
performing the measurement are reset to their original values.
p1959.12 does not have any effect on p1960 = 3, 4.
After measurement: Direct transition to operation (p1959.13 = 1)
In this case, the drive is not stopped at the end, but run up directly with the acceleration ramp
up to the desired speed setpoint.
Do not change controller parameters during the measurement (p1959.11 = 1)
During rotating measurement, the drive automatically changes its speed controller parameters
during ramp-up. This is also performed when bits 3 (recalculate speed controller parameters)
and 4 (speed controller tuning) are not set. On many plants, the decoupling of the drives
requires a lot of work. The loads have high moments of inertia. The controller parameters set by
the drive do not always correspond to the drive application and may therefore potentially cause
damage to the mechanical system.
If you have set bit 11 in parameter p1959, the recalculation of the speed controller parameters
is prevented.
6.13.5 Overview of important parameters
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0047 Motor data identification routine and speed controller optimization
• p0340[0...n] Automatic calculation of motor/control parameters
• p1300[0...n] Open-loop/closed-loop control operating mode
• p1900 Motor data identification and rotating measurement
• p1901 Test pulse evaluation configuration
• r1902 Test pulse evaluation status
• r3925[0...n] Identification complete indicator
• r3927[0...n] Motor data identification control word
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6.13 Motor data identification and rotating measurement
• r3928[0...n] Rotating measurement configuration
Motor data identification at standstill
• p1909[0...n] Motor data identification control word
• p1910 Motor data identification selection
Rotating measurement
• p0391[0...n] Current controller adaptation, starting point Kp
• p0392[0...n] Current controller adaptation, starting point Kp adapted
• p0393[0...n] Current controller adaptation P gain scaling
• p1959[0...n] Rotating measurement configuration
• p1960 Rotating measurement selection
• p1961 Saturation characteristic speed to determine
• p1965 Speed_ctrl_opt speed
• p1967 Speed_ctrl_opt dynamic response factor
• r1968 Speed_ctrl_opt current dynamic response factor
• r1973 Rotating measurement encoder test pulse number determined
• p1980[0...n] PolID procedure
• p1990 Encoder adjustment, determine commutation angle offset
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6.14 Pole position identification
6.14 Pole position identification
Overview
For synchronous motors and synchronous reluctance motors, the pole position identification
(PolID) determines the electrical pole position that is required for the field-oriented control.
When operated with one encoder, which is not adjusted to the pole position, then the
identification is used to calibrate and align the encoder.
6.14.1 Operation without an encoder
Function description
In encoderless operation, select the pole position identification using parameter p1780.6. You
must identify the pole position each time that you switch on the motor to operate it without an
encoder. You set the technique that is suitable for the motor using parameter p1980 - and the
current using p0325 and p0329.
Note
Pole position identification is only possible at standstill
The shaft can move during pole position identification.
The pole position identification is used during the motor data identification to determine the
motor data. Faults F07968 or F07969 can occur during the motor data identification.
Important notes
A suitable technique for the motor is selected using parameter p1980. The following techniques
are available:
• Voltage pulsing 1st harmonic (p1980 = 1)
• Voltage pulsing 2-stage (p1980 = 4)
• Voltage pulsing 2-stage inverse (p1980 = 6)
• Voltage pulsing 2nd harmonic inverse (p1980 = 8)
• Impressing DC current
All of these techniques are only possible at standstill. The fast pole position identification can be
selected if a faster switch-on is required (p1780.13 = 1).
Supplementary conditions
The following supplementary conditions apply for the pulsed techniques (p1980 = 1, 4, 6, 8):
• This procedure can be used for both braked and non-braked motors.
• The specified current magnitudes (p0325, p0329) must be sufficient to provide a significant
measuring result (p0325 is only used for p1980 = 4).
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6.14 Pole position identification
• Technique p1980 = 4 is recommended if the air gap manifests significant asymmetry (e.g.
magnets are embedded in the rotor). Technique p1980 = 1 should be applied if the air gap
is constant.
• Technique p1980 = 8 is recommended for synchronous reluctance motors.
• Technique p1980 = 6 is used for synchronous motors with a high reluctance torque
component.
The following constraints apply when impressing DC current (p1980 = 10):
• The motor must be free to move and it may not be subject to external forces (no hanging/
suspended axes).
• If a motor holding brake is being used, then this must be opened.
• The technique is recommended if there is no magnetic asymmetry (e.g. symmetrical air gap).
6.14.2 Operation with encoder
Function description
For operation with one encoder, which does not provide an absolute pole position (e.g. an
incremental encoder with zero mark), the encoder must be adjusted and the pole position
identified. The pole position identification is used for this purpose.
For operation with encoders without position information (e.g. incremental encoders without
zero mark), pole position identification must be carried out each time that the motor is switched
on. If the position information is available, then PolID is only carried out once when switching-
on for the first time after the power returns.
Determining the angular commutation offset
The encoder is calibrated one time when determining the angular commutation offset.
Requirements
• The motor can be rotated freely.
Procedure
To determine the angular commutation offset, proceed as follows:
1. After exiting commissioning, for encoders where the adjustment is possible, the
commutation angle offset is automatically activated (p1990 = 1).
Alarm A07971 is output.
2. The commutation angle is determined when the drive is switched-on for the first time. The
shaft is slowly turned to do this.
Alarm A07975 is output.
3. After the commutation angle has been determined, the drive automatically switches-off and
writes the commutation angle (p0431).
Alarm A07971 disappears.
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6.14 Pole position identification
Note
For encoders, which provide an absolute position (r0404.1 = 1), determining the commutation
angle offset can be deactivated (p1990 = 0).
Pole position identification is only possible at standstill.
If the control mode is only changed over to operation with encoder (p1300 = 21) after the
automatic calculation (p3900 = 3 or p0340 = 3), then pole position identification must be
manually set (p1982 = 1); this assumes that an encoder that requires pole position
identification has been selected (e.g. an incremental encoder with zero mark). This is indicated
by fault F07551.
Pole position correction when rotating (fine calibration of the encoder)
The accuracy of the determined commutation angle offset (p0431) can be increased using the
encoder fine calibration.
Requirements
• The motor can be rotated without load.
Procedure
To perform the pole position correction when rotating, proceed as follows:
1. Activate the encoder fine calibration (p1905 = 90).
Alarm A07976 with alarm value 1 is displayed.
2. Set the pulse enable and accelerate the motor (n > 40% rated speed)
3. Wait for the end of the measurement (alarm A07976 with alarm value 4, takes approximately
1 minute) and then switch off the drive.
The measurement is restarted if, during the measurement, an excessively low current flows
(alarm A07976 with alarm value 12) - or if the speed is too low (alarm A07976 with alarm
value 10), then the measurement is restarted.
4. After the pulse inhibit, the value is calculated and saved to parameter p0431 - assuming that
it had been successfully completed (alarm A07976 with alarm value 5).
0 is automatically written to p1905, and alarm A07976 disappears.
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6.14 Pole position identification
Pole position correction with zero mark
When switching on for the first time, the pole position identification roughly synchronizes the
encoder angle to the pole position. After passing the zero mark, this coarse synchronization is
aligned assuming that the encoder supports commutation with zero mark (r0404.15 = 1). The
commutation angle must be available to do this (p0431). In order to utilize fine synchronization
for synchronous reluctance motors, the encoder must support commutation with 180°
(r0459.23 = 1).
Note
If an encoder with zero mark is used, then the converter can switch to a rotating motor as soon
as a valid zero mark position is available.
For synchronous reluctance motors, also when switching on the first time after the power
returns, the converter can be switched to a rotating motor - assuming that the "Flying restart"
function has been activated (p1200 = 1).
Replacing an encoder
If the encoder is replaced or retrofitted, the commutation angle offset must be determined again
(p1990 = 1), assuming that the encoder has position information (e.g. zero mark).
Checking the plausibility of the commutation angle
When using an absolute encoder, with the pole position identification, the plausibility of the
encoder commutation position can be checked (p1980 = 2). With this setting, each time that the
pulses are enabled, the encoder angle is checked. The determined angular difference can be
read out from parameter r1984. Fault F07413 is output if the deviation exceeds 45°.
If mechanical changes are carried out at the encoder, then using the encoder adjustment, the
commutation angle offset can be checked (p1990 = 2). The commutation angle offset is
determined, and the determined value is not accepted (p0431). Fault F07413 is output if the
deviation exceeds 6°.
6.14.3 Messages and parameters
Faults and alarms (see SINAMICS S120/S150 List Manual)
• F07413 Drive: Commutation angle incorrect (pole position identification)
• A07967 Drive: Automatic encoder adjustment/pole position identification incorrect
• F07968 Drive: Lq-Ld measurement incorrect
• F07969 Drive: Pole position identification incorrect
• F07970 Drive: Automatic encoder adjustment incorrect
• A07971 (N) Drive: Communication angle offset determination activated
• A07975 (N) Drive: Traverse to the zero mark - setpoint input expected
• A07976 Drive: Encoder fine calibration activated
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6.14 Pole position identification
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0325[0...n] Motor pole position identification current 1st phase
• p0329[0...n] Motor pole position identification current
• p0404[0...n] Encoder configuration active
• p0430[0...n] Sensor Module configuration
• p0431[0...n] Commutation angle offset
• p0437[0...n] Sensor Module extended configuration
• r0458 Sensor Module properties
• r0459 Sensor Module extended properties
• p0640[0...n] Current limit
• p1082[0...n] Maximum speed
• p1215 Motor holding brake configuration
• p1780[0...n] Motor model adaptation configuration
• p1980[0...n] PolID procedure
• p1982[0...n] PolID selection
• r1984 PolID angular difference
• p1990 Encoder adjustment, determine commutation angle offset
• p1991[0...n] Motor changeover, commutation angle offset
• p1993[0...n] PolID motion-based current
• p1994[0...n] PolID motion-based rise time
• p1995[0...n] PolID motion-based gain
• p1996[0...n] PolID motion-based integral time
• p1997[0...n] PolID motion-based smoothing time
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6.15 Efficiency optimization
6.15 Efficiency optimization
6.15.1 Efficiency optimization for induction motors
Overview
Speed and torque are specified by the driven machine. As a consequence, the flux is the
remaining variable for optimizing the efficiency.
Function description
The efficiency of induction motors can be optimized using 2 different techniques. Both
techniques optimize the efficiency using the flux. It only makes sense to activate efficiency
optimization if the dynamic response requirements are low (e.g. pump and fan applications).
Benefits
For induction motors, efficiency optimization has the following advantages:
• Lower energy costs
• Lower motor temperature rise
• Reduced motor noise levels
Disadvantages
Disadvantages of efficiency optimization
• Longer acceleration times
• More significant speed dips for torque surges
• Lower dynamic response
The disadvantages are only relevant if the motor must respond with a high dynamic
performance. Also when that the efficiency optimization is active, the converter motor control
prevents the motor from stalling.
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6.15 Efficiency optimization
Basic efficiency optimization
For p1580 = 100%, the flux in the motor under no-load operating conditions is reduced to half
of the setpoint (reference flux) (p1570/2). As soon as load is connected to the drive, the setpoint
(reference) flux increases linearly with the load and, reaching the setpoint set in p1570 at
approx. r0077 = r0331 · p1570.
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Sy
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Figure 6-20 Basic efficiency optimization
In the field-weakening range, the final value is reduced by the actual degree of field weakening.
The smoothing time (p1582) should be set to approx. 100 to 200 ms. Flux differentiation (see
also p1401.1) is automatically deactivated internally following magnetization.
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Figure 6-21 Basic efficiency optimization
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6.15 Efficiency optimization
Extended efficiency optimization
The advanced efficiency optimization generally achieves a better efficiency than the basic
efficiency optimization. With this technique, the actual motor operating point is determined as
a function of the efficiency and flux - and the flux is set to achieve the optimum efficiency.
Depending on the motor operating point, the converter either reduces or increases the flux
when the motor is operating in the partial load range.
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Advanced efficiency optimization with flux Advanced efficiency optimization with flux
reduction reduction
Advanced efficiency optimization is activated in the default setting. To activate advanced
efficiency optimization, set p1401.14 = 1.
6.15.2 Efficiency optimization for reluctance motors
Function description
The typically high efficiency for 1FP1 reluctance motors can also be achieved in the partial load
range.
To achieve this, depending on the demanded torque, the motor is operated with a loss-
optimized current setpoint (MTPC: Max-Torque-Per-Current). This operation corresponds to a
load-dependent input of the flux setpoint - and can be appropriately preconfigured when
commissioning by setting p1401.3 = 1. Further, drives with reluctance motors can be optimized
in the following way:
• p1401.9 = 1
Dynamically increases the flux setpoint when quickly establishing the torque.
• p1401.10 = 1
Increases the flux setpoint at low speeds and for load-dependent optimum flux characteristic
(p1401.3 = 1).
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6.15 Efficiency optimization
6.15.3 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6722 Vector control - Field weakening characteristic, Id setpoint (ASM, p0300 = 1)
• 6723 Vector control - Field weakening controller, flux controller (p0300 = 1)
• 6790 Vector control - flux setpoint (RESM, p0300 = 6)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0077 CO: Torque-generating current setpoint
• r0331[0...n] Actual motor magnetizing current / short-circuit current
• p1401[0...n] Flux control configuration
• p1570[0...n] CO: Flux setpoint
• p1580[0...n] Efficiency tuning
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6.16 Fast magnetization for induction motors
6.16 Fast magnetization for induction motors
Function description
For crane applications, frequently a frequency converter is switched alternately to different
motors. After being switched to a different motor, a new data set must be loaded in the
frequency converter and the motor magnetized. This can result in excessive waiting times which
can be significantly reduced by means of quick magnetization.
Features
• Application for induction motors in closed-loop vector control
• Rapid flux build-up by injecting a field-generating current at the current limit, which
considerably reduces the magnetization time
• The "flying restart" function continues working with parameter p0346 (magnetization time)
• Magnetizing is not dependent on a brake configuration (p1215) as it is with servo drives
Characteristics
The following figure shows the characteristics for quick magnetizing.
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Figure 6-22 Quick magnetization characteristics
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6.16 Fast magnetization for induction motors
Commissioning the function
Parameter p1401.6 = 1 (flux control configuration) must be set to activate quick magnetization.
This setting initiates the following sequence during motor starting:
• The maximum excitation build-up current of the induction motor (in reference to the
permitted rated power module current (r0207[0])) is set with parameter p0644 ("Current
limit excitation build-up induction motor").
• The field-generating current setpoint jumps to the value parameterized in p0644 or the
maximum of Imax = 0.9 · r0067 (upper limit field-generating current setpoint).
• The flux increases as fast as physically possible with the specified current.
• The flux setpoint r0083 is made to follow accordingly.
• As soon as the flux threshold value programmed in p1573 is reached (min. 10% and max.
200%, factory setting 100%), excitation is ended and the speed setpoint is enabled. The flux
threshold value must not be set too low for a large load because the torque-producing
current is limited during magnetization.
Note
The flux threshold value set in parameter p1573 is effective only if the actual flux during
magnetization reaches the value programmed in p1573 before the time set in p0346.
• The flux is increased further until the flux setpoint in p1570 has been reached.
• The field-producing current setpoint is reduced by means of a flux controller with P gain
(p1590) and the parameterized smoothing factor (p1616).
Important notes
When quick magnetization is selected (p1401.6 = 1), smooth starting is deactivated internally
and alarm A07416 displayed.
When the stator resistance identification function is active (see p0621 "Identification of stator
resistance after restart") is active, quick magnetization is deactivated internally and alarm
A07416 displayed.
The parameter (p1401.6 = 1) does not work when combined with the "flying restart" function
(see p1200), i.e. flying restart is performed without quick magnetization.
Alarms and faults
Flux controller configuration
When a function controlled using parameters p1401 and p0621 is activated, it is checked
whether another function that is in conflict with the function to be activated is selected. If this
is the case, alarm A07416 is displayed together with the parameter number that is incompatible
with the configuration (i.e. p0621 or p1401). The number of the dataset in the alarm value is
also be displayed. The following applies:
• p1401 is DDS-dependent
• p0621 is MDS-dependent
The configuration of the flow control (p1401) has inconsistencies.
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6.16 Fast magnetization for induction motors
Error causes and remedies
Cause Remedy
Quick magnetizing (p1401.6) for soft starting (p1401.0) • Deactivate smooth starting: p1401.0 = 0
• Deactivate quick magnetization: p1401.6 = 0
Quick magnetizing (p1401.6) for flux build-up control • Deactivate flux build-up control: p1401.2 = 0
(p1401.2) • Deactivate quick magnetization: p1401.6 = 0
Quick magnetization (p1401.6) for Rs identification (stator re‐ • Change Rs identification parameter settings: p0621 = 0, 1
sistance identification) after restart (p0621 = 2) • Deactivate quick magnetization: p1401.6 = 0
Flux controller output limited
If the current limit p0640[D] is set very low (below the rated magnetizing current value in
p0320[M]), the parameterized flux setpoint p1570 [D] might not be reached at all.
As soon as the time in p0346 (magnetization time) is exceeded, fault F07411 is output.
Generally, the magnetization time is significantly longer than the flux build-up time associated
with quick magnetization.
Error causes and remedies
With quick magnetization configured (p1401.6 = 1), the specified flux setpoint is not reached
even though the current setpoint = 90% of maximum current.
Cause Remedy
Motor data is incorrect. Correct the motor data.
Motor data and motor connection type (star/delta) do not Check the motor connection type.
match.
Current limit in p0640 is set too low for the motor concerned. Correct the current limits (p0640, p0323).
Induction motor (encoderless, open-loop control) at I2t limit. Reduce the load on the induction motor.
Motor Module rating is too low. • Use a larger Motor Module if necessary.
• Check the motor supply cable.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6491 Vector control - Flux control configuration
• 6722 Vector control - Field weakening characteristic, Id setpoint (ASM, p0300 = 1)
• 6723 Vector control - Field weakening controller, flux controller (ASM, p0300 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0207[0...4] Rated power unit current
• p0320[0...n] Motor rated magnetizing current / short-circuit current
• p0346[0...n] Motor excitation build-up time
• p0621[0...n] Stator resistance identification after restart
• p0640[0...n] Current limit
• p0644[0...n] Current limit excitation build-up induction motor
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6.16 Fast magnetization for induction motors
• p1401[0...n] Flux control configuration
• p1570[0...n] CO: Flux setpoint
• p1573[0...n] Flux threshold value magnetization
• p1590[0...n] Flux controller P gain
• p1616[0...n] Current setpoint smoothing time
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6.17 Flying restart
6.17 Flying restart
Function description
WARNING
Unplanned movement of the motor when flying restart is activated
When the "flying restart" (p1200) is activated, the drive can still be accelerated by the search
current despite the fact that it is at standstill and the setpoint is "0"; this can result in death,
severe injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
After power ON, the "flying restart" function automatically connects a Motor Module to a motor
which may already be turning. This function can be activated during operation with/without
encoder.
Procedure
To start the "Flying restart" function, proceed as follows:
1. The function should be activated via p1200 especially for loads which may coast after power
interruption.
This prevents sudden loads in the entire mechanics.
2. With an induction motor, the system waits for a demagnetization time to elapse before the
search is carried out.
Note
De-magnetizing time
• The demagnetization time can reduce the voltage at the motor terminals. At the pulse
enable, this avoids high equalizing currents due to a phase short-circuit.
• An internal demagnetization time is calculated. In addition, you can define a de-excitation
time via parameter p0347. The system waits for the longer of the two times to elapse.
Note
Search
• In operation without an encoder, a search is carried out initially for the current speed. The
search starts at the maximum speed plus 25%. A Voltage Sensing Module (VSM) is
required for permanent-magnet synchronous motors (for additional information, see
SINAMICS S120 Control Units Manual and SINAMICS S120/S150 List Manual in parameter
p1200).
• When operated with an encoder (actual speed value is sensed), the search phase is
eliminated.
3. For an induction or reluctance motor, immediately after the speed has been determined,
magnetization starts (p0346).
4. The current speed setpoint in the ramp-function generator is then set to the current actual
speed value.
The ramp-up to the final speed setpoint starts with this value.
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6.17 Flying restart
Example
After a power failure, a fan drive can be quickly reconnected to the running fan motor by means
of the "flying restart" function.
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6.17 Flying restart
Flying restart in encoderless operation for long cables
As a rule, it is important to consider the cable resistance. The cable resistance is required for
calculation of the thermal motor model.
1. Enter the cable resistance in parameter p0352 before you perform motor data
identification.
2. For an induction motor, set parameter p1203[0...n] to at least 300%.
This operation can take a little longer than for the factory setting (100%).
The setting is not required for a reluctance motor.
Note
Use a trace recording to check and optimize the flying restart function. If necessary, optimize the
settings of parameters p1202 and p1203.
6.17.1 Fast flying restart
Function description
You can only use the "Fast flying restart" function for induction motors in encoderless operation
(vector, U/f linear and parabolic). The application of the function with/without voltage
measurement is described in the following.
Fast flying restart without voltage measurement
To use the function without voltage measurement, the starting frequency is set to zero. The
model settles within approximately 200 ms on its own when the parameterization is correct. The
following conditions must be fulfilled:
• For a current controller cycle time of 250 μs or 400 μs (without filter and long cables)
• Up to 4x rated speed for vector control
• Up to the rated speed for U/f control
You can find the settings for the fast flying restart in the expert list.
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6.17 Flying restart
Procedure
Proceed as follows to configure the function in the expert list:
1. To switch flying restart to "fast flying restart", make the following setting: "p1780.11 = 1".
The normal flying restart had the parameter setting "p1780.11 = 0". For operation with
encoder, settings of this bit are ignored because fast flying restart is not possible in this case.
2. Activate the fast flying restart as with the normal flying restart via parameter p1200.
3. Perform a standstill measurement (p1900 = 2) for the correct parameterization of the voltage
model for both vector and U/f control to determine the power resistance.
The critical parameters are the stator resistance (p0350) and the stator leakage inductance
(p0356).
The following status bits indicate the characteristic of the flying restart:
– For U/f control: r1204.14
– For vector control: r1205.16 or r1205.17
Note
Optimizing the function
You can optimize the function with the aid of parameter p1202 (Flying restart search current).
Parameter p1203, however, has no effect on the fast flying restart.
Note
Detection current must not become too small
If the drive is operated well into the field weakening or with filters or long cables, the detection
current may become too small with the fast flying restart (F07330).
In this case, set the detection current (p1202) to values > 30%.
Fast flying restart with voltage acquisition
The time for the connection to a rotating induction motor can be shortened when the terminal
voltage of the motor is measured. This requires that a VSM module is connected (see Chapter
"Voltage Sensing Module (Page 303)").
Procedure
Proceed as follows to configure the function:
1. Select the voltage measurement for the fast flying restart: p0247.5 = 1.
2. Activate the flying restart: p1200 > 0.
The following status bits indicate the characteristic of the flying restart:
– For U/f control: r1204.15
– For vector control: r1205.18, r1205.19, r1205.20
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6.17 Flying restart
Note
If the measured voltage amplitude undershoots the 1% limit of the converter rated voltage, the
flying restart with voltage measurement is deactivated and the rotating frequency sought.
6.17.2 Flying restart for a synchronous reluctance motor
Function description
WARNING
Unplanned movement of the motor when flying restart is activated
When the "flying restart" (p1200) is activated, the drive can still be accelerated by the search
current despite the fact that it is at standstill and the setpoint is "0"; this can result in death,
severe injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
With encoderless operation of a synchronous reluctance motor, using the "Flying restart"
function, the position and speed of the rotor can be determined with almost no delay. To
increase the quality of the function, a motor data identification routine (p1900, stationary
measurement) must be carried out. The motor properties are measured so that the flying restart
function can optimally determine the speed and the position.
Procedure
Proceed as follows to configure the function:
1. Activate the "Flying restart" function using p1200 = 1 especially for loads which may coast
down after the power is interrupted.
This prevents sudden loads in the entire mechanics.
2. Contrary to an induction motor, for a synchronous reluctance motor, the system does not
wait a specific demagnetization time (see. "Flying restart for an induction motor
(Page 295)"). Flying restart can be activated for the rotating machine immediately after
switching off.
3. For a synchronous reluctance motor, immediately after the speed has been determined,
magnetization starts (p0346).
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6.17 Flying restart
4. The current speed setpoint in the ramp-function generator is then set to the current actual
speed value.
The ramp-up to the final speed setpoint starts with this value.
Bit r1205.21 indicates whether flying restart is active.
5. The search current and the search speed can be set using parameters p1202 and p1203 to
optimize the flying restart.
Note
If the search current is changed (p1202), then a stationary measurement must be carried out
to accept the change. After changing the parameter, the measurement is configured
(p1909.22 = 1) so that it is as short as possible. The bit is only reset if a motor data
identification routine has been carried out.
6.17.3 Messages and parameters
Overview of important faults (see SINAMICS S120/S150 List Manual)
• F07330 Flying restart: Detection current measured too low
• F07331 Flying restart: Function not supported
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0247 Voltage measurement configuration
• p0352[0...n] Cable resistance
• p1082[0...n] Maximum speed
• p1200[0...n] Flying restart operating mode
• p1202[0...n] Flying restart detection current
• p1203[0...n] Flying restart search rate factor
• r1204.0...15 CO/BO: Flying restart, V/f control status
• r1205.0...21 CO/BO: Flying restart, vector control status
• p1780.11 Motor model adaptation configuration
Fast flying restart with voltage model for induction machines
• p1900 Motor data identification and rotating measurement
• p1909[0...n] Motor data identification control word
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6.18 Synchronization
6.18 Synchronization
Requirements
• Drive in the vector control mode with Voltage Sensing Module (VSM10)
• Induction motor without encoder
• Vector control
Function description
You can synchronize a motor with the line supply using the "Synchronization" function and an
existing Voltage Sensing Module VSM10 to measure the line voltage. The connection to the line
supply or the required contactor control can be realized using the existing bypass function or a
higher-level control system. Use of the bypass function allows temporary operation (e.g. for
maintenance work without plant standstill) or permanent operation of the motor on the mains.
Synchronization is activated with parameter p3800. A VSM10 which is assigned to a drive (via
DRIVE-CLiQ), measures the line supply voltage.
Features
The function is characterized by the following features:
• Connector inputs for the actual voltage sensing of the motor via VSM10 (r3661, r3662)
• Setting a phase difference (p3809)
• Can be activated by parameter (p3802)
Function diagrams (see SINAMICS S120/S150 List Manual)
• 7020 Technology functions - Synchronizing
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p3800[0...n] Sync-line-drive activation
• p3801[0...n] Sync-line-drive drive object number
• p3802[0...n] BI: Sync-line-drive enable
• r3803.0 CO/BO: Sync-line-drive control word
• r3804 CO: Sync-line-drive target frequency
• r3805 CO: Sync-line-drive frequency difference
• p3806[0...n] Sync-line-drive frequency difference threshold value
• r3808 CO: Sync-line-drive phase difference
• p3809[0...n] Sync-line-drive phase setpoint value
• p3811[0...n] Sync-line-drive frequency limitation
• r3812 CO: Sync-line-drive correction frequency
• p3813[0...n] Sync-line-drive phase synchronism threshold value
• r3814 CO: Sync-line-drive voltage difference
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6.18 Synchronization
• p3815[0...n] Sync-line-drive voltage difference threshold value
• r3819.0...7 CO/BO: Sync-line-drive status word
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6.19 Voltage Sensing Module
6.19 Voltage Sensing Module
Function description
The Voltage Sensing Module (VSM) is required in the vector control and in U/f control for
following functions:
• Synchronization
Using the "synchronizing" function, the system is synchronized to a line supply. The function
is used in the following use cases:
– After synchronization, a motor is directly switched over to the supply system. The
connection to the line supply or the required contactor control can be realized using the
existing bypass function or a higher-level control system.
– To prevent a plant standstill during maintenance work on the converter, the motor can be
temporarily operated on the mains.
For p3800 = 1, the voltage detection takes place via a VSM, which is connected to the line
phases and assigned to a Motor Module via DRIVE-CLiQ.
• Flying restart
After power ON, the "flying restart" function automatically connects a Motor Module to a
motor which may already be turning. In operation without an encoder, a search is carried out
initially for the motor speed.
For this function, a Voltage Sensing Module (VSM) is required for operation with permanent-
magnet synchronous motors. Further information on using the function with permanent-
magnet synchronous motors can be found in the SINAMICS S120 Equipment Manual Control
Units and SINAMICS S120/S150 List Manual in parameter p1200.
A VSM can be used for operation with induction motors to reduce the duration of the search
(see Chapter "Fast flying restart (Page 297)"). If only one VSM exists, it is used to acquire the
motor voltages when the "Synchronize" function is deactivated (p3800 = 0).
Topology view
The VSM is used on the encoder side for the SINAMICS S120 drives. The VSM is used on the
Vector drive object only in operating modes without encoder. The VSM is integrated into the
topology at the position of the motor encoder.
Commissioning with STARTER
Further information on commissioning the VSM can be found in the "SINAMICS S120
Commissioning Manual for Startdrive", Chapter "Adding Voltage Sensing Module VSM10".
The component number of the VSM from the current topology must be entered in parameter
p0151[0...1]. This parameter assigns the VSM data set to a VSM evaluation routine. With
parameter p0155[0...n] "Activate/deactivate Voltage Sensing Module", it is possible to activate
or deactivate the VSM explicitly as a topology component.
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6.19 Voltage Sensing Module
VSM parameters are independent of the data set model of the SINAMICS S120 drive. A maximum
of two VSMs are permitted for each Vector drive object.
Note
Use of 2 Voltage Sensing Modules
If two Voltage Sensing Modules are connected to one Motor Module, the 1st Voltage Sensing
Module (p0151[0]) is used to measure the line voltage (p3801). The motor voltage is measured
(p1200) with the 2nd Voltage Sensing Module.
Identification via LED and firmware version
The identification of the Voltage Sensing Module via LED is activated via parameter p0154. When
p0154 = 1, the LED RDY on the relevant VSM flashes green/orange or red/orange at a frequency
of 2 Hz. The firmware version of the VSM can be read out on the Vector drive object using
parameter p0158[0,1].
Function diagrams (see SINAMICS S120/S150 List Manual)
• 7020 Technology functions - Synchronizing
• 9880 Voltage Sensing Module (VSM) - Analog inputs (AI 0 ... AI 3)
• 9886 Voltage Sensing Module (VSM) - Temperature evaluation
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0151[0...n] Voltage Sensing Module component number
• p0155[0...n] Activate/deactivate Voltage Sensing Module
• p0158[0...n] Voltage Sensing Module firmware version
• p3800[0...n] Sync-line-drive activation
• p3801[0...n] Sync-line-drive drive object number
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6.20 Simulation mode
6.20 Simulation mode
Requirements
• Initial commissioning must be complete (default: standard induction motors).
• The DC link voltage must be less than 40 V (observe the tolerance of the DC link voltage
sensing).
Function description
Simulation mode allows you to simulate the drive without a connected motor and without the
DC link voltage. In this case, it should be noted that the simulation mode can only be activated
under an actual DC link voltage of 40 V. If the voltage is higher, simulation mode is reset and fault
message F07826 is output.
With the simulation mode, you can test the communication with a higher-level controller. If the
drive is also to return actual values, note that it must be switched over to encoderless operation
during simulation mode. This means that large parts of the SINAMICS software (e.g. software
channel, sequence control, communications, technology function, etc.) can be tested in
advance without requiring a motor.
For units with outputs greater than 75 kW, it is recommended to test the activation of the power
semiconductors after repairs. To do so, a DC voltage of less than 40 V is applied to the DC link and
the possible pulse patterns must then be tested by the control software.
Note
Simulation mode cannot be activated without a power unit. A power unit must be connected via
DRIVE-CLiQ.
Features
• Automatic deactivation with a DC link voltage greater than 40 V (measurement tolerance
± 4 V) with fault F07826 and immediate pulse inhibit (OFF2)
• Can be activated via parameter p1272
• Deactivation of line contactor activation during simulation mode
• Activation of power semiconductor with low DC link voltage and with motor (for test
purposes).
• Power unit and closed-loop control can be simulated without a connected motor.
Activating the function
The simulation mode can be activated via p1272 = 1.
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6.21 Redundancy mode power units
6.21 Redundancy mode power units
Requirements
• Parallel connection is only possible for the same power units of the Chassis or Chassis-2
format
• Maximum of 4 power units in parallel for the Chassis format
• Maximum of 6 power units in parallel for the Chassis-2 format
Note
For the following power units, when commissioning, a firmware version ≥ V5.2 must be
available.
• Active Line Modules in the Chassis-2 format
• Motor Modules in the Chassis-2 format
• Parallel connection of power units with suitable power reserves
• Motor with one single-winding system (p7003 = 0)
• No Safe Torque Off (STO)
Function description
Note
System standstill
Due to feedback effects caused by a lack of galvanic separation, the entire system may come to
a standstill despite a redundancy circuit.
Redundancy mode is suitable for replacing a defective or failed power unit in parallel operation
and continue operation. Before the damaged or failed power unit is removed, it must be
deactivated via p0125 or via the binector input p0895. If a power unit is replaced, it must be
reactivated after it is installed.
Features
• Redundancy for up to 4 power units for the Chassis format
• Redundancy for up to 6 Motor Modules for the Chassis-2 format
• Power unit can be deactivated via parameter (p0125)
• Power unit can be deactivated via binector input (p0895)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0125[0...n] Activate/deactivate power unit component
• r0126[0...n] Power unit components active/inactive
• p0895[0...n] BI: Activate/deactivate power unit component
• p7003 Par_circuit winding system
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6.22 Bypass
6.22 Bypass
Function description
NOTICE
Incorrect synchronization as a result of an incorrect phase sequence
The target frequency r3804 is specified as an absolute value. It does not contain information
about the direction of the rotating field (phase sequence)!
If the phase sequence of the line voltage, which must be synchronized with, does not match
the motor voltage phase sequence, then this results in incorrect synchronization. In the worst-
case scenario, this can mechanically damage the plant or system.
• Ensure that the line voltage phase sequence matches that of the motor voltage. You can
correct the phase sequence as follows:
– Interchange the two feeder cables at the converter output or at the line contactor.
– Correct the phase sequence of the motor or converter output voltage using p1820 or
p1821.
The bypass function controls two contactors via digital outputs of the drive converter and
evaluates the feedback signals of the contactors via digital inputs (e.g. via TM31). The bypass
circuit allows the motor to be operated using the converter or directly on the supply line. The
contactors are activated by the converter. The feedback signals for the contactor positions have
to be returned to the converter.
Features
The "Bypass" function is characterized by the following features:
• Available for vector control
• Available for induction motors without encoder
Restrictions
The following limitations apply to the "Bypass" function:
• Use only when induction motors are used
• Use only for encoderless speed control (p1300 = 20) or U/f control (p1300 = 0 ... 19)
Versions
The bypass circuit can be implemented in two ways:
• Without synchronizing the motor to the line supply
• With synchronizing the motor to the supply
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6.22 Bypass
Supplementary conditions
The following supplementary conditions apply to the use of the bypass function:
• The bypass switch is also always shut down if one of the control word signals OFF2 or OFF3
is canceled and the motor coasts down. If the control word signal OFF1 is withdrawn, the
motor remains connected to the supply system.
Exception:
If necessary, the bypass switch can be interlocked by a higher-level controller such that the
converter can be shut down completely (i.e. including the controller electronics) while the
motor is operated on the supply. The contactor interlocking should be implemented on the
plant/system side.
• When the drive is started up again after POWER ON, the status of the bypass contactors is
evaluated. After powering up, the converter can thereby change straight into "Ready to start
and bypass" status. This is only possible if the bypass is activated via a control signal, the
control signal (p1266) is still present once the system has been ramped up, and the
"Automatic restart" function (p1210 = 4) is active.
The bypass is automatically started again when restarting. To accelerate the motor to the
setpoint speed or to synchronize it to the network, the pulse enable may takes place with the
motor rotating. In this case, it is recommended that you activate the "Flying restart" function
(p1200 = 1). This prevents high current peaks.
• Changing the converter into "Ready to start and bypass" status after powering up, is of a
higher priority than switching back on automatically.
• Monitoring of the motor temperatures using temperature sensors is active while the
converter is in one of two states "Ready to start and bypass" or "Ready for operation and
bypass".
• The two motor contactors must be designed for switching under load.
Note
The application examples contained in the following descriptions are only basic circuits
designed to explain the basic principle of operation. The dimensions of specific circuit
configurations (contactors, protective equipment) must be calculated for specific systems.
Commissioning the function
The bypass function is part of the function module "technology controller" that can be activated
when using the commissioning wizard. Parameter r0108.16 indicates whether it has been
activated.
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6.22 Bypass
6.22.1 Bypass with synchronization with overlap
Function description
The "Bypass synchronized with overlap" function is used for drives with low inertia. These are
drives in which the speed would decrease very quickly when contactor K1 is opened. If the
function "Bypass with synchronization with overlap (p1260 = 1)" is activated, the motor is
transferred, synchronized to the line supply and is also retrieved again. During the changeover,
the two contactors K1 and K2 are simultaneously closed for a time (phase lock synchronization).
A voltage sensing module VSM10 is required for this bypass function, which measures the mains
voltage required for the drive to be synchronized. A reactor is used to de-couple the drive
converter from the line supply - the uk value for the reactor is 10% +/- 2%.
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Note
As a result of the overlap, when synchronizing back to the converter, the DC link voltage can
increase; in the worst case scenario this can result in a fault trip. It is possible to activate an
overvoltage protection function, which, when a Vdc max threshold r1242 is reached, the pulses
are inhibited; as a consequence, the DC link voltage stops increasing. When the pulses are
inhibited, the motor coasts down, which is why it must be restarted on-the-fly. As a
consequence, overvoltage protection is only active if the "Flying restart" function was activated
(p1200 = 1).
Activating the function
The bypass function with synchronization with overlap (p1260 = 1) can only be activated using
a control signal. Activation using a speed threshold is not possible.
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6.22 Bypass
Parameterizing the function
The following parameters must be set after the bypass function with synchronization with
overlap (p1260 = 1) has been activated.
Parameter Description
r1261.0 = Control signal for contactor K1
r1261.1 = Control signal for contactor K2
p1266 = Setting the control signal
P1269[0] = Signal source to provide the feedback signal of contactor K1
P1269[1] = Signal source for contactor K2 feedback
p3800 = 1 Synchronization is activated.
p3802 = r1261.2 Synchronizer activation is triggered by the bypass function.
Transfer of the motor to the power system
The following diagram shows the signal characteristic for the transfer of the motor to the supply
system.
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Figure 6-26 Signal flow: Bypass with synchronization with overlap
For the transfer of the motor to the supply system, contactors K1 and K2 are controlled via the
converter. The transfer of the motor is done in the following order:
• Initial state:
– Contactor K1 is closed.
– Contactor K2 is open and the motor is operated via the converter.
• The control bit "bypass command" (p1266) is set (e.g. from the higher-level automation).
• The bypass function sets the control word bit "synchronizing" (r1261.2).
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6.22 Bypass
• Since the bit is set while the converter is running, the "Transfer motor to supply"
synchronization process is started.
• After the motor has been synchronized to the line frequency, line voltage and line phase, the
synchronizing algorithm reports this status (r3819.2).
• The bypass mechanism evaluates this signal and closes contactor K2 (r1261.1 = 1). The
signal is internally evaluated - BICO wiring is not required.
• After contactor K2 has signaled back the "closed" state (r1269[1] = 1), contactor K1 is opened
and the drive converter inhibits the pulses. The drive converter is in the "hot standby" state.
• If the on command is withdrawn in this phase, the drive converter changes into the basic
standby state. If the appropriate contactors are being used, the drive converter is isolated
from the line supply and the DC link is discharged.
Retrieving the motor from power system operation
Retrieving the motor from mains operation is done in the following order:
• Initial state:
– Contactor K2 is closed.
– Contactor K1 is opened.
• The "Command bypass" control bit is canceled (e.g. by the higher-level automation).
• The bypass function sets the control word bit "synchronizing".
• Pulses are enabled. Since "Synchronize" is set before "Pulse enable", the converter interprets
this as a command to retrieve a motor from the supply and to take it over.
• After the motor has been synchronized to the line frequency, line voltage and line phase, the
synchronizing algorithm reports this status.
• The bypass mechanism evaluates this signal and closes contactor K1. The signal is internally
evaluated - BICO wiring is not required.
• Once contactor K1 has reported "closed" status, contactor K2 is opened and the motor
returns to operation on the drive.
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6.22 Bypass
6.22.2 Bypass with synchronization without overlap
Function description
If the function "Bypass with synchronization without overlap (p1260 = 2)" is activated, contactor
K2 is only closed when contactor K1 has opened (anticipatory type synchronization). During this
time, the motor is not connected to the line supply so that its speed is determined by the load
and the friction. For the function to run correctly, the moment of inertia of the drive and the load
must be sufficiently high.
Note
A sufficiently high moment of inertia is characterized by a change in the motor speed when
contactors K1 and K2 are opened, which is approximately equal to the rated slip.
Further, it must be ensured that at the switchover instant, the motor is not significantly braked
as a result of external effects (e.g. friction).
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Figure 6-27 Circuit example: Bypass with synchronization without overlap
Synchronization setpoint p3809 is used to correct a phase rotation in the signal sensing of the
voltage actual values (p3809 = -180° to 179.90°). Further, using this parameter, the setpoint
angle of the motor voltage can be advanced in a range up to a maximum of 20°el (= maximum
value p3813), in order to compensate for a friction/load-dependent speed decrease during the
bypass switchover.
The phase position of the motor voltage before synchronization can be set using p3809 to
enable an "advance start" before the line supply to which synchronization should be carried out.
As a result of the motor braking in the short time in which both contactors are open, when
closing contactor K2, now a phase and frequency difference of approximately zero must be
obtained. If, when switching over, the angular difference would be > 20°el, then current surges
be expected that cannot be neglected. This is the reason that synchronism is only reached if the
angular difference is ≤ p3813 (maximum of 20°el).
Compensating a speed decrease using p3809 only makes sense if the motor is evenly loaded
during the switchover period. For instance, for conveyor belts, depending on the process
environment, the load can change during the bypass sequence. If, during the switchover
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6.22 Bypass
process, the angular difference is more than 20°el - or if the load for each bypass operation
differs, then the "Bypass with synchronization with overlap (Page 309)" mode must be used.
Features
• Operation only with Voltage Sensing Module (VSM10)
The VSM10 measures the line voltage for the drive to be synchronized.
Activating the function
The bypass function with synchronization without overlap (p1260 = 2) can only be activated
using a control signal. Activation using a speed threshold is not possible.
Parameterizing the function
The following parameters must be set after the bypass function with synchronization without
overlap (p1260 = 2) has been activated.
Parameter Description
r1261.0 = Control signal for contactor K1
r1261.1 = Control signal for contactor K2
p1266 = Setting the control signal
P1269[0] = Signal source to provide the feedback signal of contactor K1
P1269[1] = Signal source for contactor K2 feedback
p3800 = 1 Synchronization is activated.
p3802 = r1261.2 Synchronizer activation is triggered by the bypass function.
p3809 = Setting of the phase setpoint for synchronizing the drive to the line supply
6.22.3 Bypass without synchronization
Function description
When the motor is transferred to the line supply, contactor K1 is first opened (after the drive
pulse inhibit). The system then waits for the motor excitation time to elapse, after which
contactor K2 is closed, connecting the motor directly to the line supply.
If the motor is switched on in a non-synchronized manner, when activated an equalizing current
flows and this must be taken into account when designing the protective equipment (see
following figure). This is why this type of bypass function is only suitable for drives with a low
power rating.
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6.22 Bypass
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Figure 6-28 Example: Bypass without synchronization
When the converter retrieves the motor from the line supply, initially contactor K2 is opened, and
after the excitation time has expired, contactor K1 is closed. The drive converter then connects
to the rotating motor and the motor is fed from the drive converter.
Features
The function is characterized by the following features:
• Operation without Voltage Sensing Module (VSM10)
Requirements
• Contactor K2 must be designed for switching an inductive load.
• Contactors K1 and K2 must be interlocked against closing at the same time.
• The "flying restart" function must be activated (p1200).
Activating the function
Activation of the bypass function without synchronization (p1260 = 3) can be triggered via the
following signals (p1267):
• Bypass using control signal (p1267.0 = 1):
Activation of the bypass is triggered by a digital signal (p1266) e.g. from a higher-level
control system. If the digital signal is withdrawn, a changeover to converter operation is
initiated once the bypass delay time (p1263) has expired.
• Bypass at speed threshold (p1267.1 = 1)
Once a certain speed is reached, the system changes over to bypass, i.e. the converter is used
as a start-up converter. The precondition for activating the bypass is that the speed setpoint
is greater than the bypass speed threshold (p1265).
Switching back to converter operations is initiated by the setpoint (at input of ramp
generator, r1119) falling below the bypass speed threshold (p1265). The setpoint >
comparison value condition prevents the bypass from being reactivated straight away if the
actual speed is still above the bypass speed threshold (p1265) after switching back to
converter operations.
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6.22 Bypass
Parameterizing the function
After activating the bypass function without synchronization (p1260 = 3) the following
parameters have to be set:
Table 6-3 Parameter settings for non-synchronized bypass function with overlap
Parameter Description
r1261.0 = Control signal for contactor K1
r1261.1 = Control signal for contactor K2
p1262 = Setting of the dead time for non-synchronized bypass
Note
The total time for switching over to line operation (DOL operation) is obtained from
the sum of p1262[0...n] and the monitoring time of the corresponding switch
(p1274[1] = switch motor/line supply).
The total time for switching back to converter operation (VSD operation) is obtained
from the sum of p1262[0...n] and the monitoring time of the corresponding switch
(p1274[0] = motor/drive).
p1263 = Setting of the delay time to switch back to converter operation for a non-synchron‐
ized bypass
Note
The delay time corresponds to the time between the reset of the bypass command
and the status change from 1 to 0 in p1261.1 (command, switch motor - line sup‐
ply). The 0 signal corresponds to the "Open" command, and the 1 signal, the "Close"
command.
p1264 = Setting of the delay time to switch to line operation for a non-synchronized bypass
Note
The delay time corresponds to the time between setting the bypass command and
the status change from 1 to 0 in p1261.0 (command, switch motor - power unit).
The 0 signal corresponds to the "Open" command, and the 1 signal, the "Close"
command.
p1265 = Setting of the speed threshold to activate the bypass (for p1267.1 = 1)
p1266 = Setting of the signal source for the control command to the bypass (for p1267.0 = 1)
p1267.0 or Trigger signal setting for bypass function
p1267.1 =
p1268 = Setting of the signal source for the feedback signal "synchronization completed"
P1269[0] = Setting of the signal source for the feedback signal of contactor K1
P1269[1] = Setting of the signal source for the feedback signal of contactor K2
p1274[0...1] = Bypass switch monitoring time
p3800 = 0 Synchronization is deactivated.
p3802 = r1261.2 Synchronizer activation is triggered by the bypass function.
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6.22 Bypass
6.22.4 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 7020 Technology functions - Synchronizing
Overview of important parameters (see SINAMICS S120/S150 List Manual)
Bypass function
• p1260 Bypass configuration
• r1261.0...12 CO/BO: Bypass control/status word
• p1262[0...n] Bypass dead time
• p1263 Debypass (revert to drive) delay time
• p1264 Bypass delay time
• p1265 Bypass speed threshold
• p1266 BI: Bypass control command
• p1267 Bypass changeover source configuration
• p1268 BI: Bypass feedback signal synchronization completed
• p1269[0...1] BI: Bypass switch feedback signal
• p1274[0...1] Bypass switch monitoring time
Synchronization
• p3800[0...n] Sync-line-drive activation
• p3801[0...n] Sync-line-drive drive object number
• p3802[0...n] BI: Sync-line-drive enable
• r3803.0 CO/BO: Sync-line-drive control word
• r3804 CO: Sync-line-drive target frequency
• r3805 CO: Sync-line-drive frequency difference
• p3806[0...n] Sync-line-drive frequency difference threshold value
• r3808 CO: Sync-line-drive phase difference
• p3809[0...n] Sync network drive phase setpoint value
• p3811[0...n] Sync-line-drive frequency limitation
• r3812 CO: Sync-line-drive correction frequency
• p3813[0...n] Sync-line-drive phase synchronism threshold value
• r3814 CO: Sync-line-drive voltage difference
• p3815[0...n] Sync-line-drive voltage difference threshold value
• r3819.0...7 CO/BO: Sync-line-drive status word
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6.23 Asynchronous pulse frequency
6.23 Asynchronous pulse frequency
Function description
The pulse frequency is coupled to the current controller cycle, and can only be adjusted in
multiple integer steps. For most standard applications, this setting makes sense and should not
be modified. For certain applications, decoupling of the pulse frequency from the current
controller cycle can result in the following advantages:
• Motor Modules or Power Modules are optimized.
• Certain motor types are operated with a more favorable pulse frequency.
• Motor Modules of different sizes can be operated with different pulse frequencies.
• Faster sampling times can be set for DCC and free function blocks.
• Faster setpoint transfers from a higher-level control system are possible.
• Automatic commissioning routines with different current controller cycles are simplified.
This function is enabled for Motor Modules and Power Modules in the Chassis format in vector
control.
Activating the function
To be able to activate the asynchronous pulse frequency, the following requirements must be
satisfied:
• r0192.16 = 1
• p1800 < 2 · 1000/p0115[0]
• p1810.3 = 0
When the requirements are satisfied, the asynchronous pulse frequency (for vector control) can
be activated with the parameter setting p1810.12 = 1. The activation has the following effects:
• Switchover of the gating unit (p1810 bit 2)
• Switch on of the actual current value correction (p1840 bit 0)
• Minimum pulse frequency 1000 · 0.5 / p0115[0]
• Maximum pulse frequency 1000 · 2 / p0115[0]
• Fluctuating dead times and dynamic response in the current control circuit
• Increased current ripple in the current display
Example
Application
A large Motor Module (> 250 kW) in Chassis format and a small Motor Module (< 250 kW) in
Booksize format are to be connected to a DRIVE-CLiQ line. The factory setting of the current
controller cycle of the large Motor Module is 400 µs, corresponding to a pulse frequency of 1.25
kHz. The factory setting of the current controller cycle of the small Motor Module is 250 µs,
corresponding to a pulse frequency of 2 kHz.
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6.23 Asynchronous pulse frequency
Problem
For standard applications, the current controller cycle of the large Motor Module is increased up
to 500 µs, an integer multiple of the current controller cycle of 250 µs. As a consequence, the
pulse frequency of the large Motor Module is 1 kHz. As a consequence, the Motor Module in
Chassis format is no longer optimally utilized.
Remedy
Set the pulse frequency for the Motor Module Chassis to asynchronous operation with
p1800.10 = 12. Then increase the pulse frequency to 1.25 kHz with p1800. The current
controller cycle remains unchanged at 500 µs. The Chassis Motor Module is better utilized as a
result of the increased pulse frequency.
When setting the pulse frequency for the Motor Module Chassis, the Motor Module Booksize is
still operated in sync with the current control cycle of 250 µs at a pulse frequency of 2 kHz.
Boundary conditions for asynchronous pulse frequency
• A higher system utilization as a result of the activated gating unit for the asynchronous pulse
frequency (p1810.12 = 1) and the required current actual value correction (p1840 = 1)
causes:
– Halving the maximum number of axes that can be used
– A reduction in the current controller dynamic performance
• The maximum pulse frequency that can be set is limited to double the frequency of the
current controller cycle.
• The pulse procedure, where the pulse frequency can be freely adjusted, is not suitable for a
permanent-magnet synchronous motor without an encoder.
• If output reactors or filters are connected to a Motor Module in the Chassis format, when
dimensioning the reactors, the maximum pulse frequency must be taken into account and
for sine-wave filters, the minimum pulse frequency.
• The motor data identification must be performed with a current controller cycle of 250 µs or
500 µs with 2 kHz.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0115[0...6] Sampling times for internal control loops
• p1800[0...n] Pulse frequency setpoint
• p1810 Modulator configuration
• p1840[0...n] Actual value correction configuration
Drive functions
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U/f control (vector control) 7
Function description
The U/f control characteristic is the simplest way to control an induction motor. When
configuring the drive using the Startdrive commissioning tool, U/f control is activated under
“Drive axis > Parameters > Basic parameter assignment > Control mode" screen (also see p1300).
Note
Ratio between the rated motor current and the rated Motor Module current
For U/f control, the permissible range of the ratio between the rated motor current (p0305) and
rated Motor Module current (r0207) is 1:1 to 1:12.
The stator voltage of the induction motor is set proportional to the stator frequency. This
procedure is used for the following standard applications where the dynamic performance
requirements are low:
• Pumps
• Fans
• Belt drives
U/f control aims to maintain a constant flux Φ in the motor whereby the flux is proportional to
the magnetizing current (Iµ) or the ratio of voltage (V) to frequency (f).
• Φ ∼ Iµ ∼ U/f
The torque M generated by an induction motor is proportional to the product of the flux and
current (the vector product Φ · I).
• M∼Φ·I
To generate as much torque as possible with a given current, the motor must function using the
greatest possible constant flux. To maintain a constant flux (Φ), therefore, the voltage (V) must
be changed in proportion to the frequency (f) to ensure a constant magnetizing current (Iµ). U/
f characteristic control is derived from these basic premises.
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Drive functions
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U/f control (vector control)
The following table gives an overview of the various versions of the U/f characteristic:
Table 7-1 U/f characteristic (p1300)
Parame‐ Meaning Application / property
ter values
0 Linear characteristic Standard (without voltage boost) 9
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also results in small currents and losses
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Drive functions
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U/f control (vector control)
Parame‐ Meaning Application / property
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and ECO • In the ECO mode, the efficiency at a constant operating point is optimized. This opti‐
mization is only effective in steady-state operation and when the ramp-function gen‐
erator is not bypassed.
• You must activate slip compensation and set the scaling of the slip compensation
(p1335) so that the slip is completely compensated (generally, 100%).
5 Precise frequency Characteristic that takes into account the technological particularity of an application
drives (e.g. textile applications):
• Whereby the current limitation (Imax controller) only affects the output voltage and
not the output frequency
• By disabling slip compensation
6 Precise frequency Characteristic that takes into account the technological particularity of an application
drives with flux cur‐ (e.g. textile applications):
rent control (FCC) • Whereby the current limitation (Imax controller) only affects the output voltage and
not the output frequency
• By disabling slip compensation
Voltage losses in the stator resistance for static/dynamic loads are also compensated (Flux
Current Control FCC). This function is required for small motors, as, in comparison to large
motors, they have a relatively high stator resistance.
7 Parabolic characteris‐ Characteristic, see parameter 1 and ECO mode at a constant operating point.
tic and ECO • In the Eco mode, the efficiency at a constant operating point is optimized. This opti‐
mization is only effective in steady-state operation and when the ramp-function gen‐
erator is not bypassed.
• You must activate slip compensation and set the scaling of the slip compensation
(p1335) so that the slip is completely compensated (generally, 100%).
19 Independent voltage The user can define the output voltage of the Motor Module independently of the fre‐
setpoint quency using BICO parameter p1330 via the interfaces (e.g. analog input AI0 of Terminal
Board 30 –> p1330 = r4055[0]).
Drive functions
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U/f control (vector control)
Function diagram
• 6300 Vector control - U/f control, overview
• 6301 Vector control - U/f characteristic and voltage boost
Parameter
• p1300[0...n] Open-loop/closed-loop control operating mode
• p1320[0...n] U/f control programmable characteristic frequency 1
...
• p1327[0...n] U/f control programmable characteristic voltage 4
• p1330[0...n] CI: U/f control independent of voltage setpoint
• p1331[0...n] Voltage limitation
• p1333[0...n] U/f control FCC starting frequency
• r1348 CO: U/f control Eco factor actual value
• p1350[0...n] U/f control soft starting
Drive functions
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U/f control (vector control)
7.1 Technology application (application) (p0500)
7.1 Technology application (application) (p0500)
Function description
Using parameter p0500, you can influence the calculation of open-loop control and closed-loop
control parameters. The default setting helps you find suitable values for standard applications.
You can make preassignments for the following technological applications:
Value p0500 Application
0 Standard drive (vector)
1 Pumps and fans
2 Encoderless control down to f = 0 (passive loads)
4 Dynamic response in the field weakening range
5 Starting with high breakaway torque
6 High load moment of inertia (e.g. centrifuges)
An overview of the influenced parameters and the set values is provided in the "SINAMICS S120/
S150 List Manual".
Instantiating the calculation of the parameters
You call the calculation of the parameters, which influence the technological application, as
follows:
• When exiting quick commissioning with p3900 > 0
• When automatically calculating the motor/closed-loop control parameters with
p0340 = 1, 3, 5 (for p0500 = 6: p0340 = 1, 3, 4)
• When calculating the technology-dependent parameters with p0578 = 1
Drive functions
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U/f control (vector control)
7.2 Voltage boost
7.2 Voltage boost
Function description
According to the U/f characteristic, at an output frequency of 0 Hz, the control supplies an output
voltage of 0 V. This means that at 0 V the motor cannot generate any torque. For this reason, the
use of the "Voltage boost" function makes sense in the following cases:
• Magnetization build-up of an induction motor at n = 0 rpm
• Build-up of a torque at n = 0 rpm (e.g. in order to hold a load)
• Generation of a breakaway, acceleration or braking torque
• Compensation of ohmic losses in the windings and feeder cables
The voltage boost affects all U/f characteristics (p1300).
Note
Excessive motor temperature rise
If the voltage boost value is too high, this can result in an excessively high motor winding
temperature increase - and therefore result in a shutdown (trip).
Versions
Three different options are available for the voltage boost:
• Permanent voltage boost with p1310
• Voltage boost only while accelerating with p1311
• Voltage boost only while starting for the first time with p1312
The following figure shows the signal characteristic in the 3 variants of the function.
Drive functions
324 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
U/f control (vector control)
7.2 Voltage boost
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Example: Voltage boost, permanent
The following applies in this example:
• p1300 = 0
• p1310 > 0
• Vpermanent = P0305 (rated motor current · p0395 (actual stator resistance) · p1310 (permanent
voltage boost)
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 325
U/f control (vector control)
7.2 Voltage boost
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Example: Voltage boost while accelerating
Voltage boost while accelerating is effective if the ramp-function generators provide the
feedback signal "ramp-up active" (r1199.0 = 1). The following applies in this example:
• p1300 = 0
• p1311 > 0
• Vacceleration = P0305 (rated motor current · p0395 (actual stator resistance) · p1311 (voltage
when accelerating)
Drive functions
326 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
U/f control (vector control)
7.2 Voltage boost
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 6301 Vector control - U/f characteristic and voltage boost
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0304[0...n] Rated motor voltage
• p0305[0...n] Rated motor current
• r0395[0...n] Current stator resistance
• p1300[0...n] Open-loop/closed-loop control operating mode
• p1310[0...n] Starting current (voltage boost) permanent
• p1311[0...n] Starting current (voltage boost) acceleration
• p1312[0...n] Starting current (voltage boost) when starting
• r1315 Voltage boost total
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 327
U/f control (vector control)
7.3 Slip compensation
7.3 Slip compensation
Function description
The slip compensation ensures that the motor setpoint speed nset of induction motors is
essentially kept constant independent of the load. For a load step from M1 to M2, the setpoint
frequency should be automatically increased, so that the resulting frequency and therefore the
motor speed is kept constant. When the load decreases from M2 to M1, then the setpoint
frequency is automatically reduced.
If a motor holding brake is used, a setting value can be specified at the slip compensation output
via p1351. A parameter setting of p1351 > 0 automatically activates the slip compensation
(p1335 = 100 %).
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Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0330[0...n] Rated motor slip
• p1334[0...n] U/f control slip compensation starting frequency
• p1335[0...n] Slip compensation scaling
p1335 = 0.0 % The slip compensation is deactivated.
p1335 = 100.0 The slip is fully compensated.
%:
• p1336[0...n] Slip compensation limit value
• r1337 CO: Actual slip compensation
• p1351[0...n] CO: Motor holding brake start frequency
Drive functions
328 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
U/f control (vector control)
7.4 Resonance damping
7.4 Resonance damping
Function description
The resonance damping function dampens active current oscillations that can occur under no-
load conditions. Resonance damping is active in a range between 5% and 90% of the rated motor
frequency (p0310), but only up to 45 Hz.
Note
Maximum frequency resonance damping
When p1349 = 0, the changeover limit is automatically set to 95% of the rated motor frequency,
but only up to a maximum of 45 Hz.
The following figure shows the signal curve of the function.
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 6310 Vector control - Resonance damping and slip compensation
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0066 CO: Output frequency
• r0078 CO: Torque-generating actual current value
• p0310[0...n] Rated motor frequency
• p1338[0...n] U/f mode resonance damping gain
• p1339[0...n] U/f mode resonance damping filter time constant
• p1349[0...n] U/f mode resonance damping maximum frequency
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 329
U/f control (vector control)
7.5 Vdc control
7.5 Vdc control
Function description
The "Vdc control" function can be activated using the appropriate measures if an overvoltage or
undervoltage is present in the DC link.
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Figure 7-3 Vdc control U/f
Undervoltage in the DC link
• Typical cause:
Failure of the supply voltage or supply for the DC link.
• Remedy:
Specify a regenerative torque for the rotating drive to compensate the existing losses,
thereby stabilizing the voltage in the DC link (kinetic buffering).
Drive functions
330 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
U/f control (vector control)
7.5 Vdc control
Overvoltage in the DC link
• Typical cause:
The drive is operating in regenerative mode and is supplying too much energy to the DC link.
• Remedy:
Reduce the regenerative torque to maintain the DC link voltage within permissible limits.
Features
• Vdc control
– This comprises Vdc_max control and Vdc_min control (kinetic buffering). These two functions
can be parameterized independently of one another and activated.
– There is a common PID controller. The dynamic factor is used to set Vdc_min and Vdc_max
control to a smoother or harder setting independently of each other.
• Vdc_min control (kinetic buffering)
– With this function, the kinetic energy of the motor is used for buffering the DC link voltage
in the event of a momentary power failure, thereby delaying the drive.
• Vdc_max control
– This function can be used to control momentary regenerative load without shutdown
using "overvoltage in the DC link".
– Vdc_max control is only recommended with a supply without active closed-loop control for
the DC link and without feedback.
Vdc_min control
In the event of a power failure, Vdc_min is activated when the Vdc_min switch-on level is undershot.
This controls the DC link voltage and maintains it at a constant level. The motor speed also
decreases.
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When the line supply returns, the DC link voltage increases again. 5% above the Vdc_min switch-on
level, the Vdc_min control is switched off again. The motor continues operating normally.
If the power supply is not re-established, the motor speed continues to drop. When the threshold
in p1297 is reached, this results in a response in accordance with p1296.
Drive functions
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U/f control (vector control)
7.5 Vdc control
Once the time threshold (p1295) has elapsed without the line voltage being re-established, a
fault is triggered (F07406), which can be parameterized as required (factory setting: OFF3).
The Vdc_min controller can be activated for a drive. Other drives can participate in supporting the
DC link, by transferring to them a scaling of their speed setpoint from the controlling drive via
BICO interconnection.
Note
If it is expected that the line supply will return, you must make sure that the converter is not
disconnected from the line supply. It could become disconnected, for example, if the line
contactor drops out. The line contactor must be supplied, e.g. from an uninterruptible power
supply (UPS).
Vdc_max control
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The switch-on level for Vdc_max-control (r1282) is calculated as follows:
p1294 (automatic sensing of the Switch-on level of the Vdc_max con‐ Comment
ON level (U/f)) trol (r1282)
Val Meaning
ue
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Drive functions
332 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
U/f control (vector control)
7.5 Vdc control
Restrictions for Basic Line Modules
WARNING
Unplanned movement of individual drives
If several Motor Modules are supplied from one infeed unit without energy recovery capability,
unplanned acceleration of individual drives can occur if the Vdc_max control is incorrectly
parameterized. This can result in death or serious injury.
• Only activate the Vdc_max control for the Motor Module whose drive has the highest moment
of inertia.
• Inhibit this function for all other Motor Modules, or set this function to monitoring only.
If several Motor Modules are supplied from one infeed unit without energy recovery capability
(e.g. a Basic Line Module), or on power failure or overload (for SLM / ALM), the Vdc_max control may
only be activated for a Motor Module with a high moment of inertia. For Motor Modules with a
low moment of inertia, this function must be disabled or monitoring must be set.
If the Vdc_max control is active for multiple Motor Modules, then the controllers may have negative
effects on each other in the case of unfavorable parameter assignment. The drives may become
unstable and individual drives may unintentionally accelerate.
Remedy
• activate the Vdc_max control:
– Vector control: p1240 = 1 (factory setting)
– Servo control: p1240 = 1
– U/f control: p1280 = 1 (factory setting)
• Inhibit Vdc_max control:
– Vector control: p1240 = 0
– Servo control: p1240 = 0 (factory setting)
– U/f control: p1280 = 0
• Activate the Vdc_max monitoring
– Vector control: p1240 = 4 or 6
– Servo control: p1240 = 4 or 6
– U/f control: p1280 = 4 or 6
Function diagrams (see SINAMICS S120/S150 List Manual)
• 6320 Vector control - Vdc_max controller and Vdc_min controller (V/f)
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 333
U/f control (vector control)
7.5 Vdc control
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1280[0...n] Vdc controller or Vdc monitoring configuration (V/f)
• r1282 Vdc_max controller switch-on level (V/f)
• p1283[0...n] Vdc_max controller dynamic factor (V/f)
• p1285[0...n] Vdc_min controller switch-on level (kinetic buffering) (V/f)
• r1286 Vdc_min controller switch-on level (kinetic buffering) (V/f)
• p1287[0...n] Vdc_min controller dynamic factor (kinetic buffering) (V/f)
• p1290[0...n] Vdc controller proportional gain (V/f)
• p1291[0...n] Vdc controller integral time (V/f)
• p1292[0...n] Vdc controller derivative time (V/f)
• p1293[0...n] Vdc_min controller output limit (V/f)
• p1294 Vdc_max controller automatic detection ON signal level (V/f)
• p1295[0...n] Vdc_min controller time threshold (V/f)
• p1296[0...n] Vdc_min controller response (kinetic buffering) (V/f)
• p1297[0...n] Vdc_min controller speed threshold (V/f)
• r1298 CO: Vdc controller output (V/f)
Drive functions
334 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Basic functions 8
8.1 Switching over units
Function description
By changing over the units, parameters and process quantities for input and output can be
changed over to an appropriate system of units (US units or as per unit quantities (%)).
The following supplementary conditions apply when changing over units:
• Parameters of the drive converter rating plate or the motor rating plate can be changed over
between SI/US units; however, a per unit representation is not possible.
• After changing over the units parameter, all parameters that are assigned to one of the units
group dependent on it, are all changed over to the new system of units.
• A parameter is available to select technological units (p0595) to represent technological
quantities in the technology controller.
• If a changeover is made to referenced variables and the reference variable is subsequently
changed, the % value entered in a parameter will not change.
Examples:
– A fixed speed of 80% corresponds, for a reference speed of 1500 RPM, to a value of 1200
RPM.
– If the reference speed is changed to 3000 RPM, then the value of 80% is kept and now
means 2400 RPM.
Restrictions
• When a unit changeover occurs, rounding to the decimal places is carried out. This can mean
that the original value might change by up to one decimal place.
• If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the referenced values of some of the control parameters are also adjusted to
ensure that the control behavior is unaffected.
• If you change the reference variables (p2000 to p2007) offline, there is a risk that the
parameter value ranges will be violated. In this case, appropriate fault messages will be
displayed when the parameters are loaded to the drive unit.
Groups of units
Every parameter that can be changed over is assigned to a units group, that, depending on the
group, can be changed over within certain limits.
This assignment and the unit groups can be read for each parameter in the parameter list in the
SINAMICS S120/S150 List Manual.
The unit groups can be individually switched using 4 parameters (p0100, p0349, p0505 and
p0595).
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 335
Basic functions
8.1 Switching over units
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0010 Infeed, commissioning parameter filter
• p0100 IEC/NEMA motor standard
• p0349 Unit system, motor equivalent circuit diagram data
• p0505 Unit system selection
• p0595 Technological unit selection
• p0596 Technological unit reference variable
• p2000 Reference speed reference frequency
• p2001 Reference voltage
• p2002 Reference current
• p2003 Reference torque
• r2004 Reference power
• p2005 Reference angle
• p2006 Reference temperature
• p2007 Reference acceleration
Drive functions
336 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Basic functions
8.2 Reference parameters/scaling
8.2 Reference parameters/scaling
Function description
Reference values, corresponding to 100%, are required to display units as percentages. These
reference values are entered in parameters p2000 to p2007. They are computed during the
calculation using p0340 = 1. After calculation in the drive, these parameters are automatically
protected via p0573 = 1 from being overwritten in a new calculation (p0340). This eliminates
the need to adjust the references values in a PROFIdrive controller whenever a new calculation
of the reference parameters via p0340 takes place.
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Note
If a referenced form is selected and the reference parameters (e.g. p2000) are changed
retrospectively, the referenced values of some of the control parameters are also adjusted to
ensure that the control behavior is unaffected.
Behavior in the case of offline parameter assignment.
After the offline drive configuration, the reference parameters are preset.
Note
If the reference values (p2000 to p2007) are changed offline, it can lead to limit violations of the
parameter values, which cause alarms or faults when loading to the drive unit.
Scaling for the vector drive object
Table 8-1 Scaling for the vector drive object
Size Scaling parameter Default when commissioning for the first
time
Reference speed 100% = p2000 p2000 = Maximum speed (p1082)
Reference voltage 100% = p2001 p2001 = 1000 V
Reference current 100% = p2002 p2002 = Current limit (p0640)
Reference torque 100% = p2003 p2003 = 2 · rated motor torque (r0333)
Reference power 100% = r2004 r2004 = p2003 · p2000 · 2π / 60
Reference angle 100% = p2005 90°
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 337
Basic functions
8.2 Reference parameters/scaling
Size Scaling parameter Default when commissioning for the first
time
Reference acceleration 100% = p2007 0.01 1/s2
Reference frequency 100% = p2000/60 -
Reference modulation 100% = Maximum output -
depth voltage without overload
Reference flux 100% = Rated motor flux -
Reference temperature 100 % = p2006 100°C
Reference electrical angle 100 % = p2005 90°
Note
Operation of motors in the field-weakening range
If the motors are to be operated in the field-weakening range > 2:1, the value of parameter
p2000 must be set ≤ 1/2 x maximum speed of the drive object.
Scaling for the servo drive object
Table 8-2 Scaling for the servo drive object
Size Scaling parameter Default when commissioning for the first
time
Reference speed 100% = p2000 Induction motor p2000 = Maximum motor
speed (p0322)
Synchronous motor p2000 = Rated motor
speed (p0311)
Reference voltage 100% = p2001 p2001 = 1000 V
Reference current 100% = p2002 p2002 = Motor limit current (p0338); when
p0338 = "0", 2 · rated motor current (p0305)
Reference torque 100% = p2003 p2003 = p0338 · r0334; if "0", then 2 · rated
motor torque (r0333)
Reference power 100% = r2004 r2004 = p2003 · p2000 · π / 30
Reference angle 100% = p2005 90°
Reference acceleration 100% = p2007 0.01 1/s2
Reference frequency 100% = p2000/60 -
Reference modulation 100% = Maximum output -
depth voltage without overload
Reference flux 100% = Rated motor flux -
Reference temperature 100 % = p2006 100°C
Reference electrical angle 100 % = p2005 90°
Note
Operation of motors in the field-weakening range
If the motors are to be operated in the field-weakening range > 2:1, the value of parameter
p2000 must be set ≤ 1/2 x maximum speed of the drive object.
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8.2 Reference parameters/scaling
Scaling for the A_INF drive object
Table 8-3 Scaling for the A_INF drive object
Size Scaling parameter Default when commissioning for the first
time
Reference frequency 100% = p2000 p2000 = p0211
Reference voltage 100% = p2001 p2001 = p0210
Reference current 100% = p2002 p2002 = r0206/p0210/√3
Reference power 100% = r2004 r2004 = r0206
Reference modulation 100% = Maximum output -
depth voltage without overload
Reference temperature 100 % = p2006 100°C
Reference electrical angle 100 % = p2005 90°
Scaling for the S_INF drive object
Table 8-4 Scaling for the S_INF drive object
Size Scaling parameter Default when commissioning for the first
time
Reference frequency 100% = p2000 p2000 = 50 Hz
Reference voltage 100% = p2001 p2001 = p0210
Reference current 100% = p2002 p2002 = r0206/p0210/√3
Reference power 100% = r2004 r2004 = r0206
Reference modulation 100% = Maximum output -
depth voltage without overload
Reference temperature 100 % = p2006 100°C
Reference electrical angle 100 % = p2005 90°
Scaling for the B_INF drive object
Table 8-5 Scaling for the B_INF drive object
Size Scaling parameter Default when commissioning for the first
time
Reference frequency 100% = p2000 p2000 = 50 Hz
Reference voltage 100% = p2001 p2001 = p0210
Reference current 100% = p2002 p2002 = r0206/p0210/√3
Reference power 100% = r2004 r2004 = r0206
Reference temperature 100 % = p2006 100°C
Reference electrical angle 100 % = p2005 90°
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8.2 Reference parameters/scaling
Parameters (see SINAMICS S120/S150 List Manual)
• r0206[0...4] Rated power module power
• p0210 Device supply voltage
• p0340[0...n] Automatic calculation of motor/control parameters
• p0573 Inhibit automatic reference value calculation
• p2000 Reference speed reference frequency
• p2001 Reference voltage
• p2002 Reference current
• p2003 Reference torque
• r2004 Reference power
• p2005 Reference angle
• p2006 Reference temperature
• p2007 Reference acceleration
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8.3 Checking for a short-circuit/ground fault at a motor
8.3 Checking for a short-circuit/ground fault at a motor
Overview
The function is only available for vector control.
Function description
When switching on the power unit, test pulses can be generated that check the connection
between the power unit and motor - or the motor winding itself - for a short-circuit or ground
fault.
This function is only available for vector control.
In parameter p1901, you can define as to whether only the short circuit test is executed or
additionally also a ground fault test (with higher current pulses). The parameter can be
configured as follows:
• p1901.0: Checks for a conductor-conductor short-circuit once when the pulses are enabled.
• p1901.1: Checks for a ground fault once when the pulses are enabled.
• p1901.2 = 0: The checks selected with bit 00 or bit 01 are performed once when the pulses
are enabled.
• p1901.2 = 1: The checks selected with bit 00 or bit 01 are performed each time the pulses are
enabled.
The test can be executed once after the Control Unit is switched on (POWER ON) or each time
that the pulses are enabled.
The ground fault test is only possible when the motor is stationary, and is therefore only realized
when flying restart is deactivated (p1200 = 0).
The tests slightly delay motor starting, depending on the selection in p1901. The result of the
short-circuit or ground fault test is indicated in r1902.
Note
The ground fault and short-circuit test is automatically deactivated as soon as a sine-wave filter
is connected. The test pulses can excite the filter.
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8.4 Modular machine concept
8.4 Modular machine concept
Function description
The modular machine concept is based on a maximum target topology created in the offline
mode in the engineering tool. The maximum design of a particular machine type is referred to
as the maximum configuration in which all the machine components that may be used are pre-
configured in the target topology. Sections of the maximum configuration can be removed by
deactivating or removing drive objects (p0105 = 2).
If a component fails, the sub-topology can also be used to allow a machine to continue running
until the spare part is available. In this case, however, no BICO source must be interconnected
from this drive object to other drive objects.
Example of a sub-topology
The starting point is a machine created in the engineering tool in offline mode for which "Drive
1" has not been implemented.
• Object "Drive 1" must be removed from the target topology via p0105 = 2 in the offline mode.
• The DRIVE-CLiQ cable is reconnected from the Control Unit directly to "Drive 2".
• Download the project by choosing "Load to drive object".
• Copy from RAM to ROM.
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8.4 Modular machine concept
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960
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0RGXOH 0RGXOH
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Figure 8-2 Example of a sub-topology
Note
Defective Safety Integrated status indicator
If a drive in a Safety Integrated drive line-up is deactivated using p0105, then r9774 is not
correctly output. The signals of a deactivated drive are no longer updated.
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8.4 Modular machine concept
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0105 Activate/deactivate drive object
• r0106 Drive object active/inactive
• p0125[0...n] Activate/deactivate power unit component
• r0126[0...n] Power unit components active/inactive
• p0145[0...n] Enable/disable sensor interface
• r0146[0...n] Sensor interface active/inactive
• p9495 BICO behavior for deactivated drive objects
• p9496 BICO behavior when activating drive objects
• r9498[0 ... 29] BICO BI/CI parameters for deactivated drive objects
• r9499[0 ... 29] BICO BO/CO parameters for deactivated drive objects
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8.5 Sine-wave filter
8.5 Sine-wave filter
Overview
The "Sine-wave filter" function is only available for vector control.
Function description
NOTICE
Damage to the sine-wave filter through incorrect parameterization
Incorrect parameterization can damage the sine-wave filter.
• Activate the sine-wave filter during commissioning via parameter p0230 = 3.
NOTICE
Damage to the sine-wave filter if a motor is not connected
Sine-wave filters, which are operated without a motor being connected, can be damaged or
destroyed.
• Never operate a sine-wave filter connected to the Power Module or Motor Module without
a motor being connected.
The sine-wave filter limits the rate-of-rise of voltage and the capacitive charging/discharging
currents that usually occur with converter operation. It also prevents additional noise caused by
the pulse frequency. The service life of the motor is the same as that with direct line operation.
Usage restrictions for sine-wave filters
The following restrictions apply depending on the sine-wave filter used:
• The output frequency of the sine-wave filter used must be taken into consideration.
• The maximum permissible motor cable lengths (shielded, unshielded) for the sine-wave
filter used must be carefully taken into consideration.
• The modulation type is permanently set to space vector modulation without overload. This
reduces the maximum output voltage to approx. 85% of the rated output voltage.
• The restrictions listed in the following equipment manuals must be carefully taken into
consideration:
– SINAMICS S120 AC Drive
– SINAMICS S120 air-cooled Chassis power units
– SINAMICS S120 Chassis power units, liquid-cooled
Note
If a filter cannot be parameterized (p0230 < 3), this means that a sine-wave filter is not available
for the component. In this particular case, operation with sine-wave filter is not permissible.
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8.5 Sine-wave filter
Table 8-6 Parameter settings for sine-wave filters
Parameter number Name Setting
p0233 Power unit motor reactor Filter inductance
p0234 Power unit sine-wave filter capaci‐ Filter capacitance
tance
p0290 Power unit overload response Disable pulse frequency reduction
p1082 Maximum speed Fmax filter / pole pair number
p1800 Pulse frequency Nominal pulse frequency of the filter
p1802 Modulator modes Space vector modulation without over‐
load
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8.6 Motor reactors
8.6 Motor reactors
Overview
The "Motor reactors" function is only available for vector control.
Function description
Motor reactors reduce the voltage load on the motor windings by reducing the voltage gradients
at the motor terminals that occur during converter operation. At the same time, the capacitive
charge/discharge currents that occur at the converter output when long motor cables are used
are reduced.
This function is only available for vector control.
Restrictions
The following restrictions apply depending on the motor reactor used:
• The output frequency of the motor reactor used must be taken into consideration.
• The maximum permissible motor cable lengths are limited and depend on the number of
motor reactors connected in series.
• The restrictions listed in the following equipment manuals must be carefully taken into
consideration:
– SINAMICS S120 AC Drive
– SINAMICS S120 Booksize power units
– SINAMICS S120 air-cooled Chassis power units
– SINAMICS S120 Chassis power units, liquid-cooled
The maximum permissible pulse frequency for the motor reactor is defined as follows for
SINAMICS power units:
• For power units in the booksize and blocksize formats, the single rated pulse frequency
(4 kHz).
• For power units in the chassis format, twice the rated pulse frequency
Pulse frequency Power class Voltage
2.5 kHz 315 kW to 800 kW 400 V
75 kW to 1200 kW 690 V
4 kHz up to 250 kW 400 V
• For Chassis-2 Motor Modules, the single rated pulse frequency (2.5 kHz).
NOTICE
Damage to the motor reactor if the maximum pulse frequency is exceeded
Inadmissibly high pulse frequencies can damage the motor reactor.
• Do not exceed maximum permissible pulse frequency.
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8.6 Motor reactors
Configuring the function
Proceed as follows to configure the function:
1. Set p0230 = 1 to activate the function.
2. Enter the number of motor reactors connected in series via p0235.
Parameters (see SINAMICS S120/S150 List Manual)
• p0230 Drive filter type, motor side
• p0233 Power unit motor reactor
• p0235 Number of motor reactors in series
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8.7 du/dt filter plus Voltage Peak Limiter
8.7 du/dt filter plus Voltage Peak Limiter
Overview
The "du/dt filter plus Voltage Peak Limiter" function is only available for vector control.
Function description
The du/dt filter plus Voltage Peak Limiter consists of the following components:
• du/dt reactor
• Voltage Peak Limiter (VPL)
The VPL cuts the voltage peaks off and feeds the energy back into the DC link.
The function should preferably be used for operation with motors for which the dielectric
strength of the insulation system is unknown or insufficient. Standard motors of the 1LA5, 1LA6
and 1LA8 series require the use of the function for supply voltages > 500 V +10%.
With motor cable lengths of < 150 m, the function limits the rate of voltage rise to values < 500 V/
µs and the typical voltage peaks to the following values:
• Voltage peaks ÛLL (typically) < 1000 V for Vline < 575 V
• Voltage peaks ÛLL (typically) < 1250 V for 660 V < Vline < 690 V
Restrictions
NOTICE
Damage to the du/dt filter from exceeding the maximum pulse frequency
Inadmissibly high pulse frequencies can damage the du/dt filter.
• Do not exceed maximum permissible pulse frequency.
The following restrictions apply depending on the du/dt filter used:
• The output frequency of the du/dt filter used must be taken into consideration.
• The maximum permissible motor cable lengths (shielded, unshielded) for the du/dt filter
used must be carefully taken into consideration.
• The restrictions listed in the following equipment manuals must be carefully taken into
consideration:
– SINAMICS S120 AC Drive
– SINAMICS S120 air-cooled Chassis power units
– SINAMICS S120 Chassis power units, liquid-cooled
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8.7 du/dt filter plus Voltage Peak Limiter
The maximum permissible pulse frequency when using a du/dt filter:
• For 2.5 kHz:
– Chassis power units from 315 kW to 800 kW at 400 V
– Chassis power units from 75 kW to 1200 kW at 690 V
– Chassis-2 power units at 400 V
• For 4 kHz:
– Chassis power units up to 250 kW at 400 V
Activating the function
Set p0230 = 2 to activate the function.
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8.8 du/dt filter compact plus Voltage Peak Limiter
8.8 du/dt filter compact plus Voltage Peak Limiter
Overview
The "du/dt filter compact plus Voltage Peak Limiter" function is only available for vector control.
Descriptions of functions
The du/dt filter compact plus Voltage Peak Limiter consists of the following components:
• du/dt reactor
• Voltage Peak Limiter (VPL)
The VPL cuts the voltage peaks off and feeds the energy back into the DC link.
The function should preferably be used for operation with motors for which the dielectric
strength of the insulation system is unknown or insufficient.
The function limits the voltage loads on the motor cables to the values in accordance with limit
value curve A according to IEC/TS 60034-25:2007. The rate of voltage rise is limited to < 1600 V/
µs, the peak voltages are limited to < 1400 V.
Continuous operation
NOTICE
Damage to the du/dt filter during continuous operation with low output frequencies
Continuous operation with output frequencies < 10 Hz - or not complying with the permissible
times - can thermally destroy the du/dt filter.
• Comply with the specifications and constraints.
Continuous operation with output frequencies < 10 Hz is not permissible. For short-time
operation, output frequencies < 10 Hz are permissible for a maximum of 5 minutes. This is only
applicable if short-time operation with an output frequency < 10 Hz is followed by operation
with an output frequency > 10 Hz. Operation with an output frequency > 10 Hz must not exceed
a duration of 5 minutes.
Pulse frequency
NOTICE
Damage to the du/dt filter from exceeding the maximum pulse frequency
Inadmissibly high pulse frequencies can damage the du/dt filter.
• Do not exceed maximum permissible pulse frequency.
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8.8 du/dt filter compact plus Voltage Peak Limiter
The maximum permissible pulse frequency when using a du/dt filter:
• For 2.5 kHz:
– Chassis power units from 315 kW to 800 kW at 400 V
– Chassis power units from 75 kW to 1200 kW at 690 V
• For 4 kHz:
– Chassis power units up to 250 kW at 400 V
Restrictions
The following restrictions apply depending on the du/dt filter used:
• The output frequency of the du/dt filter used must be taken into consideration.
• The maximum permissible motor cable lengths (shielded, unshielded) for the du/dt filter
used must be carefully taken into consideration.
• The restrictions listed in the following equipment manuals must be carefully taken into
consideration:
– SINAMICS S120 AC Drive
– SINAMICS S120 air-cooled Chassis power units
– SINAMICS S120 Chassis power units, liquid-cooled
Activating the function
Set p0230 = 2 to activate the function.
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8.9 Pulse frequency wobbling
8.9 Pulse frequency wobbling
Overview
The "Pulse frequency wobbling" function is only available for vector control and for Motor
Modules in Chassis format with DRIVE-CLiQ (article numbers: 6SL3...-.....-...3).
Function description
The function damps the spectral components, which can generate unwanted noise in the motor.
Wobbling can be activated only for pulse frequencies that are ≤ the current controller frequency
(see also p0115[0]).
Wobbling causes the pulse frequency in a modulation interval to deviate from the setpoint
frequency. This means that the actual pulse frequency might be higher than the average pulse
frequency required. A noise generator can be used to vary the pulse frequency around an
average value. In this case, the average pulse frequency is equal to the setpoint pulse frequency.
The pulse frequency can be varied in every current controller cycle if the cycle is constant.
Current measurement errors resulting from asynchronous pulse and control intervals are
compensated by a correction in the actual current value.
Pulse frequency wobbling can be parameterized with parameter p1810 "Modulator
configuration".
Parameter p1811[0...n] "Pulse frequency wobbling amplitude" can be set to adjust the
magnitude of variation in the pulse frequency wobble to between 0 and 20%. The factory setting
is 0%. For a wobble amplitude of p1811 = 0 %, the maximum possible pulse frequency is
p1800 = 2 · 1/current controller cycle (1000/p0115[0]). With a wobble amplitude setting of
p1811 > 0, the maximum possible pulse frequency is p1800 = 1/current controller cycle (1000/
p0115[0]). These conditions apply to all indices.
Note
If pulse frequency wobbling is deactivated, parameter p1811 is set to "0" in all of the indices.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1810 Modulator configuration
• p1811[0...n] Pulse frequency wobbling amplitude
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8.10 Direction reversal without changing the setpoint
8.10 Direction reversal without changing the setpoint
Function description
WARNING
Excessively high torque due to an inappropriate phase sequence of the motor after
direction reversal
If a drive is synchronized to the line supply, when the direction is reversed, high torques can be
generated when connecting to the line supply if the phase sequence of the line voltage does
not match the phase sequence of the rotating motor. This high torque can destroy the coupling
between the motor and load and therefore result in death or severe injury.
• As a consequence, for this constellation, check the phase sequence of the VSM wiring and
correct if necessary.
NOTICE
Uncontrollable acceleration of the drive with an external speed actual value
When using an external speed actual value for the speed controller via p1440, positive
feedback can occur in the speed control loop. As a consequence, the drive accelerates up to its
speed limit and can be damaged.
• When using external speed actual values for the speed controller, additionally change its
polarity when reversing the direction of rotation (p1821 = 1).
Note
Position reference is lost at direction reversal
If direction reversal is configured in the data set configurations (e.g. p1821[0] = 0 and p1821[1]
= 1), when the function module "Basic positioner" or "Position control" is activated, the absolute
adjustment is reset after each data set changeover (p2507), as the position reference is lost
when the direction of rotation is switched over.
The direction of rotation of the motor can be reversed using the direction reversal via p1821
without having to change the motor rotating field by interchanging two phases at the motor and
having to invert the encoder signals using p0410. The direction reversal via p1821 can be
detected as a result of the motor direction of rotation. The speed setpoint and actual value,
torque setpoint and actual value and also the relative position change remain unchanged. The
direction change can be identified as a result of the phase voltage (r0089). When the direction
reverses, then the absolute position reference is also lost.
For vector control, in addition, the output direction of rotation of the converter can be reversed
using p1820. This means that the rotating field can be changed without having to interchange
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8.10 Direction reversal without changing the setpoint
the power connections. If an encoder is being used, the direction of rotation must, when
required, be adapted using p0410.
Note
Rotating/moving measurement for motor data identification for servos drives
Use parameter p1959[0...n].14/15 = 0 to activate a direction inhibit for the rotating
measurement for motor data identification where necessary. The direction inhibit should be
deactivated with p1959[0...n].14/15 = 1 for complete and accurate identification of the motor.
Features
• No change to the speed setpoint and actual value, the torque setpoint and actual value and
the relative position change.
• Only possible when the pulses are inhibited.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0069[0...8] CO: Phase current actual value
• r0089[0...2] Phase voltage, actual value
• p1820[0...n] Reverse output phase sequence
• p1821[0...n] Direction of rotation
• p1959[0...n] Rotating measurement configuration
• p2507[0...n] Position control absolute encoder adjustment status
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8.11 Automatic restart
8.11 Automatic restart
Function description
The automatic restart function is used to automatically restart the drive/drive system, e.g. when
the power is restored after a power failure. In this case, all of the faults present are automatically
acknowledged and the drive is powered-up again. This function is not only restricted to line
supply faults; it can also be used to automatically acknowledge faults and to restart the motor
after any fault trips.
To allow the drive to be connected to a motor shaft that is still rotating, for a "Vector" drive object
the "Flying restart" function has to be activated using p1200. Before the automatic restart
commences, it must be ensured that the returning supply voltage is available and is present at
the infeed.
You can find more information in Chapter Switch on infeed unit via a drive axis (Page 734).
Note
Automatic restart functions in servo control and vector control and for infeed units with infeed
control.
After the line supply voltage is connected, Smart Line Modules 5kW/10kW automatically switch
on.
When the automatic restart function is activated, then the system also restarts after the Control
Unit powers up if there is still an ON signal.
Power restoration with p1210 > 1
WARNING
Unplanned motion when the automatic restart function is active
When the automatic restart is activated, when the line supply returns, unexpected motion can
occur that may result in death or serious injury.
• Take the appropriate measures on the plant/system side so that there is no safety risk as a
result of an unexpected restart.
If p1210 is set to the value > 1, the Line Module / motors can start automatically once the line
supply has been re-established. This is especially critical if, after longer line supply failures,
motors come to a standstill (zero speed) and it is incorrectly assumed that they have been
powered-down.
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8.11 Automatic restart
Configuring the function
Proceed as follows to configure the function:
1. Activate the function for drive objects "Servo", "Vector" or X_INF (all drive objects "Infeed"; i.e.
A_INF, B_INF, S_INF).
– Automatic restart: Set mode (p1210).
– Flying restart (only for "Vector"): Activate function (p1200).
2. Set the startup attempts (p1211).
3. Set the wait times (p1212, p1213).
4. Check the function.
Automatic restart mode
Table 8-7 Automatic restart mode
p1210 Mode Meaning
0 Disables automatic restart Automatic restart inactive
1 Acknowledges all faults without re‐ Any faults that are present, are acknowledged automatically once the
starting cause has been rectified. If further faults occur after faults have been
acknowledged, then these are also again automatically acknowledged. A
minimum time of p1212 + 1s must expire between successful fault ac‐
knowledgment and a fault re-occurring if the signal ON/OFF1 (control
word 1, bit 0) is at a HIGH signal level. If the ON/OFF1 signal is at a LOW
signal level, the time between a successful fault acknowledgment and a
new fault must be at least 1s.
For p1210 = 1, fault F07320 is not generated if the acknowledge attempt
failed (e.g. because the faults occurred too frequently).
4 Restart after line supply failure, with‐ An automatic restart is only carried out if fault F30003 has also occurred
out additional startup attempts at the Motor Module, or there is a high signal at binector input p1208[1],
or in the case of an infeed drive object (X_INF1), fault F06200 has oc‐
curred. If additional faults are pending, then these faults will also be
acknowledged; if this is successful, the startup attempt will be resumed.
For the case that only the phase voltage fails, time monitoring can be set
using p1213.
6 Restart after a fault with additional An automatic restart is carried out after any fault or for p1208[0] = 1. If
startup attempts the faults occur one after the other, then the number of startup attempts
is defined in p1211. Monitoring over time can be set using p1213.
14 Restart after line supply failure follow‐ As for 4: However, existing faults must be acknowledged manually. This
ing manual acknowledgment is then followed by an automatic restart.
16 Restart after a fault after manual ac‐ As for 6: However, existing faults must be acknowledged manually. This
knowledgment is then followed by an automatic restart.
Startup attempts (p1211) and wait time (p1212)
p1211 is used to specify the number of startup attempts. The number is internally decremented
after each successful fault acknowledgment (line supply voltage must be re-applied or the
infeed unit signals that it is ready). Fault F07320 is signaled if the number of parameterized
startup attempts is exceeded.
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8.11 Automatic restart
When p1211 = x, x + 1 startup attempts are made.
Note
A startup attempt immediately starts when the fault occurs.
The faults are automatically acknowledged in intervals of half the waiting time p1212.
After successfully acknowledgment and the voltage returns, then the system is automatically
powered-up again.
The startup attempt has been successfully completed if the flying restart and the motor
magnetization (induction motor) have been completed (r0056.4 = 1) and one additional second
has expired. The starting counter is only reset to the initial value p1211 after this time.
If additional faults occur between successful acknowledgment and the end of the startup
attempt, then the startup counter, when it is acknowledged, is also decremented.
Monitoring time line supply return (p1213)
The monitoring time starts when the faults are detected. If the automatic acknowledgments are
not successful, the monitoring time runs again. If the drive has not successfully started again
after the monitoring time has expired (flying restart and motor magnetization must have been
completed: r0056.4 = 1), fault F07320 is output. The monitoring is deactivated with p1213 = 0.
If p1213 is set lower than the sum of p1212, the magnetization time r0346 and the additional
delay time due to flying restart, then fault F07320 is generated at each restart. p1210 = 1
prevents a restart. The monitoring time must be extended if the faults that occur cannot be
immediately and successfully acknowledged (e.g. when faults are permanently present).
Exceptions
There are faults, where after they have occurred, an automatic restart would be dangerous or is
undesirable. Enter the numbers of these faults into p1206[0...9]. The automatic restart is
suppressed if one of these faults occurs. After the cause of the fault has been removed, the drives
must be switched-on in another way.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0863.0...2 CO/BO: Drive coupling status word / control word
• p1206[0...9] Automatic restart fault active
• p1207 BI: Automatic restart (AR) - connection to the following drive object
• p1208[0...1] BI: Automatic restart modification, infeed
• p1210 Automatic restart mode
• p1211 Automatic restart, startup attempts
• p1212 Automatic restart, delay time startup attempts
• p1213[0...1] Automatic restart monitoring time
• r1214.0...15 CO/BO: Automatic restart status
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8.12 Armature short-circuit
8.12 Armature short-circuit
Overview
You set the "Armature short-circuit" function in the parameter p1231[0...n]. You can determine
the current status of the function in r1239.
Requirements
• Operation with permanent-magnet synchronous motors
Function description
WARNING
Motor accelerates uncontrollably for pulling loads
For pulling loads, for an armature short circuit, the motor can uncontrollably accelerate if a
mechanical brake is not additionally used. If the motor accelerates uncontrollably this can
result in severe injury or death.
• For pulling loads, only use armature short circuit braking to support a mechanical brake (a
mechanical brake is mandatory).
Using the "Armature short-circuit" function, you can brake permanent-magnet synchronous
motors. The stator windings of synchronous motors are then short-circuited. For a rotating
synchronous motor, a current flows that brakes the motor.
The function is preferably used in the following cases:
• Braking without regenerative feedback
• Braking when the power fails
• Operation with a line module that is not capable of energy recovery
• Braking the motor despite loss of orientation (e.g. when there are encoder errors)
You can switch the armature short-circuit internally via the Motor Module or externally using a
contactor circuit with braking resistors.
The advantage of armature short-circuit braking over a mechanical brake is the response time
of the internal armature short-circuit braking with just a few milliseconds. The response time of
a mechanical brake is about 40 ms. For external armature short-circuit braking, the slowness of
the switching contactor results in a response time of over 60 ms.
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Basic functions
8.12 Armature short-circuit
8.12.1 Internal armature short-circuit braking
Overview
With the "Internal armature short-circuit braking" function, the motor windings are short-
circuited via a Motor Module.
Supported Motor Modules
The function has been released for Motor Modules in the Booksize and Chassis formats.
Requirements
• Short-circuit-proof motors (p0320 < p0323)
• One of the following motor types is used:
– rotating permanent-magnet synchronous motor (p0300 = 2xx)
– linear permanent-magnet synchronous motor (p0300 = 4xx)
• The maximum current of the Motor Module (r0209.0) must be at least 1.8x the motor short-
circuit current (r0331).
Note
Internal short-circuit braking despite power failure
If armature short-circuit braking should still be maintained despite a power failure, you must
buffer the 24 V power supply for the Motor Module. For this purpose, you can use for example
a dedicated SITOP unit for the Motor Module or a Control Supply Module (CSM).
Configuring the function
Carry out the following steps to configure the function:
Setting the function
The internal armature short-circuit braking is set with p1231 = 4.
Activating the function
The function is activated and initiated if the signal source of p1230 is set to a "1" signal.
Deactivating the function
The function is deactivated if the signal source of p1230 is set to a "0" signal. When triggered by
a fault, the fault must have been removed and acknowledged.
Drive functions
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Basic functions
8.12 Armature short-circuit
8.12.2 External armature short-circuit braking
Overview
Via output terminals, the "External armature short-circuit braking" function controls an external
contactor, which then short-circuits the motor windings through resistors.
Requirements
• Short-circuit-proof motors (p0320 < p0323):
Use only short-circuit proof motors, or use suitable resistors to short-circuit the motor.
• One of the following motor types is used:
– rotating permanent-magnet synchronous motor (p0300 = 2xx)
– linear permanent-magnet synchronous motor (p0300 = 4xx)
Configuring the function
Carry out the following steps to configure the function:
Setting the function
The external armature short-circuit braking is activated via p1231 = 1 with contactor feedback
signal or via p1231 = 2 without contactor feedback signal.
Activating the function
The function is activated as follows:
• The signal source is set to a "1" signal by p1230.
• The pulse inhibit is set.
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Basic functions
8.12 Armature short-circuit
If the function is activated, then the following responses are executed:
1. Pulse cancellation is first activated,
2. then the external armature short-circuit braking is initiated. If the function has been
triggered, r0046.4 indicates a "1".
Example
The function is activated if the signal source of p1230 is set to "1". Then the following responses
are carried out:
1. The display parameters of drive object Motor Module r1239.0 and r0046.4 also indicate "1".
2. Pulse enable is deleted, and the contactor for the external braking is switched.
3. Braking starts as a result of the short-circuited armature.
4. Braking is terminated by setting the signal source of p1230 to "0" signal. As a consequence
r1239.0 also displays a "0" signal.
5. When the wait time p1237 expires, the pulse enables are output.
Calculating external braking resistors
To achieve the highest braking effect, calculate the values of the resistors using the following
formula:
• Rext = 5.2882 · 10-5 · p0314 · p0356 · nmax - p0350
nmax = maximum speed used
Parameterizing the function
You can parameterize Motor Modules and Control Units with the aid of an engineering tool (e.g.
Startdrive). The parameter lists of the drive objects and of the digital inputs/outputs are available
for this.
• Terminals 11 and 14 are connected to ground.
• The digital inputs/outputs DI/DO 8 to 15 are connected with terminals 9, 10, 12 and 13 at
terminal blocks X122 and X132. You can use parameters p0728[8...15] to define the
terminals as an input or output.
• Digital inputs DI 8 to 15 are interconnected with the parameters p0722[8...15] and can be
inverted with p0723[8...15].
• The outputs are interconnected with parameters p0738 to p0745.
• The outputs can be inverted with p0748[8...15] = 1.
• Parameters p0722 to p0748 are Control Unit parameters.
• Parameters p123x, r1239 and r0046 are drive parameters.
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8.12 Armature short-circuit
Example of external armature short-circuit braking
The following diagram shows the interconnections connected between the converter and
Control Unit (see function diagram 7014 in the List Manual). In this diagram, the main contacts
for the contactor are shown as NO contacts.
Note
No protection against power failure
When using NO contacts as main contacts for the contactor, then the drive is no longer protected
against power failure. Protection against power failure is only guaranteed when using the NC
contacts as the main contacts for the contactor, with simultaneous inversion of DI14 via
p0723.14.
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Figure 8-4 Example: External armature short-circuit braking
Requirements
• Before parameterizing external armature short-circuit braking, you have to create a new
project with a Motor Module and a motor.
• A short-circuit contactor with an additional feedback signal contact is used (p1231 = 1).
• DI 14 is defined as the input for the feedback signal of the short-circuit contactor. Digital input
DI 14 is connected to terminal 12 of terminal strip X132.
• DO 15 is used as switching output for the short-circuit contactor. Digital output DO 15 is
connected to terminal 13 of terminal strip X132. Parameter r1239.0 indicates the status of
the braking and issues the signal for the contactor.
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Basic functions
8.12 Armature short-circuit
Parameterization
1. Set p1231 = 1.
2. Define DI 14 as input with p0728.14 = 0.
3. Connect the feedback signal of the external armature short-circuit contactor with terminal
12 of terminal strip X132 (DI 14).
4. Interconnect p1235 with r0722.14.
5. Define DO 15 as output with p0728.15 = 1.
6. Connect the control signal for the external armature short-circuit contactor with terminal 13
of terminal strip X132 (DO 15).
7. Interconnect p0745 with r1239.0.
The parameterization of external armature short-circuit braking has now been completed.
8.12.3 Internal voltage protection
Function description
When the internal voltage protection is activated, all the motor terminals are at half the DC link
potential after the pulses have been canceled. Without integrated voltage protection, the motor
terminals are floating.
Supplementary conditions
• Using short-circuit-proof motors (p0320 < p0323)
• The Motor Module must be able to withstand the 1.8-fold short-circuit current (r0320) of the
motor (r0209).
• The internal voltage protection function cannot be interrupted due to a fault response. If an
overcurrent occurs while internal voltage protection is active, the Motor Module and/or the
motor might sustain irreparable damage.
• If the Motor Module does not support the autonomous, integrated voltage protection
mechanism (r0192.10 = 0), an external 24 V supply (UPS) must be provided for the
components to ensure reliable operation in the event of mains power failure.
• If the Motor Module supports the autonomous, integrated voltage protection mechanism
(r0192.10 = 1), the 24 V supply for the components must be implemented via a Control
Supply Module to ensure reliable operation in the event of mains power failure.
• When the internal voltage protection is activated, the motor must not be powered by an
external source for an extended period of time (e.g. by loads that move the motor or another
coupled motor).
Configuring the function
The internal voltage protection is set with p1231 = 3.
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8.12 Armature short-circuit
Activating the function
To activate and trigger the function, set the signal source of p1230 to "1".
Deactivating the function
Before deactivating the function, make sure that all pending faults are eliminated and
acknowledged.
To deactivate the function, set the signal source of p1230 to "0".
8.12.4 Setting the fault response
Function description
You set the responses to selected faults with p2100 and p2101.
In p0491, you set the responses to faults of a motor encoder (F07412 and many F3yxxx, y = 1,
2, 3).
Important notes
• If the preconditions for armature short-circuit braking or DC braking are no longer satisfied
after a motor type has been changed (see p0300), the parameters that have armature short-
circuit braking or DC braking set as a response (e.g. p2100, p2101 or p0491) are set to the
factory setting.
• Armature short-circuit or DC braking cannot be deactivated while a response parameterized
with p2100, p2101 or p0491 has a fault condition.
8.12.5 Function diagrams (see SINAMICS S120/S150 List Manual)
• 7014 Technology functions - External armature short circuit (EASC, p0300 = 2xx or 4xx)
• 7016 Technology functions - Internal armature short-circuit (IVP, p0300 = 2xx or 4xx)
• 7017 Technology functions - DC braking (p0300 = 1xx)
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8.13 DC braking
8.13 DC braking
Overview
You set the "DC braking" function in the parameters p1231[0...n]. You can determine the current
status of the function in r1239.
Requirements
• Operation with induction motors
Function description
Using the "DC braking" function, you brake induction motors down to standstill. After a
demagnetization time, a direct current is hereby injected in the stator windings of the induction
motor. The motor is braked by the direct current.
Applications
The function is used in the following cases:
• It is not possible to ramp down the drive in a controlled fashion
• Operation with a line module that is not capable of energy recovery
• Operation without a braking resistor
Supported Motor Modules
• Motor Modules in the Chassis and Booksize formats
Configuring the function
WARNING
Motor accelerates uncontrollably for pulling loads
For pulling loads, when DC braking is used, during the demagnetization time, the motor can
accelerate uncontrollably. This can result in severe injury or death. An additional supporting
mechanical brake is only closed after the demagnetization time - when the motor is already
rotating - and therefore does not prevent the motor from accelerating uncontrollably.
• Do not use DC braking for pulling loads.
To set the function, set p1231 = 4.
The following parameters are available in addition:
• Setting the braking current for DC braking with p1232[0...n]
• Setting the braking current duration for DC braking with p1233[0...n]
• Setting the start speed for DC braking with p1234[0...n]
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8.13 DC braking
Activating the function
To activate the function, set the signal source of p1230 to "1".
The following responses are executed in the specified order:
Condition Reaction
– The pulse inhibit is set for the motor de-excitation
time p0347[0 ... n] until the motor is demagne‐
tized.
Note
The parameter p1234 (Speed at the start of DC
braking) is not taken into consideration.
– The DC braking current p1232[0...n] is injected in‐
to the motor for the duration "x". The value "x" cor‐
responds to the period of time in which a "1" signal
is pending at the input of p1230.
The motor can be braked down to standstill.
If the drive is switched off and DC braking is activa‐ the drive switches itself on and the DC current is
ted, ... injected into the stator windings.
Setting the braking duration
Set the braking duration in p1233. The following applies:
If ... Then ...
If an encoder is present, ... braking lasts until the speed falls below the zero
speed threshold p1226 or the time set in p1233 has
elapsed.
If there is no encoder present, ... braking lasts until the time set in p1233 has
elapsed.
Note
In the Servo control type without encoder, contin‐
uation of movement may not be possible after DC
braking is ended. In this case, an OFF2 fault reac‐
tion is output.
Deactivating the function
To deactivate the function, set the signal source of p1230 to "0". If an ON command is active,
then the drive returns to its selected operating mode.
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8.13 DC braking
Depending on the selected control type, the following reactions are executed:
• Servo control (with encoder)
The drive returns to closed-loop control after the demagnetization time has elapsed.
Parameter p0347 can also be set to the value "0".
• Vector control (with/without encoder)
If ... Then ...
If the "Flying restart" function is activated, ... The Motor Module is synchronized with the mo‐
tor frequency and the drive is switched to con‐
trolled mode.
If the "Flying restart" function is not activated, ... the drive can only be restarted from standstill.
In this case, you need to wait to restart the drive
until the drive has come to a standstill.
• U/f control
If ... Then ...
If the "Flying restart" function is activated, ... the Motor Module is synchronized with the motor
frequency and the drive is switched to U/f control.
If the "Flying restart" function is not activated, ... the drive can only be restarted from standstill.
In this case, you need to wait to restart the drive
until the drive has come to a standstill.
8.13.1 Activating a function via fault reaction
Function description
If DC braking is activated as fault response, then the following responses are executed in the
specified order:
• The motor is braked along the braking ramp up to the threshold in p1234.
The gradient of the braking ramp corresponds to the gradient of the deceleration ramp. The
deceleration ramp can be set in p1121.
• The pulses are inhibited for the duration of the demagnetization time (p0347).
• After the demagnetization time (p0347) expires, DC braking starts for the time set in p1233.
8.13.2 Activating a function via OFF fault responses
Function description
To activate DC braking as a reaction to OFF1 or OFF3, set p1231 = 5.
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8.13 DC braking
The following responses are executed in the specified order:
Condition Reaction
If the motor speed is ≥ p1234 for OFF1 or OFF3, ... the motor is braked down to p1234. As soon as the
motor speed is < p1234, the pulses are disabled
and the motor is demagnetized.
OR
If the motor speed is < p1234 for OFF1 or OFF3, ... the pulses are immediately inhibited and the motor
is demagnetized.
– DC braking is activated for the duration p1233 and
is then switched off.
If OFF1 or OFF3 is withdrawn prematurely, ... normal operation is resumed.
– DC braking as emergency braking of a fault re‐
sponse remains active.
Parameter p1230 has no influence on the response to OFF1 or OFF3. The speed threshold is set
with p1234, under which DC braking is activated.
8.13.3 Configuring a function as a response to a speed threshold
Requirements
• Before activating DC braking, the actual speed is > p1234.
Procedure
WARNING
Acceleration to the setpoint speed after DC braking
After braking, the drive accelerates to the selected setpoint speed. This can result in death,
severe injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
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8.13 DC braking
Proceed as follows to set DC braking as response to a speed threshold and to activate it:
1. Set p1231 = 14.
2. Set the signal source of p1230 to "1".
As soon as the actual speed falls below p1234, DC braking is activated.
The following responses are executed in the specified order:
Condition Reaction
– The pulses are immediately inhibited and the mo‐
tor is demagnetized.
– DC braking is activated for the duration p1233
and is then switched off.
– The motor is braked with the braking current
p1232.
After braking, the drive switches back to normal
operation, and accelerates to the selected set‐
point speed.
If the signal source of p1230 is set to "0", ... the braking command is withdrawn while brak‐
ing, and the drive returns to the previous operat‐
ing mode.
If the signal source of p1230 is set to "1", ... DC braking is performed on OFF1 or OFF3.
– DC braking as emergency braking of a fault re‐
sponse remains active.
8.13.4 Setting the fault response
Function description
You set the responses to selected faults with p2100 and p2101.
In p0491, you set the responses to faults of a motor encoder (F07412 and many F3yxxx, y = 1,
2, 3).
Important notes
• If the preconditions for armature short-circuit braking or DC braking are no longer satisfied
after a motor type has been changed (see p0300), the parameters that have armature short-
circuit braking or DC braking set as a response (e.g. p2100, p2101 or p0491) are set to the
factory setting.
• Armature short-circuit or DC braking cannot be deactivated while a response parameterized
with p2100, p2101 or p0491 has a fault condition.
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8.13 DC braking
8.13.5 Function diagrams (see SINAMICS S120/S150 List Manual)
• 7014 Technology functions - External armature short circuit (EASC, p0300 = 2xx or 4xx)
• 7016 Technology functions - Internal armature short-circuit (IVP, p0300 = 2xx or 4xx)
• 7017 Technology functions - DC braking (p0300 = 1xx)
8.13.6 Parameters (see SINAMICS S120/S150 List Manual)
• r0046.0...31 CO/BO: Missing enable signals
• p0300[0...n] Motor type selection
• p0347[0...n] Motor de-excitation time
• p0491 Motor encoder fault response: ENCODER
• r0722.0...21 CO/BO: CU digital inputs, status
• r0723.0...21 CO/BO: CU digital inputs, status inverted
• p0728 CU set input or output
• p0738 BI: CU signal source for terminal DI/DO 8
to
• p0745 BI: CU signal source for terminal DI/DO 15
• p0748 CU, invert digital outputs
• p1226[0...n] Threshold for zero speed detection
• p1230[0...n] BI: Armature short-circuit/DC braking activation
• p1231[0...n] Armature short-circuit/DC braking configuration
• p1232[0...n] DC braking, braking current
• p1233[0...n] DC braking duration
• p1234[0...n] Speed at the start of DC braking
• p1235[0...n] BI: External armature short-circuit, contactor feedback signal
• p1237[0...n] External armature short-circuit, delay time when opening
• r1239.0...13 CO/BO: Armature short-circuit/DC braking status word
• p2100[0...19] Change fault response fault number
• p2101[0...19] Change fault response response
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8.14 Motor Module as a Braking Module
8.14 Motor Module as a Braking Module
Overview
You can parameterize this function in the STARTER commissioning tool.
Requirements
• Three identical braking resistors in a star (see table below) or delta connection
• At least 10 m cable length to the resistors
• Configuration in the STARTER commissioning tool
– Drive object vector
– U/f control
Function description
This function uses a Motor Module as a Braking Module. To do this, three resistors are connected
to the Motor Module instead of a motor.
Supported Motor Modules
The function is released for the following Motor Modules:
• SINAMICS S120 Motor Modules Cabinet
• SINAMICS S120 Motor Modules Chassis (500 V - 690 V)
• SINAMICS S120 Motor Modules Chassis (380 V - 480 V) > 250 kW
• SINAMICS S120 Motor Modules Chassis Liquid Cooled (380 V - 480 V) > 250 kW
• SINAMICS S120 Motor Modules Chassis Liquid Cooled (500 V - 690 V)
Features
• Three identical resistors required.
• Parallel connection of Motor Modules possible.
• Integrated protective devices are available for monitoring the resistors.
• The Chassis Motor Module must be switched on in order that it can operate as Braking
Module.
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8.14 Motor Module as a Braking Module
8.14.1 Configuring resistors
Rules and values
Note
Undershooting of the resistance values is not permitted
Under no circumstances may the resistance values for the peak braking power, which are listed
in the following table, be undershot!
Observe the following rules and follow the instructions specified therein:
• The resistance values apply for each of the three resistors in a star connection in the cold
state.
• Each braking resistor absorbs 1/3 of the total braking power. It is imperative that you take into
account the power rating of the resistors.
• For a delta connection, multiply the braking resistance value by a factor of 3.
• The tables apply for all Motor Modules of the "Chassis" format (liquid or air cooling).
• The cable lengths to the resistors must be at least 10 m.
• At rated voltages of 380 V to 480 V, Motor Modules with a type rating ≥ 250 kW are permitted.
• At rated voltages of 500 V to 690 V, all Motor Modules in the "Chassis" format have been
released for use of this function.
You can enter the resistance value in a star connection into parameter p1360. The default
setting of the resistance values is calculated from:
• p1360 = p1362[0] / (√(6) · r0207[0])
• p1362[0] = Braking Module activation threshold according to the following table.
• r0207[0...4] = rated current of the Motor Module
Connecting the braking resistor
Preferably connect the braking resistors in a star configuration
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8.14 Motor Module as a Braking Module
Resistance table 380 - 480 V supply voltage
Motor Rated volt‐ Rated Braking UDC link Continu‐ Peak Resistance for Resistance at
Module age current current chopper ous brak‐ braking continuous peak braking
frame size threshold ing power power braking power power
[V] [A] [A] [V] [kW] [kW] [Ω] [Ω]
G 400 490 450 667 368 551 0.605 0.403
480 490 450 774 427 640 0.702 0.466
H 400 605 545 667 445 668 0.500 0.333
480 605 545 774 517 775 0.580 0.387
H 400 745 680 667 555 833 0.400 0.267
480 745 680 774 645 967 0.465 0.310
H 400 840 800 667 654 980 0.340 0.277
480 840 800 774 758 1138 0.395 0.263
J 400 985 900 667 735 1103 0.303 0.202
480 985 900 774 853 1280 0.351 0.234
J 400 1260 1215 667 93 1489 0.224 0.149
480 1260 1215 774 1152 1728 0260 0.173
J 400 1405 1365 667 1115 1673 0.199 0.133
480 1405 1365 774 1294 1941 0.231 0.154
Resistance table 500 - 690 V supply voltage
Motor Rated Rated Braking UDC link Continu‐ Peak Resistance for Resistance at
Module voltage current current chopper ous brak‐ braking continuous peak braking
frame size threshold ing power power braking power power
[V] [A] [A] [V] [kW] [kW] [Ω] [Ω]
F 500 85 85 841 87.6 131.3 4.039 2.693
600 85 85 967 100.7 151.0 4.644 3.096
660 85 85 1070 111.4 167.1 5.139 3.426
690 85 85 1158 120.6 180.8 5.562 3.708
F 500 100 100 841 103.0 154.5 3.433 2.289
600 100 100 967 118.4 177.6 3.948 2.632
660 100 100 1070 131.0 196.6 4.368 2.912
690 100 100 1158 141.8 212.7 4.728 3.152
F 500 120 115 841 118.5 177.7 2.986 1.990
600 120 115 967 136.2 204.3 3.433 2.289
660 120 115 1070 150.7 226.1 3.798 2.532
690 120 115 1158 163.1 244.6 4.111 2.741
F 500 150 144 841 148.3 222.5 2.384 1.590
600 150 144 967 170.5 255.8 2.742 1.828
660 150 144 1070 188.7 283.1 3.034 2.022
690 150 144 1158 204.2 306.3 3.283 2.189
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8.14 Motor Module as a Braking Module
Motor Rated Rated Braking UDC link Continu‐ Peak Resistance for Resistance at
Module voltage current current chopper ous brak‐ braking continuous peak braking
frame size threshold ing power power braking power power
[V] [A] [A] [V] [kW] [kW] [Ω] [Ω]
G 500 175 175 841 180.3 270.4 1.962 1.308
600 175 175 967 207.3 310.9 2.256 1.504
660 175 175 1070 229.3 344.0 2.496 1.664
690 175 175 1158 248.2 372.3 2.701 1.801
G 500 215 215 841 221.5 332.2 1.597 1.065
600 215 215 967 254.6 381.9 1.836 1.224
660 215 215 1070 281.8 422.6 2.032 1.354
690 215 215 1158 304.9 457.4 2.199 1.466
G 500 260 255 841 262.7 394.0 1.346 0.898
600 260 255 967 302.0 453.0 1.548 1.032
660 260 255 1070 334.2 501.3 1.713 1.142
690 260 255 1158 361.7 542.5 1.854 1.236
G 500 330 290 841 298.7 448.1 1.184 0.789
600 330 290 967 343.5 515.2 1.361 0.908
660 330 290 1070 380.0 570.1 1.506 1.004
690 330 290 1158 441.3 616.9 1.630 1.087
H 500 410 400 841 412.0 618.0 0.858 0.572
600 410 400 967 473.7 710.6 0.987 0.658
660 410 400 1070 524.2 786.3 1.092 0.728
690 410 400 1158 567.3 851.0 1.182 0.788
H 500 465 450 841 463.5 695.3 0.763 0.509
600 465 450 967 532.9 799.4 0.877 0.585
660 465 450 1070 589.7 884.6 0.971 0.647
690 465 450 1158 638.2 957.3 1.051 0.700
H 500 575 515 841 530.5 795.7 0.667 0.444
600 575 515 967 609.9 914.9 0.767 0.511
660 575 515 1070 674.9 1012.3 0.848 0.565
690 575 515 1158 730.4 1095.6 0.918 0.612
J 500 735 680 841 700.4 1050.6 0.505 0.337
600 735 680 967 805.3 1208.0 0.581 0.387
660 735 680 1070 891.1 1336.7 0.642 0.428
690 735 680 1158 964.4 1446.6 0.695 0.463
J 500 810 805 841 829.2 1243.7 0.427 0.284
600 810 805 967 953.4 1430.1 0.490 0.327
660 810 805 1070 1054.9 1582.4 0.543 0.362
690 810 805 1158 1141.7 1712.5 0.587 0.392
J 500 910 905 841 932.2 1398.2 0.379 0.253
600 910 905 967 1071.8 1607.7 0.436 0.291
660 910 905 1070 1186.0 1779.0 0.483 0.322
690 910 905 1158 1283.5 1925.3 0.522 0.348
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8.14 Motor Module as a Braking Module
Motor Rated Rated Braking UDC link Continu‐ Peak Resistance for Resistance at
Module voltage current current chopper ous brak‐ braking continuous peak braking
frame size threshold ing power power braking power power
[V] [A] [A] [V] [kW] [kW] [Ω] [Ω]
J 500 1025 1020 841 1050.6 1575.9 0.337 0.224
600 1025 1020 967 1280.0 1812.0 0.387 0.258
660 1025 1020 1070 1336.7 2005.0 0.428 0.286
690 1025 1020 1158 1446.6 2169.9 0.463 0.309
J 500 1270 1230 841 1266.9 1900.4 0.279 0.186
600 1270 1230 967 1456.7 2185.1 0.321 0.214
660 1270 1230 1070 1611.9 2417.8 0.355 0.237
690 1270 1230 1158 1744.5 2616.7 0.384 0.256
8.14.2 Activating the "Braking Module" function
Requirements
• The STARTER commissioning tool has been opened.
• A new project has been created, or an existing project is opened.
Activating the Braking Module
To activate the braking module and set the operation threshold as well as hysteresis for the
braking module, proceed as follows:
1. Configure the Control Unit and the infeed unit as usual (see SINAMICS S120 Commissioning
Manual with STARTER).
2. Set "Vector" as drive object type.
3. "U/f control" should be selected as controller structure.
4. In the parameter p1300 (open loop/closed loop control mode of operation), output the value
“15” (operation with braking resistor).
5. Select the supply voltage in the configuration dialog box.
6. Pre-allocate the supply voltage p0210 according to the infeed unit being used (e.g. for a Basic
Line Module with approx. 600 V at 400 V of supply voltage).
7. In the configuration dialog box, select "Chassis" as format.
8. Enter the value "1" in parameter p0864 (infeed unit operation) if the drive line-up is not
equipped with a Basic Line Module.
9. Select the required power unit in the configuration dialog box.
10.Terminate the configuration for the Motor Module and the resistors. Parameter input for
p1360 (Braking Module braking resistance, cold) using the expert list.
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8.14 Motor Module as a Braking Module
11.Follow the wizard from "Continue >" up to "Complete".
Deselect the provided motor data identification (MotID) by entering the value “0” into the
parameter p1900 (motor data identification and rotating measurement).
12.Allocating a freely selectable BICO signal of p0840[0...n] (BI: ON/OFF (OFF1)), the chopper
is activated if there is DC link voltage present.
13.Using p1362[0] (Braking chopper threshold value) and p1362[1] (Braking chopper
hysteresis), the switch-on and switch-off threshold of the chopper is defined (see the table at
the end of this action sequence).
14.For the temperature monitoring of the braking resistors, a temperature monitoring (p0600
and p0601) has been pre-configured. Apply the temperature switch of the braking resistors
at terminals X41/3 and 4 of the Motor Module.
Table 8-8 Activation threshold
Line voltage V 380 - 480 500 - 600 660 - 690
Tolerance % +/- 10%, -15% (60 s) +/- 10%, -15% (60 s) +/- 10%, -15% (60 s)
Udmax V 820 1022 1220
UDC link Vmin 759 948 1137
Braking Module activation Vrated 774 967 1159
threshold Vmax 789 986 1179
p1362[0]
HW shutdown threshold Vmin 803 1003 1198
Vrated 819 1022 1220
Vmax 835 1041 1244
Activating a parallel connection
Motor Modules can be operated Braking Modules a in parallel connection. The setting is made
in STARTER as follows during the configuration:
1. Activate the "Parallel connection" checkbox in the "Power Unit Additional Data"
configuration dialog box (see step 7 of the above list).
The pull-down menu for the "Number of parallel modules" appears.
2. Select the desired number of Motor Modules.
3. Click "Continue" until you reach "Complete".
You have now completed the wizard for the configuration of the Motor Modules.
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8.14 Motor Module as a Braking Module
4. Check the number of Motor Modules that you have set in the topology.
The braking resistors must be dimensioned for each Motor Module according to the table of
resistances above.
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Figure 8-5 Parallel connection of Motor Modules as Braking Modules
5. To carry out further checks, double-click ".../Drives/Drive_1 > Configuration" in the project
navigator.
A dialog opens allowing you to check the current configuration. The "Current power unit
operating values" button lists the Motor Modules according to component number. During
operation, they show the current electrical values.
Operating a parallel connection in Master/Slave mode
Motor Modules connected in parallel can also be operated in Master/Slave mode.
1. To do this, use parameter p1330 to transfer the input of the U/f characteristic to the next
power unit.
The slaves only receive the voltage setpoint for the U/f characteristic.
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8.14 Motor Module as a Braking Module
8.14.3 Protective equipment
Function description
The protection functions are explained in detail in Section Thermal monitoring and overload
responses (Page 630). Additional protective devices include:
• Ground fault
Monitoring of sum of all phase currents.
• Cable break
An unbalanced load of 20 % and more produces a non-symmetrical current, which is
detected by the I2T monitoring.
– Alarm A06921 is output if phase non-symmetry is detected.
– The errors are located in parameter r0949:
Parameter r0949 = 11 Wire break phase U
Parameter r0949 = 12 Wire break phase V
Parameter r0949 = 13 Wire break phase W
– Fault F06922 is output if phase failure is detected.
• Overcurrent
The Imax controller is active. The setpoint is stored in parameter p0067.
• Overtemperature of the resistors
The temperature is monitored using bimetal temperature switches mounted on the resistors.
Configuring temperature evaluation contacts
To configure the temperature evaluation contacts, perform the following steps:
1. Switch the temperature evaluation contacts of all 3 resistors in series.
2. Connect the temperature evaluation contacts to the temperature sensor evaluation of the
Motor Module (terminals X41.3 and X41.4).
3. For the temperature monitoring, set the temperature sensor via Motor Module (p0600 = 11).
4. Set sensor type "Bimetallic NC contact warning & timer" as motor temperature sensor
(p0601 = 4).
5. Parameterize the temperature sensor evaluation of the Motor Module as "external fault".
8.14.4 Overview of the important parameters
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0207[0…4] Rated power unit current
• r0949[0...63] Fault value
• p1300[0…n] Open-loop/closed-loop control operating mode
• p1330[0...n] CI: V/f control independent of voltage setpoint
• p1360 Braking Module braking resistor, cold
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8.14 Motor Module as a Braking Module
• p1362[0…1] Braking Module activation threshold
• r1363 CO: Braking Module output voltage
• p1364 Braking Module non-symmetrical resistance
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8.15 OFF3 torque limits
8.15 OFF3 torque limits
Function description
If the torque limits are externally specified (e.g. tension controller), then the drive can only be
stopped with a reduced torque. If stopping in the selected time p3490 of the infeed unit has not
been completed, the infeed unit shuts down and the drive coasts down. In order to avoid this
behavior, there is a binector input (p1551), that for a LOW signal, activates the torque limits
p1520 and p1521. This means that the drive can brake with the maximum torque by
interconnecting the signal OFF 3 (r0899.5) to this binector.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5620 Servo control - Motoring/generating torque limit
• 5630 Servo control - Upper/lower torque limit
• 6630 Vector control - Upper/lower torque limit
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1520[0...n] Torque limit upper/motoring
• p1521[0...n] CO: Torque limit lower/regenerative
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8.16 Technology function friction characteristic
8.16 Technology function friction characteristic
Function description
The friction characteristic curve is used to compensate the friction torque for the motor and the
driven machine. A friction characteristic enables the speed controller to be precontrolled and
improves the response.
Ten interpolation points are used for each friction characteristic curve. The coordinates of every
interpolation point are defined by a speed parameter (p382x) and a torque parameter (p383x)
(point 1 = p3820 and p3830).
Features
• Ten interpolation points are available for mapping the friction characteristic curve.
• An automatic function allows you to record the friction characteristic curve (record friction
characteristic curve).
• A connector output (r3841) can be applied as friction torque (p1569).
• The friction characteristic can be activated and deactivated (p3842).
Configuring the function via parameters
In p382x, speeds for the measurement are predefined as a function of the maximum speed
p1082 during first commissioning. They can be changed appropriately.
The automatic friction characteristic plot can be activated using p3845. The characteristic is then
plotted the next time that it is enabled. The following settings are possible:
Setting Reaction
p3845 = 0 Friction characteristic plot deactivated
p3845 = 1 Friction characteristic record activates direction of rotation all
Note: The friction characteristic curve is recorded in both directions of rotation. The
results of the positive and negative measurement are averaged and entered in p383x.
p3845 = 2 Friction characteristic plot activated, positive direction of rotation
p3845 = 3 Friction characteristic plot activated, negative direction of rotation
When the friction characteristic is plotted, the drive can cause the motor to move. As a result, the
motor may reach maximum speed.
WARNING
Unplanned motor motion while recording the friction characteristic
Motor movement caused when plotting the friction characteristic can result in death, severe
injury or material damage.
• Ensure that nobody is in the danger zone and that the mechanical parts can move freely.
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8.16 Technology function friction characteristic
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5610 Servo control – torque limiting/reduction, interpolator
• 6710 Vector control - Current setpoint filter
• 7010 Technology functions - Friction characteristic
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p3820[0...n] Friction characteristic, value n0
...
• p3839[0...n] Friction characteristic, value M9
• r3840.0...8 CO/BO: Friction characteristic status word
• r3841 CO: Friction characteristic curve output
• p3842 Activate friction characteristic
• p3843[0...n] Friction characteristic smoothing time friction moment difference
• p3844[0...n] Friction characteristic number changeover point at the top
• p3845 Activate friction characteristic plot
• p3846[0...n] Friction characteristic plot ramp-up/ramp-down time
• p3847[0...n] Friction characteristic plot warm-up period
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8.17 Simple brake control
8.17 Simple brake control
Function description
The "Simple brake control" function is used exclusively for the control of holding brakes. The
holding brake is used to secure drives against unwanted motion when deactivated.
The trigger command for releasing and applying the holding brake is transmitted via DRIVE-CLiQ
from the Control Unit, which monitors and logically connects the signals to the system-internal
processes, directly to the Motor Module. The Motor Module then performs the action and
activates the output for the holding brake accordingly. The exact sequence control is shown in
function diagrams 2701 and 2704 (see SINAMICS S120/S150 List Manual).
212)) S>@
Enable pulses t
1
Magnetizing complete
t
[1/min] Speed setpoint
p1226 nThreshold
t
[1/min] Actual speed value p1227
p1226 nThreshold
t
Output signal p1228
1
Holding brake
t
Opening time Closing time
p1216 p1217
Figure 8-6 Flow diagram: Simple brake control
The start of the closing time for the brake depends on the expiration of the shorter of the two
times p1227 (standstill detection monitoring time) and p1228 (pulse cancellation delay time).
Features
• Automatic activation by means of sequence control
• Standstill monitoring
• Forced brake release (p0855, p1215)
• Closing of brake for a 1 signal "unconditionally close holding brake" (p0858)
• Closing of brake after "Enable speed controller" signal has been canceled (p0856)
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8.17 Simple brake control
Configuring the function
WARNING
Destruction of the holding brake as a result of incorrect parameterization
If the drive moves against the closed holding brake, this can destroy the holding brake and as
a consequence result in death or severe injury.
• If a holding brake is being used, do not set p1215 = 0.
• Set all the relevant parameters correctly.
The function or principle of operation of the holding brake is configured via parameter p1215.
Activating the function
The function is activated automatically (p1215 = 1) when the Motor Module has an internal
brake control and a connected brake has been found. If no internal brake control is available, the
control can be activated via parameter (p1215 = 3).
Note
It is only permissible to activate brake control monitoring for Booksize power units
and Blocksize power units with Safe Brake Relay (p1278 = 0).
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2701 Brake control - Simple brake control (r0108.14 = 0)
• 2704 Brake control - Extended brake control, standstill detection (r0108.14 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0056.4 CO/BO: Status word, closed-loop control;
magnetizing complete
• r0060 CO: Speed setpoint before the setpoint filter
• r0063 CO: Actual velocity value smoothed
• r0063[0...2] CO: Speed actual value
• r0108.14 Drive object function module;
extended brake control
• p0855[0...n] BI: Unconditionally open holding brake
• p0856[0...n] BI: Speed controller enabled
• p0858[0...n] BI: Unconditionally close holding brake
• r0899.12 CO/BO: Status word, sequence control;
holding brake open
• r0899.13 CO/BO: Status word, sequence control;
close holding brake command
• p1215 Motor holding brake configuration
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8.17 Simple brake control
• p1216 Motor holding brake opening time
• p1217 Motor holding brake closing time
• p1226[0...n] Threshold for standstill detection
• p1227 Standstill detection monitoring time
• p1228 Pulse suppression delay time
• p1278 Brake control diagnostics evaluation
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8.18 System runtime / operating hours counter
8.18 System runtime / operating hours counter
Total system runtime
The total system runtime is displayed in p2114 (Control Unit). Index 0 indicates the system
runtime in milliseconds. After reaching 86,400,000 ms (24 hours), the value is reset. Index 1
indicates the system runtime in days. The counter value is saved when the power is switched
off.
After the drive unit has been switched on, the counter continues to run with the value stored
when the power was last switched off.
Relative system runtime
The relative system runtime after the last POWER ON is displayed in p0969 (Control Unit). The
value is specified in milliseconds. The counter runs over after 49 days.
Actual motor operating hours
The motor operating hours counter p0650 (drive) is started when the pulses are enabled. When
the pulse enable is withdrawn, the counter is stopped and the value saved.
If p0651 is at 0, the counter is deactivated. If the maintenance interval set in p0651 is reached,
alarm A01590 is triggered. Once the motor has been maintained, the maintenance interval
must be reset.
Note
If the motor data set is switched during the star/delta changeover without the motor being
changed, the two values in p0650 must be added to determine the correct number of motor
operating hours.
Operating hours counter/wear meter of the fan
The wear on fans can be shown in 2 ways:
• All fans
The operating hours of the fan in the power unit are displayed in p0251 (drive). The number
of hours operated can only be reset to 0 in this parameter (e.g. after a fan has been replaced).
The maximum operating period of the fan is entered in p0252 (drive). Alarm A30042 is
output 500 hours before this figure is reached.
• For fans as of firmware V5.1
The wear on the heat sink of the fan in the power module is displayed by a wear counter
r0277. The wear counter can be reset (e.g. after a fan replacement) via p0251 = 0.
Monitoring (wear counter and operating hours counter) is deactivated when p0252 = 0.
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8.18 System runtime / operating hours counter
Time stamp mode
The mode for the time stamp can be set via parameter p3100. The following modes are available:
Setting Explanation
p3100 = 0 Time stamp based on operating hours
p3100 = 1 Time stamp UTC format
p3100 = 2 Time stamp operating hours + 01.01.2000
Note: With this setting, the value in p3102 is used as the time stamp for the error mes‐
sages for a firmware version > V4.7. For firmware versions < V4.7, the time basis of p2114
was used with the setting p3100 = 0.
Also note the following information when setting a time stamp:
Note
Time stamp settings depending on the firmware version
If a project is upgraded from firmware V4.6 to V4.7 then the time stamp settings for the old
project are retained. The times displayed for the error messages do not therefore differ from
those in the old firmware version.
If a new project is created with a firmware version > V4.7, the factory setting for the p3100 = 2
and therefore a different time basis for error messages. If the response required is the one for
versions older than V4.7 then p3100 = 0 should be set.
Note
Synchronizing time stamps
If a control system and several drive devices are connected through a bus, then the different time
stamps can be synchronized to the time stamp of the control system (= time-of-day master).
Detailed information on this is provided in the manual “SINAMICS S120 Function Manual
Communication” in the chapter “Time synchronization between the control and converter.”
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8.19 Energy-saving display
8.19 Energy-saving display
Overview
Through the tailored, speed-controlled operation, a drive can consume significantly less energy
than with a conventional closed-loop process control. This is especially true for continuous-flow
machines with parabolic load characteristics, such as centrifugal pumps and fans. Using the
SINAMICS S120 system enables control of the flow rate or the pressure by changing the speed
of the continuous-flow machine. As a consequence, the plant or system is controlled close to its
maximum efficiency over the complete operating range.
Requirements
• Operation in vector control
Function description
The function determines the amount of energy used and compares it with the interpolated
energy required for a plant or system equipped with a conventional throttle control. The amount
of energy saved is calculated over the last 100 operating hours and is displayed in kilowatt (kW).
The calculation can be individually configured for each individual axis.
For an operating time of less than 100 hours, the potential energy-saving is interpolated up to
100 operating hours. To do this, you must manually enter the plant/system characteristic with
the conventional throttle control.
Note
Plant/system characteristic
The factory setting is used as basis for the calculation if you do not enter the interpolation points
for your plant/system characteristic. The values of the factory setting can deviate from your
plant/system characteristic and result in an inaccurate calculation.
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8.19 Energy-saving display
Configuring the function
Carry out the following steps to configure the function:
1. The function is automatically activated after the pulses have been enabled.
2. Enter five interpolation points for the load characteristic in parameters p3320 to p3329:
Interpolation point Parameter Factory setting:
P - power in %
n - speed in %
1 p3320 P1 = 25.00
p3321 n1 = 0.00
2 p3322 P2 = 50.00
p3323 n2 = 25.00
3 p3324 P3 = 77.00
p3325 n3 = 50.00
4 p3326 P4 = 92.00
p3327 n4 = 75.00
5 p3328 P5 = 100.00
p3329 n5 = 100.00
Reset the energy display
Set p0040 = 1 to reset the value of parameter r0041 to "0".
Parameter p0040 is then automatically set back to "0".
Energy savings display
The energy saving is displayed in r0041.
Example: Fans and pumps
The function is optimized for fluid-flow machines. When compared to continuous-flow
machines with parabolic load characteristic, machines with a linear or constant load
characteristic, such as conveyor drives or reciprocating pumps, have a lower energy-saving
potential.
Initial situation
In a conventionally controlled plant or system, the flow rate of the medium is controlled using
valves or throttles. In this case, the drive motor operates at a constant rated speed defined by the
particular operation. The system efficiency decreases significantly if the flow rate is reduced by
means of valves or throttles. The pressure in the system increases. The motor also consumes
energy when the valves/throttles are completely closed, i.e. with a flow rate of Q = 0. In addition,
undesirable process-related situations can occur; for example, cavitation in the fluid flow
machine or increased temperature rise of the fluid flow machine and the medium.
Solution
When using a speed controller, the process-specific flow rate of the continuous-flow machine is
controlled by varying the speed. The flow rate changes proportionally with the speed of the
continuous-flow machine. Any throttles or valves remain completely open. The entire plant/
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8.19 Energy-saving display
system characteristic is shifted by the speed controller to achieve the required flow rate. As a
consequence, the complete system operates close to the optimum efficiency - and especially in
the partial load range, uses significantly less energy than when using a throttle or valve to
control the flow rate.
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Figure 8-7 Curve diagram: Energy-saving potential
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8.20 Encoder diagnostics
8.20 Encoder diagnostics
8.20.1 Datalogger
Overview
A datalogger is available to support troubleshooting; this datalogger can localize errors in the
encoder evaluation.
Function description
The datalogger reads out several internal signals of the encoder evaluation, which serve as basis
for the actual value generation. A change in the fault state serves as trigger for the recording.
Data is recorded a short time before the fault state as well as afterwards.
The diagnostics data is saved on the memory card in the following directories:
/USER/SINAMICS/DATA/SMTRC00.BIN
…
/USER/SINAMICS/DATA/SMTRC07.BIN
/USER/SINAMICS/DATA/SMTRCIDX.TXT
The following information is contained in the index file (SMTRCIDX.TXT):
• Displaying the last written BIN file
• Number of still possible write operations (from 10000 downwards).
Note
BIN files can only be evaluated by Siemens.
Alarm A3x9301) is output while diagnostics data is being actively recorded. Do not switch off the
system during this time.
1)
x = encoder number (x = 1, 2 or 3)
Activating the function
Set parameter p0437.0 = 1 to activate this function.
The datalogger is automatically active as soon as the current controller time is slower than
125 μs.
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8.20 Encoder diagnostics
8.20.2 Encoder dirty signal
Function description
Some encoders have an additional output, which switches from "high" to "low", if the evaluation
electronics in the encoder can no longer determine a reliable position.
In order to inform you about this, the drive only outputs alarm A3x4701) when an SMC30 is used.
1)
x = encoder number (x = 1, 2 or 3)
Commissioning the function
Connect the corresponding encoder signal with the CTRL input (monitoring signal) of the device
(terminal X521:7). Parameterization is not required.
Note
The input is automatically set to a high level if a wire is broken: As a consequence, for a broken
wire, the encoder is considered to be "good".
8.20.3 Early encoder failure detection
Overview
The early encoder failure detection allows an alarm to be generated at an early stage, before a
detected encoder signal level error results in a hard shutdown. r0458.15 = 1 "Evaluation of the
function reserve" indicates as to whether early encoder failure detection is supported by your
specific hardware.
Function description
For early encoder failure detection, the signals sampled by the encoder disk are locally
monitored. Quality values are calculated from the sampled signals. The signal level (root of
A^2 + B^2) from the incremental signals is used as quality value. The location-related quality
values are analyzed over a longer period of operating time. If the trend indicates a local
deterioration, then the drive issues an appropriate alarm message A3x4071).
1)
x = encoder number (x = 1, 2 or 3)
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8.20 Encoder diagnostics
Commissioning the function
You activate early encoder failure detection by entering a signal level limit in p4649. When doing
this, note the following:
• The signal level limit must be higher than the threshold to initiate a fault F3x1151) (> 170 mV)
- and less than 500 mV.
• The signal level limit must be adapted, depending on the rate at which the encoder becomes
dirty, so that alarm message A3x4071) is output in plenty of time before the encoder actually
fails.
• The threshold must be selected higher for measuring systems that quickly become dirty.
• If the rate at which the encoder becomes dirty is not known, then a practical threshold value
is 230 mV.
1)
x = encoder number (x = 1, 2 or 3)
8.20.4 Function diagrams and parameters
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0437[0...n] Sensor Module extended configuration
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8.21 Tolerant encoder monitoring
8.21 Tolerant encoder monitoring
Function description
The tolerant encoder monitoring offers the following expanded functionality regarding the
evaluation of encoder signals:
• Encoder track monitoring (Page 396)
• Zero mark tolerance (Page 397) (also for other sensor modules)
• Freeze speed raw value (Page 398)
• Adjustable hardware filter (Page 398)
• Edge evaluation of the zero mark (Page 399)
• Pole position adaptation (Page 400)
• Pulse number correction for faults (Page 401)
• Monitoring, tolerance band, pulse number (Page 402)
• Expansion of the encoder evaluation (1x, 4x) (Page 403)
• Setting the measuring time to evaluate speed "0" (Page 404)
• The number of current controller cycles can be set to generate the average value of the speed
actual value (Page 404)
These supplementary functions allow you to improve the evaluation of your encoder signals.
This may be necessary in special cases where the Control Unit receives incorrect encoder signals
or specific properties of the signals must be compensated for.
Some of these supplementary functions can be combined with one another.
Commissioning the function
The tolerant encoder monitoring is commissioned using parameters p0437 and r0459.
r0458.12 = 1 indicates whether your hardware supports the expanded encoder properties.
Note
• You can only parameterize the tolerant encoder monitoring functions when commissioning
the encoder. The encoder monitoring parameters cannot be changed while the drive is
running!
• The functions described in the following apply to SMC30 modules and to Control Units with
internal encoder evaluation.
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8.21 Tolerant encoder monitoring
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8.21.1 Encoder track monitoring
Overview
For square-wave encoders with push-pull signals, the function extension "Encoder track
monitoring" monitors encoder tracks A/B ↔ -A/B, as well as R ↔ -R. The encoder track monitoring
monitors the most important properties of the signals (amplitude, offset, phase position).
Commissioning the function
Before you activate encoder track monitoring, you must set the following parameters as
specified:
Setting Reaction
p0404.3 = 1 Switches to the square-wave encoder.
p0405.0 = 1 Sets the signal to bipolar.
Set p0405.2 = 1 to activate the function.
If you selected your encoder from the list of parameter p0400, then the values above are pre-
selected and cannot be changed (also refer to the information on p0400 in the SINAMICS S120/
S150 List Manual).
Deactivating track monitoring
If encoder track monitoring is activated, you can deactivate the function by setting p0437.26 = 1.
Evaluate messages
All of the track monitoring functions can be individually evaluated. You can use both HTL as well
as TTL encoders.
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8.21 Tolerant encoder monitoring
If a fault is detected, then fault F3x1171) is output. The faulty tracks are included in the fault value
bit-coded.
Note
For modules CU310-2, CUA32, D410-2 and SMC30 (only article numbers 6SL3055‑0AA00‑5CA0
and 6SL3055‑0AA00‑5CA1), there is only a common signal. If you connect a square-wave
encoder without R track to one of these modules, then if track monitoring is activated, fault
F3x1171) is output.
To avoid this fault, at the encoder connection, you must connect the "ground encoder supply"
(pin 7) with the "reference signal R" (pin 10), as well as the "encoder supply" (pin 4) with the
"inverse reference signal R" (pin 11).
1)
x = encoder number (x = 1, 2 or 3)
8.21.2 Zero mark tolerance
Overview
The function extension "Zero mark tolerance" allows individual faults to be tolerated regarding
the number of encoder pulses between two zero marks.
Commissioning the function
Set parameter p0430.21 = 1 to activate the function.
If the function is activated, then the following responses are executed:
1. The "zero mark tolerance" function starts to become effective after the 2nd zero mark has
been detected.
2. After this, if the number of track pulses between two zero marks does not match the
configured number of pulses once, then alarm A3x4001) (alarm threshold, zero mark
distance error) or A3x4011) (alarm threshold, zero mark failed) is output.
3. The alarm is cleared when the next zero mark is received at the correct position.
4. However, if a new zero mark position error is identified, fault F3x1001) (zero mark distance
error) or Fx31011) (zero mark failed) is output.
1)
x = encoder number (x = 1, 2 or 3)
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8.21 Tolerant encoder monitoring
8.21.3 Freezing the speed raw value
Overview
If, for high speed changes, the dn/dt monitoring function responds, then the function extension
"freeze speed raw value" gives you the opportunity of briefly specifying the actual speed value
therefore equalizing the speed change.
Commissioning the function
Set parameter p0437.6 = 1 to activate the function.
If the function is activated, then the following responses are executed:
1. If the dn/dt monitor responds, the alarm A3x418 " Encoder x: Speed difference per sampling
rate exceeded"1) is output.
2. A frozen actual speed value limited to just two current controller cycles is supplied.
3. The rotor position continues to integrate.
4. The actual value is released again after 2 current controller cycles.
1)
x = encoder number (x = 1, 2 or 3)
8.21.4 Adjustable hardware filter
Overview
The function extension "Adjustable hardware filter" allows an encoder signal to be filtered,
therefore suppressing short interference pulses.
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8.21 Tolerant encoder monitoring
Commissioning the function
You commission the function as follows:
1. Set parameter p0438 ≠ 0 to activate the function.
2. In parameter p0438 (square-wave encoder filter time) enter the filter time in the range from
0 to 100 μs. The hardware filter only supports values 0 (no filtering), 0.04 μs, 0.64 μs,
2.56 μs, 10.24 μs and 20.48 μs
If a value is set that does not match one of the discrete values specified above, the firmware
automatically sets the next closest discrete value. The drive does not output an alarm or fault
message.
3. You can see the active, effective filter time in parameter r0452.
Note
The zero mark alarms F3x100, F3x101 and F3x1311), that are already output for a zero mark
with a width of ¼ encoder pulse at half n_max speed, are suppressed when the hardware
filter is activated.
1)
x = encoder number (x = 1, 2 or 3)
Calculating the influence of the filter time on the speed
You can calculate the influence of the filter time on the maximum possible speed using the
following formula:
• n_max [rpm] = 60 / (p0408 · 2 · r0452)
p0408 represents the pulses per revolution of the rotary encoder.
Example
The following values are specified in this example:
• p0408 = 2048
• r0452 = 10.24 [μs]
On the basis of the specified values, calculate the filter time (n_max) using the following formula:
• n_max = 60 / (2048 · 2 · 10.24 · 10-6) = 1430 [rpm]
Result: With the calculated filter time, you can operate the motor up to a maximum of 1430 rpm.
8.21.5 Edge evaluation of the zero mark
Overview
The function extension "Edge evaluation of the zero mark" is suitable for encoders, where the
zero mark ≥ 1 pulse(s) wide. In this particular case, errors would otherwise occur as a result of
the edge detection of the zero mark.
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8.21 Tolerant encoder monitoring
For a positive direction of rotation, the positive edge of the zero mark is evaluated and for a
negative direction of rotation, the negative edge. As a consequence, for encoders where the
zero mark is wider than one pulse, it is possible to parameterize them with equidistant zero
marks (p0404.12 = 1), i.e. the zero mark checks (F3x100, F3x1011)) are activated.
1)
x = encoder number (x = 1, 2 or 3)
Commissioning the function
Set parameter p0437.1 = 1 to activate the function.
The factory setting p0437.1 = 0 keeps the operation at the known zero mark detection.
Setting the zero mark distance
Under unfavorable conditions, if the drive oscillates around the zero mark for one revolution, a
zero mark error can occur with the rough order of magnitude of the zero mark width. This
behavior can be avoided using the appropriate value of parameter p4686 (zero mark minimum
length). You can assign ¾ of the zero mark width to parameter p4686 in order to achieve the
most rugged behavior possible.
In order that the drive, for small inaccuracies, does not output fault F3x100 (N, A) "Encoder x:
Zero mark distance error"1), a small, adjustable deviation of the zero mark distances is permitted.
The parameter p4680 (zero mark monitoring tolerance permissible) makes the system less
sensitive to the occurrence of fault F3x1001), if p0430.22 = 0 (no pole position adaptation) and
p0437.2 = 0 (no pulse number correction for faults) are set.
1)
x = encoder number (x = 1, 2 or 3)
8.21.6 Pole position adaptation
Overview
If zero marks repeatedly return (e.g. due to a dirty encoder disk), the drive adds the missing
pulses to the pole position to correct the pole position error. If too many pulses are added (e.g.
due to EMC interferences), then these will be subtracted when the zero mark is exceeded.
Function description
When the pole position adaptation is activated, the incorrect pulses on the A/B track are
corrected in the pole position for commutation. The tolerance bandwidth for the zero mark is
±30° electrical. The rate of correction is ¼ of an encoder pulse between two zero marks; this
means that sporadically missing or superfluous pulses are corrected.
Note
When the "Commutation with zero mark" function (p0404.15 = 1) is activated, then the system
waits until fine synchronization has been completed before making a correction (r1992.8 = 1).
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8.21 Tolerant encoder monitoring
Commissioning the function
Set p0430.22 = 1 to activate the function.
8.21.7 Pulse number correction for faults
Overview
Interference currents or other EMC faults can falsify encoder evaluation. However, it is possible
to correct the measured signals using the zero marks.
Commissioning the function
Carry out the following steps to start the function:
1. Set p0437.2 = 1 to activate "Pulse number correction for faults".
2. Define the permissible tolerance (encoder pulses) for the zero mark distance (p4680).
3. Define the limits of the tolerance window, up to which the drive corrects the pulse number
(p4681, p4682).
4. Using p4686, define the minimum zero mark length.
Further information on the procedure
The function extension completely corrects encoder pulse errors up to the tolerance window
(p4681, p4682) between two zero marks. The rate of correction is ¼ encoder pulses per current
controller cycle. As a consequence, it is possible to continually compensate for missing encoder
pulses (for example, if the encoder disk is dirty). Using the parameters p4681 and p4682, set the
tolerance for the deviating pulse number. If the deviation exceeds the tolerance window size,
fault F3x1311) is output.
Note
When the "Commutation with zero mark" function (p0404.15 = 1) is activated, then the system
waits until fine synchronization has been completed before making a correction (r1992.8 = 1).
The pole position for the commutation is also corrected. To do this, you do not have to activate
pole position adaptation (p0430.22 = 1). This function does not make any corrections in
rotational speed acquisition.
Using p4686, set the minimum zero mark length. With a factory setting of 1, it is prevented that
EMC faults result in a zero mark error. Shorter zero marks are only suppressed when "Zero mark
edge detection" is parameterized (p0437.1 = 1).
Zero mark deviations of less than the minimum zero mark length (p4686) are not corrected.
A permanently failed zero mark is indicated using the fault F3x101 "Encoder x: Zero mark
failed"1) or the alarm A3x4011) "Alarm threshold zero mark failed".
1)
x = encoder number (x = 1, 2 or 3)
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8.21 Tolerant encoder monitoring
8.21.8 "Tolerance band pulse number" monitoring
Overview
The function extension "Tolerance band pulse number monitoring" monitors the number of
encoder pulses between two zero marks. An alarm is output if the number lies outside a
tolerance band that can be selected.
Commissioning the function
Carry out the following steps to start the function:
1. Set parameter p0437.2 = 1 to activate the monitoring.
2. Using parameters p4683 and p4684, set the upper and the lower limits of the tolerance
band. Within this tolerance band, the detected number of pulses is considered to be correct.
Further information on the procedure
• After each zero mark, it is again checked as to whether the number of pulses up to the next
zero mark lies within the tolerance band.
If ... Then ...
If the pulse number lies outside of the tolerance then alarm A3x4221) is output for 5 seconds.
band and the function "Pulse number correction
for faults" is parameterized via p0437.2 = 1, ...
If one of the limits has a value of 0, ... then alarm A3x4221) is deactivated.
1)
x = encoder number; x = 1, 2 or 3
• Display of uncorrected encoder pulses
For p0437.7 = 1, the number of corrected pulse errors is displayed in r4688 with the correct
sign. Set p0437.7 = 0 in order to indicate the corrected pulse errors per zero mark distance
in r4688.
If ... Then ...
If the tolerance band limit is not reached during a an alarm is not output.
drift after a revolution, ...
If the zero mark is exceeded; ... a new measurement is performed.
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8.21 Tolerant encoder monitoring
• Number of pulses outside the tolerance band
If ... Then ...
If the tolerance band is violated, ... in addition to alarm A3x4221) r4689.1 = 1 is set.
Note
This value remains for a minimum of 100 ms so
that a control system can detect several violations
in rapid succession one after the other even for
high-speed drives.
1)
x = encoder number; x = 1, 2 or 3
You can send the message bits of parameter r4689 to a higher-level controller via
PROFIBUS / PROFINET as process data.
• You can send the accumulated correction value to a higher-level controller via PROFIBUS /
PROFINET (e.g.: p2051[x] = r4688). The controller can then set the contents of the counter
to a specific value.
Note
The "tolerance band pulse number monitoring" also functions for external encoders which
operate in a drive line-up as leading value encoder (monitoring the position value XIST1 from
a direct measuring system).
8.21.9 Signal edge evaluation (1x, 4x)
Overview
The "signal edge evaluation" function extension allows square-wave encoders with higher
production tolerances or older encoders to be used. Using this function, a "steadier" speed actual
value is calculated for encoders with an uneven pulse duty factor of the encoder signals. As a
consequence, you can keep the old motors together with the encoders - for example when
modernizing plants.
Commissioning the function
Set the parameter p0437 bit 4 and bit 5 as follows to activate the function:
p0437.4 p0437.5 Evaluation
0 0 4 x (factory setting)
0 1 Reserved
1 0 1x
1 1 Reserved
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8.21 Tolerant encoder monitoring
Further information on the procedure
• For the 4x evaluation, both the rising and falling edges of a contiguous pulse pair on the A
and B tracks are evaluated.
• For the 1x evaluation, only the first or the last edge of a contiguous pulse pair on the A and
B tracks are evaluated.
• A 4x evaluation of the pulse encoder signals allows a minimum speed to be detected which
is a factor of 4 lower than for the 1x evaluation. For incremental encoders with uneven pulse
duty factor of the encoder signals or where the encoder signals are not precisely offset by 90°,
a 4x evaluation can result in an actual speed value that is somewhat less steady.
• The following formula defines the lowest speed where a distinction can be made to 0:
n_min = 60 / (x*p0408) [rpm]
with x = 1 or 4 (x times evaluation)
Note
You can only use the reduction to 1x evaluation in conjunction with the edge zero mark or
without zero mark. Detection with an accuracy of one pulse is no longer possible for zero marks
with "unambiguous range" or distance-coded zero marks.
8.21.10 Setting the measuring time to evaluate speed "0"
Overview
The function is only necessary for slow-speed drives (up to 40 rpm rated speed) in order to be
able to output actual speeds correctly close to "0". For a stationary drive, this prevents that the
I component of the speed controller slowly increases and the drive unnecessarily establishes a
torque.
Commissioning the function
Enter the required measuring time in parameter p0453. A speed actual value of "0" is output, if,
within this time, no pulses are detected from the A/B track.
8.21.11 Sliding averaging of the speed actual value
Overview
For slow-speed drives (< 40 rpm), when using standard encoders with a pulse number of 1024,
a problem is encountered due to the fact that the same number of encoder pulses is not available
for every current controller cycle (for p0430.20 = 1: Speed calculation without extrapolation,
"Incremental difference"). The different number of encoder pulses means that the speed actual
value display jumps, although the encoder itself is rotating at a constant speed.
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8.21 Tolerant encoder monitoring
Commissioning the function
Carry out the following steps to start the function:
1. Enter the value "0" (edge time measurement) in parameter p0430.20 for the sliding mean
value generation.
2. In parameter p4685, enter the number of current controller cycles over which the average
value should be formed to calculate the speed.
The averaging means that individual incorrect pulses, depending on the number of specified
cycles, are smoothed.
8.21.12 Troubleshooting
Overview
The table below gives you an overview of the error patterns and their possible causes.
Table 8-9 Fault profiles and their possible causes
Fault profile Fault description Remedy
No fault –
F3x101 (zero mark failed) Check that the connec‐
tion assignment is cor‐
rect (A interchanged with
–A or B interchanged
with –B)
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8.21 Tolerant encoder monitoring
Fault profile Fault description Remedy
F3x100 (Zero mark dis‐ Check whether the con‐
tance error) nection assignment is
correct (R interchanged
with –R)
Interjected zero mark Use zero mark tolerance
Zero mark too wide Use edge evaluation of
the zero mark
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8.21 Tolerant encoder monitoring
Fault profile Fault description Remedy
EMC faults Use an adjustable hard‐
ware filter
Zero mark to early/too For faults, use pole posi‐
late (interference pulse tion adaptation or pulse
or pulse loss on the A/B number correction
track)
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8.21 Tolerant encoder monitoring
8.21.13 Tolerance window and correction
Overview
The following figure gives an overview of the settable tolerance window and offsets.
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8.21 Tolerant encoder monitoring
8.21.14 Dependencies
Overview
The table below gives you an overview of the dependencies between the individual function
extensions.
Parameter Functionality
These functions can be freely combined with one These functions
another build on one an‐
other from left to
right, and can be
combined with
the adjacent
ones
Indices 1 2 3 4 5 6 7 8 9 10 11
p0405.2 Track monitoring x
p0430.20 Speed calculation mode x
p0430.21 Zero mark tolerance x
p0430.22 Rotor position adaptation x
p0437.1 Zero mark edge detection x
p0437.2 Actual position value correction x x
XIST1
p0437.4 Edge evaluation x
p0437.5 Edge evaluation x
p0437.6 Freezing the actual speed for dn/dt x
errors
p0437.7 Uncorrected encoder pulses accu‐ x x
mulate
p0437.26 Deselection, track monitoring x
p0438 Square-wave encoder filter time x
r0452 Square-wave encoder filter time dis‐ x
play
p0453 Pulse evaluation zero speed measur‐ x
ing time
p4680 Zero mark monitoring tolerance per‐ x x
missible
p4681 Zero mark monitoring tolerance x
window limit 1 positive
p4682 Zero mark monitoring tolerance x
window limit 1 negative
p4683 Zero mark monitoring tolerance x
window alarm threshold positive
p4684 Zero mark monitoring tolerance x
window alarm threshold negative
p4685 Speed actual value averaging x
p4686 Zero mark, minimum length x x
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8.21 Tolerant encoder monitoring
Parameter Functionality
These functions can be freely combined with one These functions
another build on one an‐
other from left to
right, and can be
combined with
the adjacent
ones
Indices 1 2 3 4 5 6 7 8 9 10 11
p4688 Zero mark monitoring, number of x x
differential pulses
p4689 Square-wave encoder diagnostics x x
Messages
F3x117 Inversion signal A and B error x
F3x118 Speed difference outside tolerance x
F3x131 Deviation position incremental ab‐ x
solute too high
A3x400 Alarm threshold zero mark distance x
error
A3x401 Alarm threshold zero mark clear‐ x
ance failed
A3x418 Speed difference per sampling rate x
exceeded
A3x422 Number of pulses square-wave en‐ x
coder outside tolerance
Number Explanation
In column
1 Encoder track monitoring
2 Zero mark tolerance
3 Freezing the speed setpoint
4 Adjustable hardware filter
5 The measuring time can be set to evaluate zero speed
6 Sliding averaging of the speed actual value
7 Edge evaluation of the zero mark
8 Signal edge evaluation (1x, 4x)
9 Pole position adaptation
10 Pulse number correction in the event of faults (pole position for commutation
is also corrected)
11 "Tolerance band pulse number" monitoring
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8.21 Tolerant encoder monitoring
8.21.15 Overview of important parameters
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0404[0...n] Encoder configuration active
• p0405[0...n] Square-wave encoder track A/B / square-wave encoder A/B
• p0408[0...n] Rotary encoder pulse No.
• p0430[0...n] Sensor Module configuration
• p0437[0...n] Sensor Module extended configuration
• p0438[0...n] Square-wave encoder filter time
• r0452[0...2] Square-wave encoder filter time display
• r0458[0...2] Sensor Module properties
• r0459[0...2] Sensor Module extended properties
• p4680[0...n] Zero mark monitoring tolerance permissible
• p4681[0...n] Zero mark monitoring tolerance window limit 1 positive
• p4682[0...n] Zero mark monitoring tolerance window limit 1 negative
• p4683[0...n] Zero mark monitoring tolerance window alarm threshold positive
• p4684[0...n] Zero mark monitoring tolerance window alarm threshold negative
• p4686[0...n] Zero mark, minimum length
• r4688[0...2] CO: Zero mark monitoring, number of differential pulses
• r4689[0...2] CO: Square-wave encoder diagnostics
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8.22 Parking axis / parking encoder
8.22 Parking axis / parking encoder
Function description
The "parking" function is used in two ways:
• "Parking axis"
– Monitoring of all encoders and Motor Modules assigned to the "Motor control" application
of a drive are suppressed.
– All encoders assigned to the "Motor control" application of a drive are prepared for the
"removed" state.
– The Motor Module assigned to the "Motor control" application of a drive is prepared for the
"removed Motor Module" state.
• "Parking encoder"
– Monitoring of a certain encoder is suppressed.
– The encoder is prepared for the "removed" state.
Parking an axis
When an axis is parked, the power unit and all the encoders assigned to the "motor control" are
switched to inactive (r0146[n] = 0).
• Control is carried out via the control/status words of the cyclic telegram (STW2.7 and
ZSW2.7) or using parameters p0897 and r0896.0.
• The drive must be brought to a standstill by the higher-level controller (disable pulses, e.g.
via STW1.0/OFF1).
• DRIVE-CLiQ communication to downstream components via the deactivated power unit
(r0126 = 0) remains active.
• A measuring system that is not assigned to the "motor control" (e.g. direct measuring system)
remains active (r0146[n] = 1).
• The drive object remains active (r0106 = 1).
Note
Once the "Parking axis" / "Parking encoder" status has been canceled, you may have to carry out
the following actions:
• If the motor encoder has been replaced: determine the commutation angle offset (p1990).
• A new encoder must be referenced again (e.g. to determine the machine zero point).
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8.22 Parking axis / parking encoder
Example: Parking axis
In the following example, an axis is parked. To ensure that the axis parking is effective, the drive
must be brought to a standstill (e.g. via STW1.0 (OFF1). All components assigned to the motor
control (e.g. power unit and motor encoder) are shut down.
67:
67:
S
=6:
U
*QB=6:
U
U
U
Q
Figure 8-9 Flow diagram: parking axis
Parking an encoder
When an encoder is parked, the encoder being addressed is switched to inactive (r0146 = 0).
• Control is carried out via the encoder control/status words of the cyclic telegram (Gn_STW.14
and Gn_ZSW.14).
• With a parked motor measuring system, the associated drive must be brought to a standstill
by the higher-level control system (disable pulses e.g. via STW1.0/OFF1).
• The monitoring functions for the power unit remain active (r0126 = 1).
Note
Removing/replacing parked components
Once parked components have been disconnected/connected, they can only be unparked once
they have been successfully integrated in the actual topology (see r7853).
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8.22 Parking axis / parking encoder
Example: Parking encoder
In the following example, a motor encoder is parked. To activate motor encoder parking, the
drive must be stopped (e.g. via STW1.0 (OFF1).
67:
*QB67:
*QB=6:
U
Q
Figure 8-10 Function chart: parking encoder
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0105 Activate/deactivate drive object
• r0106 Drive object active/inactive
• p0125[0...n] Activate/deactivate power unit component
• r0126[0...n] Power unit components active/inactive
• p0145[0...n] Enable/disable sensor interface
• r0146[0...n] Sensor interface active/inactive
• p0895[0...n] BI: Activate/deactivate power unit component
• r0896.0 BO: Parking axis status word
• p0897 BI: Parking axis selection
Drive functions
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8.23 Position tracking
8.23 Position tracking
Overview
Position tracking enables the load position to be reproduced when using gearboxes. It can also
be used to extend the position area.
Explanation of used terms
• Encoder range
The position area that can itself represent the absolute encoder.
• Singleturn encoder
A rotating absolute encoder, which provides an absolute image of the position within one
encoder revolution.
• Multiturn encoder
An absolute encoder that provides an absolute image of the position over several encoder
revolutions (e.g. 4096 revolutions).
Function description
With position tracking, an additional measuring gear can be monitored and also a load gear, if
the "position control" function module (p0108.3 = 1) is active. Position tracking of the load
gearbox is described in Section "Actual position value processing".
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Figure 8-11 Overview: Gearboxes and encoders
The encoder actual position value in r0483 (must be requested via GnSTW.13) is limited to 232
places. When position tracking (p0411.0 = 0) is switched off, the encoder actual position value
r0483 comprises the following position information:
• Encoder pulses per revolution (p0408)
• Fine resolution per revolution (p0419)
• Number of resolvable revolutions of the rotary absolute encoder (p0421), this value is fixed
at "1" for singleturn encoders.
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8.23 Position tracking
When position tracking (p0411.0 = 1) is activated, the encoder actual position value r0483 is
composed as follows:
• Encoder pulses per revolution (p0408)
• Fine resolution per revolution (p0419)
• Virtual number of resolvable motor revolutions of a rotary absolute encoder (p0412)
If the measuring gear is absent (n = 1), the actual number of the stored revolutions of a rotary
absolute encoder p0421 is used. The position area can be extended by increasing this value.
If the measuring gear is available, this value equals the number of resolvable motor
revolutions, which is stored in r0483.
• Gearbox ratio (p0433/p0432)
8.23.1 Position tracking with a measuring gearbox
Requirements
• Using an absolute encoder
Function description
If a mechanical gear (measuring gear) is located between an endlessly rotating motor or load
and the encoder and position control is carried out using this absolute encoder, an offset occurs
(depending on the gear ratio) between the zero position of the encoder and the motor or load
whenever encoder overflow occurs.
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Figure 8-12 Measuring gearbox
In order to determine the position at the motor or load, in addition to the position actual value
of the absolute encoder, it is also necessary to have the number of overflows of the absolute
encoder.
If the power supply of the control module must be powered-down, then the number of
overflows must be saved in a non-volatile memory so that after powering-up the position of the
load can be uniquely and clearly determined.
Example
Gear ratio 1:3 (motor revolutions p0433 to encoder revolutions p0432), absolute encoder can
count eight encoder revolutions (p0421 = 8).
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8.23 Position tracking
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Figure 8-13 Drive with odd-numbered gearboxes without position tracking
In this case, for each encoder overflow, there is a load-side offset of 1/3 of a load revolution, after
3 encoder overflows, the motor and load zero position coincide again. The position of the load
can no longer be clearly reproduced after one encoder overflow.
If position tracking is activated via p0411.0 = 1, the gearbox ratio (p0433 / p0432) is calculated
with the encoder position actual value (r0483).
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Figure 8-14 Odd-numbered gears with position tracking (p0412 = 8)
Features
• Configuration via p0411
• Virtual multiturn via p0412
• Tolerance window for monitoring the position at power ON p0413
• Input of the measuring gear via p0432 and p0433
• Display via r0483
Commissioning the function
The parameters p0412 (Measuring gear, rotary absolute encoder, revolutions, virtual) and
p0413 (Measuring gear, position tracking tolerance window) can only be set via the parameter
view.
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8.23 Position tracking
You can activate the position tracking of the measuring gear during the configuration of the
drive.
Measuring gear configuration (p0411)
The following points can be set by configuring this parameter:
• p0411.0: Activation of position tracking
• p0411.1: Setting the axis type (linear axis or rotary axis)
Here, a rotary axis refers to a modulo axis (modulo offset can be activated through higher-
level control or EPOS). With a linear axis, position tracking is mainly used to extend the
position area (see section: Virtual multiturn encoder (p0412)).
• p0411.2: Reset position
Overflows can be reset with this. This is required, for example, if the encoder is turned by
more than 1/2 the encoder range while switched off.
Virtual multiturn encoder (p0412)
With a rotary absolute encoder (p0404.1 = 1) with activated position tracking (p0411.0 = 1),
p0412 can be used to enter a virtual multiturn resolution. This enables you to generate a virtual
multiturn encoder value (r0483) from a singleturn encoder. It must be possible to display the
virtual encoder range via r0483.
Note
If the gear factor is not equal to 1, then p0412 always refers to the motor side. The virtual
resolution, which is required for the motor, is then used here.
For rotary axes with modulo offset, the virtual multiturn resolution (p0412) is preset as p0421
and can be changed.
For linear axes, the virtual multiturn resolution (p0412) is preset as p0421 and extended by 6
bits for multiturn information (max. overflows 31 positive/negative).
If, as a result of extension of the multiturn information, the displayable area of r0483 (232 bit) is
exceeded, the fine resolution (p0419) must be reduced accordingly.
Tolerance window (p0413)
After switch on, the difference between the stored position and the current position is
determined and initiated depending on the following:
• Difference within the tolerance window:
The position is reproduced based on the actual encoder value.
• Difference outside the tolerance window:
Message F07449 is output.
• The tolerance window is preset to quarter of the encoder range and can be changed.
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8.23 Position tracking
Note
The position can only be reproduced if, in the powered-down state, the encoder was moved
through less than half of the range that it can represent. For the standard EQN1325 encoder, this
is 2048 revolutions or half a revolution for singleturn encoders.
Note
The ratio stamped on the gear rating plate is often just a rounded-off value (e.g. 1:7.34). If, for
a rotary axis, it is not permissible to have any long-term drift, then the actual ratio of the gear
teeth must be requested from the gear manufacturer.
Note regarding using synchronous motors with a measuring gear
Field-oriented control of synchronous motors requires a clear reference between the pole
position and encoder position. This reference must also be carefully maintained when using
measuring gears: This is the reason that the ratio between the pole pair number and the encoder
revolutions must be an integer multiple ≥ 1 (e.g. pole pair number 17, measuring gear 4.25,
ratio = 4).
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4704 Encoder evaluation - Position and temperature sensing, encoders 1 ... 3
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0402[0...n] Gear unit type selection
• p0411[0...n] Measuring gear configuration
• p0412[0...n] Measuring gear, absolute encoder, rotary revolutions, virtual
• p0413[0...n] Measuring gear, position tracking tolerance window
• p0421[0...n] Absolute encoder rotary multiturn resolution
• p0432[0...n] Gear factor encoder revolutions
• p0433[0...n] Gear factor motor/load revolutions
• r0477 CO: Measuring gear, position difference
• r0485 CO: Measuring gear, raw encoder value, incremental
• r0486 CO: Measuring gear, raw encoder value, absolute
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8.24 Encoder as drive object
8.24 Encoder as drive object
Overview
Encoders can be linked in as autonomous drive objects (Drive Object = DO) and evaluated. If an
encoder is integrated as a drive object, it can be addressed via PROFIBUS / PROFINET as a stand-
alone unit.
Requirements
• STARTER V4.1.5 or higher
• New or existing project with a CU320-2
Note
The project can also be created offline. Further information on this can be found in Chapter
"Commissioning" in the SINAMICS S120 Commissioning Manual with STARTER.
• Completely configured drive system
Function description
The function "Encoder as a drive object" is only available in the STARTER commissioning tool.
Using an "Encoder" drive object allows you to directly connect an encoder of an upstream
machine via a Sensor Module without having to take an indirect route via the 2nd encoder of a
drive. The encoder is connected via the encoder interface of a Sensor Module. If the Sensor
Module has its own DRIVE-CLiQ interface (e.g. a Sensor Module of the type SME20), then the
encoder can be connected to any free DRIVE-CLiQ socket.
Creating an "Encoder" drive object
The creation of an "Encoder" drive object is described using an example of a CU320-2. In this
example, the project is created offline using the STARTER commissioning tool.
In the project navigator, you can find the selection of the "Encoder" drive object between "Input/
output components" and "Drives".
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8.24 Encoder as drive object
Figure 8-15 Project navigator: "Insert encoder"
Supplementary conditions
To be able to create an "Encoder" drive object, the following conditions must be fulfilled:
• All encoders that can be assigned to a drive can be used.
• Encoder drive objects may be connected to all DRIVE-CLiQ ports.
• Up to 4 DRIVE-CLiQ HUBs (DMC20 or DME20) can be used to establish a star-shaped wiring
of the Encoder drive objects. This means that a maximum of 19 possible "Encoder" drive
objects can be connected to one Control Unit. This means that the number of possible
"Encoder" drive objects is restricted so that a maximum of 24 drive objects can be connected
to one Control Unit.
• The DRIVE-CLiQ HUBs must be directly connected to the Control Unit.
• All encoders that can be assigned to a drive can be used.
• "Encoder" drive objects may be connected to all DRIVE-CLiQ ports.
• Up to 4 DRIVE-CLiQ HUBs (DMC20 or DME20) can be used to establish a star-shaped wiring
of the "Encoder" drive objects. This means that a maximum of 19 possible "Encoder" drive
objects can be connected to one Control Unit.
(This means that the number of possible "Encoder" drive objects is restricted so that a
maximum of 24 drive objects can be connected to one Control Unit.)
• The DRIVE-CLiQ HUBs must be directly connected to the Control Unit.
Procedure
To create an "Encoder" drive object, proceed as follows:
1. Double-click "Insert encoder".
The "Insert Encoder" dialog box opens.
2. Enter a name for the encoder in the "Name:" input field.
3. Click the "Drive object no." button.
4. Enter a new drive object number in the "Drive object no." input field.
All assigned drive object numbers are shown in the "Assigned drive object no." list.
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8.24 Encoder as drive object
5. Click "OK".
The configuration window for encoders opens.
6. Select your encoder from the "List of standard encoders", or enter the basis data of the
encoder under "Enter data".
7. Follow the configuration wizard to set-up the encoder.
8. Finally, click the "Finish" button.
The encoder is inserted in the topology and is now available.
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8.25 Terminal Module 41
8.25 Terminal Module 41
Description
Terminal Module 41 (TM41) emulates incremental encoder signals (TTL) and outputs them via
the interface X520. The signals are based on speed setpoints transferred via process data words
(SIMOTION mode) or created on the actual position value of a leading encoder (SINAMICS
mode). The emulated incremental encoder signal can be used by external hardware or a higher-
level controller.
The number of pulses output or virtual pulses per revolution can be set over a wide range.
With the additional inputs and outputs, these can be used for example to transfer analog speed
setpoints or control and status signals, for example OFF1/ON, "ready for operation" or "fault".
Features
Terminal Module 41 is characterized by the following features:
• Pulse encoder emulation, TTL signals according to the RS422 standard (X520)
• 1 analog input
• 4 digital inputs
• 4 bidirectional digital inputs/outputs
Further information
You can find further information about Terminal Module 41 as hardware component in Chapter
"Terminal Module TM41" in the "SINAMICS S120 Control Units and Additional System
Components" Equipment Manual.
8.25.1 SIMOTION mode
Function description
The SIMOTION mode of the incremental encoder emulation is set using parameter p4400 = 0.
The incremental encoder emulation is based on the speed setpoint.
A speed setpoint r2060 is received via PROFIdrive telegram 3, which is interconnected to p1155.
The speed setpoint can be filtered using a (p1414.0) PT2 element that can be activated (p1417
and p1418). The speed setpoint can be delayed with the dead time p1412. The number of
encoder pulses per revolution can be set using parameter p0408. The distance between the zero
marks and the position when enabling the A/B tracks (r4402.1) is entered into parameter p4426
and enabled with p4401.0 = 1.
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8.25 Terminal Module 41
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Features
• PROFIdrive telegram 3
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• Own status word (r0899)
• Sequence control (refer to function diagram 9682)
• Settable zero mark position (p4426)
• Operating display (r0002)
8.25.2 SINAMICS mode
Function description
The SINAMICS mode of the incremental encoder emulation is set using parameter p4400 = 1.
The incremental encoder emulation is based on the encoder actual position value of the leading
encoder.
The actual position values of the leading encoder are interconnected to the Terminal Module 41
via a connector input (p4420). The interconnection is possible for any encoder. This is true no
matter which drive object the encoder is assigned to. This means that the actual position values
at the TM41 are available as pulse encoder emulation - including the zero mark. The signals of
the pulse encoder emulation appear just like the signals of a TTL encoder - and can be processed
by an external controller or hardware.
Note
Connector input p4420 should be interconnected with signal source r0479 (diagnostics
encoder actual position value Gn_XACT1). The value is updated with each DRIVE-CLiQ base cycle
and displayed with the correct sign.
The TM41 supports a step-up/step-down ratio between the output signal of the leading encoder
and the output signal of the TM41. The number of encoder pulses per revolution of the leading
encoder is set using p4408. The pulse number of the TM41 encoder emulation is set using
p0408. The parameters p4408 and p0408 may have any relationship with each other.
The zero mark signal for the TM41 is generated from the zero position of the leading encoder.
Parameters p0493, p0494 and p0495 of the drive/encoder object apply to the generation of the
zero position of the leading encoder.
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8.25 Terminal Module 41
Features
• The runtime of the encoder actual position value up to the pulse encoder emulation can be
compensated using the deadtime compensation with p4421.
• The pulse number ratio between the encoder to be emulated and the emulating TM41 can
be set as required. For each encoder revolution, in the encoder emulation, more or fewer
pulses are output than were read-in from the original encoder.
• If the pulse number of the encoder emulation of the TM41 is set too high, this may cause
fragmenting of the emulated speed for the leading encoder due to the system.
Remedy: In p0408, enter a smaller value for the pulse number of the encoder emulation. The
following applies: The lower the pulse number of the encoder emulation is set, the higher the
rotational speed that can be emulated for the leading encoder.
• If p4422 = 1, input signal p4420 is inverted.
• Only one Encoder Data Set (EDS) can be interconnected to precisely one TM41.
• When the same EDS is interconnected to an additional TM41, only the actual position value
can be emulated – but not the zero mark position.
• Using p4401.1 = 1, the zero position is synchronized with the zero mark of the absolute
encoder. If you have to remain compatible with older firmware versions, for example for use
in an existing controller, set parameter p4401.1 = 0.
– p4401.1 = 0: No synchronous zero marks
– p4401.1 = 1: Zero mark synchronization enabled
– As soon as the absolute encoder passes the zero position of the absolute position, then
the zero pulse is output via X520.
• PROFIdrive telegram 3
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Figure 8-17 Incremental encoder emulation
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8.25 Terminal Module 41
8.25.3 Zero mark emulation (SINAMICS mode)
Function description
The referencing mode set for the leading encoder is used to determine the zero mark position
for the zero mark emulation of the TM41.
Possible referencing modes are:
• Referencing to the zero position of the encoder
– Encoder zero mark of an incremental encoder
– Zero passage of the singleturn position of an absolute encoder
– Pole pitch of the resolver
• Referencing to the zero position of the encoder with selection of the correct zero position
using a BERO switching signal (CU parameter p0493)
• Referencing to an external zero mark connected via an input terminal (CU parameter p0495)
Note
Original encoder with several zero marks
If the original encoder (leading encoder) has several zero marks/positions, an additional
condition (BERO signal) must be selected for the required zero mark.
Adjustable zero mark offset at the TM41 output
An offset of the pulse grid can be set for the zero mark position of the encoder emulation using
p4426.
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8.25 Terminal Module 41
Example: Pulses per revolution ratio
The leading encoder emits 12 pulses and a zero mark per revolution. However, the application
requires 32 pulses per revolution. By setting p4408 and p4418, the required 32 pulses a
revolution are available at X520 of the TM41.
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Figure 8-18 Step-up ratio of the encoder pulse number
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8.25 Terminal Module 41
Example: Pulses per revolution with several zero positions
If the original encoder has several zero positions/marks per revolution (e.g. resolver with several
pole pairs), the correct zero mark must be selected via an additional condition. Otherwise, there
is no reproducible relationship between the position of the original encoder and the zero mark
position of the encoder emulation.
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Figure 8-19 Step-up ratio with several zero positions per revolution
Configuring the function
The pulse numbers of the leading encoder (the signal source) are set using p4408 and p4418.
To synchronize the generated zero mark with the zero mark of the leading encoder, the pulse
number per encoder revolution of the encoder at the TM41 input (p4408) must always precisely
coincide with the pulse number per encoder revolution of the encoder interconnected at
connector input p4420.
The pulse numbers emulated by the TM41 are set using p0408 and p0418. If p4408 = 0 is set
then the values from p0408 and p0418 also apply for the output of the TM41.
Diagnostic options
Parameter r4419 shows the calculated position setpoint after the step-up/step-down. Using the
trace function of the Startdrive commissioning tool, you can check the step-up/step-down
function based on r4419.
Enabling the zero mark output of the TM41
For p4401.1 = 1, the zero mark from the leading encoder is also output from the TM41. For
p4401.1 = 0, TM41 outputs the zero pulse at the position at which the TM41 was located when
switching on.
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8.25 Terminal Module 41
8.25.4 Synchronization of the zero marks (SINAMICS mode)
Overview
After the drive has been powered up, a static offset is obtained as a result of the random switch-
on instant of the incremental encoder emulation.
Function description
The function "Synchronization of the zero marks" corrects the static offset that is obtained as a
result of the random switch-on instant of the incremental encoder emulation. The positions of
the zero marks output at the TM41 are synchronized with the zero marks of the leading encoder.
The following conditions are defined for synchronization:
• The reference mark is located at the position at which both track signals A and B have the
"high" status.
• The zero position is the positive edge of the A track belonging to the reference mark, which
for a positive direction of rotation comes before the zero mark.
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Figure 8-20 Example: Zero mark synchronization
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8.25 Terminal Module 41
Zero mark synchronization process
• After the SINAMICS system has been powered up, the TM41 drive object requests the zero
position of the leading encoder via the encoder interface. The encoder emulation follows the
movements of the leading encoder and outputs the track signals A/B. At this point in time, no
zero mark is output. The edges of the A track are still not in synchronism with the leading
encoder.
• The TM41 receives this position after passing the zero position of the leading encoder. The
output of the track signals is now corrected in such a way that the positive edge of the A track
is in synchronism with the zero position.
• After successful synchronization, the zero mark is output at the zero positions.
Detecting the zero mark position for new synchronization
If the number of encoder pulses has not been set equal to 2n (for example p0408 = 1000), then
after the higher-level controller has been reset, it is possible that the position of the next zero
mark cannot be determined from the actual position value xACT1 signaled from the TM41. For
this situation, the control can query the position of the next zero mark from parameter r4427
using an acyclic read request.
8.25.5 Limit frequencies for TM41
Maximum output frequencies for TM41
• Factory setting = 2048; selectable pulses per revolution (p0408) = 32 up to 16384
pulses / revolution;
• The limit frequencies specified in the tables below must not be exceeded.
The following table shows the maximum output frequency for Terminal Module 41 at 750 kHz
(p4401.7 = 0).
Table 8-10 Maximum output frequencies for TM41 = 750 kHz
Higher setpoint resolution not activated (p4401.5 = 0)
Sampling time p4099[3] 125 µs 250 µs 500 µs
Resolution 31.25 Hz 15.625 Hz 7.8125 Hz
SINAMICS mode Output frequency fmax (p0418 < 17 bit) 1024 kHz 512 kHz 256 kHz
p4400 = 1 Output frequency fmax (p0418 = 17 bit) 512 kHz 256 kHz 128 kHz
Output frequency fmax (p0418 = 18 bit) 256 kHz 128 kHz 64 kHz
SIMOTION mode Output frequency fmax 1024 kHz 512 kHz 256 kHz
p4400 = 0
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8.25 Terminal Module 41
The following table shows the maximum output frequency for Terminal Module 41 at 1024 kHz
(p4401.7 = 1).
Table 8-11 Maximum output frequencies for TM41 = 1024 kHz
Higher setpoint resolution activated (p4401.5 = 1)
Sampling time p4099[3] 125 µs 250 µs 500 µs
Resolution 0.122 Hz 0.061 Hz 0.031 Hz
SINAMICS mode Output frequency fmax (p0418 < 17 bit) 1024 kHz 512 kHz 256 kHz
p4400 = 1 Output frequency fmax (p0418 = 17 bit) 512 kHz 256 kHz 128 kHz
Output frequency fmax (p0418 = 18 bit) 256 kHz 128 kHz 64 kHz
SIMOTION mode Output frequency fmax 1024 kHz 1024 kHz 1024 kHz
p4400 = 0
Following error monitoring
If the actual position can no longer follow the entered position setpoint characteristic, then fault
F35220 is output. In the SINAMICS mode, the frequency setpoint is limited to the maximum
output frequency. The maximum output frequency from the TM41 is transferred to the Control
Unit.
8.25.6 Example in the SINAMICS mode
Overview
The signals of the leading encoder should be adapted using the TM41 and transferred to the
"Servo" drive object.
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8.25 Terminal Module 41 1
Procedure
Entering the parameter values:
• p4400 = 1 (encoder emulation by means of encoder actual position value)
• p4420 = r0479[n] (servo or vector), n = 0 to 2
• p4408 = sets the gear ratio pulse number (this must correspond to the pulse number of the
leading encoder)
• p4418 = sets the fine resolution of the signal source (this must correspond to the fine
resolution of the leading encoder)
• p0408 = sets the pulse number of the encoder emulation
• p0418 = sets the fine resolution of the encoder emulation
Note
To be able to signal encoder emulation faults of the TM41 to a higher-level controller, parameter
r2139.0...8 CO/BO: Status word faults/alarms 1 must be interconnected via a BICO with a digital
output (TM41 or CU) which can be read by the external controller.
8.25.7 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 9659 Terminal Module 41 (TM41) - Overview
• 9660 Terminal Module 41 (TM41) - digital inputs, isolated
(DI 0 ... DI 3)
• 9661 Terminal Module 41 (TM41) - Digital inputs/outputs, bidirectional
(DI/DO 0 ... DI/DO 1)
• 9662 Terminal Module 41 (TM41) - Digital inputs/outputs, bidirectional
(DI/DO 2 ... DI/DO 3)
• 9663 Terminal Module 41 (TM41) - Analog input 0 (AI 0)
• 9674 Terminal Module 41 (TM41) - Incremental encoder emulation (p4400 = 0)
• 9676 Terminal Module 41 (TM41) - Incremental encoder emulation (p4400 = 1)
• 9678 Terminal Module 41 (TM41) - Control word, sequence control (p4400 = 0)
• 9680 Terminal Module 41 (TM41) - Status word sequence control
• 9682 Terminal Module 41 (TM41) - Sequencer (p4400 = 0)
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8.25 Terminal Module 41
Overview of important parameters (see SINAMICS S120/S150 List Manual)
General
• r0002 TM41 status display
• p0408 TM41 encoder emulation pulse number
• p0418 TM41 encoder emulation fine resolution Gx_XACT1 (in bits)
• p4099[0...3] TM41 inputs/outputs sampling time
• p4400 TM41 encoder emulation operating mode
• p4401 TM41 encoder emulation mode
• p4402.0...2 CO/BO: TM41 encoder emulation status
• r4419 TM41 encoder emulation diagnostics position setpoint
Incremental encoder emulation using a speed setpoint (p4400 = 0)
• p0840 BI: ON/OFF (OFF1)
• r0898.0...13 CO/BO: Control word, sequence control
• r0899.0...15 CO/BO: Status word, sequence control
• p1155 CI: TM41 encoder simulation speed setpoint 1
• p4426 TM41 encoder emulation pulses for the zero mark
Incremental encoder emulation using the encoder actual position (p4400 = 1)
• p4408 TM41 encoder emulation pulse number leading encoder
• p4418 TM41 encoder emulation fine resolution leading encoder
• p4420 CI: TM41 encoder emulation position setpoint
• p4421 TM41 encoder emulation dead time compensation
• p4422 TM41 encoder emulation position setpoint inversion
• p4426 TM41 encoder emulation pulses for the zero mark
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8.26 Firmware update
8.26 Firmware update
Overview
Through a firmware update, you can use the extended functional scope of a later firmware
version.
Requirements
• Use a Siemens memory card (see Chapter "Protection against power failure (Page 436)")
Function description
WARNING
Malfunctions due to software manipulation
Files on exchangeable storage media are susceptible to manipulation (e.g. through viruses or
malware). Software manipulations or unauthorized changes to project data can result in
incorrect parameter assignment and thus serious injuries or death.
• Protect files stored on exchangeable storage media from malicious software with suitable
protection measures, e.g. virus scanners.
A Siemens memory card contains the firmware for the Control Unit and for all DRIVE-CLiQ
components. After a completed firmware update, the new firmware is on the Control Unit and
in each connected DRIVE-CLiQ component.
Control Unit
During ramp-up, the Control Unit automatically takes the firmware from the Siemens memory
card.
Note
Downgrading a Control Unit
Higher firmware versions are characterized by a larger range of functions. When you downgrade
a Control Unit from a higher to a lower firmware version, certain functions may no longer be
available.
DRIVE-CLiQ components
With the factory setting p7826 = 1, the firmware is automatically transferred to the DRIVE-CLiQ
components during initial commissioning. The firmware is hereby saved (non-volatile) in the
DRIVE-CLiQ components. With the "Detect device configuration" or "Upload to device"
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8.26 Firmware update
command, a firmware update to the firmware version stored on the Siemens memory card takes
place automatically in the connected DRIVE‑CLiQ components.
Note
Compatibility of DRIVE-CLiQ components of different firmware versions
DRIVE-CLiQ components with higher firmware releases are downwards compatible and also
operate with DRIVE-CLiQ components that have lower firmware versions.
CU310-2 and CU320-2
The update process is the same for CU310-2 and CU320-2. There is no facility for transferring
project files between a CU310-2 and a CU320-2.
Components in the Chassis format
The update process for SINAMICS S120 components in the Chassis format is more complex and
involves more settings than the process for components in the Booksize format. You can find a
detailed description of the update procedure for Chassis devices on the following Siemens web
page: Upgrading S120 Chassis. (https://support.industry.siemens.com/cs/ww/en/view/
60494864)
Duration of an update
The update process usually takes a few minutes. The process is indicated by the RDY LED on the
corresponding component flashing green/red and the Control Unit RDY LED flashing orange
(0.5 Hz).
The progress of the update is displayed in parameter p7827.
Update finished
The update process is complete when the RDY LED on the corresponding component is lit
continuously and the Control Unit RDY LED stops flashing orange (0.5 Hz).
For the components for which the RDY LED flashes green/red at 2 Hz, you must perform a POWER
ON to activate the new firmware.
Note
During activation of the new firmware, individual components may interrupt cyclic
communication. You need to acknowledge the communication fault that occurs.
Checking firmware after update
For individual components, use the "General" Startdrive diagnostics screen to read out the
firmware version. The versions of the DRIVE-CLiQ components and that of the Control Unit can
also differ. Information can be found in the version overview.
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8.26 Firmware update
8.26.1 Updating the firmware and STARTER project data using the web server
Function description
Using the web server, you can upgrade or downgrade the firmware and load existing STARTER
project data onto your drive. A firmware and existing STARTER project data can be loaded to the
drive, either simultaneously or at different instants in time.
Additional information
You can find further information on updating the firmware and STARTER project files in Chapter
"Updating the firmware via the web server (Page 823)".
8.26.2 Downgrade lock
Function description
The downgrade lock prevents the downgrade of firmware upgrades that were performed to
correct errors.
8.26.3 Protection against power failure
Overview
Data on the Siemens memory card is copied from the working partition to a backup partition to
guarantee protection against power failure during a firmware update. Only the system can
access this backup partition. The partition is not visible for users.
Siemens memory card
From firmware version ≥ V4.6, data on the Siemens memory card is automatically copied from
the working partition to a backup partition. This ensures that the data is saved protected against
power failure in the event of a fault.
Ensure compatibility between the Siemens memory card used and the new firmware version. To
do this, check the specifications relating to the firmware version on the labels attached to both
sides of the Siemens memory card. Only memory cards intended for firmware versions ≥ V4.6
are suitable for a secure update.
Firmware versions inconsistent
If the data on the working partition of the Siemens memory card and the backup partition is no
longer consistent, the alarm "A01073: POWER ON for backup copy on memory card required" is
output and entered in the diagnostic buffer of the CU.
Perform a POWER ON to update the data on the backup partition.
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8.26 Firmware update
Working partition damaged
If the working partition of the memory card is damaged, this partition is reformatted and
restored with the data of the backup partition. In this case the message "F01072: memory card
recreated from backup copy" is emitted.
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8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units
8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units
Requirements
• CU310-2 PN or CU310-2 DP
• Vector control
• PM240-2 Power Module
• Blocksize power units
Function description
When the Essential Service Mode (ESM) is used, a drive can still be operated for as long as
possible as needed, even if faults occur.
Essential service mode is only permitted in exceptional situations, where undesirable standstill
of a converter could cause significant subsequent damage!
Application: Fan drives
In the case of fire, fan drives in large buildings allow persons to be evacuated through escape
routes by extracting smoke and associated gases. In a case such as this, it is justifiable that the
converter continues to operate in the essential service mode.
In essential service mode, the converter logs the essential service mode and the faults that occur
while in essential service mode in a password-protected memory. This data is only accessible for
the service and repair organization.
Activate / deactivate essential service mode
Note
Warranty is lost in the essential service mode
If you activate the essential service mode, all of the warranty claims associated with the
converter become null and void. The essential service mode can have the following effects:
• Exceptionally high temperatures inside and outside the converter
• Open fire inside and outside the converter
• Emission of light, noise, particles or gases
Signal p3880 = 1 activates the essential service mode:
• If the motor was switched off by activating essential service mode, the converter switches the
motor on.
• If the motor was switched on by activating essential service mode, the converter switches the
speed setpoint to "ESM setpoint source".
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8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units
Signal p3880 = 0 deactivates the essential service mode:
• If one of the OFF1, OFF2 or OFF3 commands is active, the converter switches off the motor.
• If neither OFF1, OFF2 nor OFF3 is active, the converter switches the speed setpoint from the
"ESM setpoint source" to the normal setpoint source.
Special features of the essential service mode
The essential service mode (ESM) is characterized by the following features:
Use other signals to switch on and switch off the motor when the essential service mode
is active
WARNING
Unexpected exiting of the essential service mode by selecting "Safe Torque Off"
PM240‑2 Power Modules have terminals to select the "Safe Torque Off" (STO) safety function.
An active STO function switches the motor off, thus terminating the essential service mode.
The termination of essential service mode can cause severe injury or death, e.g. as smoke and
associated gases are no longer extracted.
• Set both STO switches to the "OFF" position on the PM240‑2 Power Modules.
The OFF1, OFF2 and OFF3 commands for switching off the motor have no effect.
The inverter blocks all functions that switch off the motor to save energy, e.g. PROFIenergy or
hibernation mode.
Response to faults when the essential service mode is active
In the "essential service mode", the converter does not switch off the motor when faults develop,
but instead responds differently depending on the fault type:
• The converter ignores faults, which do not directly result in the destruction of the converter
or the motor.
• The converter attempts to automatically acknowledge faults, which cannot be ignored, using
the automatic restart function.
• For faults that cannot be acknowledged, it is possible to switch over the motor to line
operation using the bypass function.
Automatic restart during active essential service mode
• The converter ignores the settings in p1206 (faults without automatic restart) and works
with the setting "restart after a fault with further start attempts" (p1210 = 6).
• The converter carries out the maximum number of restart attempts set in p1211
corresponding to the settings in p1212 and p1213. If these attempts are not successful, then
the converter goes into a fault condition with F07320.
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8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units
Speed setpoint when the essential service mode is active
• p3881 specifies the speed setpoint. If you have defined an analog input as setpoint source
using p3881, then for wire breakage, the converter can switch over to setpoint p3882.
• Wire-break monitoring can only take place with a setting as current input at the analog inputs
of the CU310-2 and the TM31. Wire-break monitoring cannot take place with a setting as
voltage input in essential service mode, thus there is no switchover to the alternative setpoint
p3882.
Interaction between bypass and the essential service mode
• If, when activating the essential service mode, bypass operation is active, converter
operation is selected internally in order to ensure that the setpoint is entered via the source
intended for the essential service mode.
• If faults are still present after the number of start attempts parameterized in p1211, then the
converter goes into a fault condition with F07320. In this case, there is an option of switching
over to bypass operation and then directly connecting the motor to the line supply.
Behavior with active speed limitations
In essential service mode, the adjustable speed setpoint of the ESM source observes the settings
of active speed limitations:
• If the set ESM speed is less than the minimum speed, the minimum speed is effective in
essential service mode.
• The settings of the skip frequency bands and maximum speeds are observed.
Automatic switchover to encoderless operation for encoder faults
By automatically pre-assigning parameter p0491 (Motor encoder fault response ENCODER) with
a value of "1", the drive maintains the essential service mode even when the encoder develops
a fault condition.
In addition, setting values "5" or "6"can be used. These setting values are lost after a power
interruption at the Control Unit or the drive restarts. The drive then continues to operate with
the automatic pre-assignment (p0491 = 1).
WARNING
Pending drive standstill in the essential service mode (ESM)
As a result of the automatic drive switchover to encoderless operation, controlled starting of
the drive after a power interruption can fail, in spite of the fact that the automatic restart
function (AR) is activated. If the drive comes to a standstill, then this can cause severe injury or
death, e.g. for ventilation and smoke extraction systems.
• To avoid the motor coming to a standstill, when the essential service mode (ESM) is
activated, switchover the drive to encoderless operation.
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8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units
8.27.1 Configuring the essential service mode
Procedure
To start essential service mode (ESM), proceed as follows:
1. Interconnect a free digital input as signal source to activate ESM.
You must use a negated digital input if the essential service mode should also be active for
a ground fault – or if the control cable is interrupted.
Example for negated digital input DI 3: Set p3880 = 723.3.
It is not permissible to interconnect the digital input for ESM activation with other functions.
2. Set the ESM setpoint source via p3881:
– p3881 = 0: Last known setpoint (r1078 smoothed) - factory setting
– p3881 = 1: Fixed speed setpoint 15 (p1015)
– p3881 = 2: Control Unit analog input 0 (AI 0, r0755[0])
– p3881 = 3: Fieldbus
– p3881 = 5: TM31 analog input
– p3881 = 6: Enable OFF1 response
– p3881 = 7: Enable OFF2 response
3. Set the alternative ESM setpoint source using p3882.
– p3882 = 0: Last known setpoint (r1078 smoothed) - factory setting
– p3882 = 1: Fixed speed setpoint 15 (p1015)
– p3882 = 2: Maximum speed (p1082)
4. Set the source to select the direction of rotation.
For p3881 = 0, 1, 2, 3 or 5, if you interconnect p3883 to a free digital input of your choice,
p3883 inverts the direction of rotation during the essential service mode.
For example, to interconnect p3883 with DI 4, set p3883 = 722.4.
5. Optional: Switchover to the bypass mode.
If the converter is not able to acknowledge pending faults with an automatic restart, it signals
fault F07320 and does not make any other attempts to restart.
Proceed as follows if the motor is still to continue operating:
– Set p1266 = 3889.10.
The converter switches the motor to bypass mode with r3889.10 = 1.
– Ensure that the direction of rotation does not change when switching over to bypass
operation (correct setting: p3883 = 0).
– Set p1267.0 = 1.
The converter switches the motor to bypass mode independent of the speed with control
signal p1266.
– Commission the "Bypass" function (see Chapter "Bypass (Page 307)").
The essential service mode (ESM) is commissioned.
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8.27 Essential service mode (ESM) for CU310-2 on Blocksize power units
8.27.2 Function diagrams and parameters
Function diagram (see SINAMICS S120/S150 List Manual)
• 3040 Setpoint channel - Direction limitation and direction reversal
• 7033 Technology functions - Emergency operation (ESM, Essential Service Mode
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0491 Motor encoder fault response ENCODER
• p1210 Automatic restart mode
• p1211 Automatic restart, startup attempts
• p1212 Automatic restart, delay time startup attempts
• p1213[0...1] Automatic restart monitoring time
• p1266 BI: Bypass control command
• p1267 Bypass changeover source configuration
• p3880 BI: ESM activation signal source
• p3881 ESM setpoint source
• p3882 ESM setpoint source alternative
• p3883 BI: ESM direction of rotation signal source
• p3886 CI: ESM setpoint TM31 analog input
• r3887[0...1] ESM number of activations/faults
• p3888 ESM reset number of activations/faults
• r3889.0...10 CO/BO: ESM status word
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8.28 Pulse/direction interface
8.28 Pulse/direction interface
Function description
Thanks to the pulse/direction interface, in the Servo and Vector control types, SINAMICS S120
can be used for simple positioning tasks on a controller.
• The encoder interface of the SMC30 (connector X521) is used to connect the controller to the
CU320-2.
• The internal encoder interface at connector X23 is used to connect the controller to the
CU310-2.
The controller enters the setpoints for the pulse/direction signals to the drive via the encoder
interface.
The specified actual speed value r0061 can then be connected as speed setpoint to the fixed
setpoint p1155 via BICO.
Note
• More information on the Control Unit CU320-2 and the SMC30 is provided in the SINAMICS
S120 Control Units Manual.
• More information on the Control Unit CU310-2 is provided in the SINAMICS S120 AC Drive
Manual.
Commissioning the function
Carry out the following steps to configure the function:
SMC30: Wiring input signals
The input signals for the pulse/direction interface are wired via connector X521 of the SMC30:
Table 8-12 Wiring the SMC30
Pin Signal name Technical data
1 of pulses –
2 M Ground
3 Direction of rotation –
4 M Ground
5 ... 8 Not relevant –
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8.28 Pulse/direction interface
CU310-2: Wiring input signals
The input signals for the pulse/direction interface are wired via connector X23 of the CU310-2:
Table 8-13 Wiring the CU310-2
Pin Signal name Technical data
1 ... 11 Not relevant –
12 M Ground
13 Direction of rotation –
14 M Ground
15 of pulses –
Activating and parameterizing a function
The pulse/direction interface can be activated with p0405.5 = 1.
Make the settings for the pulse/direction interface (rotary, 24 V, terminal, no track monitoring,
no zero mark, etc.) in the parameter view of the Startdrive engineering tool.
Application: Speed-controlled drive
The drive is subject to speed control when operating on the controller. The clock frequency
stipulates the speed setpoint. The pulse number is entered in p0408. This is calculated from the
clock frequency of the controller and the preferred maximum motor speed. The following
formula applies:
Pulse number = (max. clock frequency · 60)/max. speed
Example: If the controller has a maximum clock frequency of 100 kHz and the motor being used
is to run at its maximum rated speed of 3000 rpm, the resulting pulse number will be 2000.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0010 Drive, commissioning parameter filter
• r0061 CO: Actual speed value unsmoothed
• p0400[0...n] Encoder type selection
• p0404[0...n] Encoder configuration active
• p0405[0...n] Square-wave signal encoder A/B track
• p0408[0...n] Rotary encoder pulse No.
• r0722.0...21 CO/BO: CU digital inputs, status
• p0738 BI: CU signal source for terminal DI/DO 8
• p0739 BI: CU signal source for terminal DI/DO 9
• p2530 CI: LR position setpoint
• p2550 BI: Position control enable 2
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8.29 Derating function for chassis units
8.29 Derating function for chassis units
Overview
An adapted derating function greatly reduces the noise produced by Chassis format power units
(Motor Modules or Power Modules) and enables operation at a multiple of the rated pulse
frequency at nearly rated current. This is achieved by monitoring the temperature difference
between heat sink and chip. When a temperature alarm threshold is exceeded, the pulse
frequency or permitted current limit, respectively, is automatically reduced.
This enables the maximum output current of the power unit to be achieved even at high pulse
frequencies.
The derating function is effective for Motor Modules and Power Modules in the Chassis format.
Units that are connected in parallel operate in the same manner as single units. The dependency
of the output current on the pulse frequency for the Chassis power units is described in the
SINAMICS S120 Chassis Power Units Manual.
Function description
In order to optimize the use of the Chassis power unit (Motor Module or Power Module) also at
temperatures below the maximum permitted ambient temperature, the maximum output
current is controlled as a function of the operating temperature. This function also accounts for
the dynamic response (rise and decay curves of the operating temperature) of the thermal
characteristics.
A temperature alarm threshold is calculated that is weighted with the current ambient
temperature. By weighting the temperature alarm threshold with the current ambient
temperature, the power unit can output higher currents close to nominal current even at lower
ambient temperatures.
Depending on the setting of parameter p0290 "Power unit overload response", the pulse
frequency or the current will be reduced, or no response will occur if the temperature alarm
threshold is exceeded. An alarm (e.g. A07805 "Infeed: Power unit overload") is generated even
if no response is desired.
The following quantities can result in a response to thermal overload:
• Heat sink temperature via r0037[0]
• Chip temperature via r0037[1]
• Power unit overload after I2t calculation via r0036
Possible measures to avoid thermal overload:
• For servo control, reduction of the output current (closed-loop speed/velocity or torque/
force)
• Reduction of the output frequency for U/f control.
• Reduction of the pulse frequency for vector control.
Parameter r0293 "Power unit alarm threshold model temperature" indicates the temperature
alarm threshold for the difference between the chip and heat-sink temperatures.
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8.30 Parallel connection of motors
8.30 Parallel connection of motors
Requirements
• STARTER commissioning tool for vector control
Function description
For simple commissioning of group drives (a number of identical motors operating on one
power unit), the number of parallel-connected motors can be entered via STARTER (only vector
control) or via the expert list (for servo and vector control) (p0306).
An equivalent motor is computed internally depending on the number of motors specified. The
motor data identification determines the data for an equivalent motor. Motors connected in
parallel can also operate on an encoder (on the 1st motor).
Note
For information about parallel connection of Motor Modules, see Chapter "Parallel connection
of power units (Page 546)".
Features
Parallel connection is characterized by the following features:
• Up to 50 motors connected in parallel can be operated on one frequency converter.
• The original motor data set (p0300 ff.) is not modified. It is merely the data set transfer to the
closed-loop control which is organized according to the number of parallel-connected
motors.
• The stationary motor data identification also works for parallel connections.
• The rotating measurement function also works if the motors can rotate without distance
limit. Uneven loading of the motors or a high degree of gear backlash will negatively affect
the accuracy of the rotating measurement result.
• The cable lengths for motors connected in parallel must be as symmetrical as possible to
afford the most even possible distribution of current among individual motors.
• Motors connected in parallel with servo control, must be individually thermally monitored.
Synchronous motors connected in parallel must have the same EMF so that no unwanted
currents flow between the motors.
Commissioning the function (STARTER)
Note
In the STARTER commissioning tool, only motors with vector control can be commissioned.
Motors with servo control can only be connected in parallel via the expert list.
Parameter p0306 is assigned in a STARTER commissioning screen. When the subsequent
parameters are set, p0306 is included in the calculation of the current limit (p0640) and in the
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8.30 Parallel connection of motors
reference current (p2002). Parameter p0306 has a value range of 1 to 50, and is it dependent
on the motor data set (MDS).
1. To connect motors in parallel, select the corresponding motor in the selection screen and
activate the "Parallel motor connection" option.
2. Enter the number of motors in the parallel connection in the entry field "Number".
This display and input function is available for vector control only. For servo control, the
parallel connection of motors can only be configured using the expert list (parameter p0306).
Motors with integrated DRIVE-CLiQ interface (SINAMICS Sensor Module Integrated) can also be
connected in parallel. The first motor is connected to DRIVE-CLiQ via the encoder. The additional
motors must be identical. Using parameter p0306 and the encoder information obtained via
DRIVE-CLiQ, it is possible to determine all the necessary motor data.
Figure 8-22 Parallel motor connection selection for vector control
Properties of the parallel connection in STARTER
• The rating plate and equivalent circuit diagram parameters are those of the single drive.
• The parallel data set has no code numbers. All motor data is calculated from p0306 and the
code numbers of individual motors. The same interlock mechanisms apply as to single drives.
• The "Motor data" screen still displays only the data for the individual motor selected.
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8.30 Parallel connection of motors
Restrictions applicable to parallel connections
The basic governing principle of parallel connections is that the motors involved are
mechanically inter-coupled via the load. Where motors need to be decoupled from the
connection, the number of motors need to be reduced in p0306 by a DDS/MDS changeover.
Since the equivalent circuit diagram changes as a result, it may be necessary to commission
these data sets separately (e.g. motor data identification with reduced number of motors). The
power unit will otherwise apply false motor data.
An EDS changeover and, e.g. two SMCs must be used in cases where a motor with encoder needs
to be decoupled from connections operating with encoder.
Vector control with encoder for parallel-connected drives functions in the same way as for a
single drive if the drives are coupled via the load and the speeds do not differ by more than the
working-point-dependent pull-out slip.
Counter-example
The gear ratios used to couple the motors with the load are large and the backlash and elasticity
in the drive train are therefore high. If the load then causes one of the motors to rotate, but the
other is still stationary, the drive without an encoder will stall.
If a motor is defective, the individual motor will be shut down on overcurrent by the motor circuit
breaker. The power unit will be shut down by the control (if available) or, in the case of a turn-to-
turn fault in the motor, the power unit will go into the fault condition. The motor must then be
decoupled from the parallel grouping. Parameter p0306 is changed by the DDS/MDS
changeover.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0300[0...n] Motor type selection
• p0306[0...n] Number of motors connected in parallel:
• p0307[0...n] Rated motor power
• p0640[0...n] Current limit
• p2002 Reference current
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Function modules 9
Overview
When required, during the basic parameterization you can switch-in various function modules
for the selected drive axis.
Requirement
• The drive axis is offline.
Note
You can activate or deactivate function modules only offline.
Function description
Note
The display of the function modules that can be activated is dynamic and depends on the
selected drive axis and the configuration of this drive axis.
The following table provides an overview of the function modules that are available. In addition
to the individual function modules, the table includes an explanations of how each function
module can be used.
Function module Explanation
Frequently used function modules
Extended setpoint channel (r0108.8) Activates the "Setpoint channel" area with 7 configuration screen forms.
Technology controller (r0108.16) Activates the "Technology controller" area with 4 configuration screen forms.
Basic positioner (r0108.4) In the "Technology functions" area, activates the "Basic positioner" and "Position
control" functions. Supplements the "Basic parameterization" area to include the
"Mechanical system" function.
Extended messages/monitoring functions In the "Drive functions" area, supplements the "Messages and monitoring" func‐
(r0108.17) tion to include the "Load torque monitoring" function.
Extended brake control (r0108.14) In the "Drive functions" area, adds the "Brake control" function.
Additional function modules
Free function blocks (r.0108.18) Activates the F blocks.
Moment of inertia estimator / OBT Activates the moment of inertia estimator.
Extended torque control (r0108.1) In the "Technology functions" area, activates the "Extended torque control" func‐
tion
Advanced Positioning Control (APC) In the "Technology functions" area, activates the "Active oscillation damping
(r0108.7) (APC)".
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Function modules
Function module Explanation
Extended current setpoint filter (r0108.21) In the "Open-loop/closed-loop control" area, extends the "Current setpoint filter"
to include an additional 6 filters.
Recorder Allows fault events to be recorded.
Position control (r0108.3) In the "Technology functions" area, activates the "Position controller" function.
Also supplements the "Basic parameterization" area to include the "Mechanical
system" function.
DSC with spline (r0108.6) In the "Open-loop/closed-loop control" area, extends the interconnection of the
"Speed precontrol" function. Adds the "Dynamic Servo Control" secondary screen
form.
Extended stop and retract (r0108.9) In the "Setpoint channel" area, activates the "Extended stop and retract" function.
Cogging torque compensation (r0108.22) In the parameter view, activates all parameters of the "Cogging torque compen‐
sation" parameter group. Cogging torque compensation can only be parameter‐
ized via the parameter view.
Notes:
• Use of this function module requires a license.
• The activation of this function module leads to a significant increase in the
required computing time per drive axis.
• The operation of 6 servo axes on one Control Unit can no longer be guaran‐
teed in all constellations and should be reduced to 5 axes.
Activating function modules
Proceed as follows to activate a function module:
1. Click on the desired function module (e.g. technology controller).
Repeat this step for all additional function modules that you wish to activate.
Note
When the "basic positioner" function module is activated, then the "position control" function
module is automatically activated as well.
2. Save the project to back up the settings.
Parameters (see SINAMICS S120/S150 List Manual)
• p0108[0..n] Drive objects function module
• p0124[0...n] Main component detection using LED
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Function modules
9.1 Technology controller
9.1 Technology controller
Overview
Simple control functions can be implemented with the technology controller. These include:
• Level control
• Temperature control
• Dancer roll position control
• Pressure control
• Flow control
• Simple closed-loop controls without higher-level controller
• Tension control
Function description
The technology controller is designed as a PID controller, whereby the differentiator can be
switched to the control deviation channel or the actual value channel (factory setting). The P, I,
and D components can be set separately. A value of 0 deactivates the corresponding
component. Setpoints can be specified via two connector inputs. The setpoints can be scaled via
parameters (p2255 and p2256). A ramp-function generator in the setpoint channel can be used
to set the setpoint ramp-up/ramp-down time via parameters p2257 and p2258. The setpoint
and actual value channel each have a smoothing element. The smoothing time can be set via
parameters p2261 and p2265.
The setpoints can be specified via separate fixed setpoints (p2201 to p2215), the motorized
potentiometer, or via the fieldbus (e.g. PROFIBUS).
Precontrol can be integrated via a connector input.
The output can be scaled via parameter p2295 and the control direction reversed. It can be
limited via parameters p2291 and p2292 and interconnected as required via a connector output
(r2294).
The actual value can be integrated, for example, via an analog input on the TB30.
If a PID controller has to be used for control reasons, the D component is switched to the setpoint/
actual value difference (p2263 = 1) unlike in the factory setting. This is always necessary when
the D component is to be effective, even if the reference variable changes. The D component can
only be activated when p2274 > 0.
Features
The technology controller is characterized by the following features:
• Two scalable setpoints
• Scalable output signal
• Separate fixed values
• Integrated motorized potentiometer
• The output limits can be activated and deactivated via the ramp-function generator.
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Function modules
9.1 Technology controller
• The D component can be switched into the control deviation or actual value channel.
• The motorized potentiometer of the technology controller is only active when the drive
pulses are enabled.
Commissioning the function
The "Technology controller" function module can be activated in the Startdrive engineering tool
via "Basic parameter assignment > Function modules". The parameter r0108.16 shows the
current configuration of the function module.
Example: Level control
The objective here is to maintain a constant level in the container.
This is carried out by means of a variable-speed pump in conjunction with a sensor for measuring
the level.
The level is determined via an analog input (e.g. AI0 on TB30) and sent to the technology
controller. The level setpoint is defined in a fixed setpoint. The resulting controlled variable is
used as the setpoint for the speed controller.
In this example, a Terminal Board 30 (TB30) is used.
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Function modules
9.1 Technology controller
Table 9-1 Important parameters for the level control
Parameter Designation Example
p1155 CI: Speed controller, speed setpoint p1155 = r2294 Tec_ctrl output_sig [3080]
1
p2200 BI: Technology controller enable p2200 = 1 Technology controller enabled
p2253 CI: Technology controller setpoint 1 p2253 = r2224 Fixed setpoint active [7950]
p2263 Technology controller type p2263 = 1 D component in fault signal [7958]
p2264 CI: Technology controller actual val‐ p2264 = r4055 [1] Analog input AI1 of TB30
ue (XACTUAL)
p2280 Technology controller p-gain p2280 Determine by optimization
p2285 Technology controller integral time p2285 Determine by optimization
9.1.1 Function diagrams (see SINAMICS S120/S150 List Manual)
• 7950 Technology controller - Fixed values, binary selection (r0108.16 = 1 and p2216
= 2)
• 7951 Technology controller - Fixed values, direct selection (r0108.16 = 1 and p2216
= 1)
• 7954 Technology controller - Motorized potentiometer (r0108.16 = 1)
• 7958 Technology controller - Closed-loop control (r0108.16 = 1)
• 7959 Technology controller - Kp/Tn adaptation (r0108.16 = 1)
• 7960 Technology controller - Controller DC link voltage (r0108.16 = 1)
Fixed setpoints
• p2201[0...n] CO: Technology controller fixed value 1
to
• p2215[0...n] CO: Technology controller fixed value 15
• p2220[0...n] BI: Technology controller fixed value selection bit 0
• p2221[0...n] BI: Technology controller fixed value selection bit 1
• p2222[0...n] BI: Technology controller fixed value selection bit 2
• p2223[0...n] BI: Technology controller fixed value selection bit 3
Motorized potentiometer
• p2230[0...n] Technology controller motorized potentiometer configuration
• r2231 Technology controller motorized potentiometer setpoint memory
• p2235[0...n] BI: Technology controller motorized potentiometer, setpoint, raise
• p2236[0...n] BI: Technology controller motorized potentiometer, setpoint, lower
• p2237[0...n] Technology controller motorized potentiometer maximum value
• p2238[0...n] Technology controller motorized potentiometer minimum value
• p2240[0...n] Technology controller motorized potentiometer start value
• r2245 CO: Technology controller motorized potentiometer, setpoint be‐
fore RFG
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Function modules
9.1 Technology controller
• p2247[0...n] Technology controller motorized potentiometer ramp-up time
• p2248[0...n] Technology controller motorized potentiometer ramp-down time
• r2250 CO: Technology controller motorized potentiometer, setpoint after
RFG
Closed-loop control
• p2200[0...n] BI: Technology controller enable
• p2253[0...n] CI: Technology controller setpoint 1
• p2254 [0...n] CI: Technology controller setpoint 2
• p2255 Technology controller setpoint 1 scaling
• p2256 Technology controller setpoint 2 scaling
• p2257 Technology controller ramp-up time
• p2258 Technology controller ramp-down time
• r2260 CO: Technology controller setpoint after ramp-function generator
• p2261 Technology controller setpoint filter time constant
• r2262 CO: Technology controller setpoint after filter
• p2263 Technology controller type
• p2264[0...n] CI: Technology controller actual value
• p2265 Technology controller actual value filter time constant
• r2266 CO: Technology controller actual value after filter
• p2267 Technology controller upper limit actual value
• p2268 Technology controller lower limit actual value
• p2269 Technology controller gain actual value
• p2270 Technology controller actual value function
• p2271 Technology controller actual value inversion (sensor type)
• r2272 CO: Technology controller actual value scaled
• r2273 CO: Technology closed-loop controller
• p2274 Technology controller differentiation time constant
• p2280 Technology controller proportional gain
• p2285 Technology controller integral time
• p2286[0...n] BI: Hold technology controller integrator
• p2289[0...n] CI: Technology controller precontrol signal
• p2291 CO: Technology controller maximum limiting
• p2292 CO: Technology controller minimum limiting
• p2293 Technology controller ramp-up/ramp-down time
• r2294 CO: Technology controller output signal
• p2295 CO: Technology controller output scaling
• p2296[0...n] CI: Technology controller output scaling
• p2297[0...n] CI: Technology controller maximum limiting signal source
• p2298[0...n] CI: Technology controller minimum limiting signal source
• p2299[0...n] CI: Technology controller limitation offset
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9.1 Technology controller
Adaptation of gain and integral time
• p2252 Technology controller configuration
• p2310 Technology controller Kp adaptation input value signal source
• p2311 Technology controller lower Kp adaptation factor
• p2312 Technology controller upper Kp adaptation factor
• p2313 Technology controller lower Kp adaptation activation point
• p2314 Technology controller upper Kp adaptation activation point
• p2315 Technology controller Kp adaptation scaling signal source
• r2316 Technology controller Kp adaptation output
• p2317 Technology controller Tn adaptation input value signal source
• p2318 Technology controller lower Tn adaptation factor
• p2319 Technology controller upper Tn adaptation factor
• p2320 Technology controller lower Tn adaptation activation point
• p2321 Technology controller upper Tn adaptation activation point
• r2322 Technology controller Tn adaptation output
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Function modules
9.2 Extended monitoring functions
9.2 Extended monitoring functions
Overview
When the extension is activated, the monitoring functions are extended as follows:
• Speed setpoint monitoring: |n_set | ≤ p2161
• Speed setpoint monitoring: n_set > 0
• Load monitoring
Function description
This function monitors power transmission between the motor and the working machine.
Typical applications include V-belts, flat belts, or chains that loop around the belt pulleys or cog
wheels for drive and outgoing shafts and transfer the peripheral speeds and forces. The load
monitoring can identify blockages in the working machine and interruptions to the power
transmission.
During load monitoring, the current speed/torque curve is compared with the programmed
speed/torque curve (p2182 to p2190). If the actual value is outside the programmed tolerance
bandwidth, a fault or alarm is triggered depending on parameter p2181. Faults or alarms can be
delayed using parameter p2192 to prevent false messages caused by brief transitional states.
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Commissioning the function
This function module can be activated via the commissioning wizard.
Drive functions
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Function modules
9.2 Extended monitoring functions
You can check the current configuration in parameter r0108.17.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8010 Signals and monitoring functions - Speed messages 1
• 8011 Signals and monitoring functions - Speed messages 2
• 8013 Signals and monitoring functions - Load monitoring (r0108.17 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
Load monitoring
• p2181[0...n] Load monitoring, response
• p2182[0...n] Load monitoring, speed threshold 1
• p2183[0...n] Load monitoring, speed threshold 2
• p2184[0...n] Load monitoring, speed threshold 3
• p2185[0...n] Load monitoring, torque threshold 1, upper
...
• p2190[0...n] Load monitoring torque threshold 3, lower
• p2192[0...n] Load monitoring, delay time
Speed setpoint monitoring
• p2150[0...n] Hysteresis speed 3
• p2151[0...n] CI: Speed setpoint for messages
• p2161[0...n] Speed threshold 3
• r2198.4 CO/BO: Status word, monitoring 2;
|n_set| ≤ p2161
• r2198.5 CO/BO: Status word, monitoring 2;
n_set < 0
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Function modules
9.3 Extended Brake Control
9.3 Extended Brake Control
Function description
The "Extended brake control" allows complex brake controls, such as for motor holding brakes
and service brakes.
The brake is controlled in the following manner. The order represents the priority:
• Via parameter p1215
• Via binectors p1219[0...3] and p0855
• Via standstill detection
• Via the connector interconnection, threshold value
For an AC drive with "Safe Brake Relay," the "Safe Brake Control" safety function requires that the
type of the brake control be set in parameter p1278, to "Brake control with diagnostic
evaluation" (p1278 = 0). This parameter is automatically set for Booksize components.
Features
• Forced brake release (p0855, p1215)
• Closing of brake for a 1 signal "unconditionally close holding brake" (p0858)
• Binector inputs for opening or closing the brake (p1218, p1219)
• Connector input for threshold value for opening and closing the brake (p1220)
• OR/AND block, each with two inputs (p1279, r1229.10, r1229.11)
• Holding and operational brakes can be activated
• Function for monitoring brake feedback signals (r1229.4, r1229.5)
• Configurable responses (A07931, A07932)
• Closing of brake after "Enable speed controller" signal has been canceled (p0856)
Commissioning the function
WARNING
Destruction of the holding brake as a result of incorrect parameterization
If the drive moves against the closed holding brake, this can destroy the holding brake and as
a consequence result in death or severe injury.
• If a holding brake is being used, do not set p1215 = 0.
• Set all the relevant parameters correctly.
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Function modules
9.3 Extended Brake Control
To start the function, proceed as follows:
1. Activate the "Extended brake" function module using the commissioning Wizards.
You can check that it has been activated in parameter r0108.14.
Brake control will be activated automatically (p1215 = 1) when the Motor Module has an
internal brake control and a connected brake has been found.
2. If there is no internal brake control, activate the control using p1215 = 3.
Unless you change the default settings, the extended brake control function behaves in
exactly the same way as the simple brake control function.
3. In the case of brakes with a feedback signal (p1222), interconnect the inverted signal to the
BICO input for the 2nd feedback signal (p1223). You set the switching times of the brake in
p1216 and p1217.
Note
It is only permissible to activate brake control monitoring for "Booksize" power units and
"Blocksize" power units with "Safe Brake Relay" (p1278 = 0).
Use for braking with feedback
For braking with feedback (p1275.5 = 1), the brake control reacts to the feedback signal contacts
of the brake. If the timer p1216 is greater than the time to the feedback signal, the startup is
delayed to the corresponding time difference.
In order to startup without delay when possible, the set period p1216 must be shorter than the
time until the feedback signal comes. If the period is set shorter, the alarm "A07931, brake does
not open" appears, however.
Remedy
1. Activate "Release with feedback signal" (p1275.6 = 1).
The pulse enable (BO: r1229.3) and setpoint enable (BO: r0899.15) are now independent of
the set time level (p1217, p1216). The associated enable is determined only by the feedback
signal (BI: p1222, BI: p1223). The timers (p1216, p1217) only influence the alarms A07931
"Brake does not open" and A07932 "Brake does not close".
2. Optional: In order that the alarms no longer appear, set the two timers (p1217, p1216) to 0
ms.
Result: The monitoring of the brake and the display of the alarms are switched off.
Note
Speed controller response when a brake is opened
Information on the speed controller response in vector control mode is provided in Chapter
"Speed controller (Page 248)".
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Function modules
9.3 Extended Brake Control
Example 1: Service brake on crane drives
For cranes with manual control, it is important that the drive responds immediately when the
control lever is moved (master switch). The drive is switched on with an ON command (p0840)
(the pulses are enabled). Speed setpoint (p1142) and speed controller (p0856) are inhibited.
The motor is magnetized. The magnetization time required for three-phase motors (1-2 s),
therefore, no longer applies.
Now, only the brake opening time will delay the motor starting to rotate following activation of
the master switch. If the master switch is moved (deflected), then there is a "setpoint enable
from the control" (bit interconnected with p1142, r1229.3, p1224.0). The speed controller is
enabled immediately. Once the brake opening time has elapsed (p1216), the speed setpoint is
enabled. When the master switch is in the zero position, the speed setpoint is inhibited and the
drive brakes along the deceleration ramp of the ramp-function generator. The brake closes
when the speed drops below the standstill limit (p1226). After the brake closing time (p1217),
the speed controller is inhibited (no motor force!). The extended brake control is used.
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Example 2: Emergency brake
In the case of emergency braking, electrical and mechanical braking should be realized at
precisely the same time. This can be achieved by using OFF3 as a tripping signal for emergency
braking:
p1219[0] = r0898.2 and p1275.00 = 1 (OFF3 to "Close brake immediately" and invert signal).
To ensure that the frequency converter does not operate against the brake, the OFF3 ramp
(p1135) should be set to 0 seconds. Regenerative energy can be generated, which must be
either fed back to the line supply or dissipated by means of a braking resistor.
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Function modules
9.3 Extended Brake Control
Example 3: Starting against a closed brake
When the device is switched on, the setpoint is enabled immediately (if the required enable
signals are issued), even if the brake has not yet been released (p1152 = 1). The factory setting
p1152 = r0899.15 must be separated here. The drive starts to generate torque against the
closed brake. The brake is not opened until the motor torque or current (p1220) has exceeded
braking threshold 1 (p1221). Depending on the type and design of the brake, the time required
to completely open the brake differs. Note that once the braking threshold torque has been
exceeded, the operation enabling signal (r0899.2) is interrupted while the brake is being
opened (p1216) to ensure that the motor current does not exceed the permissible limit values
during this period and/or the motor torque generated does not damage the brake. Interval
p1216 must be set on the basis of the time the brake actually requires to release.
Control and status messages for extended brake control
Table 9-2 Controller extended brake control
Signal name Binector input Control word sequence control / inter‐
connection parameters
Enable speed setpoint p1142 BI: Enable speed setpoint STWA.6
Enable setpoint 2 p1152 BI: Setpoint 2 enable p1152 = r0899.15
Unconditionally open holding brake p0855 BI: Unconditionally open holding STWA.7
brake
Enable speed controller p0856 BI: Enable speed controller STWA.12
Unconditionally close holding brake p0858 BI: Unconditionally close holding STWA.14
brake
Table 9-3 Status message of extended brake control
Signal name Parameter Brake status word
Command, open brake (continuous sig‐ r1229.1 B_STW.1
nal)
Pulse enable, extended brake control r1229.3 B_STW.3
Brake does not open r1229.4 B_STW.4
Brake does not close r1229.5 B_STW.5
Brake threshold exceeded r1229.6 B_STW.6
Value below brake threshold r1229.7 B_STW.7
Brake monitoring time expired r1229.8 B_STW.8
Request, pulse enable missing/n_ctrl in‐ r1229.9 B_STW.9
hibited
Brake OR logic operation result r1229.10 B_STW.10
Brake AND logic operation result r1229.11 B_STW.11
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Function modules
9.3 Extended Brake Control
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2704 Brake control - Extended brake control,
stationary state detection (r0108.14 = 1)
• 2707 Brake control - Extended brake control,
open/close brake (r0108.14 = 1)
• 2711 Brake control - Extended brake control,
signal outputs (r0108.14 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0108.14 Drive objects, function module;
Extended brake control
• r0899.0...15 CO/BO: Status word, sequence control
Standstill monitoring
• r0060 CO: Speed setpoint before the setpoint filter
• r0063 CO: Speed actual value smoothed
(for servo)
• r0063[0...2] CO: Actual speed value
(for vector)
• p1224[0...3] BI: Close motor holding brake at standstill
• p1225 CI: Standstill detection threshold value
• p1226[0...n] Standstill monitoring speed threshold
• p1227 Standstill detection monitoring time
• p1228 Pulse suppression delay time
• p1276 Motor holding brake standstill detection bypass
Open and close the brake
• p0855[0...n] BI: Unconditionally open holding brake
• p0858[0...n] BI: Unconditionally close holding brake
• p1216 Motor holding brake opening time
• p1217 Motor holding brake closing time
• p1218[0...1] BI: Open motor holding brake
• p1219[0...3 ] BI: Immediately close motor holding brake
• p1220 CI: Open motor holding brake, signal source, threshold
• p1221 Open motor holding brake, threshold
• p1277 Motor holding brake, delay, braking threshold exceeded
• p1279[0...3] BI: Motor holding brake, OR/AND logic operation
Free blocks
• p1279[0...3] BI: Motor holding brake, OR/AND logic operation
Brake monitoring functions
• p1222 BI: Motor holding brake, feedback signal, brake closed
• p1223 BI: Motor holding brake, feedback signal, brake open
Configuration, control/status words
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Function modules
9.3 Extended Brake Control
• p1215 Motor holding brake configuration
• r1229.1...11 CO/BO: Motor holding brake status word
• p1275 Motor holding brake control word
• p1276 Motor holding brake standstill detection bypass
• p1278 Brake control diagnostics evaluation
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Function modules
9.4 Braking Module Extern
9.4 Braking Module Extern
Requirements
• The appropriate binectors must be interconnected via digital inputs/outputs (e.g.: Control
Unit, TM31 or TB30) with the Braking Module.
Function description
This function module can be activated via the infeed commissioning wizard. You can check the
current configuration in parameter r0108.26.
To obtain the maximum power of a Braking Module external, disable the Vdc_max control.
Features
• Braking of the motor without any possibility of regenerating into the line supply (e.g. power
failure)
• Fast DC link discharge (Booksize format)
• The Braking Module external terminals are controlled via the drive object infeed (Booksize
and Chassis format)
• Control of up to eight Braking Modules in a parallel connection
• Acknowledging faults on the Braking Module external
Control of Braking Modules of the Booksize format
The following figure shows an example of the control of 2 Braking Modules of the Booksize
format.
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9.4 Braking Module Extern
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Control of Braking Modules of the Chassis format
The following figure shows an example of the control of two Braking Modules of the Chassis
format.
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Function Manual, 06/2020, 6SL3097-5AB00-0BP3 465
Function modules
9.4 Braking Module Extern
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Figure 9-6 Example: Controlling two Braking Modules (Chassis)
Acknowledging faults
When the Braking Module issues a fault message at binector input p3866, an attempt is made
to acknowledge the fault using signal r3861 at terminal X21.1 Booksize or X21.3 Chassis every
10 ms. Alarm A06900 is output simultaneously.
Fast DC link discharge
Requirements
• Braking Module external of the Booksize format
• Use of a line contactor with feedback signal (p0860). The line contactor is controlled via
r0863.1.
Procedure
To perform the fast DC link discharge, proceed as follows:
1. Activate the fast discharge via binector input p3863.
2. Open the line contactor.
Fast discharge is started after the delay time has elapsed.
The delay time can be set in p3862.
3. Close the line contactor.
Fast discharge is complete.
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9.4 Braking Module Extern
Parameters (see SINAMICS S120/S150 List Manual)
• r0108.26 Drive objects function module; Braking Module external
• p3860 Number of Braking Modules connected in parallel
• r3861.0...7 BO: Braking Module inhibit/acknowledgment
• p3862 Braking Module DC link fast discharge delay time
• p3863 BI: Activating Braking Module DC link fast discharge
• p3864.0...7 BO: Braking Module DC link fast discharge
• p3865[0...7] BI: Braking Module pre-alarm I2t shutdown
• p3866[0...7] BI: Braking Module fault
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9.5 Cooling unit
9.5 Cooling unit
Overview
A cooling unit is responsible for the cooling and the (non-)conductivity in the de-ionized water
cooling circuit of a liquid-cooled power unit. The cooling unit is controlled and monitored from
a PLC that is part of the cooling unit.
Function description
The "cooling unit" function module here is used as an interface between the Control Unit and the
external PLC as well as external sensors of the cooling unit. Signals for control and messages
between the PLC and the Control Unit can be exchanged via this interface. The PLC
communicates with the Control Unit via terminals and/or via a fieldbus (e.g. PROFIBUS or
PROFINET).
Features
• Automatically activated when using liquid-cooled power units
• Evaluation of an external sensor for leakage water
• Evaluation of an external sensor for liquid flow
• Evaluation of an external sensor for conductivity
• Monitoring the liquid intake temperature using external temperature sensors
• Monitoring the flow rating using internal temperature sensors
• Evaluation of signals transmitted from the PLC of the cooling unit
• Acknowledging cooling unit faults
Commissioning the function
You activate the "Cooling unit" function module while configuring the associated power unit
(Motor Module or Infeed Module). To commission the function module, proceed as follows:
1. When selecting the power unit, set the cooling type to "Liquid cooling".
2. Complete the configuration.
3. After configuration has been completed, the heat exchanger unit can be seen in the
navigation window under "Power Unit > Functions" (also in the shortcut menu of the power
unit under "Functions").
4. Double-clicking "Cooling unit" opens the window for setting the monitoring functions.
In this window, BICO interconnections can be set for communication with the controller of
the cooling unit and the cooling water circuit monitoring.
You can check the current configuration in parameter r0108.28.
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9.5 Cooling unit
Function diagrams (see SINAMICS S120/S150 List Manual)
• 9794 Auxiliaries - Cooling unit, control and feedback signals (r0108.28 = 1)
• 9795 Auxiliaries - Cooling unit, sequence control (r0108.28 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0046.29 CO/BO: Missing enables;
cooling unit ready missing
• r0108.28 Drive object function module;
cooling unit
• p0192.06 Power unit firmware properties;
liquid cooling
• r0204.06 Power unit hardware properties;
liquid cooling with cooling unit (Chassis power unit)
• p0260 Cooling unit startup time 1
• p0261 Cooling unit startup time 2
• p0262 Cooling unit fault conductivity delay time
• p0263 Cooling unit fault liquid flow delay time
• p0264 Cooling unit delay time
• r0265.0...3 BO: Cooling unit control word
• p0266[0...7] BI: Cooling unit feedback signals signal source
• r0267.0...7 BO: Cooling unit status word
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9.6 Extended torque control (kT estimator, servo)
9.6 Extended torque control (kT estimator, servo)
Overview
Function module "Extended torque control" increases the torque accuracy. It comprises the
following modules:
• kT estimator (only for synchronous motors)
• Compensation of the voltage emulation error of the converter (p1952, p1953, p1954)
• kT characteristic (p0645...p0648) (only for synchronous motors)
Note
When this function module is activated, the maximum number of drives that can be controlled
from a Control Unit is reduced by at least one drive.
Function description
The adaptation of the torque constants for synchronous motors is used to improve the absolute
torque accuracy for the control (closed-loop) of synchronous motors. The magnetization of the
permanent magnets varies as a result of production tolerances and temperature fluctuations
and saturation effects. The function "kT estimator" adapts the torque constant kT [Nm/A] in the
control to the prevailing magnetization. It only makes sense to use the kT estimator in
conjunction with the friction characteristic as the kT estimator corrects the inner motor torque.
The frictional losses must be compensated from the friction characteristic using a
supplementary torque.
The kT estimator requires the most accurate values for the motor parameters as possible in order
to achieve a high torque accuracy. Before using the kT estimator, a motor data identification
(p1909, p1910) must be performed. In this procedure, the values for stator resistance (p0350),
leakage inductance (p0356) and voltage emulation errors (p1952, p1953, p1954) are
determined. With p1954 ≠ 0, a change to the DC link voltage and the pulse frequency for the
voltage emulation error are taken into account. The cable resistance must be entered in p0352
before motor data identification.
The motor should be at room temperature when the identification routine is carried out.
Compensation of the voltage emulation error must be activated (p1780.8 = 1). The motor
temperature (p0600) should be sensed using a KTY or PT1000 sensor (p0601 = 2 or 3).
The kT estimator requires the motor temperature in order to track/correct the temperature-
dependent quantities. The estimate is less accurate if a motor temperature sensor is not
connected.
The kT estimator is only activated above a specific speed (p1752). The terminal voltage of the
converter always has small inaccuracies. The lower the output voltage and speed, the more
inaccurate the estimate. This is the reason why the estimation is deactivated below a specific
speed. The estimated value is smoothed using time constant p1795. The correction value for the
torque constant is displayed in r1797.
In the range below p1752, the torque accuracy can be improved using the kT characteristic. For
the rotating motor data identification, torque constant kT is identified for various currents and
saved in p0645...p0648 as polynomial. The current dependency of the torque constant can be
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9.6 Extended torque control (kT estimator, servo)
taken into account. The kT characteristic can be combined with the kTestimator. Below p1752,
the kTcharacteristic is active, and above, the kT estimator. In addition to the current dependency,
the kTestimator also compensates the influence of the temperature and the reluctance torque.
For induction motors, parameters for the voltage emulation error cannot be determined with
the stationary motor data identification routine. When the system is commissioned for the first
time (p3900 = 3 or p0340 = 1 or 3), parameters p1952 to p1954 are preassigned so that the
voltage emulation errors can also be compensated for induction motors. The stationary motor
data identification routine provides more accurate values, so it should always be used for
synchronous motors.
Commissioning the function
The "Extended torque control" function module is activated offline. To commission the function
module, proceed as follows:
1. Click the drive and right-click to open the shortcut menu "Properties ... ".
The "Object Properties" window opens.
2. Click the "Function modules" tab.
The selection of possible function modules opens.
3. Click the "Extended torque control" checkbox to activate this option.
4. Click "OK" to activate the function module.
5. Select the "Connect to selected target devices" option.
6. Call the "Download project to target system" function.
Alternatively, you can also activate function modules in Startdrive under “Basic parameter
assignment > Function modules”.
Activation can be checked in parameter r0108.1.
Activating the individual modules
To activate the individual modules, proceed as follows:
• kT estimator: p1780.3 = 1
• Voltage compensation: p1780.8 = 1
• kT characteristic: p1780.9 = 1
Function diagrams (see SINAMICS S120/S150 List Manual)
• 7008 Technology functions - kT estimator
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0108.1 Drive object function module;
extended torque control
• p1780.3 Motor model adaptation configuration;
selects motor model PMSM kT adaptation
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9.6 Extended torque control (kT estimator, servo)
• p1780.8 Motor model adaptation configuration;
compensation of the voltage emulation error in the drive converter
• p1780.9 Motor model adaptation configuration;
kT(iq) characteristic active
Motor/drive converter identification
• p0352[0...n] Cable resistance
• p1909[0...n] Motor data identification, control word
• p1910 Motor data identification, stationary
kT estimator
• p1752[0...n] Motor model, changeover speed operation with encoder
• p1795[0...n] Motor model kT adaptation smoothing time
• r1797[0...n] Motor model kT adaptation correction value
Compensation of the voltage emulation error of the drive converter
• p1952[0...n] Voltage emulation error, final value
• p1953[0...n] Voltage emulation error, current offset
kT-characteristic
• p1954[0...n] Voltage emulation error, semiconductor voltage
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9.7 Position control
9.7 Position control
Function description
The "Position controller" function module is made up of the following subfunctions:
• Position actual value conditioning (including the lower-level measuring probe evaluation
and reference mark search)
• Position controller (including limits, adaptation and the pre-control calculation)
• Monitoring functions (including standstill, positioning, dynamic following error monitoring
and cam signals)
• Position tracking of the load gear (motor encoder), using absolute encoders for rotary axes
(modulo) as for linear axes.
The individual subfunctions are described below.
9.7.1 Position actual value conditioning
Function description
The actual position value processing converts the actual position value into a neutral distance
unit LU (Length Unit). To do this, the function block uses the encoder evaluation / motor control
with the available encoder interfaces Gn_XIST1, Gn_XIST2, Gn_STW and Gn_ZSW. These just
provide position information in encoder pulses and fine resolution (increments).
The actual position value is conditioned, regardless of whether the position controller is enabled
immediately after the system has booted, as soon as valid values are received via the encoder
interface.
Parameter p2502 (encoder assignment) is used to define from which encoder (1, 2 or 3), the
actual position value is sensed.
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9.7 Position control
The following interconnections are automatically established after the assignment has been
made.
• p0480[0] (G1_STW) = encoder control word r2520[0]
• p0480[1] (G2_STW) = encoder control word r2520[1]
• p0480[2] (G3_STW) = encoder control word r2520[2]
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Features
The function is characterized by the following features:
• Correction value (p2512, p2513)
• Setting value (p2514, p2515)
• Position offset (p2516)
• Actual position value (r2521)
• Actual velocity value (r2522)
• Motor revolutions (p2504)
• Load revolutions (p2505)
• Spindle pitch (p2506)
• Position tracking (p2720ff)
Rotary encoder
The link between the physical variables and the neutral length unit LU is established via
parameter p2506 (LU per load revolution) for rotary encoders. Parameter p2506 mirrors,
together with p2504, p2505, the interrelationship between encoder increments and the neutral
length unit LU.
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9.7 Position control
Example
Rotary encoder, ball screw with a pitch of 10 mm/revolution. 10 mm should have a resolution of
1 µm (i.e. 1 LU = 1 µm).
• One load revolution corresponds to 10000 LU
• p2506 = 10000
Note
The effective actual value resolution is obtained from the product of the encoder pulses (p0408)
and the fine resolution (p0418) and a measuring gear that is possibly being used (p0402, p0432,
p0433).
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Linear encoder
For a linear encoder, the interrelationship between the physical quantity and the neutral length
unit LU is configured using parameter p2503 (LU/10 mm).
Example
Linear encoder, 10 mm should have a resolution of 1 µm (i.e. 1 LU = 1 µm).
• p2503 = 10000
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9.7 Position control
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Figure 9-9 Signal flow: Actual position value preprocessing for a linear encoder
A correction can be made using connector input p2513 (correction value, actual position value
processing) and a positive edge at binector input p2512 (activates the correction value). When
the "basic positioning" function module is activated, p2513 is automatically interconnected with
r2685 (EPOS correction value) and p2512 with r2684.7 (activate correction). This
interconnection enables modulo offset by EPOS, for example.
The correction value present at the connector input p2513 can be negated and activated via
p2730.
p2516 can be used to switch in position offset. Using EPOS, p2516 is automatically
interconnected to r2667. Backlash compensation is implemented using this interconnection.
Using the connector input p2515 (position setting value) and a "1" signal at binector input
p2514 (set actual position value), a position setting value can be entered.
Note
No evaluation of the incoming encoder increments
When the actual position value is set (p2514 = "1" signal), the actual position value of the
position controller is kept at the value of connector p2515 as standard.
Incoming encoder increments are not evaluated. A difference in position cannot be
compensated for in this situation.
An inversion of the actual position value resulting from the encoder is undertaken using
parameter p0410. An inversion of the axis motion can be entered using a negative value in
p2505.
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9.7 Position control
9.7.1.1 Indexed actual value acquisition
Function description
The indexed actual position value acquisition permits, e.g. length measurements on parts as
well as the detection of axis positions by a higher-level controller (e.g. SIMATIC S7) in addition
to the position control, e.g. of a belt conveyor.
Two more encoders can be operated in parallel with the encoders for actual value preprocessing
and position control in order to collect actual values and measured data.
The indexed acquisition of actual values can preprocess an actual position value at each of the
three encoder outputs. The parameter p2502[0...3] is used to select the encoder evaluation for
position control.
The parameters of the indexed actual value acquisition are indexed four times. The indices 1 to
3 are assigned to the encoder evaluations 1 to 3. The index 0 is assigned to position control.
The parameter r2521[0...3] can be used to retrieve the current actual values of all connected
encoders. For example, the actual position value for position control in r2521[0] is identical with
the value r2521[1] if the position control uses encoder evaluation 1. The signal source for a
position offset can be set in parameter p2516[0...3].
The absolute encoder adjustment is initiated via p2507[0...3] = 2, and its successful completion
is reported via p2507[0...3] = 3. The signal source "Reference point coordinate for the position
controller" p2598[0] is interconnected with p2599 during basic positioning. The other signal
sources are not interconnected in the standard configuration.
The measuring probe evaluation can be enabled for the encoder evaluation x, which is not
assigned to position control, via p2509[x]. The signal sources are assigned via p2510[0...3], the
edge evaluation is set via p2511[0...3]. The measured value is available in r2523[x] if, in the
status word for encoder x (encoder 0: r2526.0..9, encoder1: 2627.0..2, Encoder2: r2628.0..2,
encoder3: r2529.0..2) the "Measurement value valid" bit is set.
The actual position values of the different encoders can be read out using parameter
r2521[0...3]. These actual position values can be corrected with a signed value from
p2513[0...3] after a 0/1 signal from the signal source in p2512[0...3].
In addition, the actual velocity value (r2522[0...3]) and the position offset for absolute encoders
p2525[0...3] can be processed for each encoder by the higher-level controller.
Features
• Encoder assignment (p2502[D])
• Absolute encoder adjustment (p2507[E])
• Activate measuring probe evaluation (p2509[0...3])
• Measuring probe evaluation selection (p2510[0..3])
• Measuring probe edge (p2511[0..3])
• Activate actual position value processing, correction value (p2512[0...3])
• Actual position value processing, correction value (p2513[0...3])
• Position offset (p2516[0...3])
• Actual position value (r2521[0...3])
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9.7 Position control
• Actual velocity value (r2522[0...3])
• Measuring probe evaluation/Reference mark search (p2523[0..3])
• Encoder adjustment, offset (p2525[E])
• Status word position controller (r2526)
• Status word encoder1 (r2527)
• Status word encoder2 (r2528)
• Status word encoder3 (r2529)
• EPOS reference point coordinate, signal source (p2598[0...3])
• Function diagram 4010 Position control - Actual position value processing
9.7.1.2 Load gear position tracking
Overview
Position tracking enables the load position to be reproduced when using gearboxes. It can also
be used to extend the position area.
Requirements
• Using an absolute encoder
Function description
Position tracking for load gear functions in the same way as position tracking for the measuring
gear (see Chapter "Position tracking with a measuring gearbox (Page 416)"). Position tracking is
activated via parameter p2720.0 = 1. The position tracking of the load gear, however, is only
relevant for the motor encoder (encoder 1). The load gear ratio is entered via parameters p2504
and p2505. Position tracking can be activated with rotary axes (modulo) and linear axes.
Position tracking for the load gear can only be activated once for each motor data set MDS.
The load actual position value in r2723 (must be requested via Gn_STW.13, see Chapter "Control
and status words for encoders") comprises the following information:
• Encoder pulses per revolution (p0408)
• Fine resolution per revolution (p0419)
• Virtual number of stored revolutions of a rotary absolute encoder (p2721)
• Load gear ratio (p2504/p2505)
• Measuring gear ratio (p0433/p0432), if p0411.0 = 1
Note
The sum of p0408, p0419 and p2721 is limited to 32 bits.
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9.7 Position control
Note
Load gear problems and solutions, see example in Chapter Position tracking -> Measuring gear.
Features
• Configuration via p2720
• Virtual multiturn via p2721
• Tolerance window for monitoring the position at switching on p2722
• Input of the load gear via p2504 and p2505
• Display via r2723
Commissioning the function
You can commission the load gearbox via parameter p2720 as follows:
• p2720.0: Activation of position tracking
• p2720.1: Setting the axis type (linear axis or rotary axis)
Here, a rotary axis refers to a modulo axis; the modulo offset can be activated from a higher-
level controller or EPOS. With a linear axis, position tracking is mainly used to extend the
position area; see section: Virtual multiturn encoder (p2721).
• p2720.2: Reset position
The position values stored in a non-volatile fashion are reset for the following events:
– When encoder replacement is detected.
– When the configuration of the encoder data set (EDS) is modified.
– When the absolute encoder is adjusted again.
Note
If position tracking of the load gear is activated with parameter p2720[0] = 1 (position gear load
tracking) after the encoder is adjusted (p2507 = 3), the adjustment will be reset.
If the encoder is adjusted again when load position tracking is active, the load gear position will
be reset (overflows).
The permissible position tracking range is mapped on the reproducible encoder range of EPOS.
It is possible to activate position tracking for several DDS.
Additional information
Further information on the parameterization of the load gear position tracking is provided in the
"SINAMICS S120 Startdrive Commissioning Manual".
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9.7 Position control
Example: Position range extension
With absolute encoders without position tracking, it must be ensured that the traversing range
around 0 is less than half the encoder range, because beyond this range, no unique reference
remains after switching on and off (see description on parameter p2507). This traversing range
can be extended using the virtual multiturn (p2721).
The following diagram illustrates an absolute encoder that can represent eight encoder
revolutions (p0421 = 8).
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Figure 9-10 Position tracking (p2721 = 24), setting p2504 = p2505 =1 (gear ratio = 1)
In this example, this means:
• Without position tracking, the position for +/- 4 encoder revolutions around r2521 = 0 LU can
be reproduced.
• With position tracking, the position for +/- 12 encoder revolutions (+/- 12 load revolutions
with load gear) can be reproduced (p2721 = 24).
Practical example:
For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096. This
means that +/- 131072 encoder revolutions or load revolutions can be reproduced.
For a rotary axis, a value for p2721 = p0421 is set for an encoder.
Virtual multiturn encoder (p2721)
The virtual multiturn resolution is used to set the number of resolvable load rotations for a rotary
absolute encoder with activated position tracking. It can be edited only for rotary axes.
With a rotary absolute encoder (p0404.1 = 1) with activated position tracking (p2720.0 = 1),
parameter p2721 can be used to enter a virtual multiturn resolution.
Note
If the gear ratio is not equal to 1, then p2721 always refers to the load side. The virtual resolution,
which is required for the load, is then set here.
In the case of rotary axes, the virtual multiturn resolution (p2721) is preset to the multiturn
resolution value of the encoder (p0421) and can be altered.
Example: Singleturn encoder
Parameter p0421 is preset to p0421 = 1. However, parameter p2721 can be altered
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9.7 Position control
subsequently, e.g. the user can program p2721 = 5. As a result, the encoder evaluation initiates
five load rotations before the same absolute value is achieved again.
In the case of linear axes, the virtual multiturn resolution (p2721) is preset to the multiturn
resolution value of the encoder (p0421), which is extended by six bits, (max. 32 positive/
negative overflows).
The setting for p2721 cannot be edited again afterwards.
Example: Multiturn encoder
For a linear axis, the value for p2721 is set to 262144 for an encoder with p0421 = 4096. This
means that +/- 131072 encoder revolutions or load revolutions can be reproduced.
If, as a result of extension of the multiturn information, the displayable area of r2723 (32 bits)
is exceeded, the fine resolution (p0419) must be reduced accordingly.
Tolerance window (p2722)
After switch on, the difference between the stored position and the current position is
determined and initiated depending on the following:
Difference within the tolerance window -> the position is reproduced based on the current
actual encoder value.
Difference outside the tolerance window -> an appropriate fault (F07449) is output.
The tolerance window is preset to quarter of the encoder range and can be changed.
Note
The position can only be reproduced if, in the powered-down state, the encoder was moved
through less than half of the range that it can represent. For the standard EQN1325 encoder, this
is 2048 revolutions or half a revolution for singleturn encoders.
Note
The ratio stamped on the gear rating plate is often just a rounded-off value (e.g. 1:7.34). If, for
a rotary axis, it is not permissible to have any long-term drift, then the actual ratio of the gearbox
teeth must be requested from the gearbox manufacturer.
Multiple drive data sets
Position tracking of the load gear can be activated in multiple drive data sets.
• The load gear is DDS-dependent.
• Load gear position tracking is computed only for the active drive data set and is EDS-
dependent.
• The position tracking memory is only available once for each EDS.
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9.7 Position control
• If position tracking is to be continued in different drive data sets with the same mechanical
relationships and the same encoder data sets, it must be activated explicitly in all relevant
drive data sets. Possible applications for drive data set changeover with continued position
tracking:
– Star/delta changeover
– Different ramp-up times / controller settings
• When the changeover between drive data sets involves a change in gear unit, the position
tracking function starts from the beginning again, i.e. it behaves on changeover as if a
POWER ON had occurred.
• For identical mechanical relationships and the same encoder data set, DDS changeover has
no effect on the calibration status and reference point status.
Restrictions
• Position tracking cannot be activated for an encoder data set which is used in different drive
data sets as encoder1 for different gears. If an attempt is still made to activate position
tracking, fault "F07555 Drive encoder: Configuration position tracking" will be displayed with
fault value 03 hex.
A check is generally performed to determine whether the load gear is the same in all DDS in
which the relevant encoder data set is used.
Load gear parameters p2504[D], p2505[D], p2720[D], p2721[D] and p2722[D] must be
identical in this case.
• If an encoder data set is used in one DDS as a motor encoder with position tracking and in
another DDS as an external encoder, the position tracking starts from the beginning again,
i.e. it behaves in the same way as it would do after a POWER ON.
• If position tracking is reset in one drive data set, it is also reset in all other drive data sets which
contain this encoder data set.
• The maximum permissible movement of an axis in an inactive drive data sets is half the
encoder range (see p2722: tolerance window).
The table below describes the changeover behavior on transition from one DDS to another. A
changeover is always executed by DDS0.
An overview of DDS changeover without position tracking load gear can be found in Chapter
"Instructions for data set changeover" in Chapter "EPOS - referencing".
Table 9-4 DDS changeover with load gear position tracking
DDS 0 1 2 3 4 5 6 7 8 9
p0186 (MDS) 0 0 0 0 0 1 2 3 0 4
p0187 (encoder 1) EDS0 EDS0 EDS0 EDS0 EDS0 EDS4 EDS5 EDS0 EDS0 EDS6
p0188 (encoder 2) EDS1 EDS1 EDS1 EDS1 EDS3 EDS1 EDS6 EDS1 EDS1 EDS0
p0189 (encoder 3) EDS2 EDS2 EDS2 EDS2 EDS2 EDS2 EDS6 EDS2 EDS2 EDS2
p2502 (encoder for posi‐ Encod‐ Encod‐ Encod‐ Encod‐ Encod‐ Encod‐ Encod‐ Encod‐ Encod‐ Encod‐
tion control) er_1 er_1 er_1 er_2 er_2 er_2 er_1 er_1 er_1 er_1
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9.7 Position control
DDS 0 1 2 3 4 5 6 7 8 9
Mechanical relationships A A B A A A D A A C
p2504/p2505/p2506/
p2503
A, B, C and D designate dif‐
ferent mechanical relation‐
ships.
Load gear position track‐ Activa‐ Activa‐ Deacti‐ Activa‐ Activa‐ Activa‐ Activa‐ Activa‐ Deacti‐ Activa‐
ing ted ted vated ted ted ted ted ted vated ted
Table 9-5 DDS changeover response
DDS Changeover response
0 ‑
1 Changeover during pulse inhibit or operation has no effect
2 Encoder adjustment and referencing bit are reset. Position tracking for EDS0 is no longer calculated and must be re-
adjusted when switching back to DDS0.
3 Position tracking for EDS0 is continued and the referencing bit is reset.1)
4 Pulse inhibit/operation: Position tracking for EDS0 is continued and the referencing bit is reset.1)
5 Position tracking for EDS4 is newly initiated and the referencing bit is reset.1) When switching back to DDS0, the
same applies to EDS0.
6 Position tracking for EDS5 is newly initiated and the referencing bit is reset.1). When switching back to DDS0, the
same applies for EDS0.
7 MDS changeover alone during pulse inhibit or operation has no effect
8 Pulse inhibit/operation: Referencing bit is reset.1) Position tracking for EDS0 is no longer calculated and, as a con‐
sequence, the actual position value also changes (the offset correction of the position tracking is canceled). When
switching back to DDS0, the position tracking for EDS0 is newly initiated and the referencing bit is reset.1) It only
makes sense to switch back to DDS0 without a new adjustment in DDS0 if the user did not make a new adjustment
in DDS8 and the permissible tolerance window (p2722) was not exited.
9 Pulse inhibit/operation: Position tracking for EDS6 is newly initiated and the referencing bit is reset.1) When switch‐
ing back to DDS0, the same applies to EDS0.
1)
The referencing bit (r2684.11) is reset for a DDS changeover. If, in the new DDS, the EDS already has an adjusted encoder, then
the referencing bit is set again.
Definitions:
• Position tracking is continued
The behavior of the position tracking during the changeover is the same as it would be if the
data set had not even been changed.
• Position tracking is newly initiated (the position actual value can change when the
changeover is made!)
The behavior during changeover is the same as the behavior after a POWER ON. The position
value read by the absolute encoder is compared to the stored value. If the position difference
is within the tolerance window (p2722), the position is corrected correspondingly; if it is
outside the range, a corresponding fault F07449 is output
• Position tracking is reset (the position actual value can change when the changeover is
made!)
The stored absolute value is rejected and the overflow counter is reset to zero.
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9.7 Position control
• Position tracking is not calculated (the position actual value changes when the changeover
is made!)
The saved absolute value of the position tracking - including the offset correction from the
dissolved DDS - is not used.
• Additional information: The position tracking memory is only available once for each EDS.
9.7.1.3 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4010 Position control - Actual position value processing (r0108.3 = 1)
• 4704 Encoder evaluation - Position and temperature sensing, encoders 1 ... 3
• 4710 Encoder evaluation - Actual speed value and pole position sensing encoder 1
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2502[0...n] LR encoder assignment
• p2503[0...n] LR length unit LU per 10 mm
• p2504[0...n] LR motor/load motor revolutions
• p2505[0...n] LR motor/load load revolutions
• p2506[0...n] LR length unit LU per load revolution
• r2520[0...2] CO: LR actual position value processing encoder control word
• r2521[0...3] CO: LR actual position value
• r2522[0...3] CO: LR actual velocity value
• r2523[0...3] CO: LR measured value
• r2524 CO: LR LU/revolutions
• p2525[0...n] CO: LR encoder adjustment offset
• r2526.0...9 CO/BO: LR status word
• p2720[0...n] Load gear configuration
• p2721[0...n] Load gear, absolute encoder, rotary revolutions, virtual
• p2722[0...n] Load gear, position tracking, tolerance window
• r2723[0...n] CO: Load gear absolute value
• r2724[0...n] CO: Load gear position difference
• p2730[0...3] BI: LR actual position value processing correction negative act.
(edge)
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9.7 Position control
9.7.2 Position controller
Function description
The position controller is a PI controller. The P gain can be adapted using the product of
connector input p2537 (position controller adaptation) and parameter p2538 (Kp).
Using connector input p2541 (limit), the speed setpoint of the position controller can be limited
without precontrol. This connector input is pre-interconnected with connector output p2540.
The position controller is enabled by an AND link of the binector inputs p2549 (position
controller 1 enable) and p2550 (position controller 2 enable).
The position setpoint filter (p2533 time constant position setpoint filter) is a PT1 element, the
symmetrizing filter as dead time element (p2535 symmetrizing filter speed precontrol (dead
time) and PT1 element (p2536 symmetrizing filter speed precontrol (PT1)). The speed
precontrol p2534 (factor, speed precontrol) can be disabled via the value 0.
Features
• Symmetrization (p2535, p2536)
• Limiting (p2540, p2541)
• Precontrol (p2534)
• Adaptation (p2537, p2538)
Note
We only recommend that experts use the position controller functions without using the basic
positioner.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4015 Position control - Position controller (r0108.3 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2533[0...n] LR position setpoint filter time constant
• p2534[0...n] LR speed precontrol factor
• p2535[0...n] LR speed precontrol symmetrizing filter dead time
• p2536[0...n] LR speed precontrol symmetrizing filter PT1
• p2537 CI: LR position controller adaptation
• p2538[0...n] LR proportional gain
• p2539[0...n] LR integral time
• p2540 CO: LR position controller output speed limit
• p2541 CI: LR position controller output speed limit signal source
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9.7 Position control
9.7.3 Monitoring functions
Function description
The position controller monitors the standstill, positioning and following error.
Standstill monitoring is activated via binector inputs p2551 (setpoint stationary) and p2542
(standstill window). If the standstill window is not reached once the monitoring time (p2543)
has elapsed, fault F07450 is triggered.
Positioning monitoring is activated via binector inputs p2551 (setpoint stationary), p2554 = "0"
(travel command not active) and p2544 (positioning window). Once the monitoring time
(p2545) has elapsed, the positioning window is checked once. If this is not reached, fault
F07451 is triggered.
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The standstill monitoring and the positioning monitoring can be deactivated using the value "0"
in p2542 and p2544. The standstill window should be greater than or equal to the positioning
window (p2542 ≥ p2544). The standstill monitoring time should be less than or equal to the
positioning monitoring time (p2543 ≤ p2545).
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Figure 9-12 Following error monitoring
Following error monitoring is activated via p2546 (following error tolerance). If the absolute
value of the dynamic following error (r2563) is greater than p2546, fault F07452 is output and
bit r2648.8 is reset.
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9.7 Position control
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Figure 9-13 Cam controllers
The position controller has two cam controllers. If cam position p2547 or p2548 is passed in the
positive direction (r2521 > p2547 or p2548), then cam signals r2683.8 and r2683.9 are reset.
Features
• Standstill monitoring (p2542, p2543)
• Positioning monitoring (p2544, p2545)
• Dynamic following error monitoring (p2546, r2563)
• Cam controllers (p2547, p2548, p2683.8, p2683.9)
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4020 Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1)
• 4025 Position control - Dynamic following error monitoring, cam controllers (r0108.3
= 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2530 CI: LR position setpoint
• p2532 CI: LR actual position value
• p2542 LR standstill window
• p2543 LR standstill monitoring time
• p2544 LR positioning window
• p2545 LR position monitoring time
• p2546[0...n] LR dynamic following error monitoring tolerance
• p2547 LR cam switching position 1
• p2548 LR cam switching position 2
• p2551 BI: LR setpoint message present
• p2554 BI: LR travel command message active
• r2563 CO: LR following error, dynamic model
• r2683.8 CO/BO: EPOS status word 1;
actual position value <= cam switching position 1
• r2683.9 CO/BO: EPOS status word 1;
actual position value <= cam switching position 2
• r2684.0...15 CO/BO: EPOS status word 2
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9.7 Position control
9.7.4 Measuring probe evaluation and reference mark search
Function description
The "Reference mark search" and "Probe evaluation" functions can be initiated and carried out
via binector inputs p2508 and p2509. Binector inputs p2510 and p2511 define the mode for
measurement probe evaluation.
The probe signals are recorded via the encoder status and control word. To speed up signal
processing, direct measuring probe evaluation can be activated by selecting the input terminals
for probes 1/2 via p2517 and p2518. Measuring probe evaluation is carried out in the position
controller cycle, whereby the set send cycle of the controller (r2064[1]) must be an integer
multiple of the position controller cycle (p0115[4]).
The system outputs a message if the same probe input is already being used (see also p0488,
p0489, p0580, and p0680).
The appropriate function is started using a 0/1 edge at the appropriate input p2508 or p2509 via
the encoder control word. Status bit r2526.1 (reference function) signals that the function is
active (feedback from the encoder status word). Status bit r2526.2 (measurement value valid)
shows the presence of the measurement required r2523 (position for reference mark or
measurement probe).
Once the function is complete (position determined for reference mark or measurement probe),
r2526.1 (reference function active) and r2526.2 (measurement valid) continue to remain active
and the measurement is provided by r2523 until the corresponding input p2508 or p2509 is
reset (0 signal).
If the function (reference mark search or measuring probe evaluation) has still not been
completed and the corresponding input p2508 or p2509 is reset, then the function is
interrupted via the encoder control word and status bit r2526.1 (reference function active) is
reset via the encoder status word.
If both binector inputs p2508 and p2509 are simultaneously set, this causes the active function
to be interrupted and no function is started. This is indicated using alarm A07495 "reference
function interrupted" and remains until the signals at the binector inputs are reset. The alarm is
also generated if, during an activated function (reference mark search or measuring probe
evaluation) a fault is signaled using the encoder status word.
If the "position control" function module is selected, these parameters (p2508 to p2511) are
preassigned with "0". If the "basic positioner" function module is selected, the "reference mark
search" (for search for reference point) and "measurement probe evaluation" (for the flying
referencing function) functions are initiated by the "basic positioner" function module and
feedback (r2526, r2523) returned to this.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4010 Position control - Actual position value processing (r0108.3 = 1)
• 4720 Encoder evaluation - Encoder interface, receive signals, encoders 1 ... 3
• 4730 Encoder evaluation - Encoder interface, send signals, encoders 1 ... 3
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9.7 Position control
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2508[0...3] BI: LR activate reference mark search
• p2509[0...3] BI: LR activate measuring probe evaluation
• p2510[0...3] BI: LR measuring probe evaluation, selection
• p2511[0...3] BI: LR measuring probe evaluation edge
• p2517[0...2] LR direct probe 1
• p2518[0...2] LR direct probe 2
• r2523[0...3] CO: LR measured value
• r2526.0...9 CO/BO: LR status word
9.7.5 Commissioning the function
The "position control" function module is integrated in the system as follows:
Procedure
The configuration screen for "Position control" in Startdrive is not made accessible unless the
function module "Basic positioner" is activated (r0108.4 = 1) which means that the function
module "Position control" (r0108.3 = 1) is automatically activated as well.
The “basic positioner” function module can be activated over “Basic parameter assignment >
Function modules.”
To ensure correct, error-free operation of the basic positioner, it is absolutely essential that the
"Position control" function module is activated and the position control correctly configured.
If the "position control" function module is active, and to optimize the speed controller, a
function generator signal is interconnected to the speed controller input p1160, then the
position controller monitoring functions respond. To prevent this from happening, you must
disable the position controller (p2550 = 0) and switch it to the tracking mode (p2655 = 1, for
control using PROFIdrive telegram 110 PosSTW.0 = 1). In this way, the monitoring functions are
switched off and the position setpoint is tracked.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 4010 Position control - Actual position value processing (r0108.3 = 1)
• 4015 Position control - Position controller (r0108.3 = 1)
• 4020 Position control - Standstill monitoring / positioning monitoring (r0108.3 = 1)
• 4025 Position control - Dynamic following error monitoring, cam controllers (r0108.3 =
1)
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Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0108 Drive object function module
• p1160[0...n] CI: Speed controller, speed setpoint 2
• p2550 BI: Position control enable 2
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9.8 Basic positioner
9.8 Basic positioner
Function description
The basic positioner (EPOS) is used to position linear and rotary axes (modulo) in absolute/
relative terms with motor encoder (indirect measuring system) or machine encoder (direct
measuring system). EPOS is available for servo control and vector control.
For the basic positioner functionality, the Startdrive engineering tool provides graphic guides
through the configuration, commissioning and diagnostic functions. A control panel supports
you when using the basic positioner and when operating in the closed-loop speed controlled
mode.
The position control (r0108.3 = 1) is also automatically activated when activating the basic
positioner (r0108.4 = 1). The required BICO interconnections are automatically made.
Detailed information on the EPOS can also be found in the information system of the Startdrive
engineering tool.
Note
The basic positioner requires the position controller functions. The BICO interconnections,
which are automatically made by the basic positioner when activated, must be changed by
experienced users (experts) only.
Functions of the position control
This means that the following functions are available for the position control:
• Standstill monitoring
• Position monitoring
• Dynamic following error monitoring
• Cam controllers
• Modulo function
• Probe evaluation
For more information, see Chapter "Position control (Page 473)".
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9.8 Basic positioner
Functions of the basic positioner
In addition, the following functions can be carried out using the basic positioner:
• Mechanical system
– Backlash compensation
– Modulo offset
– Position tracking of the load gear (motor encoder) with absolute encoders
• Limits
– Traversing profile limits
– Traversing range limits
– Jerk limitation
• Referencing or adjustment
– Setting reference point (with stationary axis)
– Reference point approach
Separate operating mode including reversing cam functionality, automatic reversal of
direction, referencing to "cams and encoder zero mark", only "encoder zero mark" or
"external zero mark (BERO)".
– Flying referencing
Superimposed referencing is possible during "normal" traversing with the aid of the
measurement probe evaluation; normally evaluation of a BERO, for example.
Superimposed function for the modes "Jog", "Direct setpoint specification / MDI" and
"Traversing blocks".
– Referencing with incremental measuring systems
– Absolute encoder adjustment
• Traversing blocks operating mode
– Positioning using traversing blocks that can be saved in the drive unit including block
change enable conditions and specific tasks for an axis that was previously referenced
– Traversing block editor
– A traversing block contains the following information: Traversing block number, job (e.g.
positioning, wait, GOTO block step, setting of binary outputs), motion parameters (target
position, velocity override for acceleration and deceleration), mode (e.g.: skip block,
block change enable conditions such as "Continue_with_stop" and "Continue_flying"),
task parameters (e.g. delay time, block step conditions)
• Direct setpoint specification mode (MDI)
– Positioning (absolute, relative) and setting-up (endless closed-loop position control)
using direct setpoint specifications (e.g. via the PLC or process data)
– It is always possible to influence the motion parameters during traversing (on-the-fly
setpoint acceptance) as well as on-the-fly change between the Setup and Positioning
modes
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9.8 Basic positioner
• Jog mode
– Position-controlled traversing of the axis with the switchable modes "Endless position-
controlled" or "Incremental jog" (to traverse an "increment")
• Standard PROFIdrive positioning telegrams are available (telegrams 7, 9 and 110), the
selection of which automatically establishes the internal "connection" to the basic positioner
• Control using PROFIdrive telegrams 7 and 110
For additional information, see the following manuals:
– “SINAMICS S120 Function Manual Communication” manual, “Cyclical Communication”
chapter
– SINAMICS S120/S150 List Manual
9.8.1 Mechanical system
Function description
When mechanical force is transferred between a machine part and its drive, generally backlash
occurs. If the mechanical system was to be adjusted/designed so that there was absolutely no
play, this would result in high wear. Thus, backlash (play) can occur between the machine
component and the encoder. For axes with indirect position sensing, mechanical backlash
results in a falsification of the traversing distance, as, at direction reversal, the axis travels either
too far or not far enough corresponding to the absolute value of the backlash.
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Figure 9-14 Backlash compensation
Note
The backlash compensation is active with the following settings:
• The axis has been referenced for incremental measuring systems
• The axis has been adjusted for absolute measuring systems
In order to compensate the backlash, the determined backlash must be specified in p2583 with
the correct polarity. At each direction of rotation reversal, the actual axis value is corrected
dependent on the actual traversing direction and displayed in r2667. This value is taken into
account in the actual position value using p2516 (position offset).
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9.8 Basic positioner
If a stationary axis is referenced by setting the reference point or an adjusted axis is powered-up
with an absolute encoder, then the setting of parameter p2604 (reference point approach,
starting direction) is relevant for switching-in the compensation value.
Table 9-6 The compensation value is switched in as a function of p2604
p2604 Traversing direction Switch in compensation value
0 Positive None
Negative Immediately
1 Positive Immediately
Negative None
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Figure 9-15 Modulo offset
A modulo axis has an unrestricted traversing range. The value range of the position repeats itself
after a specific value that can be parameterized (the modulo range or axis cycle), e.g. after one
revolution: 360° -> 0°. The modulo range is set in parameter p2576, the offset is activated with
parameter p2577. The modulo offset is undertaken at the setpoint end. This is provided with the
correct sign via connector output r2685 (correction value) to appropriately correct the actual
position value.
EPOS initiates the activation of the correction via a rising edge of binector output r2684.7
(activate correction) (r2685 (correction value) and r2684.7 (activate correction) are already
connected as standard with the corresponding binector/connector input of the actual position
value processing). Absolute positioning details (e.g. in a traversing task) must always be within
the modulo range. Modulo offset can be activated for linear and rotary length units. The
traversing range cannot be limited by a software limit switch.
With active modulo offset and the application of absolute encoders, as a result of potential
encoder overflows, it must be ensured that there is an integer ratio v between the multiturn
resolution and the modulo range.
The ratio v can be calculated as follows:
• Motor encoder without position tracking:
v = p0421 · p2506 · p0433 · p2505 / (p0432 · p2504 · p2576)
• Motor encoder with position tracking for the measuring gear:
v = p0412 · p2506 · p2505 / (p2504 · p2576)
• Motor encoder with position tracking for the load gear:
v = p2721 · p2506 · p0433 / (p0432 · p2576)
• Motor encoder with position tracking for the load and measuring gear:
v = p2721 · p2506 / p2576
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9.8 Basic positioner
• Direct encoder without position tracking:
v = p0421 · p2506 · p0433 / (p0432 · p2576)
• Direct encoder with position tracking for the measuring gear:
v = p0412 · p2506 / p2576
With position tracking it is recommended to change p0412 or p2721.
Features
• Backlash compensation (p2583)
• Modulo offset (p2577)
Commissioning the function
If you activated the "Basic positioner" function module in the Startdrive engineering tool, you
will find the "Mechanics" screen form under "Drive axis > Parameter assignment > Basic
parameter assignment > Mechanics".
Further information
For additional information on parameterizing the "Mechanics" function can be found in the
SINAMICS S120 with Startdrive Commissioning Manual.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3635 EPOS - Interpolator (r0108.4 = 1)
• 4010 Position control - Actual position value processing (r0108.3 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2576 EPOS modulo offset modulo range
• p2577 BI: EPOS modulo offset activation
• p2583 EPOS backlash compensation
• r2684.0...15 CO/BO: EPOS status word 2
• r2685 CO: EPOS correction value
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9.8 Basic positioner
9.8.2 Limits
Overview
The following list provides an overview of the functions that can be limited and their parameters.
• Limiting the traversing profiles
– Maximum velocity (p2571)
– Maximum acceleration (p2572) / maximum deceleration (p2573)
• Limiting the traversing range
– Software limit switch (p2578, p2579, p2580, p2581, p2582)
– Hardware limit switch (p2568, p2569, p2570)
• Jerk limitation
– Jerk limitation (p2574)
– Activation of jerk limitation (p2575)
The individual subfunctions are described below.
9.8.2.1 Maximum velocity
Function description
The maximum velocity of an axis is defined using parameter p2571. The velocity should not be
set to be greater than the maximum speeds in r1084 and r1087.
The drive is limited to this velocity if a higher velocity is specified or programmed via the override
(p2646) for the reference point approach or is programmed in the traversing block.
Parameter p2571 (maximum velocity) defines the maximum traversing velocity in units 1000 LU/
min. If the maximum velocity is changed, then this limits the velocity of a traversing task that is
presently being executed.
This limit is only effective in the positioning mode for:
• Jog mode
• Processing traversing blocks
• Direct setpoint specification / MDI for positioning and setting-up
• Reference point approach
9.8.2.2 Maximum acceleration/deceleration
Function description
Parameter p2572 (maximum acceleration) and p2573 (maximum deceleration) define the
maximum acceleration and the maximum deceleration. In both cases, the units are 1000 LU/s2.
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9.8 Basic positioner
Both values are relevant for:
• Jog mode
• Processing traversing blocks
• Direct setpoint specification / MDI for positioning and setting up
• Reference point approach
The parameters do not have any effect when faults occur with the fault responses OFF1/OFF2/
OFF3.
In the traversing blocks mode, the acceleration and deceleration can be set in multiple integer
steps (1%, 2% ... 100%) of the maximum acceleration and deceleration. The acceleration/
deceleration override (assignment of 4000 hex = 100%) is specified in the "Direct setpoint
specification/MDI" mode for positioning and setting up.
Note
A maximum acceleration or deceleration dependent on the actual velocity (transitioned
acceleration) is not supported.
Note
When using the PROFIdrive telegram 110, the velocity override is already connected and has to
be supplied by the telegram.
9.8.2.3 Limit traversing range
Function description
The traversing range of a linear axis can be limited using either the software limit switch or the
hardware limit switch (STOP cams).
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Figure 9-16 Software and hardware limit switches as limits
Activated software limit switches limit the position set value by specifying the connector input
p2578 (software limit switch minus) and p2579 (software limit switch plus).
Activated hardware limit switches are evaluated on the converter using the binector inputs
p2569 (STOP cams, minus) and p2570 (STOP cams, plus).
Limiting the traversing range using the software limit switch
For this procedure, the position set value of a linear axis is limited in accordance with the
specified traversing range over the software limit switch.
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9.8 Basic positioner
The traversing range is limited using software limit switches only if the following requirements
are met:
• The software limit switches are activated (p2582 = 1).
• The reference point is set (r2684.11 = 1).
• The modulo correction is not active (p2577 = 0).
The limit is implemented using the connector inputs p2578 for the software limit switch minus
and p2579 for the software limit switch plus. In the factory settings, the connector inputs are
linked to the connector output p2580 for the software limit switch minus and p2581 for the
software limit switch plus. Using parameters p2580 and p2581, you can set the desired end
positions of the software limit switch.
Limiting the traversing range using hardware limit switches
When this procedure is used, the converter limits the traversing range of a linear axis using
hardware limit switches (STOP cams).
The traversing range is limited using hardware limit switches only if the following requirements
are met:
• The hardware limit switches are activated (p2568 = 1).
The signals of the hardware limit switches are evaluated using the digital outputs of the
converter. There are two available methods for evaluating the hardware limit switches:
• Edge-triggered evaluation (factory setting)
• Level-triggered evaluation
For limiting the traversing range using hardware limit switches, edge-triggered evaluation has
been configured as a factory setting. The signals are evaluated using the binector inputs p2569
for the hardware limit switches minus and p2570 for the hardware limit switches plus. The state
of the hardware limit switches is “active” if the signals of the hardware limit switches are
recognized as “0” at the binector inputs.
You can test the function of the hardware limit switches by running up to the hardware limit
switches in position-controlled operation of the axis (e.g. with the “jog” function).
Moving beyond the hardware limit switches (STOP cams)
For maintenance work, it may be necessary for the axis to traverse beyond the activated
hardware limit switches (STOP cams).
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To ensure the ability for the axis to traverse beyond the hardware limit switches in position-
controlled operation, proceed as follows:
1. Deactivate the corresponding hardware limit switch (minus or plus).
2. Have the axis with position control traverse beyond the hardware limit switch.
NOTICE
Damaging the machine by traveling past a hardware limit switch
Traveling past a hardware limit switch may damage the machine.
• Monitor axis motion, and manually stop the axis in plenty of time, e.g. using an
Emergency Stop.
If the axis traverses beyond the hardware limit switches in speed-controlled operation, the
following occurs:
1. When the hardware limit switch is initially approached, the converter stops the axis.
2. Depending on which direction the axis is traversing, the converter reports the fault F07491
(EPOS: STOP cams, minus approached) or F07492 (EPOS: STOP cams, plus approached).
After fault acknowledgment, it is possible for the speed-controlled axis to traverse further in the
same direction over the corresponding hardware limit switch.
If the position actual value resolution is not adequate in the speed-controlled mode, when
returning to the positioning range, the converter cannot identify whether the axis is again within
the positioning range. As a consequence, the converter prevents the axis from being traversed
in the position-controlled mode.
You must select the level-triggered evaluation of the hardware limit switches to guarantee
position-controlled traversing of the axis, even if the position actual value resolution is not
adequate:
Requirements
• The hardware limit switch reaches the end of the machine.
Procedure
1. Open the parameter view in Startdrive.
2. Set p2584.01 = 1.
This setting means you have selected the level-triggered evaluation of the hardware limit
switches.
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9.8.2.4 Jerk limitation
Function description
Acceleration and deceleration can change suddenly if jerk limiting has not been activated. The
diagram below shows the traversing profile when jerk limitation has not been activated. The
maximum acceleration (amax) and deceleration (dmax) are effective immediately. The drive
accelerates until the target speed (vtarget) is reached and then switches to the constant velocity
phase.
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Figure 9-17 Without jerk limitation
Jerk limitation can be used to achieve a ramp-like change of both variables, which ensures
"smooth" acceleration and braking as shown in the diagram below. Ideally, acceleration and
deceleration should be linear.
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Figure 9-18 Activated jerk limitation
The maximum gradient (rk) can be set in parameter p2574 (jerk limitation) in the unit LU/s3 for
both acceleration and braking. The resolution is 1000 LU/s3. To activate the limitation
permanently, set parameter p2575 (Activate jerk limitation) to 1. In this case, limitation cannot
be activated or deactivated in traversing block mode by means of the command "JERK".
Switching the limitation on/off in the traversing block mode requires parameter p2575 (Activate
jerk limitation) to be set to zero. The status signal r2684.6 (Jerk limitation active) indicates
whether or not jerk limitation is active.
The limitation is effective for the following activities:
• Jog mode
• Processing traversing blocks
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• Direct setpoint specification / MDI for positioning and setting up
• Reference point approach
• Stop responses due to alarms
Jerk limitation is not active when messages are generated with stop responses OFF1/OFF2/OFF3.
9.8.2.5 Starting against a closed brake
Function description
Under EPOS, if the drive should start against a closed brake, for example, for a suspended load,
then the enable signal p0899.2 is briefly withdrawn. The drive pulses are canceled and fault
F07490 is output.
To avoid this happening, using p1513 activate a supplementary torque which corresponds to the
brake holding torque. As a result, after releasing the brake, the load cannot sag and the drive
remains in closed-loop control without fault F07490 being output.
9.8.2.6 Function diagrams (see SINAMICS S120/S150 List Manual)
• 3630 EPOS - Traversing range limits (r0108.4 = 1)
9.8.2.7 Parameters (see SINAMICS S120/S150 List Manual)
General
• p2571 EPOS maximum speed
• p2572 EPOS maximum acceleration
• p2573 EPOS maximum delay
• p2646 CI: EPOS velocity override
Software limit switch
• p2578 CI: EPOS software limit switch, minus signal source
• p2579 CI: EPOS software limit switch, plus signal source
• p2580 CO: EPOS software limit switch, minus
• p2581 CO: EPOS software limit switch, plus
• p2582 BI: EPOS software limit switch activation
• r2683.0...14 CO/BO: EPOS status word 1
STOP cam
• p2568 BI: EPOS STOP cam activation
• p2569 BI: EPOS STOP cam, minus
• p2570 BI: EPOS STOP cam, plus
• r2684.0...15 CO/BO: EPOS status word 2
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Jerk limitation
• p2574 EPOS jerk limitation
• p2575 BI: EPOS jerk limitation activation
9.8.3 EPOS and safe setpoint velocity limitation
Function description
If safe speed monitoring (SLS) or the safe direction motion monitoring (SDI) is also to be used at
the same time as the EPOS positioning function, EPOS must be informed about the activated
monitoring limits. Otherwise these speed monitoring limits can be violated by the EPOS setpoint
input. By monitoring the limit value, if violated, the drive is stopped therefore exiting the
intended motion sequence. In this case, the relevant safety faults are output first, and then the
sequential faults created by EPOS.
Using parameter r9733, the safety functions offer EPOS setpoint limiting values, which when
taken into account, prevent the safety limit value being violated.
In order to prevent a safety limit violation by the EPOS setpoint specification, you must transfer
the setpoint limit value (r9733) as follows to the maximum speed setpoint of EPOS (p2594):
• r9733[0] = p2594[1]
• r9733[1] = p2594[2]
In this regard you must set the delay time for SLS/SOS (p9551), so that the relevant safety
monitoring function only becomes active after the maximum required time for the speed to be
reduced below the limit. This required braking time is determined by the current speed, the jerk
limit in p2574 and the maximum delay in p2573.
9.8.4 Referencing
Function description
After a machine has been switched on, for positioning, the absolute dimension reference must
be established to the machine zero. This procedure is referred to as referencing.
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The following table provides an overview of the available referencing types:
Function Encoder type Lower-level function Parameter value
Incremental Absolute en‐
encoder coder
Set reference position x x p2596
Reference point approach (active) x p2597 = 0
Reference cam available 1)
p2607 = 1
Encoder zero mark2) p0495 = 0 or
p0494 = 0
External encoder zero mark3) p0495 ≠ 0 or
p0494 ≠ 0
Flying referencing (Passive) x x p2597 = 1
Absolute encoder adjustment x
Absolute encoder adjustment with x
offset acceptance
1)
Sets whether or not a reference cam is present (p2607 = 1) for the reference point approach or not (p2607 = 0).
2)
Evaluation of an external encoder zero mark (equivalent zero mark) is not activated.
3)
Evaluation of an external encoder zero mark (equivalent zero mark) is activated.
Note
Observe the information about the parameters in Chapter "Function diagrams (see SINAMICS
S120/S150 List Manual) (Page 514)".
A connector input is provided to enter reference point coordinates for all specified types of
referencing. This allows, for example, changes/input via the higher-level control. However, to
permanently enter the reference point coordinate, an adjustable parameter for this quantity is
also required. As standard, this adjustable parameter p2599 is interconnected to connector
input p2598.
Features
• Reference point offset (p2600)
• Reversing cams (p2613, p2614)
• Reference cam (p2612)
• Binector input start (p2595)
• Binector input setting (p2596)
• Velocity override (p2646)
• Reference point coordinate (p2598, p2599)
• Referencing type selection (p2597)
• Absolute encoder adjustment (p2507)
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Note
Referencing of distance-coded zero marks is not supported.
9.8.4.1 Set reference position
Parameterizing the function
The reference point can be set using a 0/1 edge at binector input p2596 (set reference point) if
no traversing commands are active and the actual position value is valid (p2658 = 1 signal). A
reference point can also be set for an intermediate stop. When the reference point is set, the
current actual position of the drive becomes the reference point using the coordinate specified
by connector input p2598 (reference point coordinate). The setpoint (r2665) is adjusted
accordingly.
This function also uses actual position value correction for the position controller (p2512 and
p2513). Connector input p2598 is connected to adjustable parameter p2599 as standard. The
binector input is not effective for the traversing task being presently executed.
9.8.4.2 Absolute encoder adjustment
Parameterizing the function
When commissioning an absolute encoder for the first time, a mechanical axis position is aligned
with the encoder absolute position and then the system is synchronized.
After the drive has been switched off the encoder position information is retained. This means
that the axis does not have to be readjusted when the drive powers up.
Note
It is crucial that absolute encoders are adjusted the first time that they are commissioned.
Requirements
• The axis is located at a defined reference position.
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Procedure
Proceed as follows to parameterize the absolute encoder adjustment:
1. Call the adjustment using parameter p2507 = 2.
Please observe the following information relevant for this particular step:
– Using the reference point coordinate in p2599, an offset value is determined and entered
into p2525. The offset value is used to calculate the position actual value (r2521). Using
value "3", parameter p2507 signals that the adjustment is valid. In addition, bit r2684.11
(reference point set) is set to a value of "1".
– If the drive had identified the adjustment, then note (Alarm A7441) is displayed. The user
is prompted to save the adjustment from RAM to ROM.
– Note down the offset value that has possibly been determined so that you can enter this
into p2525 when using the "Absolute encoder adjustment with offset acceptance"
function.
2. Save the offset of the absolute encoder adjustment in p2525 in a non-volatile fashion in (RAM
to ROM).
Please observe the following information relevant for this particular step:
– If an adjustment is lost for an already adjusted axis, the axis will remain unadjusted even
after a POWER ON of the drive. In this particular case, it is crucial that the axis is readjusted.
Note
After being commissioned for the first time, carefully ensure that the drive train and its
configuration cannot be mechanically changed or modified. When mechanical changes are
made, the synchronization between the encoder actual value and the machine zero is lost.
In this particular case, it is crucial that the axis is readjusted.
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Absolute encoder used
Depending on the absolute encoder used, the following information and notes must be taken
into consideration.
• Rotary absolute encoder
During adjustment with the rotary absolute encoder, a range is aligned symmetrically around
the zero point with half the encoder range within which the position is restored after switch
off/on.
When position tracking is deactivated (p2720.0 = 0), in this range, only one encoder
overflow may occur. Additional information is provided in Chapter "Position actual value
conditioning (Page 473)".
If the reference point (p2599) is in the encoder range, the actual position value is set to the
reference point during adjustment. Otherwise, adjustment is canceled with F07443.
NOTICE
Unplanned movement of the machine
If the rotary absolute encoder is used outside the defined encoder range, unplanned
movement of the machine can occur after switching off/switching on. This can damage the
machine.
• After adjustment, ensure that the encoder range that has been set up is not exited.
• Activate position tracking (p2720.0) if there is a risk that the encoder range is exited.
• Linear absolute encoder
No overflow occurs with linear absolute encoders, which means that the position can be
restored within the entire traversing range after switch off/on once adjustment has been
carried out. During adjustment, the actual position value is set in line with the reference
point.
9.8.4.3 Absolute encoder adjustment with offset acceptance
Parameterizing the function
The absolute encoder adjustment with offset acceptance is realized by determining and
accepting an offset value while the drive is being commissioned for the first time.
When determining the offset, the encoder actual value is aligned once with the machine zero;
it is then set as being valid, and the system synchronizes to the absolute position that has been
determined. The axis does not have to be located at a defined reference position.
After the drive has been switched off the encoder position information is retained. This means
that the axis does not have to be readjusted when the drive powers up.
Requirements
• The offset value p2525 was determined when commissioning the drive for the first time.
• After being commissioned for the first time, the drive train and its configuration was not
mechanically changed.
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Procedure
To perform the absolute encoder adjustment with offset acceptance, proceed as follows:
1. Enter the offset value that was determined during initial commissioning into parameter
p2525 (see Chapter "Absolute encoder adjustment (Page 504)").
2. Call the adjustment using parameter p2507 = 4 to accept the offset value and to link with the
adjustment point.
Please observe the following information relevant for this particular step:
– The offset value is used to calculate the position actual value (r2521). Using value "3",
parameter p2507 signals that the adjustment is valid. In addition, bit r2684.11 (=
reference point set) is set to a value of "1".
– The offset value is immediately accepted, and is active without the system having to be
restarted. If the drive had identified the adjustment, then note (Alarm A7441) is
displayed. The user is prompted to save the adjustment from RAM to ROM.
3. Save the offset of the absolute encoder adjustment in p2525 in a non-volatile fashion in (RAM
to ROM).
Note
After being commissioned for the first time, carefully ensure that the drive train and its
configuration have not been mechanically changed or modified. When mechanical changes
are made, the synchronization between the encoder actual value and the machine zero is
lost. In this particular case, it is crucial that the axis is readjusted.
4. Check the following machine positions using a test run at a low velocity.
– End positions
– Software limit switch
– Reference point
9.8.4.4 Referencing with DRIVE-CLiQ encoders
Parameterizing the function
DRIVE-CLiQ encoders are available as either "multiturn" or "singleturn" absolute encoders. If a
DRIVE-CLiQ encoder is connected to your drive via the DRIVE-CLiQ interface and the
"Referencing" function is selected via the PROFIdrive encoder interface, referencing to the zero
crossing of the singleturn position takes place.
Additional information on commissioning DRIVE-CLiQ encoders is provided in the
SINAMICS S120 Commissioning Manual with Startdrive.
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9.8.4.5 Reference point approach (incremental measuring system)
Function description
When using an incremental encoder, the drive is moved to its reference point during the
reference point approach. In so doing, the drive itself controls and monitors the complete
referencing cycle.
Incremental encoders require that absolute dimensional reference to the machine’s zero point
be established after a machine has been switched on. When switching on, the position actual
value x0 in the non-referenced state is set to x0 = 0. Using the reference point approach, the drive
can be reproducibly moved to its reference point. The geometry with a positive start direction
(p2604 = 0) is shown below.
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Figure 9-19 Example: Reference point approach with reference cam
The signal on binector input p2595 (start referencing) is used to trigger travel to the reference
cam (p2607 = 1) if the reference point approach is selected at the same time via a 0 signal at
binector input p2597 (referencing type selection). The signal in binector input p2595 (start
referencing) must be set during the entire referencing process otherwise the process is aborted.
Once started, the status signal r2684.11 (reference point set) is reset.
The software limit switch monitoring is inactive during the complete reference point approach;
only the maximum traversing range is checked. If necessary, monitoring of the software limit
switches is reactivated after completion.
The velocity override set is only effective during the search for the reference cam (see step 1).
This ensures that the "cam end" and "zero mark" positions are always overrun at the same speed.
If signal propagation delays arise during switching processes, this ensures that the offset caused
during establishment of position is the same in each referencing process.
Axes that only have one zero mark over their entire traversing and/or modulo range are
identified using parameter p2607 = 0 (reference cam not present). Due to the missing reference
cam, synchronization to the reference zero mark (step 2) is started for these axes after the
referencing process is started.
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Step 1: Travel to the reference cam
Requirements
• Reference cam available on start of referencing process (p2607 = 1).
If there is no reference cam (p2607 = 0), continue with step 2.
Procedure
When the referencing process is started, the drive accelerates at maximum acceleration (p2572)
to the reference cam approach velocity (p2605). The direction of the approach is determined by
the signal of binector input p2604 (reference point approach start direction).
The signal at binector input p2612 (reference cam) communicates to the drive that the reference
cam has been reached. The drive subsequently brakes to standstill with the maximum
deceleration (p2573).
If a signal at binector input p2613 (reversing cam, MINUS) or at binector input p2614 (reversing
cam, PLUS) is detected during reference point approach, the search direction is reversed.
If the reversing cam minus is approached in the positive direction or the reversing cam plus is
approached in the negative direction, fault F07499 (EPOS: reversing cam approached with the
incorrect traversing direction) is output. In this case, the wiring of the reversing cams (BI: p2613,
BI: p2614) or the direction of approach to the reversing cam must be checked.
The reversing cams are low active. If both reversing cams are active (p2613 = 0 and p2614 = 0),
the drive remains stationary. As soon as the reference cam is found, synchronization to the
reference zero mark is immediately started (refer to step 2).
If the axis leaves its start position and travels the distance defined in parameter p2606 (max.
distance to reference cam) heading towards the reference cam without actually reaching the
reference cam, the drive remains stationary and fault F07458 (reference cam not found) is
output.
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If the axis is already located at the cam when referencing is started, then traversing to the
reference cam is not executed; instead, synchronization to the reference zero mark is
immediately started (step 2).
Note
The velocity override is effective during the search for the cam. By changing the encoder data set,
status signal r2684.11 (reference point set) is reset.
The cam switch must be able to supply both a rising and a falling edge. For a reference point
approach with evaluation of the encoder zero mark, for increasing actual position values the 0/1
edge is evaluated and for decreasing actual position values, the 1/0 edge. Inversion of the edge
evaluation is not possible at the sensor zero mark.
If the length measuring system has several zero marks which repeat at cyclic intervals (e.g.
incremental, rotary measuring system), you must ensure that the cam is adjusted so that the
same zero mark is always evaluated.
The following factors may impact the behavior of the "reference cam" control signal:
• Switching accuracy and time delay of reference cam switch
• Position controller cycle of drive
• Interpolation cycle of drive
• Temperature sensitivity of machine’s mechanical system
Step 2: Synchronization to reference zero mark (encoder zero mark or external zero mark)
Requirements
• Reference cam available on start of referencing process (p2607 = 1).
Procedure
In step 2, the drive accelerates to the velocity specified in p2608 (zero mark approach velocity)
in the direction opposite to that specified using binector input p2604 (reference point approach
start direction). The zero mark is expected at distance p2609 (max. distance to zero mark). The
search for the zero mark is active (status bit r2684.0 = 1 (reference point approach active)) as
soon as the drive leaves the cam (p2612 = 0) and is within the tolerance band for evaluation
(p2609 - p2610). If the position of the zero mark is known (encoder evaluation), the actual
position of the drive can be synchronized using the zero mark. The drive starts the search for
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reference (refer to step 3). The distance moved between the end of the cam and the zero mark
is displayed in diagnostics parameter r2680 (difference between the cam - zero mark).
• Encoder zero mark available (p0494 = 0 or p0495 = 0), no reference cam (p2607 = 0):
Note
Differentiation between p0494 and p0495
Parameter p0494 corresponds to parameter p0495 regarding its significance. In addition,
parameter p0494 is dependent on an encoder data set; for example which can be used for
the data set switchover for interchangeable machining heads.
Synchronization to the reference zero mark begins as soon as the signal at binector input
p2595 (start referencing) is detected. The drive accelerates to the velocity, specified in
parameter p2608 (zero mark approach velocity) in the direction specified by the signal of
binector input p2604 (reference point approach start direction).
The drive synchronizes to the first zero mark and then starts to travel towards the reference
point (step 3).
Note
In this case the direction of approach to the reference zero mark is the opposite to the axes
with reference cams!
• External zero mark available (p0494 ≠ 0 or p0495 ≠ 0), no reference cam (p2607 = 0):
Synchronization to an external zero mark begins as soon as the signal at binector input p2595
(start referencing) is detected. The drive accelerates to the velocity, specified in parameter
p2608 (zero mark approach velocity) in the direction specified by the signal of binector input
p2604 (reference point approach start direction). The drive synchronizes to the first external
zero mark (p0494 or p0495)1). The drive continues to travel with the same velocity and travel
is started to the reference point (step 3).
Note
The velocity override is inoperative during this process.
An equivalent zero mark can be set and the corresponding digital input selected using
parameters p0494 or p0495 (equivalent zero mark input terminal). As standard, for
increasing actual position values, the 0/1 edge is evaluated and for decreasing actual position
values, the 1/0 edge. For the equivalent zero mark, this can be inverted using parameter
p0490 (invert measuring probe or equivalent zero mark).
Step 3: Travel to reference point
Requirements
• Synchronization to reference zero mark is complete.
Procedure
Travel to the reference point is started when the drive has successfully synchronized to the
reference zero mark (step 2). Once the reference zero mark has been detected, the drive
accelerates on-the-fly to the reference point approach velocity set in parameter p2611. The drive
moves through the reference point offset (p2600), i.e. the distance between the zero mark and
reference point.
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If the axis has reached the reference point, the actual position value and position setpoint are set
to the value specified via the connector input p2598 (reference point coordinate). Connector
input p2598 is connected to adjustable parameter p2599 as standard. The axis is then
referenced and the status signal r2684.11 (reference point set) set.
Note
The velocity override is inoperative during this process.
If the braking distance is longer than the reference point offset or a direction reversal is required
as a result of the selected reference point offset, then after detecting the reference zero mark,
the drive initially brakes to standstill and then travels back.
9.8.4.6 Flying referencing
Function description
With the "Flying referencing" function (also post-referencing, position monitoring), the load-
side position accuracy is increased because inaccuracies in actual value acquisition are
compensated for.
The function can be used for incremental and absolute encoders. It is selected by a "1" signal at
binector input p2597 (Select referencing type) and is activated by a 0/1 edge at binector input
p2595 (Start referencing). The signal at binector input p2595 must be set during the entire
referencing process; otherwise, the process is aborted.
The function can be used in every mode (jog, traversing block, direct setpoint specification for
positioning / setup) and is superimposed over the active operating mode.
During incremental positioning (relative), you can select whether the correction value is to be
taken into account for the travel path or not (p2603).
Status bit r2684.1 (passive / flying referencing active) is linked with binector input p2509
(activate measuring probe evaluation). It activates measuring probe evaluation. Binector inputs
p2510 (measurement probe selection) and p2511 (measurement probe edge evaluation) can
be used to set which measurement probe (1 or 2) and which measurement edge (0/1 or 1/0) is
to be used.
The probe pulse is used to supply connector input p2660 (referencing measured value) with the
measured value via parameter r2523. The validity of the measurement is reported to binector
input p2661 (measurement valid feedback) via r2526.2.
Note
The following must always apply to the "Flying referencing mode" windows:
p2602 (outer window) > p2601 (inner window).
You can obtain more information on the "Flying referencing" function in the SINAMICS S120/
S150 List Manual in function diagram 3614.
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The following then happens:
• If the drive has not yet been referenced, status bit r2684.11 (reference point set) is set to "1".
• If the drive has already been referenced, status bit r2684.11 (reference point set) is not reset
when starting flying referencing.
• If the drive has already been referenced and the position difference is less than the inner
window (p2601), the old actual position value is retained.
• If the drive has already been referenced and the position difference is more than the outer
window (p2602), alarm A07489 (reference point offset outside window 2) is output and the
status bit r2684.3 (pressure mark outside window 2) set. No offset to the actual position
value is undertaken.
• If the drive has already been referenced and the position difference is more than the inner
window (p2601) and less that the outer window (p2602), the actual position value is offset.
Note
The "Flying referencing" function is superimposed on an active operating mode, it is therefore
not an active mode. In contrast to the reference point approach, the function can be carried out
superimposed by the machine process.
As standard, for flying referencing, measuring probe evaluation is used; when enabled, the
measuring probe is selected (p2510) and the edge evaluation (p2511) (in the factory setting,
measuring probe 1 is always the measuring probe, flank evaluation in the factory setting is
always the 0/1 edge).
9.8.4.7 Data set switchover
Function description
Using drive data set changeover (DDS), motor data sets (MDS, p0186) and encoder data sets
(EDS, p0187 to p0189) can be changed over. The following table shows when the reference bit
(r2684.11) or the status of the adjustment with absolute encoders (p2507) is reset.
In the following cases, when a DDS changeover takes place, the actual position value becomes
invalid (p2521 = 0) and the reference point (r2684.11 = 0) is reset.
• The EDS that is effective for the position control changes.
• The encoder assignment changes (p2502).
• The mechanical relationships change (p2503...p2506)
With absolute encoders, the status of the adjustment (p2507) is also reset, if the same absolute
encoder is selected for the position control although the mechanical conditions have changed
(p2503 to p2506).
In the operation state, a fault (F07494) is also output.
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The following table contains a few examples for data set changeover. The initial data set is
always DDS0.
Table 9-7 DDS changeover without load gear position tracking
DDS 0 1 2 3 4 5 6 7
p0186 (MDS) 0 0 0 0 0 1 2 3
p0187 (encoder 1) EDS0 EDS0 EDS0 EDS0 EDS0 EDS4 EDS5 EDS0
p0188 (encoder 2) EDS1 EDS1 EDS1 EDS1 EDS3 EDS1 EDS6 EDS1
p0189 (encoder 3) EDS2 EDS2 EDS2 EDS2 EDS2 EDS2 EDS7 EDS2
p2502 (encoder for po‐ Encod‐ Encod‐ Encoder_1 Encod‐ Encod‐ Encod‐ Encod‐ Encod‐
sition control) er_1 er_1 er_2 er_2 er_1 er_1 er_1
Mechanical relation‐ A A B A A A D A
ships p2504/p2505/
p2506/p2503
A, B and D designate dif‐
ferent mechanical rela‐
tionships.
Load gear position Deactiva‐ Deactiva‐ Deactivated Deactiva‐ Deactiva‐ Deactiva‐ Deactiva‐ Deactiva‐
tracking ted ted ted ted ted ted ted
Changeover response --- Change‐ Pulse inhibit: Pulse inhibit: MDS
over dur‐ Position actual Position actual value preprocessing is newly change‐
ing pulse value prepro‐ initiated1) and referencing bit3) is reset. over
inhibit or cessing is newly Operation: alone
opera‐ initiated1) and Fault is output. Actual position value condi‐ during
tion has referencing tioning newly set1) and referencing bit3) is re‐ pulse in‐
no effect bit2) is reset. set. hibit or
Operation: opera‐
Fault is output. tion has
Position actual no effect
value prepro‐
cessing is newly
initiated1) and
referencing
bit2) is reset.
1)
"Is newly initiated" means: For absolute encoders, the absolute value is read out again and for incremental encoders a restart
is performed as after a POWER ON.
2)
For incremental encoders r2684.11 ("Reference point set") is reset, and additionally for absolute encoders the status of
adjustment (p2507).
3)
For incremental encoders r2684.11 ("Reference point set") is reset, and for absolute encoders the status of adjustment
(p2507) is not reset in addition, because the encoder data set is different from the original.
9.8.4.8 Function diagrams (see SINAMICS S120/S150 List Manual)
• 3612 EPOS - Referencing/reference point approach mode (r0108.4 = 1) (p2597 = 0
signal)
• 3614 EPOS - Flying referencing mode (r0108.4 = 1) (p2597 = 1-signal)
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9.8.4.9 Parameters (see SINAMICS S120/S150 List Manual)
• p0494[0...n] Equivalent zero mark, input terminal1)
• p0495 Equivalent zero mark, input terminal1)
• p2596 BI: EPOS set reference point
• p2597 BI: EPOS referencing type selection
• p2598[0...3] CI: EPOS reference point coordinate, signal source
• p2599 CO: EPOS reference point coordinate value
• p2600 EPOS reference point approach, reference point offset
1)
Parameter p0494 corresponds to parameter p0495 regarding its significance. In addition,
parameter p0494 is dependent on an encoder data set which can be used, for example, for
the data set switchover for interchangeable machining heads.
9.8.5 Referencing with several zero marks per revolution
Function description
The drive detects several zero marks per revolution when using reduction gears or measuring
gears. In this cases, an additional BERO signal allows the correct zero mark to be selected.
Referencing with a reduction gear
The following figure shows an application example for referencing with several zero marks per
revolution and selecting the correct zero mark using a BERO signal.
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&RQWURO 0RWRU 60&
8QLW 0RGXOH
0RWRU *HDU 6SLQGOH
(QFRGHU
① PROFIdrive encoder interface on the higher-level control system
② DRIVE-CLiQ
③ BERO (contactless proximity switch)
④ Zero mark
⑤ Position signal
Figure 9-20 Example: Gearbox between motor and spindle
By using a reduction gear between the motor and the load or spindle, the drive detects several
revolutions of the motor per mechanical revolution of the load - and therefore also several
encoder zero marks.
Since the higher-level control or position control when referencing requires a unique reference
between the encoder zero mark and the machine axis (load/spindle), the "correct" zero mark is
selected using a BERO signal.
Referencing with a measuring gearbox
The following figure shows an application example for using referencing with several zero marks
per revolution with a measuring gear located between the motor/load and encoder.
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&RQWURO 0RWRU 60&
8QLW 0RGXOH
0RWRU *HDU (QFRGHU
① PROFIdrive encoder interface on the higher-level control system
② DRIVE-CLiQ
③ BERO (contactless proximity switch)
④ Zero mark
⑤ Position signal
Figure 9-21 Example: Measuring gear between the motor and encoder
As a result of the measuring gear, several encoder zero marks appear within one motor/load
revolution. Using the BERO signal, also here, the correct zero mark for referencing can be
selected from the several encoder zero marks.
9.8.5.1 Evaluating BERO signals
Requirements
• The position of the zero mark that has the shortest distance to the position when the BERO
signal switches is to be determined.
• The appropriate mechanical preconditions must be fulfilled when mounting the BERO.
• Preferred mechanical configuration
The BERO signal covers the zero mark, as in this case, the zero mark selection is independent
of the direction of rotation.
• In order to be able to precisely determine the position of the BERO (in relation to the reference
position of the encoder) even at higher speeds, this must be connected to a fast Control Unit
input.
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Procedure
You have the option of either evaluating the positive or negative signal edge of the BERO signal:
• Positive edge (factory setting)
For referencing with a positive edge evaluation of the BERO signal, the encoder interface
supplies the position of that reference mark, which is directly detected after the positive edge
of the BERO signal. If, mechanically, the BERO is sized in such a way that the BERO signal
covers the entire width of the encoder zero mark, the required encoder zero mark will be
reliably detected in both traversing directions.
• Negative edge
For referencing with a negative edge evaluation of the BERO signal, synchronization is
realized to the next reference mark after leaving the BERO signal.
Setting referencing
Proceed as follows to parameterize referencing with several zero marks:
1. Using parameter p0493, define the fast digital input to which the BERO is connected.
2. Set the corresponding bit of parameter p0490 to 1.
The signal inversion means that the evaluation uses the negative edge of the BERO signal.
Referencing procedure
The referencing process is performed as follows:
1. Via the PROFIdrive encoder interface, the Control Unit receives the request for a reference
mark search.
2. Using the parameterization, the Control Unit determines the zero mark depending on the
BERO signal.
3. The Control Unit provides the (possibly corrected) zero mark position as reference mark via
the PROFIdrive encoder interface.
Note
At high speeds or if the distance between the BERO signal and the following zero mark is too low,
then it is possible that the required, next zero mark is not detected, but instead, a subsequent
one due to the computation time. Due to the known zero mark distance, in this particular case,
the determined position is correspondingly corrected.
When using a measuring gear, the zero mark position depends on the motor revolution. In this
case, a correction is also performed and for each motor revolution a reverse calculation is made
back to the position of the zero mark with the shortest distance BERO signal ↔ zero mark.
• p0488 Probe 1, input terminal
• p0489 Probe 2, input terminal
• p0493 Zero mark selection, input terminal
• p0495 Equivalent zero mark, input terminal
• p0580 Probe, input terminal
• p0680[0...7] Central probe, input terminal
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• p2517[0...2] LR direct probe 1
• p2518[0...2] LR direct probe 2
9.8.6 Safely referencing under EPOS
Function description
Some safety functions (e.g. SLP, SP) require safe referencing. If EPOS is active at a drive, when
referencing using EPOS, then the absolute position is also automatically transferred to the Safety
Integrated functions.
The Safety Integrated functions only evaluate the absolute position if a safety function is
parameterized, which requires an absolute value, e.g. SLP.
The following are examples for a load-side position calculation, depending on various encoder
mounting versions and axis types.
Example 1
Safety Integrated Extended functions monitor the rotating load. EPOS and Safety Integrated
Extended functions use the same rotary encoder at the motor. The rotating load is coupled to the
motor via a gear. The speed/position values of the spindle are calculated.
• p2506 = 360000 => a position of 360000LU (r2521) corresponds to 360° (r9708)
• p2506 = 10000 => a position of 10000LU (r2521) corresponds to 360° (r9708)
0RWRU *HDUER[ 6SLQGOH
(QFRGHU
5RWDWLQJHQFRGHUIRU
(326DQG6DIHW\
Figure 9-22 Example 1: EPOS and safe referencing (rotary)
The ratio for the gearbox used must be parameterized in p9521/p9522 for Safety Integrated
Extended functions and in p2504/p2505 for EPOS. For a gearbox to convert 2 motor revolutions
to 1 load revolution, set p9521 = 1, p9522 = 2, p2504 = 2 and p2505 = 1.
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Example 2
Safety Integrated Extended functions monitors the linear axis using the rotating motor encoder.
EPOS references using the linear scale.
• p2503 = 100000 => a position of 100000LU (r2521) corresponds to 10 mm (r9708)
• p2503 = 10000 => a position of 10000LU (r2521) corresponds to 10 mm (r9708)
0RWRU *HDUER[
)HHG
VFUHZ /LQHDUVFDOH
IRU(326
(QFRGHU
5RWDWLQJHQFRGHUIRU6DIHW\
Figure 9-23 Example 2: EPOS and safe referencing (linear)
Safety Integrated Extended function uses the rotating motor encoder. The gearbox is
parameterized using p9521/p9522. The spindle pitch is parameterized in p9520. To calculate
the load-side absolute position, EPOS directly uses the load-side linear scale. In this example,
EPOS does not have to take into account the gearbox ratio and spindle pitch.
Example 3
Safety Integrated Extended functions monitor the linear axis using the rotating motor encoder.
EPOS referenced using the same rotary motor encoder.
• p2506 = 10000, p9520 = 5 mm/revolution => a position of 10000LU (r2521) corresponds to
5 mm (r9708)
• p2506 = 5000, p9520 = 5 mm/revolution => a position of 10000LU (r2521) corresponds to
10 mm (r9708)
0RWRU *HDUER[
)HHG
VFUHZ
(QFRGHU
5RWDWLQJHQFRGHUIRU
6DIHW\DQG(326
Figure 9-24 Example 3: EPOS and safe referencing (linear)
Using the spindle pitch parameterized in parameter p9520, rotary motion is converted into
linear motion. EPOS does not take into account spindle pitch. Instead, the LUs are defined in the
number of load revolutions in p2506. The load revolutions refer to the movement of the ball
screw, that is, the motion after the gearbox. The ratio for the gearbox used must be
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parameterized in p9521/p9522 for Safety Integrated Extended functions and in p2504/p2505
for EPOS. For a gearbox to convert from 4 motor revolutions to 3 load revolutions, set:
• p9521 = 3
• p9522 = 4
• p2504 = 4
• p2505 = 3
Flying referencing under Safety Integrated Extended Functions
Flying referencing is frequently used to compensate for any inaccuracies in the actual value
sensing, and therefore to optimize positioning accuracy on the load side. The
Safety Integrated Extended Functions have lower accuracy requirements than the control. For
Safety Integrated Extended Functions, cyclic adjustment is not necessary.
The initial activation signal initiates referencing. If, at the next switching signal, it is detected
that the "referenced" state already exists, then no new reference position is transferred to Safety
Integrated functions.
9.8.7 Traversing blocks
Function description
Up to 64 different traversing tasks can be saved. The maximum number is set using parameter
p2615 (maximum number of traversing tasks). All parameters which describe a traversing task
are effective during a block change if:
• The appropriate traversing block number is selected using binector inputs p2625 to p2630
(block selection, bits 0...5) and started using the signal at binector input p2631 (BI: EPOS
(activate traversing task).
• A block change is made in a sequence of traversing tasks.
• An external block change p2632 "External block change" is triggered.
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Parameterize traversing blocks
Traversing blocks are parameterized using parameter sets that have a fixed structure:
• Traversing block number (p2616[0...63])
Each traversing block must have a traversing block number assigned to it. The traversing
blocks are executed in the sequence of the traversing block numbers. Numbers containing
the value "-1" are ignored so that the space can be reserved for subsequent traversing blocks,
for example.
• Task (p2621[0...63])
1: POSITIONING
2: FIXED ENDSTOP
3: ENDLESS_POS
4: ENDLESS_NEG
5: WAIT
6: GOTO
7: SET_O
8: RESET_O
9: JERK
• Motion parameters
– Target position or traversing distance (p2617[0...63])
– Velocity (p2618[0...63])
– Acceleration override (p2619[0...63])
– Deceleration override (p2620[0...63])
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• Task mode (p2623[0...63])
Processing a traversing task can be affected by the parameter p2623 (task mode).
Value = 0000 cccc bbbb aaaa
– aaaa: Identifiers
000x → hide/show block (x = 0: show, x = 1: hide)
A hidden block cannot be selected binary-coded via binector inputs p2625 to p2630. An
alarm is output if you attempt to do so.
– bbbb: Continuation condition
0000, END: 0/1 edge at p2631
0001, CONTINUE_WITH_STOP:
The exact position parameterized in the block is approached (brake to standstill and
positioning window monitoring) before block processing can continue.
0010, CONTINUE_ON-THE-FLY:
The system switches to the next traversing block "on the fly" when the braking point for
the current block is reached (if the direction needs to be changed, this does not occur until
the drive stops within the positioning window).
0011, CONTINUE_EXTERNAL:
Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be triggered
up to the braking point by a 0/1 edge. The 0/1 edge can be triggered via the binector input
p2633 when p2632 = 1 or via the measuring probe input p2661, which is connected to
parameter r2526.2 of the "position control" function module, when p2632 = 0. Position
detection via the probe can be used as an accurate starting position for relative
positioning. If an external block change is not triggered, a block change is triggered at the
braking point.
0100, CONTINUE_EXTERNAL_WAIT
Control signal "External block change" can be used to trigger a flying changeover to the
next task at any time during the traveling phase. If "External block change" is not
triggered, the axis remains in the parameterized target position until the signal is issued.
The difference here is that with CONTINUE_EXTERNAL, a flying changeover is carried out
at the braking point if "External block change" has not been triggered, while here the drive
waits for the signal in the target position.
0101, CONTINUE_EXTERNAL_ALARM
This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463 "External
traversing block change in traversing block x not requested" is output when "External
block change" is not triggered by the time the drive comes to a standstill. The alarm can
be converted to a fault with a stop response so that block processing can be canceled if
the control signal is not issued.
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– cccc: positioning mode
The POSITION task (p2621 = 1) defines how the position specified in the traversing task
is to be approached.
0000, ABSOLUTE:
The position specified in p2617 is approached.
0001, RELATIVE:
The axis is traveled along the value specified in p2617
0010, ABS_POS:
For rotary axes with modulo offset only. The position specified in p2617 is approached in
a positive direction.
0011, ABS_NEG:
For rotary axes with modulo offset only. The position specified in p2617 is approached in
a negative direction.
• Task parameter (command-dependent significance) (p2622[0...63])
Intermediate stop and reject traversing task
The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be rejected by a 0 signal at p2641. After activation, the system
brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint specification / MDI" modes.
POSITIONING
The POSITIONING task initiates motion. The following parameters are evaluated:
• p2616[x] Block number
• p2617[x] Position
• p2618[x] Velocity
• p2619[x] Acceleration override
• p2620[x] Deceleration override
• p2623[x] Task mode
The task is executed until the target position is reached. If, when the task is activated, the drive
is already located at the target position, then for the block change enable (CONTINUE_ON-THE-
FLY or CONTINUE_EXTERNAL, the text task is selected in the same interpolation cycle. For
CONTINUE_WITH_STOP, the next block is activated in the next interpolation cycle.
CONTINUE_EXTERNAL_ALARM causes a message to be output immediately.
FIXED STOP
The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop.
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The following parameters are relevant:
• p2616[x] Block number
• p2617[x] Position
• p2618[x] Velocity
• p2619[x] Acceleration override
• p2620[x] Deceleration override
• p2623[x] Task mode
• p2622[x] Task parameter clamping torque [0.01 Nm] with rotary motors or clamping force
in [1 N] with linear motors.
Possible continuation conditions include END, CONTINUE_WITH_STOP, CONTINUE_EXTERNAL,
CONTINUE_EXTERNAL_WAIT.
ENDLESS POS, ENDLESS NEG
Using these tasks, the axis is accelerated to the specified velocity and is moved until:
• A software limit switch is reached.
• A STOP cam signal has been issued.
• The traversing range limit is reached.
• Motion is interrupted by the control signal "no intermediate stop / intermediate stop"
(p2640).
• Motion is interrupted by the control signal "do not reject traversing task / reject traversing
task" (p2641).
• An external block change is triggered (with the appropriate continuation condition).
The following parameters are relevant:
• p2616[x] Block number
• p2618[x] Velocity
• p2619[x] Acceleration override
• p2623[x] Task mode
All continuation conditions are possible.
JERK
Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter = 0)
by means of the JERK task. The signal at the binector input p2575 "Active jerk limitation" must
be set to zero. The value parameterized in "jerk limit" p2574 is the jerk limit.
A precise stop is always carried out here regardless of the parameterized continuation condition
of the task preceding the JERK task.
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The following parameters are relevant:
• p2616[x] Block number
• p2622[x] Task parameter = 0 or 1
All continuation conditions are possible.
WAITING
The WAIT task can be used to set a waiting period which should expire before the following task
is processed.
The following parameters are relevant:
• p2616[x] Block number
• p2622[x] Task parameter = delay time in milliseconds ≥ 0 ms
• p2623[x] Task mode
The delay time is entered in milliseconds - but is rounded-off to a multiple of the interpolator
cycles p0115[5]. The minimum delay time is one interpolation cycle; this means that if a delay
time is parameterized which is less than an interpolation cycle, then the system waits for one
interpolation cycle.
Example:
Waiting time: 9 ms
Interpolation cycle: 4 ms
Active waiting time: 12 ms
Regardless of the parameterized continuation condition which is parameterized for the task that
precedes the WAIT task, an exact stop is always executed before the waiting time expires. The
WAIT task can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP, CONTINUE_EXTERNAL,
CONTINUE_EXTERNAL_WAIT, and CONTINUE_EXTERNAL_ALARM. The fault message is
triggered when "External block change" has still not been issued after the waiting time has
elapsed.
GOTO
Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The block
number which is to be jumped to must be specified as task parameter. A continuation condition
is not permissible. If there is a block with this number, then alarm A07468 (jump destination
does not exist in traversing block x) is output and the block is designated as being inconsistent.
The following parameters are relevant:
• p2616[x] Block number
• p2622[x] Task parameter = Next traversing block number
Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation cycle and
a subsequent POSITION and WAIT task can be started.
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SET_O, RESET_O
The tasks SET_O and RESET_O allow up to two binary signals (output 1 or 2) to be simultaneously
set or reset. The number of the output (1 or 2) is specified bit-coded in the task parameter.
The following parameters are relevant:
• p2616[x] Block number
• p2622[x] Task parameter = bit-coded output:
0x1: Output 1
0x2: Output 2
0x3: Output 1 + 2
Possible continuation conditions are END, CONTINUE_ON-THE-FLY and CONTINUE_WITH_STOP,
and CONTINUE_EXTERNAL_WAIT.
You can assign the binary signals to digital outputs:
• r2683.10 ≙ Output 1
• r2683.11 ≙ Output 2
Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation cycle and
a subsequent POSITION and WAIT task can be started.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3616 EPOS - Traversing blocks mode (r0108.4 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2616[0...n] EPOS traversing block, block number
• p2617[0...n] EPOS traversing block, position
• p2618[0...n] EPOS traversing block, velocity
• p2619[0...n] EPOS traversing block, acceleration override
• p2620[0...n] EPOS traversing block, delay override
• p2621[0...n] EPOS traversing block, task
• p2622[0...n] EPOS traversing block, task parameter
• p2623[0...n] EPOS traversing block, task mode
• p2625...p2630 BI: EPOS traversing block selection bit 0 ... 5
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9.8.8 Travel to fixed stop
Function description
The "Travel to fixed stop" function can be used, for example, to traverse sleeves to a fixed stop
against the workpiece with a predefined torque. In this way, the workpiece can be securely
clamped. The clamping torque can be parameterized in the traversing task (p2622). An
adjustable monitoring window for travel to fixed stop prevents the drive from traveling beyond
the window if the fixed stop should break away.
In positioning mode, travel to fixed stop is started when a traversing block is processed with the
FIXED STOP command. In this traversing block, in addition to the specification of the dynamic
parameterized position, speed, acceleration override and delay override, the required clamping
torque can be specified as task parameter p2622. From the start position onwards, the target
position is approached with the parameterized speed. The fixed stop (the workpiece) must be
between the start position and the braking point of the axis; that is, the target position is placed
inside the workpiece.
The preset torque limit is effective from the start, i.e. travel to fixed stop also occurs with a
reduced torque. The preset acceleration and delay overrides and the current speed override are
also effective. Dynamic following error monitoring (p2546) in the position controller is not
effective when traveling to the fixed stop. As long as the drive travels to the fixed stop or is in
fixed stop, the "Travel to fixed stop active" status bit r2683.14 is set.
Fixed stop is reached
As soon as the axis comes into contact with the mechanical fixed stop, the closed-loop control
in the drive raises the torque so that the axis can move on. The torque increases up to the value
specified in the task and then remains constant. The status bit r2683.12 "Fixed stop reached" is
set depending on the binector input p2637 (Fixed stop reached):
• If the following error exceeds the value set in parameter p2634 (fixed stop: maximum
following error) (p2637 = r2526.4) or
• If the status is set externally via the signal at binector input p2637 (fixed stop reached) (for
p2637 ≠ r2526.4)
In travel to fixed stop, the clamping torque or clamping force in the traversing block is
configured via the task parameter. It is specified in the units 0.01 Nm or 1 N (rotary / linear
motor). The function module is coupled to the torque limit of the basic system via the connector
output r2686[0] (torque limit upper) or r2686[1] (torque limit lower), which are connected to
the connector input p1528 (torque limit upper scaling) or p1529 (torque limit lower scaling).
The connector outputs r2686[0] (torque limit upper) and r2686[1] (torque limit lower) are set
to 100% when fixed stop is not active. During active fixed stop, r2686[0] (torque limit upper) or
r2686[1] (torque limit lower) are evaluated as a percentage of p1522/p1523 in such a way that
the specified clamping torque or clamping force is limited.
When the fixed stop is acknowledged (p2637), the "Speed setpoint total" (r2562) is recorded, as
long as the binector input p2553 (fixed stop reached message) is set. The speed control holds the
setpoint torque due to the applied speed setpoint. The setpoint torque is output for diagnosis via
the connector output r2687 (torque setpoint).
If the parameterized clamping torque is reached at the fixed stop, the status bit r2683.13 "Fixed
stop clamping torque reached" is set.
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Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed stop"
is ended. The program advances to the next block depending on the task parameterization. The
drive remains in fixed stop until the next positioning task is processed or the system is switched
to jog mode. The clamping torque is therefore also applied during subsequent waiting tasks. The
continuation condition CONTINUE_EXTERNAL_WAIT can be used to specify that the drive must
remain at the fixed stop until a step enabling signal is applied externally.
As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual position
value (position setpoint = actual position value). Fixed stop monitoring and controller enable are
active.
Note
If the drive is in fixed stop, it can be referenced using the control signal "Set reference point".
If the axis leaves the position that it had at detection of the fixed stop by more than the selected
monitoring window for the fixed stop p2635, then the status bit r2683.12 is reset. At the same
time, the speed setpoint is set to 0, and fault F07484 "Fixed stop outside of the monitoring
window" is triggered with the reaction OFF3 (quick stop). The monitoring window can be set
using the parameter p2635 ("Fixed stop monitoring window"). It applies to both positive and
negative traversing directions and must be selected such that it will only be triggered if the axis
breaks away from the fixed stop.
Fixed stop is not reached
If the brake application point is reached without the "fixed stop reached" status being detected,
then the fault F07485 "Fixed stop is not reached" is output with fault reaction OFF1, the torque
limit is canceled and the drive cancels the traversing block.
Note
The fault can be changed into an alarm (see Chapter "Message configuration" in the SINAMICS
S120 Commissioning Manual with Startdrive), which means that the drive program will advance
to the next specified block.
The target point must be sufficiently far inside the workpiece.
Interruption to "Travel to fixed stop"
The "travel to fixed stop" traversing task can be interrupted and continued using the
"intermediate stop" signal at the binector input p2640. The block is canceled using the binector
input signal p2641 "Reject traversing task" or by removing the controller enable. In all of these
cases, the drive is correspondingly braked.
Measures are taken to prevent any risk of damage if the block is canceled when an axis has
almost reached the fixed stop (setpoint already beyond the fixed stop, but still within the
threshold for fixed stop detection). To do this, the setpoint is updated after standstill (position
setpoint = actual position value). As soon as the fixed stop is reached, the drive remains in fixed
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9.8 Basic positioner
stop even after cancelation. It can be moved away from the fixed stop using jog or by selecting
a new traversing task.
Note
The fixed stop monitoring window (p2635) is only activated when the drive is at the fixed stop
and remains active until the fixed stop is exited.
Vertical axis
Note
In servo control, a torque limit offset (p1532) can be entered for vertical axes (see also
Chapter Vertical axis (Page 208)).
With asymmetrical torque limits p1522 and p1523, the self-weight is taken into account for
travel to fixed stop in parameters r2686 and r2687.
If, for example, with a suspended load, p1522 is set to +1000 Nm and p1523 to -200 Nm, then
a net weight of 400 Nm (p1522 - p1523) is assumed. If the clamping torque is now configured
as 400 Nm, then r2686[0] is preset to 80%, r2686[1] to 0% and r2687 to 800 Nm when travel to
fixed stop is activated.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3616 EPOS - Traversing blocks mode (r0108.4 = 1)
• 3617 EPOS - Travel to fixed stop (r0108.4 = 1)
• 4025 Position control - Dynamic following error monitoring, cam controllers
(r0108.3 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1528[0...n] CI: Torque limit upper/motoring scaling
• p1529[0...n] CI: Torque limit, lower/regenerative scaling
• p1545[0...n] BI: Activate travel to fixed stop
• r2526.0...9 CO/BO: LR status word
• p2622[0...n] EPOS traversing block, task parameter
• p2634[0...n] EPOS fixed stop maximum permissible following error
• p2635 EPOS fixed stop monitoring window
• p2637 BI: EPOS fixed stop reached
• p2638 BI: EPOS fixed stop outside monitoring window
• r2683.0...14 CO/BO: EPOS status word 1
• r2686[0...1] CO: EPOS torque limit effective
• r2686[0...1] CO: EPOS force limiting active (for linear motors)
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9.8 Basic positioner
9.8.9 Direct setpoint input (MDI)
Function description
The "direct setpoint specification" function allows for positioning (absolute, relative) and setup
(endless position-controlled) by means of direct setpoint specification (e.g. via the PLC using
process data).
During traversing, the motion parameters can also be influenced (on-the-fly setpoint
acceptance) and an on-the-fly change can be undertaken between the Setup and Positioning
modes. The "direct setpoint specification" mode (MDI) can also be used if the axis is not
referenced in the "setup" or "relative positioning" modes, which means that "flying referencing"
(see the separate section), flying synchronization, and post-referencing are possible.
The "direct setpoint specification" function is activated by p2647 = 1. A distinction is made
between two modes: "positioning" mode (p2653 = 0) and "setup" mode (p2653 = 1).
In "positioning" mode, the parameters (position, velocity, acceleration and deceleration) can be
used to carry out absolute (p2648 = 1) or relative (p2648 = 0) positioning with the parameter
p2690.
In the "setup" mode, using parameters (velocity, acceleration and deceleration) endless closed-
loop position control behavior can be carried out.
It is possible to make a flying changeover between the two modes.
If continuous acceptance (p2649 = 1) is activated, changes to the MDI parameters are accepted
immediately. Otherwise the values are only accepted when there is a positive edge at binector
input p2650.
Note
Continuous acceptance p2649 = 1 can only be set with free telegram configuration
p0922 = 999. No relative positioning is allowed with continuous acceptance.
The positioning direction can be specified using p2651 (positive direction specification) and
p2652 (negative direction specification). If both inputs have the same status, the shortest
distance is traveled during absolute positioning (p2648 = "1") of modulo axes (p2577 = "1").
To use the positioning function, the drive must be in the "Operation" state (r0002 = 0). The
following options are available for starting positioning:
• p2649 is "1" and positive edge on p2647
• p2649 is "0" and p2647 is "1"
– Positive edge on p2650 or
– Positive edge on p2649
An overview of the setpoint transfer / direct setpoint specification can be found in the function
diagram 3620 (see SINAMICS S120/S150 List Manual).
Features
• Select direct setpoint specification (p2647)
• Select positioning type (p2648)
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• Direction selection (p2651, p2652)
• Setting-up (p2653)
• Fixed setpoints
– CO: Position setpoint (p2690)
– CO: Velocity setpoint (p2691)
– CO: Acceleration override (p2692)
– CO: Deceleration override (p2693)
• Connector inputs
– CI: MDI position setpoint (p2642)
– CI: MDI velocity setpoint (p2643)
– CI: MDI acceleration override (p2644)
– CI: MDI deceleration override (p2645)
– CI: Velocity override (p2646)
• Accept (p2649, p2650)
MDI mode with the use of PROFIdrive telegram 110.
If the connector input p2654 is preset with a connector input <> 0 (e.g. with PROFIdrive telegram
110 with r2059[11]), then it will internally manage the control signals "Select positioning type",
"Positive direction selection" and "Negative direction selection". The following characteristics are
evaluated from the value of the connector input:
• xx0x = absolute -> p2648
• xx1x = relative -> p2648
• xx2x = ABS_POS -> p2648, p2651
• xx3x = ABS_NEG -> p2648, p2652
Intermediate stop and reject traversing task
The intermediate stop is activated by a 0 signal at p2640. After activation, the system brakes
with the parameterized deceleration value (p2620 or p2645).
The current traversing task can be rejected by a 0 signal at p2641. After activation, the system
brakes with the maximum deceleration (p2573).
The "intermediate stop" and "reject traversing task" functions are only effective in "traversing
blocks" and "direct setpoint specification / MDI" modes.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3618 EPOS - Direct setpoint specification / MDI mode, dynamic values (r0108.4 = 1)
• 3620 EPOS - Direct setpoint specification / MDI mode (r0108.4 = 1)
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Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2577 BI: EPOS modulo offset activation
• p2642 CI: EPOS direct setpoint specification / MDI, position setpoint
• p2643 CI: EPOS direct setpoint specification / MDI, velocity setpoint
• p2644 CI: EPOS direct setpoint specification / MDI, acceleration override
• p2645 CI: EPOS direct setpoint specification / MDI, deceleration override
• p2648 BI: EPOS direct setpoint specification / MDI, positioning type
• p2649 BI: EPOS direct setpoint specification / MDI, acceptance method selection
• p2650 BI: EPOS direct setpoint specification / MDI, setpoint acceptance edge
• p2651 BI: EPOS direct setpoint specification / MDI, positive direction selection
• p2652 BI: EPOS direct setpoint specification / MDI, negative direction selection
• p2653 BI: EPOS direct setpoint specification / MDI, setup selection
• p2654 CI: EPOS direct setpoint specification / MDI, mode adaptation
• p2690 CO: EPOS position, fixed setpoint
• p2691 CO: EPOS velocity, fixed setpoint
• p2692 CO: EPOS acceleration override, fixed setpoint
• p2693 CO: EPOS delay override, fixed setpoint
9.8.10 Jog
Function description
Using parameter p2591 it is possible to change over between jog incremental and jog velocity.
The traversing distances p2587 and p2588 and velocities p2585 and p2586 are entered using
the jog signals p2589 and p2590. The traversing distances are only effective for a "1" signal at
p2591 (jog incremental). For p2591 = "0" then the axis moves to the start of the traversing range
or to the end of the traversing range with the specified velocity.
An overview of the "Jog" function can be found in function diagram 3610 (see SINAMICS S120/
S150 List Manual).
Features
• Jog signals (p2589, p2590)
• Velocity (p2585, p2586)
• Incremental (p2587, p2588, p2591)
Function diagrams (see SINAMICS S120/S150 List Manual)
• 3610 EPOS - Jog mode (r0108.4 = 1)
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9.8 Basic positioner
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p2585 EPOS jog 1 setpoint velocity
• p2586 EPOS jog 2 setpoint velocity
• p2587 EPOS jog 1 travel distance
• p2588 EPOS jog 2 travel distance
• p2589 BI: EPOS jog 1 signal source
• p2590 BI: EPOS jog 2 signal source
• p2591 BI: EPOS jog incremental
9.8.11 Status signals
The status signals relevant to positioning mode are described below.
Tracking mode active (r2683.0)
The "Follow-up active mode" status signal shows that follow-up mode has been activated which
can be done by binector input p2655 (follow-up mode) or by a fault. In this status, the position
setpoint follows the actual position value, i.e. position setpoint = actual position value.
Setpoint static (r2683.2)
The status signal "setpoint static" indicates that the setpoint velocity has a value of 0. The actual
velocity can deviate from zero due to a following error. While the status word has a value of 0,
a traversing task is being processed.
Traversing command active (r2684.15)
The status signal "traversing command active" indicates that a traversing command is active. A
motion command should be understood to comprise all motions (including jog, setup etc.).
Contrary to the status signal "setpoint static", the status signal remains active - e.g. if a traversing
command was stopped by a velocity override or intermediate stop.
SW limit switch plus reached (r2683.7)SW limit switch minus reached (r2683.6)
These status signals indicate that the parameterized negative p2578/p2580 or positive p2579/
p2581 traversing range limit was reached or passed. If both status signals are 0, the drive is
located within the traversing limits.
Stop cam minus active (r2684.13)Stop cam plus active (r2684.14)
These status signals indicate that the STOP cam minus p2569 or STOP cam plus p2570 has been
reached or passed. The signals are reset when the cams are left in the direction other than that
in which they were approached.
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9.8 Basic positioner
Axis moves forwards (r2683.4)Axis moves backwards (r2683.5)Axis accelerates (r2684.4)Drive
decelerates (r2684.5)Drive stationary (zero speed) (r2199.0)
These signals display the current motion status. If the actual absolute speed is less or equal to
p2161, then the status signal "drive stationary" is set - otherwise it is deleted. The signals are
appropriately set if jog mode, reference point approach or a traversing task is active.
Cam switching signal 1 (r2683.8)Cam switching signal 2 (r2683.9)
The electronic cam function can be implemented using these signals. Cam switching signal 1 is
0 if the actual position is greater than p2547 - otherwise 1. Cam switching signal 2 is 0 if the
actual position is greater than p2548 - otherwise 1. This means that the signal is deleted if the
drive is located behind (after) the cam switching position. The position controller initiates these
signals.
Direct output 1 (r2683.10)Direct output 2 (r2683.11)
If a digital output is parameterized, the function "direct output 1" or "direct output 2", then it can
be set by a corresponding command in the traversing task (SET_O) or reset (RESET_O).
Following error in tolerance (r2684.8)
When the axis is traversed, closed-loop position controlled, using a model, the permissible
following error is determined from the instantaneous velocity and the selected Kv factor.
Parameter p2546 defines a dynamic following error window that defines the permissible
deviation from the calculated value. The status signal indicates as to whether the following error
is within the window (status 1).
Target position reached (r2684.10)
The status signal "target position reached" indicates that the drive has reached its target position
at the end of a traversing command. This signal is set as soon as the actual drive position is within
the positioning window p2544 and is reset, if it leaves this window.
The status signal is not set, if
• Signal level 1 at binector input p2554 "signal traversing command active".
• Signal level 0 at binector input p2551 "signal setpoint static".
The status signal remains set, until
• Signal level 1 at binector input p2551 "signal setpoint static".
Reference point set (r2684.11)
The signal is set as soon as referencing has been successfully completed. It is deleted as soon as
no reference is there or at the start of the reference point approach.
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Acknowledgement, traversing block activated (r2684.12)
A positive edge is used to acknowledge that in the mode "traversing blocks" a new traversing task
or setpoint was transferred (the same signal level as binector input p2631 activate traversing
task). In the mode "direct setpoint input / MDI for setting-up/positioning" a positive edge is used
to acknowledge that a new traversing task or setpoint was transferred (the same signal level as
binector input p2650 "edge setpoint transfer", if the transfer type was selected using a signal
edge (binector input p2649 "0" signal)).
Velocity limiting active (r2683.1)
If the actual setpoint velocity exceeds the maximum velocity p2571 - taking into account the
velocity override - it is limited and the control signal is set.
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9.9 Master/slave function for Active Infeed
9.9 Master/slave function for Active Infeed
Overview
The "Master/Slave" function module allows drives to be operated with a redundant infeed unit.
Redundancy can only be implemented in the components specified below, such as Line
Modules, Motor Modules and Control Units.
This function requires each infeed unit to be controlled by a separate Control Unit. It also requires
either a higher-level control system (e.g. SIMATIC S7) to transfer current setpoints using the
PROFIBUS slave-to-slave communication capability or TM31 modules which transfer current
setpoints in the form of analog signals. If the infeed units are appropriately configured,
operation can continue even if an infeed unit has failed. The master is selected by the controller
and operated under Vdc voltage control (parameter p3513 = 0) with current control. The slaves
receive their setpoint directly from the master and are only operated under current control
(parameter p3513 = 1).
Electrical isolation from the line with isolating transformers is necessary to prevent equalizing
currents from flowing.
The infeed unit can be decoupled from the DC link by means of a DC breaker.
Applications
The function can be used for the following applications:
• Hoisting gear that is to continue functioning in emergency mode (e.g. so that the load can
still be placed down).
• Paper and steel works that require a line drive to continue operation at a reduced line velocity.
• Oil production platforms that must continue normal production even if one infeed unit fails
(full redundancy).
• Expansion of output range for plants with infeed units of different dimensions.
• Infeed units from line supplies/transformers with phase displacement and/or voltage
difference to a common DC link.
Function description
The "Master/Slave" function module is not implemented in the higher-level controller. The
"Master/Slave" function module can be found in the firmware of the Control Units and infeed
units. The status of the "Master/Slave" function module is indicated by the signal r0108.19 = 1.
In the function module, the Vdc control band and the current setpoint value specification are
implemented using multiplexers of the Active Line Module control.
All infeed units must be parameterized in such a way that they are fully functional as both a
master and slave. The infeed units can be switched between master and slave role during
operation. Switchover is handled by a higher-level control according to the setting in parameter
p3513. A master is configured to operate with Vdc control (p3513 = 0) and current control, while
the slaves operate only with current control (p3513 = 1). The setpoint input of the active current
Iactive(set) is transferred from the master to the slaves via the communication links between the
Control Units.
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9.9 Master/slave function for Active Infeed
If the Active Line Module is used for reactive power compensation with external reactive current
setpoint, then the reactive current setpoint must also be wired for the slave. The master-to-slave
setpoint specifies only the active current.
When Active Line Modules have been deactivated, make sure that the maximum DC-link
capacitance CDC link for the remaining Active Line Modules is not exceeded during the switch-on
procedure (danger of overloading the pre-charging resistors).
Parameter p3422 (CDC linkcapacitance) can be changed in operation. This means that the closed-
loop control can be directly adjusted via this parameter when the Master/Slave configuration
changes, instead of changing the proportional gain of the VDC link controller (p3560). When
parameter p3422 changes, parameter p3560 is recomputed automatically by the firmware.
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9.9 Master/slave function for Active Infeed
9.9.1 Basic structure
Description
DRIVE-CLiQ can be used to connect an Active Line Module (ALM) to a Control Unit (CU) and
Voltage Sensing Module (VSM) to create an infeed train. A Motor Module together with a Sensor
Module Cabinet (SMC) or Sensor Module External (SME) forms a drive train. A Control Unit
controls the complete drive system.
If one of the components develops a fault, only the affected train will fail. This failure can be
signaled, e.g. via read parameter r0863.0, as a message to the higher-level controller. The fault
is evaluated in the user program of the higher-level controller, which sends corresponding
signals to the other infeed units. If a higher-level controller is not used, the fault can be evaluated
by means of DCCs in the Active Line Modules.
All the other trains remain fully functional, which means that they can continue operating
normally.
Features
• The "Master/Slave" function only works in conjunction with Active Line Modules.
• One Active Line Module is the master and up to three others are slaves.
• If the master fails, a slave ALM takes on the role of the master.
• The redundant infeed units can continue functioning normally even if one infeed train has
failed.
• Electrical isolation between the infeed trains is needed on the line side to prevent circulating
currents caused by non-synchronous pulsing patterns.
• The entire infeed system supplies a joint DC busbar (DC link).
• Since the Active Line Module cannot detect whether the DC link is disconnected or a DC-link
fuse has blown, an additional circuit to monitor these states must be installed (DC breaker
checkback function and fuse signaling contacts).
• The higher-level controller communicates with the CUs and Active Line Modules via
PROFIBUS/PROFINET or analog data. If a higher-level controller is not to be used, the control
signals must be hard-wired (e.g. via TM31).
• Infeed trains with different outputs can be combined.
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9.9 Master/slave function for Active Infeed
Topology
The following figure shows the Master/Slave mode with redundant infeed units in the PROFIBUS
communication variant.
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Restrictions
• Master/Slave operation can be implemented for a maximum of 4 Active Line Modules.
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9.9 Master/slave function for Active Infeed
Electrical isolation of infeed units
To successfully implement the structure, a means of electrically isolating the infeed units from
the line supply is required in addition to the SINAMICS components. This is to prevent circulating
currents from developing if the pulse patterns of the Active Line Modules are not synchronized.
Two solutions are possible for the electrical isolation:
• Using an isolating transformer for each slave infeed train. The primary side of the transformer
is to be connected to the grounded or ungrounded line transformer. The secondary side must
never be grounded.
• Using a three-winding transformer for the master and slave infeed units. In this case, only the
neutral point of one winding may be grounded to prevent further electrical coupling via
ground.
For both solutions, a separate transformer must be used for the infeed units for each
Active Line Module (slaves 1 to 3).
Use of a DC switch
When an infeed unit develops a fault, it is disconnected on the line side by the line contactor, on
the DC-link side using a DC breaker. Infeed units must not be switched in to a charged DC link.
The DC link must be discharged before another infeed train can be switched in.
An infeed unit may only be connected to a charged DC link if a DC breaker with pre-charging
branch is installed.
9.9.2 Commissioning the function
Overview
The individual steps for commissioning the "Master/Slave" function are described in the
following.
Commissioning the line and DC link identification
Before the "Master/Slave" function is enabled in the Startdrive engineering tool, the line and DC-
link identification (see Chapter Line supply and DC link identification (Page 37)) must be put into
operation during commissioning for each infeed train.
The corresponding instructions for the commissioning of infeed units in the SINAMICS S120
with Startdrive Commissioning Manual apply.
Once each individual infeed unit has been identified, the correct inductance for current control
and the DC link capacitance for voltage control are set.
If a DC breaker for isolating the infeed unit from the DC link is installed, DC link identification
must be performed again for all active infeed units after one infeed unit has been disconnected,
as it is necessary to acquire the DC link capacitance again. If the DC link capacitance is not
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9.9 Master/slave function for Active Infeed
adapted in this way, then the change in capacitance will affect the dynamic response of the Vdc
control.
Note
Aligning the setpoints of the DC link voltage
The setpoints of the DC link voltage Vdc from p3510 of the master and the slaves must be set to
the same values to ensure that the Vdc tolerance bandwidth monitoring functions correctly.
Activating the function
The "Master/Slave" function is activated in Startdrive for the respective infeed unit using the
"Master/Slave" checkbox/option ("Infeed > Parameters > Basic parameter assignment > Function
modules"). Parameter r0108.19 can be used to scan for an active function module in the CU or
the Active Line Modules (r0108.19 = 1).
All other required parameters are set via the corresponding expert lists for the relevant infeed.
Note
The bus cycle time for Active Line Modules operating in master-slave operation must not exceed
2 ms. If the bus cycle time is higher, then the dynamic response (p3560) must be significantly
reduced. This means that load surges can no longer be corrected properly.
Increasing the bus cycle time can cause the DC link voltage to oscillate, an effect which can
sometimes be managed by reducing the dynamic response (p3560). The system cannot be
guaranteed to function reliably with bus cycle times of > 2 ms.
The Vdc setpoint in p3510 must be set high enough to prevent the standby controller from
responding to line overvoltage (the response threshold of 97% can be increased if necessary, but
current and voltage harmonics will develop if the setting causes overcontrol).
In any case, the tolerance band must be set wide enough that it will not be violated should the
control factor reserve controller still respond because the measures described above have not
been implemented.
Switching over Master/Slave
If a power unit fails during operation, the higher-level controller can switch each infeed line from
current control (slave operation) to DC link voltage control (master operation) and vice versa
(parameter setting for master: p3513= 0, for slave: p3513 = 1).
Switching an ALM to an operational system
In an operational master-slave group, an ALM must first be switched in as a slave.
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9.9 Master/slave function for Active Infeed
Shutting down an ALM from an operating group
Shutting down an ALM from the group should be realized in the slave state and with OFF2 (pulse
inhibit). If a master fails with a fault (OFF2 response, pulse inhibit), one of the slaves must be
immediately switched as master.
Restrictions
• Two masters must not be operated simultaneously in the infeed group.
9.9.3 Types of communication
Description
To implement Master/Slave operation, the CUs must be able to communicate with one another.
The master passes the active current setpoint to the slaves. To optimize Vdc control (DC-link
voltage), the dead times during communication must be kept to a minimum.
PROFIBUS slave-to-slave communication
The data is exchanged directly between the CUs without passing via the DP master. A higher-
level controller (e.g., SIMATIC S7) as the PROFIBUS master is needed as "clock generator" for this.
The minimum PROFIBUS cycle time that can be set depends on the PROFIBUS master
specifications.
Isochronous mode must be set for PROFIBUS. The PROFIBUS cycle time must not exceed 2 ms
otherwise the closed-loop control may start to oscillate.
In order to ensure that other infeed units do not switch to fault status when one CU fails, the fault
message F01946 "Link to Publisher disconnected" must be deactivated.
The number "1946" can be set in one of the parameters p2101[0..19] and p2101[x] set to "0" in
order to block fault message F01946. This means that the drive will not shut down when one
slave-to-slave communication node fails.
In a Master/Slave infeed unit, a common current controller cycle is essential, particularly when
infeed units with different outputs are used. If the number of PROFIBUS nodes or drives
increases, this can affect the bus cycle or current controller sampling time.
Communication using an analog setpoint
The analog setpoint between the CUs with Terminal Module 31 (TM31) can also be used as an
alternative to bus communication. The factory setting for the sampling time of analog inputs
and/or outputs is 4 ms (TM31 inputs/outputs sampling time p4099[1/2]). The sampling times
must be an integer multiple of the basic sampling times (r0110). The lowest common
denominator of the current controller cycle for the integrated infeed units must be selected to
implement the "Master/Slave" function. The sampling time of the analog inputs/outputs should
be the set to the same value as the current controller cycle (e.g. 250 µs). The slave can then use
the analog setpoint every second current controller cycle. The dead time is then one cycle.
The advantages of this variant is that the communication system can be configured to be
independent of bus and master.
Disadvantages are the additional hardware wiring and the necessity to use one TM31 per CU.
This communication method is also more susceptible to EMC-related problems. It is not
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9.9 Master/slave function for Active Infeed
absolutely essential to use a higher-level controller (e.g. SIMATIC S7) for this system. Control
functions can also be implemented using DCCs in individual CUs.
9.9.4 Explanations for the function diagrams
The function of the "Master/Slave infeed units" function module is shown in function diagrams
8940 and 8948 (see SINAMICS S120/S150 List Manual). Individual function block diagrams are
explained in the following.
• Current setpoint interconnection
Parameter p3570 is used to connect the setpoint for the closed-loop current control (active
current setpoint from the master). Using parameter p3513, which can be changed in the
"ready for operation" state, it is possible to switch between master (Vdc control, parameter
p3513 = 0) and slave (current control, parameter p3513 = 1) from the higher-level controller.
• Selection of the current setpoint
The current setpoint can be selected by means of a control word (XCS) (p3572) using a
multiplexer with four inputs (X0 … X3) (p3571.0 … p3571.3). This means that the current
setpoint of the new master can be selected when the old master has failed.
• Selection of the current distribution factor
To prevent a reduction in control dynamics of the DC-link voltage controller for non-
symmetrical loads, this current distribution factor must be updated immediately when an
infeed unit fails or is activated.
The current distribution factor is calculated from the number of active infeed units and their
rated data. The sum of the current distribution factors of all active infeed units must always
equal 100%.
The current distribution factor can be selected by means of a control word (XCS) (p3577)
using a multiplexer with six inputs (X0 ... X5) (p3576.0...5).
Alternatively, a new current distribution factor can be calculated in the higher-level
controller, sent via cyclic PROFIBUS PZD telegrams and interconnected directly to the
connector input "Infeed: additional current distribution factor" (p3579).
A further alternative is to update the current distribution factor via an acyclic PROFIBUS
parameter write order of p3516. This produces dead times however.
For alternatives without multiplexer, this can be used for a different function.
• Vdc control band
The Vdc limits can be violated in Master/Slave operation if the DC-link load changes abruptly
(e.g. load surges or emergency stop). For this reason, the DC-link voltage is monitored on the
basis of a Vdc control band. The Vdc control band defines a specific voltage range with
hysteresis - set in parameter p3574.0/1 (upper/lower limit Vdc voltage band) and p3574.2/3
(hysteresis upper/lower voltage limit). A signal is generated if the DC-link voltage leaves this
voltage range. By evaluating this signal, the slave is changed over from closed-loop current
to closed-loop voltage control. When the DC-link voltage returns to within the control band,
the slave is switched back to closed-loop current control. The Vdc control operates
permanently in "standby mode" so that it can be re-activated when necessary.
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9.9 Master/slave function for Active Infeed
9.9.5 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8940 Active Infeed - Controller modulation depth reserve / controller DC link voltage
(p3400.0 = 0)
• 8948 Active Infeed - Master/slave (r0108.19 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p3513 BI: Voltage-controlled operation disable
• p3516 Infeed current distribution factor
• p3570 CI: Master/slave active current setpoint
• p3571[0...3] CI: Master/slave active current setpoint multiplexer input
• p3572 CI: Master/slave active current setpoint multiplexer selection
• r3573 CO: Master/slave active current setpoint multiplexer output
• p3574[0...3] Master/slave DC link voltage monitoring
• r3575.0...2 BO: Master/slave DC link voltage monitoring status
• p3576[0...5] Master/slave current distribution factor multiplex input
• p3577 CI: Master/slave current distribution factor multiplex selection
• r3578 CO: Master/slave current distribution factor multiplex output
• p3579 CI: Master/slave current distribution factor
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9.10 Parallel connection of power units
9.10 Parallel connection of power units
Overview
To extend the power range, SINAMICS S120 supports the parallel connection of identical power
units such as Line Modules and/or Motor Modules.
Requirements
The following cross-module requirements apply when connecting power units in parallel:
Power units Formats / Types Requirements
Line Modules, Motor • Chassis Same type
Modules Same type rating
• Chassis-2 / Cabinet
Same rated voltage
Same firmware version
The module-specific requirements and supplementary conditions are described and explained
in the relevant locations in this chapter.
Parallel connection of identical Line Module types
Type Infeed (6-pulse, 12-pulse) Requirements
Active Line Modules 6-pulse and 12-pulse only with the associated Active Interface Modules
6-pulse mandatory with a
12-pulse mandatory with 2 in master-slave operation
Basic Line Modules 6-pulse and 12-pulse only with the associated line reactors
Smart Line Modules 6-pulse and 12-pulse only with the associated line reactors
6-pulse mandatory with a
12-pulse mandatory with 2
= Parallel connection (Line Modules)
= Control Unit
You can find more detailed information about the described requirements in "SINAMICS - Low
Voltage Engineering Manual (https://support.industry.siemens.com/cs/ww/en/view/
83180185)".
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9.10 Parallel connection of power units
Operation not permitted
Parallel operation of the power units is not permitted under the following conditions:
Power units Formats / Types Requirements
Line Modules • Active Line Module Mixed operation of listed types
• Basic Line Module
• Smart Line Module
Exceptions:
Smart Line Modules may be operated together with Basic Line Modules that have article numbers
ending with a "3" (Chassis) or a "2" (Cabinet) with one or several CUs if precisely defined preconditions
and the information in the Configuration Manual are strictly observed.
You will find more detailed information in "SINAMICS - Low Voltage Engineering Manual (https://
support.industry.siemens.com/cs/ww/en/view/83180185)".
Motor Modules • Booksize Servo control type
• Blocksize
• Chassis
• Chassis-2
• Booksize Mixed operation of listed formats
• Blocksize
Function description
It makes sense to connect Line Modules and Motor Modules in parallel for the following reasons:
• To boost the converter output if it is not technically or economically feasible to achieve the
required power by any other means.
• To increase the availability, for example, to maintain emergency operation (possibly also at
a lower rating) if a power unit fails.
Basic features
The following table provides an overview of the basic features of parallel connection of power
units and the associated requirements and supplementary conditions.
Component Requirements Permissible Important notes
(Format / Type)
Line Module Quantity =1 Operation with a maximum of 4 Line-side and motor-side com‐
(Chassis) in on infeed side (controlled / un‐ ponents for decoupling the
controlled) parallel-connected Line Mod‐
Line Module Quantity =1 Operation with a maximum of 6 ules and for ensuring symmet‐
in on infeed side (controlled) rical current distribution are
(Chassis-2)
recommended.
Quantity >4 Operation with further drives or
on a is not permissible.
Motor Module Separate winding systems Operation with a maximum of 4 Recommended
(Chassis) (p7003 = 1) in
Single-winding systems (p7003 = 0) Operation with a maximum of 4 –
in
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9.10 Parallel connection of power units
Component Requirements Permissible Important notes
(Format / Type)
Motor Module – Operation with a maximum of 6 Additional information and in‐
(Chassis-2) in structions in the SINAM‐
ICS S120 Chassis Power Units
manual must be taken into
consideration.
CU320-1 The controls on the line and Operation with an additional drive See Chapter "Additional drive
CU320-2 motor side and monitors them. or auxiliary drive in addition to the parallel con‐
nection (Page 561)".
CU320-2 Quantity or in ≤ 4 in Operation with a , which con‐ –
each case trols a maximum of one on the
line side and one on the motor
side at the same time.
= Motor Modules (n > 1)
= Parallel connection (Motor Modules)
= Line Modules (n > 1)
= Parallel connection (Line Modules)
= Parallel connection (any power units)
= Control Unit
Important notes
Observe and adhere to the following notes and instructions:
• Derating factor:
A slight reduction of the rated current must be taken into consideration with parallel
connection of power units. The reduction of the rated current (derating) of a power unit for
parallel connection is:
– 7.5% when connecting SINAMICS S120 Basic Line Modules and SINAMICS S120 Smart
Line Modules in parallel, each of which has no current compensation control.
– 5.0% when SINAMICS S120 Active Line Modules are connected in parallel with
SINAMICS S120 Motor Modules, each of which operate with a current compensation
control.
• Edge modulation:
With a Chassis parallel connection and motor with a winding system offset by 30°
(p7003 = 2), the converter can fail with activated edge modulation.
In this case, deactivate the edge modulation (p1802 ≤ 4).
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9.10 Parallel connection of power units
9.10.1 Applications of parallel connections
Overview
Power units can be connected in parallel (infeeds) in the following cases:
• 6-pulse circuit
The modules connected in parallel are supplied from a two-winding transformer.
• 12-pulse circuit
The modules connected in parallel are supplied via a three-winding transformer, whose
secondary windings supply voltages with a phase shift of 30°.
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Figure 9-27 Overview: Parallel connection of power units
Note
Additional information on parallel power unit connections, particularly with regard to their
configuration, can be found in the "SINAMICS Low Voltage Configuration Manual (https://
support.industry.siemens.com/cs/ww/en/view/83180185)".
Infeed concepts - parallel (one CU) and parallel redundant (two CUs)
Some applications require redundant infeeds for a DC line-up. This requirement can be fulfilled
through the implementation of multiple, independent infeeds which are connected in parallel
to the DC line-up. Depending on how the drive is dimensioned, the DC line-up can continue
operating at between 50% to 100% output when one infeed fails.
In the cases of the non-redundant variant, a single Control Unit generally controls all parallel-
connected power units which then function like a single, high-output infeed. For the redundant
parallel connection, each infeed is controlled by a separate Control Unit and is thus completely
independent.
The type of circuit required depends on whether the redundancy requirement applies only to the
infeed itself or also includes the supply-side transformers or the supply systems (see "SINAMICS
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9.10 Parallel connection of power units
Low Voltage Configuration Manual (https://support.industry.siemens.com/cs/ww/en/view/
83180185)").
6-pulse infeed
With a 6-pulse infeed, the two redundant infeeds with the same power rating are supplied from
a line supply via a two-winding transformer. As both infeeds are supplied with exactly the same
line voltage, the current distribution is largely symmetrical in normal operation, even with
uncontrolled infeeds. The infeeds can thus be dimensioned such that, taking into account a
minor current derating factor, each can carry 50% of the total current. However, if one infeed
fails, only half the output remains available. If the full output needs to be available when one
infeed fails, then each infeed must be dimensioned to carry the full current.
12-pulse infeed
For a 12-pulse infeed, the two redundant infeeds with the same power rating are supplied from
a line supply via a three-winding transformer. Depending on the transformer design, the line-
side voltages of the two infeeds will include minor tolerances of between about 0.5% to 1%.
These can cause slightly asymmetrical current distribution in normal operation when
uncontrolled infeeds are used and current derating factors must be applied accordingly. If the
full output needs to be available when one infeed fails, then each infeed must be dimensioned
to carry the full current.
In addition to the requirements of the three-winding transformer and the SINAMICS infeed, the
supply system must also meet certain standards with respect to the voltage harmonics present
at the point of common coupling of the three-winding transformer. You can find more in-depth
information about the requirements for the feeding supply network in the "SINAMICS - Low
Voltage Configuration Manual (https://support.industry.siemens.com/cs/ww/en/view/
83180185)".
6-pulse, 12-pulse infeed
When separate Control Units are used, pre-charging may not be synchronized accurately
enough, i.e. a converter system must be able to pre-charge the total capacity of the drive line-up.
Pre-charging power for the DC link in parallel operation must be dimensioned so that the
capacitance of the DC link can be fully charged by a single converter system. Otherwise a
separate pre-charging device must be provided.
Configuring a parallel connection
Additional information on configuring parallel power units connections can be found in the
"SINAMICS Low Voltage Configuration Manual (https://
support.industry.siemens.com/cs/ww/en/view/83180185)".
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9.10 Parallel connection of power units
9.10.1.1 Parallel connection of Basic Line Modules
Description
Basic Line Modules are used in cases where regenerative feedback capability is not required. If
regenerative operating states occur in the drive line-up, Braking Modules that convert the excess
energy to heat in braking resistors must be used.
Chassis format
Basic Line Modules in the Chassis format are available for the following voltages and power
ratings:
Line voltage Rated power
38 to 480 V 3 AC 200 to 710 kW
500 to 690 V 3 AC 250 to 1100 kW
Features
Basic Line Modules have the following features and characteristics:
• The DC link voltage is greater than the rms value of the line rated voltage by a factor of 1.35.
Rules
The following rules must be observed and followed when connecting Basic Line Modules in
parallel:
Type Requirements Permissible Important notes
BLM • Identical components Operation with a maximum of 4 • Line Connection Modules:
in Operation with Line Connection
• Single infeed
Operation with a Modules is recommended.
• Identical components Different networks are not permitted. • Derating factor:
• Multiple infeed Systems are supplied by a common in‐ A derating of 7.5% must be taken
feed point. into consideration, regardless of the
number of modules connected in
parallel.
= Basic Line Modules (n > 1)
= Parallel connection (Basic Line Modules)
= Control Unit
Balancing the currents
As Basic Line Modules have no current compensation control, the three-winding transformer,
power cabling and line reactors must meet the following requirements in order to provide a
balanced current:
• Three-winding transformer must be symmetrical, recommended vector groups Dy5d0 or
Dy11d0.
• Relative short-circuit voltage of three-winding transformer uk ≥ 4%.
• Difference between relative short-circuit voltages of secondary windings Δuk ≤ 5%.
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9.10 Parallel connection of power units
• Difference between no-load voltages of secondary windings ΔU ≤ 0.5%.
• Use of symmetrical power cabling between the transformer and the Basic Line Modules
(cables of identical type with the same cross-section and length)
• Using line reactors that match the Basic Line Modules
Line reactors can be omitted if a double-tier transformer is used and only one Basic Line
Module is connected to each secondary winding of the transformer.
A double-tier transformer is generally the only means of meeting the requirements of a three-
winding transformer for this application. Line reactors must always be installed if other types of
three-winding transformer are used. Alternative solutions for obtaining a phase displacement of
30°, such as two separate transformers with different vector groups, cannot be used due to the
inadmissibly high tolerances involved.
6-pulse parallel connection
With the 6-pulse parallel connection, a maximum of four Basic Line Modules are supplied by a
common two-winding transformer on the line side and controlled by a common Control Unit.
12-pulse parallel connection
WARNING
Unexpected motion of individual drives
If several Motor Modules are supplied from one infeed unit, then if the Vdc_maxcontrol is
incorrectly parameterized, individual drives can accelerate in an uncontrolled fashion, which
can lead to death or severe injury.
• Only activate the Vdc_max control for the Motor Module whose drive has the highest moment
of inertia.
• Inhibit this function for all other Motor Modules, or set this function to monitoring only.
With the 12-pulse parallel connection, up to four Basic Line Modules are supplied by a three-
winding transformer on the line side. In this case, an even number of Basic Line Modules, i.e. two
or four, must be divided equally between the two secondary windings. The Basic Line Modules
of both subsystems are controlled by a common Control Unit - even though the input voltages
are 30° out of phase.
There is also the redundant version with which two Basic Line Modules in each case are
controlled by one Control Unit.
If several Motor Modules are supplied from a non-regenerative infeed unit (e.g. a BLM), or for
power failure or overload (for SLM/ALM), the Vdc_max control may only be activated for a Motor
Module whose drive should have a high moment of inertia.
For the other Motor Modules, this function must be disabled or monitoring must be set.
If the Vdc_maxcontrol is active for multiple Motor Modules, then the controllers may have negative
effects on each other in the case of unfavorable parameter assignment. The drives may become
unstable and individual drives may unintentionally accelerate.
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9.10 Parallel connection of power units
Remedy
• activate the Vdc_max control:
– Vector control: p1240 = 1 (factory setting)
– Servo control: p1240 = 1
– U/f control: p1280 = 1 (factory setting)
• Inhibit Vdc_max control:
– Vector control: p1240 = 0
– Servo control: p1240 = 0 (factory setting)
– U/f control: p1280 = 0
• Activate the Vdc_max monitoring
– Vector control: p1240 = 4 or 6
– Servo control: p1240 = 4 or 6
– U/f control: p1280 = 4 or 6
9.10.1.2 Parallel connection of Smart Line Modules
Description
Smart Line Modules are infeed/regenerative feedback units. Like the Basic Line Modules, they
supply energy to the connected Motor Modules, but unlike the Basic Line Module, they are
capable of feeding back regenerative energy to the line supply.
Smart Line Modules in Chassis format are suitable for connection to grounded (TN, TT) and non-
grounded (IT) supply systems. The following voltages and power ratings are available:
Line voltage Rated power
38 to 480 V 3 AC 250 to 800 kW
500 to 690 V 3 AC 450 to 1400 kW
Features
• The DC link voltage is greater than the rms value of the line rated voltage by a factor of 1.3.
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9.10 Parallel connection of power units
Rules
The following rules must be observed and followed when connecting Smart Line Modules in
parallel:
Type Requirements Permissible Important notes
SLM • Identical components Operation with a maximum of 4 • Line Connection Modules
in Operation with Line Connection
• Single infeed
Operation with a Modules is recommended.
• Identical components Different networks are not permitted. • Derating factor:
• Multiple infeed Systems are supplied by a common in‐ A derating of 7.5% must be taken
feed point. into consideration, regardless of the
number of modules connected in
parallel.
• Current balancing:
A 4% reactor is always required up‐
stream of each SLM for the purpose
of current balancing.
= Smart Line Modules (n > 1)
= Parallel connection (Smart Line Modules)
= Control Unit
6-pulse parallel connection
With the 6-pulse parallel connection, up to four Smart Line Modules are supplied by a common
two-winding transformer on the line side and synchronously controlled by a common Control
Unit.
As Smart Line Modules have no current compensation control, the current must be balanced by
the following measures:
• Use of suitable line reactors for the Smart Line Modules.
• Use of symmetrical power cabling between the transformer and the parallel-connected
Smart Line Modules (cables of identical type with the same cross-section and length).
• The current reduction (derating) from the rated value for individual Smart Line Modules in a
parallel connection is 7.5%.
12-pulse parallel connection
For 12-pulse parallel connections, up to 4 Smart Line Modules are supplied by a three-winding
transformer on the line side. In this case, an even number of Smart Line Modules, i.e. 2 or 4, must
be divided between the two secondary windings. In contrast to Basic Line Modules, the Smart
Line Modules of both subsystems have to be controlled by two Control Units due to the 30° phase
displacement in the input voltages.
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9.10 Parallel connection of power units
9.10.1.3 Parallel connection of Active Line Modules
Description
Active Line Modules (ALM) can supply motoring energy and return regenerative energy to the
supply system.
The parallel connection of a maximum of 4 identical Active Line Modules of the Chassis format
or a maximum of 6 identical Active Line Modules of the Chassis-2 format is supplied by a shared
two-winding transformer and controlled synchronously by a shared Control Unit. In the case of
a parallel connection of more than 4 power units, a stand-alone CU must be provided that is not
used to operate any additional drive objects (DOs). The modules must not be connected to the
supply using a three-winding transformer with phase-displaced secondary voltages.
Active Line Modules generate a controlled DC voltage, which remains constant despite
fluctuations in the line voltage. In this case, the line voltage must remain within the permissible
tolerance range.
Active Line Modules draw an almost sinusoidal current from the supply system and therefore
cause virtually no line harmonic distortions.
Active Line Modules are available for the following voltages and power ratings:
Line voltage Rated power
380 to 480 V 3 AC 132 to 900 kW
500 to 690 V 3 AC 560 to 1400 kW
Features
Connecting Active Line Modules in parallel is characterized by the following features:
• The DC link voltage is greater than the rms value of the line rated voltage by a factor of 1.5.
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9.10 Parallel connection of power units
Rules
The following rules must be observed and followed when connecting Active Line Modules in
parallel.
Format Requirements Permissible Important notes
Chassis • Identical components Operation with a maximum of 4 • Line Connection Modules:
in Operation with Line Connection
• Firmware version ≥ V4.0
Operation with a Modules is recommended.
• Single infeed
• Derating factor:
• Identical components Different networks are not permitted.
A derating of 5% must be taken into
• Firmware version ≥ V4.0 Systems are supplied by a common in‐ consideration, regardless of the
feed point.
• Multiple infeed number of modules connected in
Chassis-2 • Identical components Operation with a maximum of 6 parallel.
in
• Firmware version ≥ V5.2
Operation with a
• Single infeed
• Identical components Operation with a maximum of 3 on
a
• Firmware version ≥ V5.2
Additional must be connected to a
• Single infeed
separate .
• Quantity >4
• Identical components Different networks are not permitted.
• Firmware version ≥ V5.2 Systems are supplied by a common in‐
feed point.
• Multiple infeed
Booksize • Identical components Operation with a maximum of 2
in
• Firmware version ≥ V5.2
Operation with a
• 55 kW, 80 kW or 120 kW
Operation with in the Servo and
• Single infeed
Vector control types
• Identical components Different networks are not permitted.
• Firmware version ≥ V5.2 Systems are supplied by a common in‐
feed point.
• 55 kW, 80 kW or 120 kW
• Multiple infeed
= Active Line Modules (n > 1)
= Parallel connection (Active Line Modules)
= Motor Modules (n > 1)
= Control Unit
= DRIVE-CLiQ line
Balancing the currents
The following measures help to ensure balanced currents in parallel connections of Active Line
Modules:
• Reactors in the Active Interface Modules.
• Use of symmetrical power cabling between the transformer and the parallel-connected
Active Interface Modules / Active Line Modules (cables of identical type with the same cross-
section and length).
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9.10 Parallel connection of power units
Redundant parallel connection with more than one Control Unit
For a description of parallel connections of multiple Active Line Modules controlled by assigned
Control Units, please refer to chapter "Master/slave function for Active Infeed (Page 537)".
Modules with different power ratings can be used.
9.10.1.4 Parallel connection of Motor Modules
Description
The following preconditions and rules must be observed when connecting Motor Modules in
parallel.
Rules
The following module-specific rules must be observed and followed when connecting Motor
Modules in parallel:
Format Requirements Permissible Important notes
Chassis • Identical components Operation with a maximum of 4 • Line Connection Modules
in Operation with Line Connection
• Firmware version ≥ V5.2
Operation with a Modules is recommended.
• Vector control type
• Separate winding systems:
Chassis-2 • Identical components Operation with a maximum of 6
For separate winding systems, only
in
• Firmware version ≥ V5.2 one Motor Module may be operated
Operation with a
• Vector control type per winding.
• Level of the max. output or motor
voltage:
In conjunction with the type of in‐
feed, the modulation systems de‐
fine the maximum attainable out‐
put voltage or motor voltage.
= Motor Modules (n > 1)
= Parallel connection (Motor Modules)
= Control Unit
Motor winding systems
The motor used can have electrically isolated winding systems or a common winding system.
The type of winding system is set in p7003 (winding in a parallel connection), and influences the
following setting options:
• The required decoupling measures at the outputs of the Motor Modules connected in parallel
• The possible modulation systems to generate pulse patterns
For separate winding systems, only one Motor Module may be operated per winding.
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9.10 Parallel connection of power units
Permissible operation
Parallel connection of multiple Motor Modules is permissible for the following motors:
Permissible Condition
Motors with multiple winding system There are no galvanic connections between the individual wind‐
ing systems.
Motors with single-winding system All parallel windings within the motor are interconnected in such
a way that from the outside they look like a single winding sys‐
tem.
Operation not permitted
The parallel connection of multiple Motor Modules to one motor is not permissible for motors
with separate winding systems on the line side which have a common, internal neutral point.
The following examples show parallel connection in motors with single-winding and two-
winding system.
Parallel connection of two Motor Modules to one motor with double winding system
Motors in the power range from 1 MW to 4 MW frequently have several parallel windings. If the
windings are separately routed to the terminal boxes of the motor, a motor is obtained with
winding systems that can be separately accessed.
In this case, you can dimension a parallel Motor Module connection so that each motor winding
system is supplied from exactly one of the Motor Modules connected in parallel. The following
figure shows an example of such an arrangement.
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9.10 Parallel connection of power units
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Figure 9-28 Example: Parallel connection of two Motor Modules to one motor with double winding
system
Due to the electrical isolation of the winding systems, the described arrangement offers the
following advantages:
• No decoupling measures (minimum cable lengths and no motor reactors) are required at the
Motor Module output in order to limit any potential circulating currents between the Motor
Modules connected in parallel.
• Both types of modulation system, i.e. space vector modulation and pulse-edge modulation
can be used, i.e. when the parallel connection is supplied by Basic Line Modules or Smart Line
Modules, the maximum obtainable output voltage is almost equal to the three-phase AC line
voltage connected to the infeed units (97%). When the parallel connection is supplied by
Active Line Modules, a higher output voltage than the input voltage at the three-phase end
can be obtained due to the increased DC link voltage.
In reference to the rated values for individual Motor Modules, the derating factor is 5%.
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9.10 Parallel connection of power units
Parallel connection of two Active Line Modules and two Motor Modules on a motor with a single-
winding system
In the following cases, it is not possible to use motors with separate winding systems:
• The required number of separate winding systems cannot be realized due to the pole number.
• The motor is a third-party motor.
• A motor with a common winding system is already present.
In these cases, the outputs of the Motor Modules connected in parallel are interconnected via
the motor cables in the motor terminal box.
The following requirements must be met:
• Active Line Modules in the Chassis and Chassis-2 format
• Using Active Interface Modules
Active Interface Modules isolate switching-frequency harmonics from the supply connection
and thus effect basic interference suppression of the supply system.
The Voltage Sensing Module 10 (VSM10) also helps Active Line Modules to operate without any
disturbances when the line supply conditions are unfavorable (e.g. significant voltage
fluctuations, brief interruptions in the line voltage). For Active Line Modules in the Chassis and
Chassis-2 formats, the VSMs are already integrated in the Active Interface Modules.
9.10.2 Commissioning the parallel connection
During commissioning, power units connected in parallel are treated like one power unit on the
line or motor side.
In order to ensure the appropriate defaults for the circuit current controller, the type of winding
system must be configured in p7003.
Note
Connecting Motor Modules in parallel in the Vector control mode
You created a project in vector control with parallel-connected Motor Modules in offline mode
and then transferred it to the Control Unit in online mode. To save the project in the CU, you must
perform a POWER ON. When you switch the drive on again, you will receive an error message
that the online topology is inconsistent. Upload the project to the programming device to
remove the inconsistency.
For further detailed information about commissioning, restrictions regarding operation and
parameterization options, please refer to the following manuals:
• SINAMICS S120 Commissioning Manual with Startdrive
• SINAMICS S120/S150 List Manual
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9.10 Parallel connection of power units
9.10.3 Additional drive in addition to the parallel connection
Overview
Frequently, a controlled auxiliary drive is required in addition to the main drives, e.g. as
excitation controller for shaft-mounted generators in shipbuilding or as lubricating pump drive,
fan drive etc.
Description
For drive units with power units connected in parallel (Line Modules, Motor Modules) an
additional drive can be supplied as an auxiliary drive. This drive object is supplied via a separate
Motor Module from the common DC link and controlled from the CU320‑2 via a dedicated DRIVE-
CLiQ socket.
Conditions for switching in an auxiliary drive
The secondary conditions for connecting an additional drive object as auxiliary drive to a parallel
connection are:
• Only power units of the same type and the same power rating may be connected together in
parallel.
• Up to 4 Line Modules and up to 4 Motor Modules can be connected together in parallel.
• All the Power Modules operate on a common DC link.
• Due to the different cycle times, Line Modules and Motor Modules must be connected to
separate DRIVE-CLiQ sockets. Mixed operation at one DRIVE-CLiQ socket results in a
malfunction.
• Parameter p9620 (signal source for STO/SBC/SS1) of the DOs of all Motor Modules must be
interconnected in the same way.
• Automatic commissioning of the additional drive object is not possible.
• The additional drive object must be created offline and then transferred online to the drive.
• The additional drive object must be connected to a separate DRIVE-CLiQ socket.
• The maximum power of the auxiliary drive must be selected so that the maximum power of
all the Motor Modules incl. the additional drive - does not exceed the total power rating of the
parallel Line Modules.
• Existing supplementary conditions and the resulting logic operations and monitoring
functions must be adapted to the new requirements.
Creating a project with the appropriate topology
The desired topology can be created with the STARTER commissioning tool:
• The project is always created offline.
• The Control Unit combines parallel-connected power units to form a large Line Module or
Motor Module.
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9.10 Parallel connection of power units
• The auxiliary drive is assigned a separate DRIVE-CLiQ line.
• The DRIVE-CLiQ connections must be implemented corresponding to the topology that has
been created
Example of the required topology
You can see an example created with STARTER below. 3 Basic Line Modules, 2 Motor Modules
and an auxiliary drive are configured. The parallel connections can be clearly seen in the
topology tree as one infeed unit and one drive. You can also see the additional auxiliary drive.
The DRIVE-CLiQ connections are shown as a thin line. The three parallel Line Modules are
connected to one DRIVE-CLiQ line, the two Motor Modules to the next DRIVE-CLiQ line, and the
auxiliary drive to a third line.
Figure 9-29 Topology with 3 basic Line Modules, 2 Motor Modules and 1 auxiliary drive
• p0120 Power Module data sets (PDS) number
• p0121[0...n] Power Module component number
• r0289 CO: Power unit output current, maximum
• p0602 Parallel connection power unit number temperature sensor
• p1240[0...n] Vdc controller or Vdc monitoring configuration
• p1280[0...n] Vdc controller or Vdc monitoring configuration (U/f)
• p6397 Motor module phase shift second system
• r7000 Par_circuit number of active power units
• p7001[0..n] Par_circuit enable power units
• r7002[0..n] CO: Par_circuit status power units
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9.10 Parallel connection of power units
• p7003 Par_circuit winding system
• p7010 Par_circuit current unbalance alarm threshold
• p7011 Par_circuit DC link voltage unbalance alarm threshold
to
• r7250[0...4] Par_circuit power unit rated power
• r7250[0...4] Par_circuit power unit rated power
• r7251[0...4] Par_circuit power unit rated current
• r7252[0...4] Par_circuit power unit maximum current
to
• r7320[0...n] Par_circuit VSM line filter capacitance phase U
• r7320[0...n] Par_circuit VSM line filter capacitance phase U
• r7321[0...n] Par_circuit VSM line filter capacitance phase V
• r7322[0...n] Par_circuit VSM line filter capacitance phase W
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9.11 Extended stop and retract
9.11 Extended stop and retract
Function description
The "extended stop and retract" function module (ESR) allows a workpiece and tool to be
separated without causing any damage when a fault situation occurs. The drive axes involved
are defined and are retracted and/or stopped in a controlled fashion. For this function, the drives
must be operated with servo control.
The drive-integrated ESR functions are described in this manual:
• Extended stopping of the drive
• Extended retraction of the drive
• Generator operation with monitoring to buffer the DC link voltage
ESR functions can be initiated from the higher-level controller using a trigger signal, or
independently in the drives themselves in the event of a fault (the function is integrated in the
drive). The ESR functions integrated in the drive act on an axis-for-axis basis.
• Using an axis-specific trigger, ESR functions are directly initiated for an individual axis.
• Using a local trigger on the device itself, the ESR functions are simultaneously initiated for
those axes under the drive line that are activated for ESR.
Note
ESR functionality under Safety Integrated Functions
If extended stop and retract are to activated simultaneously with Safety Integrated Functions,
the following conditions must also be satisfied. Further information can be found in the
SINAMICS S120 Function Manual Safety Integrated.
Example
For a machine tool, several drives are simultaneously operational, e.g. a workpiece drive and
various feed drives for a tool. In the case of a fault, it is not permissible that the tool remains
inserted in the workpiece. This could make both unusable. The tool and workpiece must be
separated from one another in a controlled fashion before the drives are allowed to come to a
standstill.
The "extended stop and retract" function module allows drive-integrated retraction using the
feed drives with subsequent stopping. This means, for example when the line supply fails, a
drive can be switched into the generator mode. This then supplies energy for the DC link so that
the feed drives can retract the tool from the workpiece and then be subsequently stopped.
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9.11 Extended stop and retract
9.11.1 Commissioning the function
Requirements
• PG/PC and drive are connected with one another via PROFIBUS or PROFINET.
Procedure
To start the function, proceed as follows:
1. Select the ESR function with parameter p0888:
– p0888 = 0: No function
– p0888 = 1: Extended stopping (function integrated in the drive), N-set
– p0888 = 2: Extended retraction (function integrated in the drive)
– p0888 = 3: Generator operation (Vdc controller)
– p0888 = 4: Extended stopping (function integrated in the drive), N-actual
2. Enable the ESR response with p0889 = 1.
3. Transfer the settings to the Control Unit using the "RAM to ROM" function.
The parameterization of p0888 can be changed from a higher-level controller depending on the
particular situation - as long as the ESR response is not yet enabled.
In the r0108.9 parameter, you can check the current configuration.
9.11.2 Valid trigger sources
Axis-related trigger sources
Conditions for triggering the function:
• ESR function has been configured in the drive with p0888, e.g. stopping or retraction.
• ESR function has been enabled in the drive with p0889 = 1.
• The pulse enable has been set.
A distinction is made between the following fault sources:
• Internal drive fault
– Faults with reactions OFF1 or OFF3
– p0840 (On/OFF1) and p0849 (OFF3) wired to terminal
• Internal trigger signal
– The source for the ESR trigger signal is set via BICO using p0890.
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9.11 Extended stop and retract
Triggering for all drives of a Control Unit
Conditions for triggering the function:
• ESR function has been configured in the drive, e.g. stopping or retraction.
• ESR function has been enabled in the drive.
• The pulse enable has been set.
A distinction is made between the following fault sources:
• Communication failure:
– The Control Unit detects the communication failure and triggers autonomous reactions
in all the enabled drives.
– A status checkback signal is no longer possible.
– The higher-level control removes the "Master control by PLC" signal (F07220).
– Interruption of data transmission via the fieldbus (F01910 or F08501).
• External trigger signal
– An external trigger signal from the control triggers the ESR function via the telegrams
390, 391 or 392.
9.11.3 Invalid trigger sources
The following DRIVE-CLiQ communication failures do not produce an ESR trigger:
Event Sequence
Pulse suppression of the Motor Modules is pending The drive performs an OFF2 and coasts to a standstill.
Failure of encoder modules as motor measuring system The system is switched over to operation without encoder and
a parameterized stop reaction is initiated.
Failure of encoder modules as a direct application-specific The application is deactivated and a parameterized stop reac‐
measuring system tion initiated.
9.11.4 Configuring ESR responses
9.11.4.1 Extended stopping
Overview
In the case of a fault, the objective is to stop the drive in a defined fashion. The stopping method
is used as long as the drive is still capable of functioning. The function is parameterized and
operates on an axis-specific basis. Axes are not coupled.
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9.11 Extended stop and retract
Procedure
To configure the response for extended shutdown, proceed as follows:
1. Configure the stopping response with the parameter setting p0888 = 1 (N-set) or p0888 = 4
(N-actual).
2. Set the time in parameter p0892 for which the last setpoint from r1438 and the last actual
value from r0063 are frozen before braking is initiated.
3. Select the OFF ramp with parameter p0891.
p0888 = 1 "extended stopping (drive-based)"
Timer Selection
n
Off ramp
p0892
p0891 (OFF3)
r1438 Drive follows
frozen
setpoint
r0063 Drive follows
the last OFF1
actual value OFF3
Function initiation t
p0888 = 4 "extended stopping (drive-based)"
Figure 9-30 OFF ramp with timer
9.11.4.2 Extended retract
Overview
In the case of a fault, the objective is to approach a retraction position. The retraction method
is used as long as the drive is still capable of functioning. The function is parameterized and
operates on an axis-specific basis. Interpolating coupling of the axes is not realized.
Procedure
To configure the response for extended retraction, proceed as follows:
1. Configure the retract response with p0888 = 2.
2. Define the retraction speed with parameter p0893.
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9.11 Extended stop and retract
3. Use parameter p0892 to specify how long the retraction speed is to be applied.
4. Select the OFF ramp with parameter p0891.
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The retraction speed is not approached suddenly. It is approached via the OFF3 ramp.
Parameter p0893 supplies the ramp-function generator with the setpoint for the ESR
retraction speed which is actuated by an OFF3 ramp in the case of drive-autonomous
motions. The safety setpoint velocity limiting p1051/p1052 and the normal velocity limits
r1084/r1087 are active.
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9.11.4.3 Regenerative operation
Overview
In the case of a fault, the objective is to buffer the DC link until all of the drives connected to the
DC link and enabled by ESR have reached their configured final position. To achieve this, a
suitable drive in the drive line-up, for example a spindle drive, is braked in generator operation.
The DC-link voltage is then monitored by the Vdc_min controller.
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9.11 Extended stop and retract
Procedure
To configure the response for generator operation, proceed as follows:
1. Set the generator operation of the drive with the parameter setting p0888 = 3.
2. Parameterize the Vdc controller.
3. Activate the monitoring of the DC-link voltage for the generator operation with the
parameter setting p1240 = 2.
4. Set the permissible lower voltage limit Vdc_min of the DC link via parameter p1248.
The infeed unit detects when the power fails as the DC-link voltage drops and this is then
signaled as an alarm.
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Figure 9-33 DC-link voltage setpoint
9.11.5 Restrictions for ESR
• Operating several axes in the generator mode
Only use one speed-controlled axis to buffer the DC link. If you have parameterized several
axes, faults can occur, which undesirably influence one another and therefore the drive line-
up as a whole.
• Motors that are not suitable for generator operation
Linear motors (1FN) and torque motors (1FW) require an adequately high DC-link voltage to
brake. They are not suitable to buffer the DC link when operating in the generator mode.
• ESR and Safety Integrated
If the Safety Integrated Extended Functions are controlled via PROFIsafe, in the case of a
communication failure, Safety Integrated only permits a response time (p9580/p9380) of
maximum 800 ms. After this time expires, Safety Integrated requests pulse suppression.
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9.11 Extended stop and retract
9.11.6 PROFIdrive telegram for ESR
A cyclic bit for CU_STW1 is present in PROFIdrive DO telegrams 390, 391, 392, 393, 394, 395 and
396 to monitor the ESR state.
Table 9-8 CU_STW1
Signal Meaning Interconnection parame‐
ters
CU_STW1.2 ESR trigger p0890.9 = r2090.2
Cyclic bits for STW1 and MELDW are present in the telegrams.
Table 9-9 STW1
Signal Meaning Interconnection parame‐
ters
STW1.9 1 = Enable ESR response p0889 = r2090.9
Table 9-10 MELDW
Signal Meaning Interconnection parame‐
ters
MELDW.2 1 = |n_act| < speed threshold value 3 (p2161) p2082[2] = r2199.0
MELDW.4 1 = Vdc_min controller active (Vdc<p1248) p2082[4] = r0056.15
MELDW.9 1 = ESR response initiated / generator operation active p2082[9] = r0887.12
9.11.7 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2443 PROFIdrive - STW1 control word interconnection (p2038 = 1)
• 2456 PROFIdrive - MELDW status word interconnection
• 2495 PROFIdrive - CU_STW1 control word 1, Control Unit interconnection
• 3082 Setpoint channel - extended stop and retract (ESR, r0108.9 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0063 CO: actual speed value
• p0108[0...n] Drive object function module
• r0108.9 Drive object function module;
extended stop and retract / ESR
• r0887.0...13 BO: ESR status word
• p0888 ESR configuration
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9.11 Extended stop and retract
• p0889 BI: Enable ESR response
• p0890[0...4] BI: ESR trigger
• p0891 ESR OFF ramp
• p0892 ESR timer
• p0893 ESR velocity / ESR speed
• p1051[0...n] CI: Speed limit in RFG, positive direction of rotation
• p1052[0...n] CI: Velocity limit RFG, negative direction
• r1084 CO: Speed limit positive effective
• r1087 CO: Speed limit negative effective
• p1240[0...n] Vdc controller or Vdc monitoring configuration
• p1248[0...n] Lower DC link voltage threshold
• r1438 CO: Speed controller, speed setpoint
• p9380 SI Motion stop response delay bus failure (Motor Module)
• p9580 SI Motion stop response delay bus failure (Control Unit)
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9.12 Moment of inertia estimator
9.12 Moment of inertia estimator
Overview
The "Moment of inertia estimator" function is preferably applied for cases in which a constant
repetition of the rotating motor data identification for determining moment of inertia is either
too complex or is not possible.
Function description
The "Moment of inertia estimator" function is used in cases in which moments of inertia for the
drive change considerably during operation. Such cases usually occur when tools or workpieces
with different moment of inertia are used.
Note
Application for linear motors
The "Moment of inertia estimator" function can also be applied for linear motors. The following
must be considered in the event of deviating designations for the relevant parameters:
• Force (linear) ≙ Torque (rotary)
• Mass (linear) ≙ Moment of inertia (rotary)
• Speed (linear) ≙ Speed (rotary)
Control mode
The function can be used in Servo and Vector control type. The following applies:
• Servo control:
The "Moment of inertia estimator" is also required for the "Online tuning (Page 128)"
function.
• Vector control:
The configuration of a moment of inertia precontrol (Page 578) is especially advantageous
for applications where the moment of inertia cannot be calculated as a result of a constant
motor speed.
Operation with encoder
Operation with encoder is possible in the Servo and Vector control types. The following applies:
• Servo control:
For operation with online tuning activated, the relevant controller parameters are set
automatically for speed controller and position controller. The automatic calculation of the
controller parameters depends primarily on the estimated moment of inertia.
For operation without online tuning activated, the moment of inertia is only effective in the
motor control if the speed precontrol or torque precontrol is activated (p1402.4 = 1).
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9.12 Moment of inertia estimator
Operation without an encoder
Operation without encoder is possible in the Servo and Vector control types. The following
applies:
• For operation without encoder, the total moment of inertia of the motor and driven machine
must be known.
• In controlled operation without encoder (speed < p1755), there is a risk of the motor stalling
in the acceleration phase due to inadequate parameterization of the moment of inertia.
– Recommendation:
Enter the greatest possible moment of inertia which can occur in the current
configuration of your drive in p1498 (load moment of inertia or load mass). Additionally,
ensure that the value "0" is entered in the parameter p1400.22 (speed control
configuration).
This setting ensures that the start value for the moment of inertia estimator is set to the
parameterized moment of inertia (J = p0341 · p0342 + p1498) in the event of pulse
inhibit. The pulse inhibit should then only be set if the moment of inertia has changed.
The setting in parameter p1400.22 then ensures a return to the maximum moment of
inertia.
• In controlled operation without encoder (speed > p1755), the speed precontrol or torque
precontrol requires the precise moment of inertia to attain optimum speed controller
dynamic response.
An incorrect moment of inertia at the end of the acceleration phase, results in an undesirable
overshoot or undershoot.
– Recommendation:
Activate the "Moment of inertia estimator" function. This prevents any overshoot or
undershoot.
Estimating the load torque
In order that the moment of inertia can be estimated, you must first estimate the load torque
ML.
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9.12 Moment of inertia estimator
Phases with constant speed ≠ 0 are required for calculation of the load torque (e.g. friction
force). At low speeds, the inverter calculates the load torque ML from the actual motor torque.
The following conditions must be met for this purpose:
• Speed absolute value ≥ p1226
• Acceleration · moment of inertia (r1493) < 0.3 · p1560 · p0333
The load torque has stabilized (settled) once one of the following conditions is satisfied.
Requirement Condition
Measurement is performed in the direction of trav‐ If the load was measured for a minimum duration
el. of 3 · p1562.
Measurement is performed after a POWER ON. If p1563 and p1564 are entered from a previous
measurement and saved.
The moment of inertia can be calculated in the acceleration phases after the load torque has
settled. The start value for the moment of inertia estimator thus corresponds to the
parameterized moment of inertia (J = p0341 · p0342 + p1498).
Note
Remaining calculation
If the source of p1502 has a 1 signal, the moment of inertia is not estimated.
Accuracy of calculation
The accuracy of the moment of inertia estimation increases as the acceleration rate increases.
Estimating the moment of inertia
For higher speed changes, the converter initially calculates the acceleration torque MB as
difference between the motor torque MM, load torque ML and frictional torque MR.
• MB = MM - ML - MR
The moment of inertia J of the motor and load is then obtained from the acceleration torque MB
and the angular acceleration torque α.
• J = MB / α
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9.12 Moment of inertia estimator
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② Speed p1755
③ Motor torque MM (≙ setpoint acceleration)
Figure 9-35 Parameters for calculating the moment of inertia
The following conditions must be satisfied to calculate the moment of inertia:
• The acceleration torque MB must be > p1560 · r0333 (rated motor torque) and > 80% of the
friction torque (0.4 · (p1563 - p1564)).
• For operation without encoder, the speed must be > p1755 in controlled operation.
• The setpoint acceleration must be > 3.2 / number of pole pairs 1/s2 or 3.2 · pole pair width m/
s 2.
Optimizing traversing
To optimize traversing, observe the information in the following table.
If ... Then ...
If the change in inertia is already known, ... you can delete the measurement memory for the
moment of inertia with p1565 = 1.
As a consequence, r1407.26 (moment of inertia
estimator stabilized) is cleared. Parameter
r1407.26 is then only set again if sufficient meas‐
urement time with acceleration is available.
If the load or the friction changes, ... you can delete the settling condition for the load
estimation with p1565 = -1.
The load estimation must therefore be settled
again prior to estimating the moment of inertia.
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9.12 Moment of inertia estimator
If ... Then ...
If the load estimation is completed and the mo‐ we recommend increasing the acceleration.
ment of inertia is not settled (r1407.24/26 = 0), ... Note
If the "Basic positioner" (EPOS) function module is
activated, you can increase acceleration with the
parameters p2572 and p2573.
If no constant speed setpoints (e.g. sinusoidal) are we recommend activating the load estimation in
included in the traversing profile, ... the event of changes in the speed setpoints via
p1400.26 = 0.
If constant speed setpoints are included in the tra‐ we recommend suppressing the load estimation in
versing profile, ... the event of changes in the speed setpoints via
p1400.26 = 1.
This will ensure greater accuracy for load and iner‐
tia estimation.
Saving the results permanently
The results of the moment of inertia and load estimator can be applied permanently by non-
volatile saving (RAM to ROM) after the system has settled (r1407.26 = 1).
After the moment of inertia estimator has settled, the estimated value for the total moment of
inertia or the total mass can be read out in r1493.
When there are no significant changes to the inert masses, the moment of inertia estimator can
be deactivated again after saving.
Note
Online tuning for servo control
The values determined by the load and moment of inertia estimator are deleted by deactivating
(p5300 = 0) and then subsequently reactivating online tuning (p5300 = 2).
Determining the total moment of inertia correctly
To determine the total moment of inertia correctly, the load must not change in the event of
speed setpoint changes in the acceleration or deceleration phases.
To meet this requirement, observe the conditions described below and perform the
corresponding remedial measures.
Load change in acceleration or deceleration phases
Conditions Remedy
A load change in the acceleration or deceleration Set the source of p1502 to a 1 signal.
phases cannot be ruled out (e.g. during thread cut‐ In this way, a correctly determined value is frozen.
ting). The determination of incorrect values is prevented
in the event of a load change.
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9.12 Moment of inertia estimator
Excessively high backlash
An excessively high backlash (no frictional connection) and fast periodic movements that
decouple the masses elastomechanically can have a negative effect on the accuracy of the
moment of inertia estimation.
Conditions Remedy
There is excessively high backlash. Set the source of p1502 to a 1 signal.
The motor performs very small movements. Freezing the moment of inertia estimator prevents
The motor changes direction very frequently. only the motor inertia from being determined.
Strongly speed-dependent friction
Conditions Remedy
Strongly speed-dependent friction occurs. Activate the "Friction characteristic" function using
the parameters p3820ff, p3842 and p3845.
This will allow speed dependency for the friction to
be taken into account in accordance with the fric‐
tion characteristic.
9.12.1 Commissioning the function module
Procedure
Note
In the Servo control type, the Online tuning (Page 128) function automatically activates the
"Moment of inertia estimator" function.
To activate the "Moment of inertia estimator" function module, proceed as follows:
1. Call the configuration of the drive in the Startdrive engineering tool in offline mode.
2. Activate the "Moment of inertia estimator / OBT" function module.
You can then check under r0108.10 in the parameter view whether the moment of inertia
estimator is activated.
3. Set p1400.18 = 1 (moment of inertia estimator active) in the parameter view of the drive
object.
A data set changeover can be used to activate or deactivate the moment of inertia estimator
via p1400.
Additional settings and special issues
Note
If the function for adapting the moment of inertia via BICO technology (p1497 connected) is
activated, the moment of inertia estimator is not active.
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9.12 Moment of inertia estimator
• Duration and accuracy of the moment of inertia estimation can be set in the parameters
p1561 and p1562. The following applies:
The ... The ...
The lower the values in both parameters, ... the shorter the moment of inertia estimator
measurements.
As a consequence, a quickly changing torque can
be better estimated.
The higher the values in both parameters, ... the more precise the values supplied by the mo‐
ment of inertia estimator.
• If the load changes during acceleration, you must change the 1 signal in parameter p1502
using a BICO switch.
• The estimated moment of inertia can be monitored in parameter r1493.
9.12.2 Supplementary functions for vector control
9.12.2.1 Moment of inertia precontrol
Overview
The "Moment of inertia precontrol" function can only be applied in the vector control mode.
Requirements
• The "Moment of inertia estimator" function module is activated.
Function description
In applications in which the motor runs predominantly at constant speed, the converter can only
rarely calculate the moment of inertia using the "Moment of inertia estimator". Moment of
inertia precontrol is available for situations such as these.
Use of the moment of inertia precontrol also requires an approximately linear relationship
between the moment of inertia and the load torque.
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9.12 Moment of inertia estimator
Configuring the function
Proceed as follows to configure the function:
1. Ensure that the acceleration precontrol scaling is not equal to zero: p1496 ≠ 0.
2. Activate the acceleration model of the speed controller precontrol: p1400.20 = 1.
3. Configure the moment of inertia precontrol via p5310.
– Using bit 0, you can activate the calculation of the characteristic (p5312 to p5315).
– Using bit 1, you can activate the moment of inertia precontrol. The following bit
combinations are possible:
p5310.0 = p5310.1 = Reaction
0 0 Moment of inertia precontrol not active
0 1 Cyclic calculation of the coefficients without moment of inertia
precontrol (commissioning)
1 0 Moment of inertia precontrol activated (without cyclic calculation
of the coefficients)
1 1 Moment of inertia precontrol activated (with cyclic calculation of
the coefficients)
– The status word of the moment of inertia precontrol is indicated in r5311.
Example: Horizontal conveyors
For a horizontal conveyor, in a first approximation, the moment of inertia depends on the load.
The relationship between load torque ML and torque is saved in the converter as linear
characteristic.
0RPHQWRILQHUWLD-
/RDGWRUTXH0 /
Figure 9-36 Relationship between load torque ML and torque
The following applies in accordance with the respective direction of rotation:
• Positive direction of rotation:
Moment of inertia J = p5312 · load torque ML+ p5313
• Negative direction of rotation:
Moment of inertia J = p5314 · load torque ML+ p5315
You have the following options to determine the characteristic:
• You already know the characteristic from other measurements. In this case, you must set the
parameters to known values when commissioning the system.
• The converter iteratively determines the characteristic by performing measurements while
the motor is operational.
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9.12 Moment of inertia estimator
9.12.2.2 Additional functions
In addition to the precontrol, the following supplementary functions for the moment of inertia
estimator are also available for vector control:
• Accelerated moment of inertia estimation (p1400.24 = 1)
Using this setting, when the drive accelerates steadily, the moment of inertia can be more
quickly estimated.
• Speed controller adaptation (p5271.2 = 1)
The estimated load moment of inertia is taken into account for the speed controller gain.
9.12.3 Function diagrams (see SINAMICS S120/S150 List Manual)
• 5035 Servo control - moment of inertia estimator (r0108.10 = 1)
• 6035 Servo control - moment of inertia estimator (r0108.10 = 1)
9.12.4 Parameters (see SINAMICS S120/S150 List Manual)
• r0108 Drive objects function module
• r0333[0...n] Rated motor torque
• p0341[0...n] Motor moment of inertia
• p0342[0...n] Ratio between the total and motor moment of inertia
• p1226[0...n] Threshold for zero speed detection
• p1400[0...n] Speed control configuration
• p1402[0...n] Current control and motor model configuration
• r1407.0...26/27 CO/BO: Status word, speed controller
• r1493 CO: Total moment of inertia (scaled)
• p1496[0...n] Acceleration precontrol scaling
• p1497[0...n] CI: Moment of inertia scaling signal source
• p1498[0...n] Load moment of inertia
• p1502[0...n] BI: Freezing the moment of inertia estimator
• r1518[0...1] CO: Acceleration torque
• r1538 CO: Upper effective torque limit
• r1539 CO: Lower effective torque limit
• p1560[0...n] Moment of inertia estimator accelerating torque threshold value
• p1561[0...n] Moment of inertia estimator change time moment of inertia
• p1562[0...n] Moment of inertia estimator change time load
• p1563[0...n] CO: Moment of inertia estimator load torque positive direction of rota‐
tion
• p1564[0...n] CO: Moment of inertia estimator load torque negative direction of ro‐
tation
• p1565 Moment of inertia estimator reset moment of inertia
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9.12 Moment of inertia estimator
• p1226[0...n] Threshold for zero speed detection
• p1755[0...n] Motor model changeover speed encoderless operation
• p5310[0...n] Moment of inertia precontrol configuration
• r5311[0...n] Moment of inertia precontrol status word
• p5312[0...n] Moment of inertia precontrol linear positive
• p5313[0...n] Moment of inertia precontrol constant positive
• p5314[0...n] Moment of inertia precontrol linear negative
• p5315[0...n] Moment of inertia precontrol constant negative
• p5316[0...n] Moment of inertia precontrol change time moment of inertia
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9.13 Additional controls for Active Infeed
9.13 Additional controls for Active Infeed
Function description
With the "Supplementary closed-loop control" function module, parameterizable band-stop
filters (Page 42) can be used with whose help path resonances can be attenuated.
The main application for these band-stop filters is in weak line supplies in which the resonance
point of the line filter can drop to one quarter of the controller frequency.
Activating the function module
To activate the function module, proceed as follows:
1. Select the infeed unit in the project navigator and open the "Properties" shortcut menu.
The "Object properties" dialog then opens.
2. Click the "Function modules" tab.
3. Activate the "Additional closed-loop controls" function module in the function modules
selection with a mouse click.
Parameter r0108.03 indicates whether the function module has been activated.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8940 Active Infeed - controller modulation depth reserve / controller DC link voltage
(p3400.0 = 0)
• 8946 Active Infeed - current precontrol / current controller / gating unit (p3400.0 = 0)
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9.14 Advanced Position Control (including Active Vibration Suppression)
9.14 Advanced Position Control (including Active Vibration
Suppression)
Requirements
• The "Advanced Position Control" (APC, r0108.7) and "Active Vibration Suppression (AVS/APC-
ECO)" (APC, r0108.19) function modules for SINAMICS S120 are only available for servo
drives.
• Several APC functions require that a 2nd measuring system is used. Additional information
is provided in the description of the various subfunctions.
• Frequencies of up to 100 Hz can be influenced by APC. Whether oscillation can be influenced
also depends on the following conditions:
– How does the mechanical system influence the closed-loop control?
– How was the control loop set?
• For all functions of the "Advanced Position Control" function module, including "Active
Vibration Suppression", license: "Active Vibration Suppressions (APC/AVS)" is required.
Function description
WARNING
Uncontrolled movement of the drive as a result of incorrect parameter assignment
Incorrect parameterization of the APC results in instability of the speed and position controllers.
As a consequence, uncontrolled drive motion can occur that may result in death or serious
injury.
• Ensure that the limits are correctly parameterized.
The "Advanced Position Control" (APC) function module provides closed-loop control-related
functions to actively dampen mechanical oscillations. The function actively responds to
measured oscillations using an appropriate manipulated variable. The motor moves to
compensate for the oscillation. If the oscillation frequency changes, e.g. because of the axis
loading or mechanical changes, APC is also effective for the changed frequency.
Note
APC functions are calculated in the speed control loop.
Note
APC is not a passive position setpoint filter, as mechanical oscillations are actively dampened
based on a closed-loop control strategy.
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9.14 Advanced Position Control (including Active Vibration Suppression)
Mechanical oscillations are always dampened using the motor speed controller (P gain,
integrator). When dampening an axis, two counteracting adjustment principles are available.
1. In order to efficiently suppress disturbances, the speed controller is optimally set using a high
speed controller gain. However, by optimally setting the speed controller, oscillations on the
load side are frequently increased.
2. The speed controller gain must be reduced in order to optimally dampen the axis and to
reduce mechanical oscillations. Reducing the speed controller gain, means that disturbance
suppression is also reduced.
APC therefore offers several functions that facilitate efficient dampening and disturbance
suppression - and allows them to be optimally coordinated with one another. As a consequence,
using APC, you achieve two important closed-loop control related objectives:
• Mechanical oscillations are dampened
• Disturbances are efficiently suppressed with a high speed controller gain
Methods for the excitation of mechanical oscillations
Mechanical oscillation is excited using the following methods:
• Excitation by the command variable (setpoint motion of the axis)
With this method, mechanical oscillation is reduced by influencing the reference variable;
e.g. by changing the acceleration, by limiting the jerk or by using a setpoint filter.
Influencing the reference variable can be realized as follows:
– Changing the acceleration
– Limiting the jerk
– Using a setpoint filter
The disadvantage of this method is that processing or cycle times are extended. Further,
using a setpoint filter frequently results in a higher degree of inaccuracy when emulating
contours.
By using APC, you can reduce mechanical oscillation without having any of the
disadvantages listed above.
• Excitation by disturbing variables (e.g. as a result of periodic process forces)
With this method, mechanical oscillation is only influenced using an active closed-loop
control strategy.
Irrespective of the method used, any mechanical oscillation must be able to be measured using
the measuring system assigned to the particular axis. This is the reason that the following
methods are available when using APC.
1. APC is set just using motor variables (motor encoder, current).
2. APC is deployed together with a direct measuring system.
3. APC is deployed with an external acceleration sensor installed in the system.
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9.14 Advanced Position Control (including Active Vibration Suppression)
Note
Intervention of APC in the speed control loop that can be critical for system stability
The functions integrated in APC represent their own control loop - or provide the possibility of
intervening in the speed control loop. As a consequence, parameterizing the APC is critical from
a stability standpoint.
To optimize APC in conjunction with a direct measuring system, it helps to have a deeper
understanding of closed-loop control relationships (e.g. interpretation of frequency responses).
The function descriptions include examples that show how the closed-loop control is
influenced by the particular function. Further the descriptions of the functions provide
information about the measuring functions that are available for measuring the control loops
(also see Chapter "Configuring measuring functions (Page 617)").
The APC function module must be set before optimizing the position control.
Note
Increased CPU time for each drive axis as a result of APC
APC results in a significant increase in the CPU time required for each drive axis. As a
consequence, it cannot be guaranteed that 6 servo axes can be operated on one Control Unit in
all drive configurations. The number of axes must be reduced step-by-step if the CPU time for the
intended process is inappropriately high.
Applications
• Improve the higher-level position control
APC is deployed in order to improve the response of a position control (higher-level position
control with respect to the speed control). Damping critical oscillation in the speed control
loop often allows a higher position controller gain to be set. This is true, in particular, when
the position control uses a direct measuring system for the closed-loop control.
• Avoid oscillation and instability in the process
APC dampens oscillation resulting from periodic machining forces in the process (e.g high
load levels when machining steel), which cause oscillation to be excited or instability
(regenerative chatter). The process remains stable by dampening this oscillation. Higher
machining feed rates or increased swarf thickness are therefore possible.
• Avoid oscillation of the mechanical structure
Oscillations of the mechanical structure are excited in the process by the setpoint motion of
the axes. These oscillations have negative effects in the process (e.g. when finishing surfaces
in mold making), and the process has to be slowed down. Using APC, mechanical structure
oscillations can be dampened and the process made faster.
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9.14 Advanced Position Control (including Active Vibration Suppression)
Subfunctions
The APC function module is subdivided into the following subfunctions:
• Active Vibration Suppression (APC without sensor on the load side) (Page 589):
– Is a rugged function to dampen oscillation.
– Does not require a direct measuring system
– Can be individually activated as function module "Active Vibration Suppression (AVS/APC-
ECO)".
• APC to reduce machining-related oscillation (Page 595):
– Is a rugged function to dampen machining-related oscillation.
– Can be used in addition to other functions.
– Does not require a direct measuring system
• APC with encoder combination and differential position feedback (Page 598):
– The function is used to influence the speed control loop. The speed control response can
be improved (e.g. by increasing the speed controller gain).
– Requires a direct measuring system.
– Encoder combination and differential position feedback are functions that are
coordinated and harmonized with one another and that should always be used together.
• APC with acceleration feedback (Page 603):
– The function uses the acceleration measured using the direct measuring system to
dampen oscillation.
– Requires a direct measuring system.
– An external acceleration sensor can be used instead of measuring the acceleration using
a direct measuring system.
• APC with load velocity control (Page 609):
– Requires a direct measuring system.
– The function controls the velocity at the direct measuring system. Oscillation is
dampened by controlling the velocity at the direct measuring system.
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9.14 Advanced Position Control (including Active Vibration Suppression)
9.14.1 Commissioning the function module
Activating function modules in SINUMERIK
2 APC function modules that require a license are available for SINUMERIK applications
("Advanced Positioning Control(APC)" and "Active Vibration Suppression(AVS/APC-ECO)"). The
function modules for SINUMERIK applications cannot be activated using the Startdrive
commissioning tool. The function modules can be activated in SINUMERIK Operate via the
expert list.
Note
For SINUMERIK 840D sl, the following function modules require a license:
• APC
• AVS/APC ECO
For SINUMERIK 828D, the following function module requires a license:
• AVS/APC ECO
Activating the function modules in Startdrive
2 APC function modules that require a license are available for SINAMICS applications
("Advanced Positioning Control (APC)" and "Active Vibration Suppression (AVS/APC-ECO)"). Both
function modules can be activated in the Startdrive commissioning tool under “Drive axis >
Parameters > Basic parameter assignment > Function modules."
Setting the ratio
The ratio between the direct measuring system and the motor measuring system can only be set
if the following conditions are satisfied.
• APC is activated.
• APC is used in conjunction with a direct measuring system.
The setting can only be made in the screen form "Technology > Position control > Mechanical
system" if the following condition is satisfied.
• The "Position controller" function module is activated.
If the "Position controller" function module is not activated, then the ratio must be set using the
Expert list. The setting can only be made using the Expert list if the following condition is
satisfied.
• The drive is not enabled (r0002 > 0).
Proceed as follows to set the ratio using the Expert List:
1. p0010 = 25: position control commissioning
2. For all drives: Setting the gear ratio
– p2504 = gearbox motor revolutions (SINUMERIK: MD 31060)
– p2505 = gearbox load revolutions (SINUMERIK: MD 31050)
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9.14 Advanced Position Control (including Active Vibration Suppression)
3. Only for linear axes:
– p2503 = 1,000,000
signifies that the internal resolution is 1 LU = 1 µm.
– p2506 = leadscrew pitch in µm (SINUMERIK: MD 31030 * 1000)
4. p0010 = 0
5. Backup the drive data by copying from RAM to ROM.
Note
If it is necessary to reverse the measurement direction for the direct measuring system, then
both the speed and position must be reversed together (p0410[1].1 = p0410[1].0 = 1) so that
p0410[1] = 3H.
If the measuring direction for the direct measuring system matches the measuring direction of
the motor measuring system, then p410[1] must be parameterized = 0H.
Licensing
The license for SINAMICS standalone is an axis license. Detailed information about licensing is
provided in Chapter "Licensing (Page 835)".
The license for SINAMICS with SINUMERIK is a machine license within SINUMERIK. The license
can be activated in SINUMERIK Operate in the menu "Commissioning > Licenses". Activation
means that the NC must be switched on (power on).
Preassigning parameters
We recommend the following parameter preassignments:
Parameter Default value Explanation
p3702 APC load speed/motor speed The value is preassigned to "1" to allow compatibility with older firmware
weighting versions. Set a starting value of "0" to optimize the encoder combination.
p3778 APC speed limit Setting the limit for the APC output value. For standard Siemens motors
(1FT, 1FK) with rated speeds in the range 2000 to 6000 rpm, we recom‐
mend that a speed limit of 500 rpm is set. Set the speed limit so that the
required manipulated variable of the APC controller is reached.
p3779 APC speed limit monitoring Monitoring time for speed limiting. A suitable value is 50 ms.
time
p3701 Selecting the direct measur‐ Measuring systems integrated in the drive: If a direct measuring system
ing system is used, then this must be selected for the APC. In the default setting, the
2nd measuring system of the drive (p3701 = [2] encoder 2) is used. If a 3rd
measuring system (p3701 = [3] encoder 3) is available, then this can also
be used.
Measuring systems not integrated in the drive: Direct measuring sys‐
tems from signal sources that do not belong to the drive can also be used.
To do this, BICO sink (p3749) is connected, and the signal scaling is set
using p3748. Activation is realized with p3700.9 = 1, where p3701 is ig‐
nored. The use of this technique is relevant for master-slave axes (see also
the example in Chapter "APC with load velocity control (Page 609)").
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9.14 Advanced Position Control (including Active Vibration Suppression)
Parameter Default value Explanation
p3700.1 Using an external accelera‐ An external acceleration sensor must first be integrated into the system
tion sensor (e.g. using a TM31 module). The function is activated in the APC using
p3700.1 = 1. The acceleration sensor signal must be wired to BICO sink
p3750. For this purpose, a highpass filter to filter low frequencies can be set
in p3751.
p3700.3 (option‐ Taking into account the set‐ For applications where a high contour precision is required (in the mold
al) point acceleration of the axis making area) we recommend that p3700.3 is set = 1. This means that the
actual setpoint acceleration of the axis is taken into account in the APC
calculation.
After preassigning the parameters, carry out a RAM to ROM data backup.
Note
Using p3749
• When interconnecting a speed actual value from another axis, we recommend that the
"Speed information available" bit (r1992.11) is evaluated (e.g. interconnect to an external
fault p2106 ... p2108).
• To avoid an additional dead time as a result of the calculation sequence, we recommend that
the drive object of signal source of p3749 is set with a higher priority (p7900). The higher
priority applies with respect to the drive currently being processed.
9.14.2 Active Vibration Suppression (APC without sensor on the load side)
Function description
The "Active Vibration Suppression" (AVS) function is a rugged technique to dampen mechanical
oscillations - and a direct measuring system is not required. With this technique only the current
and speed actual values signals measured at the motor are used. The AVS function is especially
suitable for drives involving linear and torque motors, as these are frequently configured without
a direct measuring system.
The function can only be used if, at the axis where the oscillation occurs, the oscillation can be
measured in the motor current.
Before optimizing the AVS function, the speed control loop (= subordinate control loop) must be
optimized.
Note
AVS can also be used in conjunction with a direct measuring system. The combination of AVS
and direct measuring system offers, regarding the ruggedness of the technique (e.g. for changes
to the mechanical system) advantages when compared to a configuration where only a direct
measuring system is used.
If a direct measuring system is available, the closed-loop control (without sensor) can also be
combined with the P component (p3760/p3765) of the direct measuring system. This measure
allows disturbance suppression and precision to be increased.
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)LOWHULQSXWYDOXH
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Figure 9-37
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APC
Function diagram
n_load ctrl
1 Tv
S>'@ +
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S>'@ S>'@ S>'@ S>'@
$3&DFFHO'77 S>'@ S>'@
S>'@
)LOWHU
)LOWHURXWSXWYDOXH 2XWSXWYDOXH
U>@ U>@
+
U>@
APC without sensor on the load side
)LOWHURXWSXWYDOXH
+ /LQNHG
U>@ ZLWK
)LOWHU
S
9.14 Advanced Position Control (including Active Vibration Suppression)
S>'@ S>'@
)LOWHULQSXWYDOXH
U>@
The following figure is an excerpt from function diagram 7012.
APC n_act t_sm 3 S>'@ S>'@ S>'@ S >'@
p3709
Internal
damping
signal APC
n_load ctrl
2 Tv
S>'@ +
)LOWHU )LOWHU
S>'@ p3732[D] S>'@ S>'@
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Function modules
9.14 Advanced Position Control (including Active Vibration Suppression)
Examples
The effect of the functions on the frequency response is very similar in both examples.
• The following figure shows how the measurement of an open APC circuit may appear. The
stability of the control loop can be identified based on the amplitude reserve at the frequency
where the phase goes through -180° (in the example, at 200 Hz). A damping effect is
achieved, if, at the oscillation frequency (in the example, 18 Hz) the phase is approximately
at 0° - and the amplitude is in the vicinity of 0 dB.
Figure 9-38 APC without sensor on the load side (p3700 = 4) – open circuit
• It only makes sense to measure the closed APC circuit if a direct measuring system is being
used. See also the examples in chapter "APC with acceleration feedback (Page 603)". If a
direct measuring system is being used, then the APC can be optimally set by measuring the
reference frequency response of the position controller. The damping effect as a result of APC
can be seen for an oscillation frequency of 22 Hz in the following diagram.
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Red: APC inactive: The closed-loop control is at the limit of its stability. The position control gain is too high.
Yellow: APC active (p3761 = 3 ms): The oscillation is dampened. The position control gain can be kept - or even increased
slightly.
Figure 9-39 Reference frequency response, position controller, control on a direct measuring system
• The following figures show the positioning behavior with and without APC.
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9.14 Advanced Position Control (including Active Vibration Suppression)
Orange: r0061[0] motor speed/velocity
Brown: r3771[0] load speed/velocity
Blue: r3777[1] APC output
9.14.2.1 Activating the function
Procedure
If the "Advanced Position Control (APC)" function module is activated, then activate AVS using
p3700.2 = 1.
Activating function module "Active Vibration Suppression (AVS/APC-ECO)" also automatically
activates AVS.
Important notes for parameterization
• The function uses information about the moment of inertia of the motor and axis, which is
parameterized outside the APC function module. Parameter p0341 (motor moment of
inertia), p0342 (scaling, motor moment of inertia) and p1498 (load moment of inertia) are
used. The formula for the overall moment of inertia is (p0341 · p0342 + p1498). The
parameters must be correctly parameterized before optimizing the function, as the values
are incorporated in the loop gain of the control. Subsequent changes can have a negative
impact on the control (e.g. control instability).
• The ratio between the load moment of inertia and motor-side moment of inertia can be
adapted using the parameter p3755. The function is especially effective if the ratio between
the load moment of inertia and motor-side moment of inertia is optimally set.
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9.14 Advanced Position Control (including Active Vibration Suppression)
• A first optimization of the function can be performed by parameterizing the oscillation
frequency of the axis using parameter p3752[0...n] (AVS controller preassignment natural
oscillation frequency). Dependent on the parameterization of the oscillation frequency,
parameters p3709 (PT1 lowpass filter), p3751 (highpass filter) and p3761 (controller gain)
are automatically overwritten with a preassigned default setting. The moments of inertia are
incorporated in the calculation (see the first point in this enumeration). Therefore, carefully
ensure that these values are correctly preassigned.
• The function is deactivated by entering a value of "0" in p3752. In so doing, the controller
gain is reset to "0".
• We recommend that a PT1 lowpass filter (p3709) is used, and that a time constant of about
1/10 of the oscillation frequency in Hz is set.
• The highpass filter is active (p3751). We recommend its use, especially if the axis is subject
to steady-state or low-frequency forces.
• If 2 feedback paths are active via p3761 and via p3766, then we recommend that only the 1st
feedback path is used (p3761). Depending on the mechanical axis system, values for the gain
generally lie in a range between 1 ms and 10 ms.
• The APC filters are also effective, and when required can be used (see Chapter "Additional
Information (Page 612)").
• For applications where a high contour precision is required (in the mold making area) we
recommend that p3700.3 is set = 1. As a result of this measure, the setpoint motion of the
axis is better taken into account within APC.
• We recommend the following parameterization - p3700.4 = 0.
9.14.2.2 Measuring the function
Procedure
The following measuring functions can be used to measure the "APC without sensor on the load
side" function:
• APC open circuit
• APC closed-circuit (precondition: a direct measuring system is available.)
• Speed controller reference frequency response
• Position controller reference frequency response
You can find detailed information on how to perform these measurements in Chapter
"Measuring frequency responses (Page 615)".
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9.14.3 APC to reduce machining-related oscillation
Function description
The "APC function to reduce machining-related oscillation" allows this type of oscillation to be
specifically dampened.
General data
• The function is especially suitable for axes equipped with linear motors.
• The function can be used in addition to other APC functions.
• A direct measuring system is not required.
Machining-related oscillation
Machining-related oscillation involves mechanical oscillation, which require a special method to
dampen them. An important attribute is that machining-related oscillation only has a very low
feedback in the speed control loop and/or in the frequency domain. However, in the time domain
their effects can be clearly measured.
Note
Machining-related oscillation has an especially negative impact on the control behavior of axes.
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Examples
The following figure shows an example of the position controller reference frequency response
sequence for measurement with and without APC.
Blue APC is inactive.
Red APC is active with p3754 = 0.5.
Figure 9-40 Example: Measuring the position controller reference frequency response with and without APC
The following figure shows an example of the time domain sequence for measurement with and
without APC.
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Blue APC is inactive.
Red APC is active with p3754 = 0.5.
Figure 9-41 Example: Measuring the time domain with and without APC
9.14.3.1 Activating the function
Procedure
Before activating the "APC to reduce the machining-related oscillation" function, determine and
parameterize the oscillation frequency.
Determining the oscillation frequency
The oscillation frequency is used in the function to determine the oscillation frequency from the
frequency response measurement - or is determined from the time domain and is then entered
into p3753.
A gain is selected using p3754, which scales the effect of the damping. When selecting a gain,
as default you can select between values of "0" and "1". In several applications, higher values
than "0" and "1" are required; in these cases, they can be entered in the appropriate parameters.
Activation is instantaneous without any delay by entering a value greater than "0" in p3754.
Deactivation is realized by entering a value of "0" in p3754.
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Important notes for parameterization
• The "APC to reduce machining-related oscillation" uses the parameters of torque setpoint
filter 1 (p3740 to p3743, p3704.12, p3705.12). The function acts directly in the speed
control loop, and modifies the speed controller response. To ensure the stability of the
function, in a few applications, it is necessary to adapt the controller gain (p1460) and the
integral time (p1462) of the speed control loop. A graphic representation of the control loop
is provided in section 7 of function diagram 5060 (Servo control - torque setpoint, switching
over the control mode).
9.14.3.2 Measuring the function
Procedure
The following functions can be used to measure the "APC to reduce the machining-related
oscillation" function:
• Speed controller reference frequency response
• Position controller reference frequency response
You can find detailed information on how to perform these measurements in Chapter
"Measuring frequency responses (Page 615)".
9.14.4 APC with encoder combination and differential position feedback:
Function description
The controlled system for speed control can be influenced by the "APC with encoder
combination and differential position feedback" function. The encoder combination thus acts
upon the zero positions (absorber frequencies) and the differential position feedback on the
pole (resonant frequencies) of the system. Frequently, it makes sense to use both functions
together.
The encoder combination and the position differential feedback are always optimized when
optimizing the speed controller. Maintain the following sequence when parameterizing the
system.
1. Parameterizing the position differential feedback
2. Parameterizing the encoder combination
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Applications
1. The ratio between the load moment of inertia and the motor moment of inertia is very high.
The oscillation frequency is relatively low. In this case, only very minimal speed controller
gain can be set. The encoder combination allows shifting of the zero position to higher
frequencies. The effective motor-side inertia is increased, so that a higher speed controller
gain can be set. The combination with the differential position feedback can increase the
speed controller gain.
2. The effect of a natural oscillation at the motor is only very low (e.g. as a result of a high
gearbox ratio). This means that the speed controller has no influence on the oscillation. The
effects of the oscillation at the motor can be made more obvious by using a combination of
encoders and differential position feedback. The speed controller can be set so that
oscillation is optimally dampened. This especially makes sense if no additional APC functions
are being used.
To dampen oscillation, an additional APC function is also deployed, e.g. acceleration feedback
(see Chapter "APC with acceleration feedback (Page 603)").
Note
As a result of the encoder combination and the position differential feedback, it is especially the
dominant oscillation forms that are shifted in the control loop. However, this also involves
oscillation forms that originate in the mechanical system between the two measuring systems.
Further, the stability of the speed control can be influenced by oscillation forms that should not
be influenced. As a consequence, when optimizing the system, observe any possible speed
control instability that occurs.
Function diagrams
The following figure shows the function diagram for the "APC with encoder combination"
function.
n_act smooth
[4710.7] r0063
+1
-
p3702
APC n_load smooth +
[4711.8] r3771[0]
+
r0108.7 = 1 0 1
p3700.8 = 1 & WRWKHVSHHGFRQWUROOHU
r3771[1]
+
Figure 9-42 APC with encoder combination
The following figure shows the function diagram for the "APC with differential position feedback"
function.
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9.14 Advanced Position Control (including Active Vibration Suppression)
Speed Position APC s_Dif DT1 T APC s_Dif Kp
Motor side p3767[D] p3768[D]
p3700.0
–
+ 1 [5040.7]
Speed Position 0 0 to the torque setpoint
Load side r1482
Figure 9-43 APC with differential position feedback
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Examples
• The following figure shows an example of the effect the "APC with encoder combination" has
on the speed controlled system.
Yel‐ Speed controlled system without encoder combination
low:
Red: Speed controlled system with encoder combination (p3702 = 0.3)
Figure 9-44 Effect on the speed controlled system
As a result of the encoder combination, the absorber frequency is increased from 20 Hz to
24 Hz.
• The following figure shows an example of the effect the "APC with differential position
feedback" function has on the reference frequency response of the speed controller.
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Yel‐ Reference frequency response speed controller without differential position feedback
low:
Red: Reference frequency response speed controller with differential position feedback
Figure 9-45 Effect on the speed controller reference frequency response
As a result of the differential position feedback, the resonant position is shifted to a higher
frequency. The damping effect of the speed controller is increased with the same controller
gain.
9.14.4.1 Important notes for parameterization
• The functions always require a direct measuring system. If an axis is equipped with a
measuring system (encoder 2 or encoder 3), then this can be selected using p3701. BICO sink
p3749 can be activated by setting p3700.9 = 1. The load speed actual value can now be freely
interconnected, e.g. from a master axis.
• The encoder combination is activated using p3700.8 = 1. Position differential feedback is
activated using p3700.0 = 1.
Note
If APC was parameterized (p3760, p3761, p3765, p3766 > 0), then this is also activated. If
necessary, these parameters must be set to "0".
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• The weighting factor for encoder combination p3702 has, for compatibility reasons to
previous software releases, a default value of "1". For most applications, this value cannot be
activated. This value should be set to "0" before activating the encoder combination.
Negative values for p3702 are permissible. The oscillation is then shifted to lower
frequencies.
• The gain of the differential pressure feedback is set in p3768. This parameter has stiffness
units (Nm/rad). Practical values for this parameter are approximately the stiffness of the axis
itself. This value can differ at a different axes.
Example: The mechanics forms a two-mass oscillating system with an absorber frequency of
20 Hz. The load moment of inertia is 0.01 kgm2. The stiffness is then given by:
• A highpass filter for the differential position feedback can be parameterized in parameter
p3767. For many applications, the default value is adequate and does not have to be
changed.
• In addition to the highpass filter, resonance damping can be set in p3774, which supports the
ruggedness and stability of the position differential feedback.
9.14.4.2 Measuring the function
Procedure
The following measuring functions can be used to measure encoder combination and position
differential feedback:
• Speed controlled system (only encoder combination visible)
• Speed controller reference frequency response
• Position controller reference frequency response
You can find detailed information on how to perform these measurements in Chapter
"Measuring frequency responses (Page 615)".
9.14.5 APC with acceleration feedback
Function description
For the "APC with acceleration feedback" function, the acceleration signal from a direct
measuring system is used to dampen the oscillations. This function can only be applied to
dampen oscillations which can be measured at the direct measuring system. If this is not the
case, an external acceleration sensor can be attached at an appropriate location within the
machine and used for APC. The function, for example, is ideal for axes for which the vibration has
a limited effect on the motor (e.g. because of a large transmission ratio or a strong gearbox self-
locking).
Frequently, when using a direct measuring system, high-frequency resonance points occur in
the range > 100 Hz in the control loop, which can result in significant problems when setting
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APC. In cases such as these, the APC filter must be used in order to ensure control loop stability.
It must also be taken into consideration that resonance effects such as these are dependent on
axis positions, for example. The parameterization selected must be stable in the complete
machining space of the machine. This is also the reason that using the function without a direct
measuring system (see Chapter "Active Vibration Suppression (APC without sensor on the load
side) (Page 589)") is frequently a more rugged solution.
Before the function can be optimized, the speed control loop must first be optimized as this
forms the subordinate controlled system.
Function diagram
The following figure is an excerpt from function diagram 7012.
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9.14 Advanced Position Control (including Active Vibration Suppression)
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Function modules
9.14 Advanced Position Control (including Active Vibration Suppression)
Examples
• The following figure shows an example of the effect the function has on the reference
frequency response.
Yellow Speed controller reference frequency response
Red APC closed circuit (speed load / speed motor), p3761 = 3 ms
Green APC open circuit (filter1 output / speed motor), measured with APC active
Figure 9-47 APC circuit closed
• The following figure shows an example of the effect the function has on the motor and load
speed in the time range.
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1RGDPSLQJ /RDGGDPSLQJXVLQJ$3&
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Blue Load speed
Green Motor speed
Figure 9-48 APC with acceleration input
At the beginning, the motor must move more in order to combat oscillation.
• The following figures show an example of the effect of combined APC feedbacks.
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Figure 9-49 Control loop with two APC feedbacks
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Figure 9-50 Load frequency response without APC
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* /RDG
Figure 9-51 Load frequency response with APC: 1 feedback closed
* /RDG
Figure 9-52 Load frequency response with APC: 2 feedbacks closed
9.14.5.1 Important notes for parameterization
The function always requires a direct measuring system. If an axis is equipped with a measuring
system (encoder 2 or encoder 3), then this can be selected using p3701. BICO sink p3749 can
be activated by setting p3700.9 = 1. The load speed actual value can now be freely
interconnected, e.g. from a master axis. Scaling can be set using p3748.
An external acceleration sensor can be used as direct measuring system. This must be integrated
in the system (e.g. via TM31) and wired with BICO sink p3750. To eliminate low-frequency
disturbances from the measurement signal, a highpass filter can be parameterized using p3751.
The acceleration sensor for APC is activated with p3700.1 = 1.
There are two feedback branches for this function. Each branch is parameterized using a gain
factor (p3761 and p3766). Frequently, practical values for the gain lie in a range between 1 ms
and 10 ms; however, this depends on the mechanical system of the axis.
Filters can be activated for both branches (see function diagram and Chapter "Additional
information (Page 612)").
For applications where a high contour precision is required (in the mold making area) we
recommend that p3700.3 is set = 1. As a consequence, the setpoint motion of the axis within
APC is better taken into account.
We recommend that p3700.4 = 1 is used.
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9.14.5.2 Measuring the function
Procedure
The following measuring functions can be used to measure the "APC with acceleration feedback"
function:
• APC open circuit
• APC closed circuit
• Speed controller reference frequency response
• Position controller reference frequency response
You can find detailed information on how to perform these measurements in Chapter
"Measuring frequency responses (Page 615)".
9.14.6 APC with load velocity control
Function description
A P-control of the load speed is realized parallel to the normal speed control with the "APC with
load speed control" function. The oscillation is shifted to higher frequencies and dampened.
The motor makes relatively significant compensating movements as a result of the function.
In its principle of operation, the function has a certain similarity to encoder combination.
It makes sense to use this function, especially together with functions "APC with acceleration
feedback (Page 603)" or "APC without sensor on the load side (Page 589)".
Function diagram
The following figure is an excerpt from function diagram 7012.
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610
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[5030.5]
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9.14 Advanced Position Control (including Active Vibration Suppression)
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Example
The following figure shows an example of the effect the function has on the motor and load
speed in the time range.
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Blue Load speed
Green Motor speed
Figure 9-54 APC with speed input
The motor speed with APC with speed input manifests a significant level of fluctuating loads,
which can result in more significant stressing of the mechanical components. Oscillation
frequency is increased.
9.14.6.1 Important notes for parameterization
The function always requires a direct measuring system. If an axis is equipped with a measuring
system (encoder 2 or encoder 3), then this can be selected using p3701. BICO sink p3749 can
be activated by setting p3700.9 = 1. The load speed actual value can now be freely
interconnected, e.g. from a master axis. Scaling can be set using p3748.
There are two feedback branches for this function. Each branch is parameterized using a gain
factor (p3760 and p3765). Practical values for the gain generally lie between 0 and 1.
Filters can be activated for both branches (see function diagram and Chapter "Additional
information (Page 612)").
9.14.6.2 Measuring the function
Procedure
The following measuring functions can be used to measure the "APC load velocity control"
functions:
• APC closed circuit
• Speed controller reference frequency response
• Position controller reference frequency response
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You can find detailed information on how to perform these measurements in Chapter
"Measuring frequency responses (Page 615)".
9.14.7 Additional Information
Setting parameter p3700
The following table provides an overview of the individual bits of parameter p3700 "AVS/APC
configuration" and their meanings:
Bit Val‐ Meaning
ue
0 0 The value "0" is not applied to the speed setpoint.
This setting must be used to measure the filter frequency responses.
1 The acceleration filter output is applied to the speed setpoint.
The differential position feedback is activated.
1 0 The actual encoder value selected with p3701 is used as the APC speed actual value.
1 The source of p3750 is used as the APC acceleration actual value.
2 0 The actual encoder value selected with p3701 is used as the APC actual value.
1 A model value without sensor is used as the APC actual value on the load side. PT1
filtering with p3709 acts as smoothing time and a highpass filter with p3751 as a high‐
pass time constant. Bit 1 can be set but is not effective.
31) 0 –
1 The setpoint acceleration of the axis is taken into account in the APC calculation. This is
especially relevant for applications that require a high contour precision.
4 0 Connecting the APC signal to the P component of the speed controller.
1 Connecting the APC signal to the P and I components of the speed controller.
8 0 –
1 The speed weighted with p3702 is used as speed actual value for the speed control. The
speed comprises the direct measuring system selected for APC and the motor speed.
9 0 The actual encoder value selected with p3701 is used as the APC actual value.
1 Instead of the selected encoder actual value, the source of p3749, weighted with p3748,
is used.
If bit1 or bit2 is simultaneously set, then these modify the acceleration component as a
result of p3760 to p3765, while the speed component is still taken from the BICO as a
result of p3761 to p3766.
1)
Additional dependencies when using bit 3:
1. When using SINUMERIK, first activate the "DSC" and "Precontrol" functions.
2. When using the position controller function module, change the standard connection to:
– r2560 (position controller output) interconnected
– r2561 (speed precontrol value) interconnected
3. Activate the interpolator: p1400.7 = 1.
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Using APC in conjunction with One Button Tuning (OBT)
When using APC in conjunction with One Button Tuning function (OBT), the APC function must
first be deactivated.
Note
It is only permissible that the APC function is executed after OBT has been applied.
Procedure:
Proceed as follows to deactivate the APC function:
1. In parameter p3700.0, set the value to "0".
2. In parameter p3754, set the value to "0".
Using the APC filter
The APC filters serve to stabilize the control.
SINUMERIK applications
For SINUMERIK, in HMI Operate screen form-based support is provided using menu
"Commissioning > Optimization/test > Active filter > Filter group".
STARTER commissioning tool
In the STARTER commissioning tool (from version 5.1.1), via the navigation path "Drive_x >
Technology > Active oscillation damping > Filter setting", you can parameterize the appropriate
filter in the "Filter setting" screen form. For older versions, you must use the expert list to make
the settings.
• For each filter you can individually select as to whether it should be a general 2nd order filter
- or a lowpass (PT2) filter (p3705).
• The transfer function can be found in Chapter "Current setpoint filter" under the sub-heading
"Transfer function: General 2nd order filter". The structure of the APC filter is identical to that
of current setpoint filters.
• The parameters required to assign the filter parameters are shown in the function block
diagram 7012.
• The filter subsampling is helpful for low filter frequencies (p3706 or p3707). Check the filter
effect by analyzing the frequency response.
Observe the phase rotation as a result of filtering. The phase rotation may mean that there is not
enough phase reserve for the APC control loop.
Dependency on the parameter set
Most APC parameters are dependent on DDS. You can find more detailed information on DDS-
dependent parameters of APC for example in the SINAMICS S120_S150_List_Manual. If a DDS
switchover is parameterized, then the corresponding APC parameters must also be copied to the
data sets.
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For the "APC without sensor on the load side" function, parameters p0341, p0342 and p1498 are
used to calculate to the moment of inertia. Parameters p0341 and p0342 are dependent on the
motor data set. Parameter p1498 is dependent on DDS. These parameters can be used to
emulate, for example, different load states of the axis for different APC settings.
Activation parameter p3700 is not dependent on any parameter set. The configuration of APC
acts the same on all data sets.
The BICO sinks for the acceleration sensor (p3750) and for the velocity actual value (p3749) are
dependent on CDS. If CDS data sets have been created, then these two parameters must be
appropriately handled.
Application on master-slave axes
On axes which form a master-slave group with multiple drives, only one direct measuring system
is generally integrated. In this particular case, the direct measuring system is assigned to the
master. You must observe the following if you want to use APC on a master-slave axis with direct
measuring system:
• The efficiency of APC may be reduced if only the master is parameterized.
• To increase the efficiency, also parameterize the slave drives with APC via the BICO link of the
speed actual value.
Parameterizing slave drives
Proceed as follows to parameterize slave drives with APC:
1. p3700.9 = 1
2. p3749 = Master.r3771[0]
3. p3748: The scaling must be appropriately set.
When parameterizing, you must also take into account the following conditions:
– Different gearbox ratios
– Different directions of rotation
– The ratio of the scaling parameters p2000 if the motors used for the master and slave have
different rated speeds.
If the parameter has been correctly set, then Slave.r3771[0] must = Master.r3771[0].
Other remarks
In this document, APC has been subdivided into several subfunctions. APC allows these
subfunctions to be almost arbitrarily combined as required. References have been made to
applications for which a certain combination appears to make sense - or not.
The speed controller acts as control loop subordinate to the APC control loop. As a consequence,
we recommend that the Kp/Tn adaptation of the speed controller is deactivated (p1400.5 = 0).
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9.14.8 Measuring frequency responses
9.14.8.1 Use case SINUMERIK
Overview
This chapter describes which measuring functions are available to measure the relevant
frequency responses, and how these can be executed.
As APC constitutes its own control loop, we recommend measuring the open circuit with a
higher bandwidth (e.g. 4000 Hz with a speed controller cycle of 125 µs) to commence
optimization. This measurement can be used as basis to derive whether and which filtering is
required to stabilize the control loop. This step is particularly important with application of a
direct measuring system.
As optimization progresses, we recommend that the measurements are carried out with a lower
bandwidth (e.g. 400 Hz; the lower the oscillation frequency, the lower the bandwidth of the
measurement). Selecting a lower bandwidth will increase frequency resolution of the
measurement.
Description
There are several predefined measurement functions in HMI Operate to measure APC control
loops. Measurement functions "APC open circuit" and "APC closed circuit" are available in the
menu "Commissioning > Optimization/test > Speed control loop".
Note
The predefined measurement functions are only displayed in HMI Operate if a value > 0 is
entered in parameter p3761.
The encoder combination function can be measured using predefined measurement functions
"Speed-controlled system", "Open speed control loop" or "Speed controller reference frequency
response". The differential position feedback function can be measured using "Open speed
control loop" or "Speed controller reference frequency response".
All APC functions can be measured at the reference frequency response of the position control
loop (in menu "Commissioning > Optimization/test > Position control loop" select measurement
"Position controller reference frequency response").
9.14.8.2 Application with STARTER
Description
In the STARTER commissioning tool, there are no predefined measurement functions to measure
the relevant frequency responses of APC. However, with the predefined measurement functions
you have the option of recording 2 additional signals. Using mathematical functions, you can
display the required frequency responses as Bode diagram in the STARTER trace.
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9.14 Advanced Position Control (including Active Vibration Suppression)
Setting the measuring function
To set the measuring function for the additional signals, proceed as follows:
1. Select the measurement function and the additional signals.
Figure 9-55 Example: Measurement functions and signals
2. Define the transfer functions.
Figure 9-56 Example: Transfer functions
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9.14 Advanced Position Control (including Active Vibration Suppression)
9.14.8.3 Configuring measuring functions
Description
The following table provides an overview of the available measuring functions and their
configurability.
Measuring function Configuration
APC open circuit Procedure
1. Select “Speed controller reference frequency response” as the measuring function.
2. Add signal r3777[1] "APC output value" to the measuring signals.
3. Set the mathematical function: Bode diagram > Input: r0062, output: r3777[1].
Note
To measure the open circuit, p3761 must be assigned a low derivative action time, e.g. p3761 =
1 ms. APC should be deactivated (p3700.0 = 0).
APC closed circuit Procedure
1. The closed circuit can only be measured if a direct measuring system is available.
2. Select “Speed controller reference frequency response” as the measuring function.
3. Add signal r3771[0] "APC load speed actual value" to the measuring signals.
4. Set the mathematical function: Bode diagram > Input: r0062, output: r3771[0].
Measuring the encoder com‐ Procedure
bination using the speed con‐ 1. As measuring function select "Speed-controlled system"
trol loop
2. Add signal r1445 "Actual speed smoothed" to the measuring signals.
3. Set the mathematical function: Bode diagram > Input: r0080, output: r1445.
Measure encoder combina‐ Procedure
tion and differential position 1. Select “Speed controller reference frequency response” as the measuring function.
feedback using the speed
controller reference frequen‐ 2. Add signal r1445 "Actual speed smoothed" to the measuring signals.
cy response 3. Set the mathematical function: Bode diagram > Input: r0062, output: r1445.
Measuring position control‐ Requirement
ler reference frequency re‐ • The Position controller function module is activated.
sponse
Procedure
1. Select “Free measuring function (without master control)” as the measuring function.
2. Connect the function generator output CU.r4834[0] to a free speed setpoint (e.g. p1155 or
p1430).
3. Add measuring signals: CU.r4834[0] and r2560 "LR speed setpoint".
4. Set the mathematical function: Bode diagram > Input: r4834[0] · p2000/100, output:
r2560 · (-1). The factor p2000/100 maps the function generator scaling to the speed.
5. Traverse the axis, for example from an HMI device or the operator panel, with a low velocity.
Start the measurement while the axis traverses.
Note
The position controller must be active when traversing the axes.
6. Delete the wiring of the function generator at the speed setpoint manually following con‐
clusion of the measurement.
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9.14 Advanced Position Control (including Active Vibration Suppression)
9.14.9 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 5030 Servo control - Reference model/precontrol balancing/speed limiting
• 5060 Servo control - Torque setpoint, switchover control mode
• 5210 Servo control - Speed controller without encoder
• 7012 Technology functions - Advanced Positioning Control (APC, r0108.7 = 1)
• 7013 Technology functions - APC differential position gain (APC, r0108.7 = 1)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0341[0...n] Motor moment of inertia
• p0342[0...n] Ratio between the total and motor moment of inertia
• p1498[0...n] Load mass
• p3700 AVS/APC configuration
• p3701 APC encoder selection
• p3702[0...n] APC load speed/motor speed weighting
• p3704[0...n] APC filter activation
• p3705[0...n] APC filter type
• p3706[0...n] Advanced positioning control undersampling filter 2.x
• p3707[0...n] Advanced positioning control undersampling filter 3.x
• p3708[0...n] Advanced Positioning Control actual speed value smoothing time en‐
coder 2
• p3709[0...n] AVS/APC velocity actual value smoothing time encoder 3
• p3711[0...n] Advanced Positioning Control filter 1.1 denominator natural frequency
• p3712[0...n] Advanced Positioning Control filter 1.1 denominator damping
• p3713[0...n] Advanced Positioning Control filter 1.1 counter natural frequency
• p3714[0...n] Advanced Positioning Control filter 1.1 counter damping
• p3721[0...n] Advanced Positioning Control filter 2.1 denominator natural frequency
• p3722[0...n] Advanced Positioning Control filter 2.1 denominator damping
• p3723[0...n] Advanced Positioning Control filter 2.1 counter natural frequency
• p3724[0...n] Advanced Positioning Control filter 2.1 counter damping
• p3726[0...n] Advanced Positioning Control filter 2.2 denominator natural frequency
• p3727[0...n] Advanced Positioning Control filter 2.2 denominator damping
• p3728[0...n] Advanced Positioning Control filter 2.2 counter natural frequency
• p3729[0...n] Advanced Positioning Control filter 2.2 counter damping
• p3731[0...n] Advanced Positioning Control filter 3.1 denominator natural frequency
• p3732[0...n] Advanced Positioning Control filter 3.1 denominator damping
• p3733[0...n] Advanced Positioning Control filter 3.1 counter natural frequency
• p3734[0...n] Advanced Positioning Control filter 3.1 counter damping
• p3736[0...n] Advanced Positioning Control filter 3.2 denominator natural frequency
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9.14 Advanced Position Control (including Active Vibration Suppression)
• p3737[0...n] Advanced Positioning Control filter 3.2 denominator damping
• p3738[0...n] Advanced Positioning Control filter 3.2 counter natural frequency
• p3739[0...n] Advanced Positioning Control filter 3.2 counter damping
• p3740 to APC torque setpoint filters 1 + 2
p3747
• p3748[0...n] APC velocity input scaling
• p3749[0...n] CI: APC velocity actual value external input
• p3750[0...n] CI: Advanced Positioning Control acceleration sensor input
• p3751[0...n] Advanced Positioning Control acceleration sensor high-pass time con‐
stant
• p3752[0...n] APC controller preassignment natural oscillation frequency
• p3753 APC torque setpoint filter preassignment natural oscillation frequency
• p3754 APC torque setpoint filter preassignment gain
• p3755 AVS/APC motor moment of inertia factor
• p3760[0...n] Advanced Positioning Control load speed controller 1 P gain
• p3761[0...n] AVS/APC load velocity controller 1 derivative action time
• p3765[0...n] Advanced Positioning Control load speed controller 2 P gain
• p3766[0...n] Advanced Positioning Control load speed controller 2 derivative-action
time
• p3767[0...n] Advanced Positioning Control differential position time constant
• p3768[0...n] Advanced Positioning Control differential position amplification factor
• r3769 CO: Advanced Positioning Control differential position force setpoint
• r3770 CO: Advanced Positioning Control load speed
• r3771[0...1] CO: Advanced Positioning Control actual velocity value
• r3772[0...1] Advanced Positioning Control filter branch 2 display values
• r3773[0...1] Advanced Positioning Control filter branch 3 display values
• p3774 APC differential speed gain factor
• r3777[0...1] CO: Advanced Positioning Control filter branch 1 display values
• p3778[0...n] Advanced Positioning Control speed limit
• p3779[0...n] Advanced Positioning Control speed limit monitoring time
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9.15 Cogging torque compensation
9.15 Cogging torque compensation
Overview
Due to the fixed relationship between absolute position and cogging force for synchronous
motors, the "Cogging torque compensation" function is particularly suitable for these motors to
improve radial eccentricity. On the other hand, this function is not suitable for induction motors.
Requirements
• Synchronous motors
• Servo drive objects
Function description
The cogging torque compensation is executed via a compensation table which, depending on
the position of the motor measuring system, is read out and precontrolled. The cogging torque
compensation can also be performed based on the direction. For this reason, a separate table
can be used for the compensation for each direction of motion (p5260, p5261).
The tables for the cogging torque compensation must be filled out using a "learning process".
During this learning process, the cogging torque can be measured when moving the motor and
stored in the table. If you want to use direction-based cogging torque compensation, you have
to perform corresponding learn runs for each direction of motion.
Note
Activation of the "Cogging torque compensation" function module leads to a significant increase
in the computing time required for each drive axis. The operation of 6 servo axes on one Control
Unit can no longer be guaranteed in all constellations and should be reduced to 5 axes.
Restrictions
• This function can only be applied for servo type drive objects.
• A motor encoder is always required for the cogging torque compensation.
• Transistor-transistor logic or HTL encoders are not suitable for cogging torque compensation.
• The encoder must have absolute information, thus it must be an absolute value encoder or
have a clear zero mark or be distance-coded. Due to the premature validity message of
absolute information, DQI encoders are only suitable with a bypass (Encoder Data Set
switchover after start-up). SINAMICS encoder evaluations with actual hardware required
(SMC 10/20, SME12x, ≥ 6SL xxxx-xxxxx-xxx3) and SINAMICS firmware > 04.50.22).
• The compensation is then applied to the torque-generating current setpoint. It is only
effective if neither current nor voltage limiting intervenes and the frequency is not higher
than the current controller bandwidth.
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9.15 Cogging torque compensation
Example 1: steady, supplementary learning for linear motors
The entire traversing distance cannot be measured for linear motors in a single operation. A
learning process can only be initiated once a linear motor has been brought up to speed. We
therefore recommend that the traversing distance be measured over several steps.
Procedure
To measure the traversing distance of a linear motor, proceed as follows:
1. After the motor has reached the desired speed, (re)activate the slow learning with
p5251.0 = 1.
2. End the slow learning after you have traveled from the right third to the left edge of the
traversing distance with p5251.0 = 0.
The compensation table is now partly filled with values.
3. Check the table indexes calculated from r5254[2] (start value) and r5254[3] (end value) only
after the end of this first learning process.
– If the start value is higher than the final value, the values are learned from the start value
up to the end of the table and from 0 up to the final value.
– If the start value is less than the final value, then the values are learned from the start
value up to the final value. This also applies if the table progress when learning is negative.
In this particular case, the start value and final value are interchanged after learning.
4. A further learning process is required for the missing part of the compensation table. In this
example, measure in the opposite direction from the left third of the traversing distance to
the right edge. Ensure that the 2nd learning path overlaps the previously performed 1st
learning path previously conducted, otherwise the measurement will be rejected.
Start the supplementary learning after the desired speed is reached with p5251.1 = 1.
5. After the end of the 2nd learning run, end the supplementary learning with p5251.1 = 0.
The newly calculated values in the compensation table are brought on to the same level.
Overlapping ranges are averaged, the non-overlapping ranges supplemented and the mean
value removed.
6. If the linear motor has reached the stop, large torques are stored in the table.
In this case, delete the high torques and from the edge and then remove the mean values
with p5251.2 = 1.
7. Activate the cogging torque compensation with p5250.0 = 1 if this has not already been
done.
The cogging torque compensation is then performed with the values from p5260.
8. So that the values in the compensation table are permanently stored, perform a RAM to ROM.
If they are not saved, the values in the compensation table need to be recalculated after each
POWER ON.
Example 2: Filling process depending on the direction of motion
Compensation depending on the direction of motion is beneficial when the operating point
changes depending on the direction of motion given large friction forces.
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9.15 Cogging torque compensation
Procedure
To perform the cogging torque compensation, proceed as follows:
1. So that a compensation table is used for each direction of motion, activate p5250.1 = 1
(prerequisite: p5250.0 = 1).
2. Define the length of the compensation table using p5252.
3. Move the motor with 1.5 revolutions per minute (in positive direction).
4. Activate slow learning for the compensation table of this direction of motion with
p5251.0 = 1.
The compensation table p5260 is filled.
5. Check the mean values for slow learning.
Wait at least one revolution of the motor. As soon as the mean values (r5254[0]) are ≥ 2, the
slow learning can be exited.
6. Then Deactivate slow learning for the positive direction with p5251.0 = 0.
7. Move the motor with -1.5 revolutions per minute (in negative direction).
8. Activate slow learning for the compensation table of this direction of motion with
p5251.0 = 1.
Die compensation table p5261 is filled.
9. Check the mean values for slow learning.
Wait at least one revolution of the motor. As soon as the mean values (r5254[0]) are ≥ 2, the
slow learning can be exited.
10.Then Deactivate slow learning for the negative direction with p5251.0 = 0.
The cogging torque compensation is then performed with the values from p5260 and
p5261.
11.So that the values in the compensation table(s) are permanently stored, perform a RAM to
ROM.
If they are not saved, the values in the compensation table need to be recalculated after each
POWER ON.
Note
If the cogging torque compensation is active during slow learning, the compensation tables are
switched with the rotational speed hysteresis (p5256). The respective prior table remains active
as long as the rotational speed remains in the hysteresis band. A table switch can only take place
when the hysteresis range is left.
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9.15 Cogging torque compensation
9.15.1 Activating the function module
Procedure
To activate the function module, proceed as follows:
1. In Startdrive, select “Drive axis > Parameters > Basic parameter assignment > Function
modules.”
2. Activate the function module “Cogging torque compensation.”
You can check that it has been activated in parameter r0108.22.
9.15.2 Activate cogging torque compensation
Procedure
To activate the cogging torque compensation, proceed as follows:
1. Set p5250.0 = 1.
With this setting, only a table independent of the direction of motion is used for the cogging
torque compensation (p5260).
2. In order to use an individual table for each direction of movement for the cogging torque
compensation, set also p5250.1 = 1.
With this setting, each direction of motion uses its own table. The compensation values are
stored in p5260 (positive direction) and p5261 (negative direction).
Note
If this option is activated, no additional learning is possible (p5251.1 = 1).
If you deactivate this option with p5250.1 = 0, table p5260 is once again used for both
directions.
9.15.3 Filling compensation tables
Overview
Cogging torque compensation is executed via a table p5260 which, depending on the position
of the motor measuring system, is read out and precontrolled. The table is entered in Nm for
rotating motors or in N for linear motors.
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9.15 Cogging torque compensation
Making the settings
The following parameter settings are important when filling the compensation tables:
Parame‐ Bit Index Value Meaning
ter
p5251 0 ‑ 1 Activate the option “New slow learning” By activating the option, the corresponding
compensation table is deleted with the learning process. During the learning proc‐
ess, the cogging torque compensation is automatically deactivated.
So that the acceleration torque does not distort the results, this option may only be
activated after the normal speed is reached.
With slow learning, the motor must be operated at a very low speed (1.5 -1) or
velocity (0.1 m/min). During the learning run, the cogging torque can be measured
when moving the motor and stored in the table.
Additional values are averaged when passing through several periods. The number
of average periods can be viewed in r5254[0], the actual table index in r5254[1]. The
table is only completely filled when r5254[0] ≥ 2.
1 ‑ 1 Activate the option “Supplementary slow learning”. This setting is used to fill the
compensation table in several steps across multiple learning processes. This is re‐
quired, for example, with a linear motor. During the learning process, the cogging
torque compensation is automatically deactivated. This supplementary learning
is only possible for non-direction-based cogging torque compensation (p5250.1 =
0).
During supplementary learning, gaps in the table are filled in. Where there were
previously already values in the table and new values are measured due to overlap‐
ping, an average is used (old value/new value).
An overlap is necessary for supplementary learning. Without overlaps, the values of
the supplementary learning are rejected and only the values of the first learning
process remain.
0.1 ‑ 0 Shuts down the slow learning. Following this, the mean value of the measured
values in the table is determined and removed.
2 ‑ 1 Removes the mean value of a compensation table. This setting is required if com‐
pensation values calculated through learning must be manually corrected at the
start/end of the compensation table. The values in the table to be corrected must be
deleted from the range at the edge of the table!
p5252 - ‑ n Used to define the length of a compensation table. When specifying the length, only
powers of two are permitted (2p5252). To achieve a sensible compensation (for linear
motor), at least 10 compensation values are required for each pole.
• Example of linear motor: p0315 = 30 mm, travel distance = 1500 mm. As a
consequence, the number of interpolation points is obtained as follows:
1500 mm / 30 mm · 20 = 1000 and for p5252 = 10 (210 = 1024).
p5253 - ‑ n Sets the factor for the search velocity for the periodicity during cogging torque com‐
pensation.
• For rotating motors, the factor refers to one mechanical revolution (p5253 = 0.5
then generates one period of half of one mechanical revolution).
• For linear motors, the factor refers to one pole pair width.
• For synchronous motors, you should select the complete traversing range as
period (i.e. p5253 = traversing distance [mm] / p0315). The motor measuring
system must have absolute information here, which is unique regarding the
period; whereby an overflow in the actual value representation can destroy this
uniqueness.
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9.15 Cogging torque compensation
Parame‐ Bit Index Value Meaning
ter
r5254 - 0 n Shows the mean values per point in the table during slow learning. If a point in the
table is passing through several times during slow learning, the newly calculated
torques are taken into account under the mean value. The table value is corrected
accordingly.
- 1 n Shows the currently used table index if the cogging torque compensation or a learn
process is active.
- 2 n Shows the table index at the start of the slow learning.
- 3 n Shows the table index at the end of the slow learning.
r5255 - 0 n Cogging torque compensation input
(Nm or Shows the actual torque/actual force when learning
N)
- 1 n Cogging torque compensation output
(Nm or Shows the precontrolled actual torque/actual force.
N)
p5256 - - n Used to switch between the two compensation tables (where p5250.1 = 1) for di‐
(rpm rection reversal in order to prevent frequent switching between the two tables in the
or case of actual speed value noise at standstill. In the hysteresis range, the respective
m/min) previous table remains active. The hysteresis width should be slightly larger than the
actual speed value noise at standstill.
p5260 - 0...4095 n Compensation values for the cogging torque compensation. These compensation
(Nm or values are filled through a learning process (p5251) and can be changed manually.
N) • Given a non-direction-based cogging torque compensation (p5250.1 = 0) only
this table is used.
• Given a direction-based cogging torque compensation (p5250.1 = 1) this table is
used for the positive direction of motion only.
After replacing the encoder and/or motor, the values in the compensation table must
be relearned.
p5261 - 0...4095 n Compensation values for the cogging torque compensation in the negative direction
(Nm or of motion (p5250.1 = 1). These compensation values are filled through a learning
N) process (p5251) and can be changed manually.
After replacing the encoder and/or motor, the values in the compensation table must
be relearned.
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9.15 Cogging torque compensation
9.15.4 Compensating periodic position errors
Procedure
You can also compensate periodic position errors using the "Cogging torque compensation"
function module. As a result of how the encoder is mounted (not centrally mounted, encoder
coupling, encoder radial runout), measuring errors can occur in the speed and position actual
value with 1 or 2 periods per revolution. You can compensate for these errors, therefore
improving precision and concentric accuracy along with smooth running properties.
Note
In spite of this compensation function, we recommend that encoders are optimally mounted.
This minimizes imbalance and the load and stress on couplings and bearings.
To compensate periodic position errors, proceed as follows:
1. Determine the compensation data for the periodic position errors using the rotating motor
data identification routine (p1959.0 = 1, p1960).
It is not permissible that a load is connected to the motor shaft when performing this routine.
The motor must be fixed as tightly as possible so that when rotating the stator cannot move.
When accepting the identified data, p5265...p5268 are preassigned, which are necessary for
the compensation.
2. Set p5250.2 = 1 to activate the compensation of periodic position errors.
Result
The following diagram shows the speed traces for a toothed wheel encoder before (orange) –
and after (green) compensation when coasting down. The blue curve shows one mechanical
revolution. The periodic speed error was able to be eliminated.
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9.15 Cogging torque compensation
Figure 9-57 Example: Speed before and after compensation
9.15.5 Messages and parameters
Faults and alarms (see SINAMICS S120/S150 List Manual)
A07354 Drive: Cogging torque compensation not possible
F07355 Drive: Cogging torque compensation error when learning
A07356 Drive: Cogging torque compensation motor or encoder serial number different
Parameters (see SINAMICS S120/S150 List Manual)
• r0108 Drive objects function module
• p5250[0...n] Cogging torque compensation configuration
• p5251 Activate cogging torque compensation learning
• p5252 Cogging torque compensation table length
• p5253 Cogging torque compensation periodicity (intermittency) factor
• r5254[0...3] Cogging torque compensation diagnostics
• r5255[0...1] CO: Cogging torque compensation input/output
• p5256[0...n] Cogging torque compensation direction reversal hysteresis
• p5260[0...4095] Cogging torque compensation table
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9.15 Cogging torque compensation
• p5261[0...4095] Cogging torque compensation table negative direction
• p5263 Cogging torque compensation status word
• p5265[0...n] Periodic position error compensation amplitude 1
...
• p5268[0...n] Periodic position error compensation angle 2
• p5340[0...n] Cogging torque compensation load-dependent amplitude linear
...
• p5346[0...6] Cogging torque compensation serial number after learning
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Monitoring functions and protective functions 10
10.1 Power unit protection
Overview
The following table provides an overview of the comprehensive protective measures in the
SINAMICS power units.
Note
Monitoring thresholds cannot be changed
The monitoring thresholds described below are permanently defined in the converter and
cannot be changed.
Protection Precautions Responses
against:
Overcurrent 1st monitoring threshold for overcurrent exceeded The hardware current limitation in the relevant phase
(see A30031, A30032, A30033) has responded too
often. Pulsing in the affected phase will be blocked
for one pulse period.
If it is exceeded too frequently, F30017 "Power unit:
Hardware current limit has responded too often" oc‐
curs → OFF2.
2nd monitoring threshold for overcurrent exceeded F30001 "Overcurrent" → OFF2
Overvoltage Comparison of DC link voltage with hardware shut‐ F30002 "Overvoltage" → OFF2
down threshold
Undervoltage Comparison of DC link voltage with hardware shut‐ F30003 "Undervoltage" → OFF2
down threshold
Short-circuit 2nd monitoring threshold for overcurrent exceeded F30001 "Overcurrent" → OFF2
Uce monitoring of IGBT modules (chassis only) F30022 "Uce monitoring" → OFF2 (chassis only)
Ground fault Monitoring the sum of all phase currents After the threshold in p0287 is exceeded, F30021
"Power unit: Ground fault"→ OFF2 occurs.
Note
The sum of all phase currents is displayed in
r0069[6]. For operation, the value in p0287[1] must
be greater than the sum of the phase currents when
the insulation is intact.
Line phase – F30011 "Line phase-failure in main circuit" → OFF2
failure detec‐
tion
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Monitoring functions and protective functions
10.1 Power unit protection
10.1.1 Thermal monitoring and overload responses
Overview
Thermal monitoring of power units detects critical states during operation and initiates a
configurable overload response after an alarm threshold is exceeded.
The configurable overload responses prevent immediate switch-off of the drive and enable
continued operation (e.g. with reduced power) under controlled conditions. The overload
responses can only be configured below the shutdown thresholds, which cannot be changed.
Thermal monitoring
The following thermal monitoring functions are active:
• I2t monitoring - A07805 - F30005
A current reference value is defined for the I2t monitoring of power units.
I2t monitoring is used to protect passive components (e.g. capacitors, inductances, busbars)
that have a high thermal time constant compared with semiconductors.
Due to the low active power requirement for water-cooled AC/AC devices in the chassis
format, the reference current value at low output frequencies is increased. As a
consequence, a high break loose torque is facilitated. The protection of passive components
is maintained.
Overload with respect to I2t is present when the converter utilization r0036 displays a
value > 100% (utilization expressed as % of rated operation).
• Heat-sink temperature - A05000 - F30004
Is used to monitor the temperature r0037[0] of the heat sink on the power semiconductors
(IGBT).
• Chip temperature - A05001 - F30025
Significant temperature differences can occur between the IGBT barrier junction and the heat
sink. The calculated barrier junction temperature is displayed in r0037[13...18]; the
monitoring ensures that the specified maximum barrier junction temperature is not
exceeded.
If an overload occurs with respect to any of these three monitoring functions, an alarm is first
output. The alarm threshold p0294 (I2t monitoring) can be parameterized relative to the
shutdown (trip) values.
Overload responses
In order to reduce thermal load and thus losses in the power unit, the following methods and
overload responses are available:
Reducing the pulse frequency
Note
This procedure can be used only if the power unit has a cycle with a pulse frequency greater than
the minimum pulse frequency and a reduction of the pulse frequency is permissible.
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10.1 Power unit protection
Reducing the pulse frequency is an effective procedure for reducing losses in the power unit. This
is due to the fact that the switching losses make up a very large portion of the total losses. In
many applications, a temporary reduction in pulse frequency is tolerable.
• Disadvantage:
Reducing the pulse frequency increases the current ripple. At a small moment of inertia, this
may cause an increase in the torque ripple on the motor shaft and a noise level increase.
• Recommendation:
Only use this procedure for applications that are not critical from a control-related
perspective (e.g. for pump and fan drives).
Reduction of the output current
This procedure makes sense exclusively for drives that must tolerate a rotational speed deviation
and must not be operated at a constant torque.
• Recommendation:
Only use this procedure when a pulse frequency reduction is not desired or permissible (e.g.
if the pulse frequency has already been set to the lowest level).
Responses
You set the desired overload response in p0290 (power unit overload response).
Drive functions
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10.1 Power unit protection
The procedures described above can be used in various combinations in order to reduce the
thermal load. Depending on the configured procedure, the following
• No reduction (p0290 = 1)
Select this option if neither reducing the pulse frequency or reducing the output current (=
output frequency) can be considered suitable procedures.
In this case, the converter does not change its operating point once an alarm threshold has
been overshot. The drive can be operated until it reaches the shutdown values. When the
shutdown threshold is reached, the converter is switched off and one of the following faults
is output:
– F30004 (power unit: temperature rise for inverter heat sink)
– F30005 (power unit: Overload I2t)
– F30025 (power unit: chip temperature rise)
The time until shutdown is not defined and depends on the degree of overload.
– Recommendation:
Set p0290 = 1. This recommendation is valid for applications that, based on the process,
do not allow setpoint deviations for individual drives in the group or for which the pulse
frequency must absolutely be adhered to.
• Reducing the output current (p0290 = 0 or 10)
Value Reaction
0 When the temperature alarm threshold or I2t alarm threshold is exceeded, the output
current (= output frequency) is reduced.
If the reduction of the output current is not sufficient for eliminating the thermal stress on
the power unit, the drive switches off when the corresponding fault threshold is reached.
Note
This setting is not suitable for drives requiring a constant torque.
10 In addition to the heat sink and chip temperature, the difference between the two tem‐
peratures is monitored for Booksize devices.
When the temperature threshold is exceeded, the output current (= output frequency) is
reduced.
Note
This setting only applies to Booksize devices. For Booksize devices with a pulse frequency ≥
16 kHz, this overload reaction is activated as standard.
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• Reducing the pulse frequency (p0290 = 3 or 13)
This procedure is suitable for the following applications:
– The drive is frequently started and accelerated.
– The drive has a heavily fluctuating torque profile. Reducing the output current is not
desired.
– The drive is operated at a low dynamic response and occasional overload. A rotational
speed deviation is not allowed.
Value Reaction
3 When the temperature threshold is exceeded, the pulse frequency is reduced to a permis‐
sible minimum.
13 In this case, the chip temperature is evaluated based on the load at the current time. If the
chip temperature exceeds the alarm threshold, the pulse frequency is reduced to a per‐
missible minimum.
Unlike the set value "3", the pulse frequency is reduced based on the chip temperature
evaluation before the temperature alarm threshold has even been reached.
• Reducing the pulse frequency and the output current (p0290 = 2 or 12)
This procedure is suitable for the following applications:
– The drive is frequently started and accelerated.
– The drive has a heavily fluctuating torque profile.
Value Reaction
2 When the temperature threshold is exceeded, the pulse frequency is reduced to a permis‐
sible minimum.
If the pulse frequency reduction is not sufficient for eliminating the thermal stress on the
power unit, then the output current is also reduced.
When the I2t alarm threshold is exceeded, the output current is reduced. In contrast, the
pulse frequency remains unchanged at the set value.
12 In this case, the chip temperature is evaluated based on the load at the current time. If the
chip temperature exceeds the alarm threshold, the pulse frequency is reduced to a per‐
missible minimum.
Unlike the set value "2", the pulse frequency is reduced based on the chip temperature
evaluation before the temperature alarm threshold has even been reached.
The output current is reduced if, in addition to the chip temperature, the alarm thresholds
of the heat sink temperature and the I2t monitoring have also been exceeded.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8021 Signals and monitoring functions - thermal monitoring power unit
Parameters (see SINAMICS S120/S150 List Manual)
• r0036 CO: Power unit overload I2t
• r0037[0...19] CO: Power unit temperatures
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10.1 Power unit protection
• p0290 Power unit overload response
• p0294 Power Module warning I2t overload
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10.2 Thermal motor protection
10.2 Thermal motor protection
Overview
The thermal motor protection monitors the motor temperature and responds to overload with
alarms or faults. Protective measures are initiated in the event of a thermal overload.
The motor temperature is either measured with temperature sensors in the motor or is
calculated using a thermal motor model. The two methods can also be combined.
Using thermal motor models
For motor protection without temperature sensors, the motor temperature is calculated from
various motor parameters and measured signals (e.g. current, speed, flux) using motor models.
The following parameters are also taken into consideration, depending on the motor model
used:
• Total mass of the motor
• Type of ventilation
• Motor current relative to the operating time
When you want to ensure motor protection exclusively using a motor model, set
p0600[0...n] = 0 or p0601[0...n] = 0.
Using temperature sensors
When temperature sensors are used, the motor temperature is measured directly in the motor
windings. The temperature sensors are either connected to the Control Unit, the Motor Module
or a supplementary module.
The determined temperature values are sent to the Control Unit, which then responds according
to the parameter settings. When switching on again after a power failure, the actual motor
temperatures are immediately available.
Parameterizing the drive response
The drive response to a thermal overload is parameterized in p0610 (motor overtemperature
response). The motor can either be switched off immediately or continue to operate under
adapted conditions (e.g. reduced power or load).
Siemens motors from the motor database
For Siemens motors from the motor database and motors with integrated DRIVE‑CLiQ
connection, the motor data is automatically transmitted to the Control Unit.
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10.2 Thermal motor protection
10.2.1 Thermal motor models
Overview
Monitoring the motor temperature using temperature sensors protects the motor against
overheating. Thermal motor models can also be used for monitoring the motor temperature.
NOTICE
Damage to the motor when operated without temperature sensors
If a motor is improperly installed without temperature sensor or parameterized incorrectly
during commissioning, the thermal motor model cannot reliably protect the motor against
overheating. The thermal overload can damage the motor.
• Comply with the motor installation regulations.
• Commission the motor as specified.
In general, thermal motor models have a faster dynamic response and therefore provide
optimum protection against brief thermal overload.
For motors without temperature sensor, thermal motor models guarantee protection against
overheating. For motors with temperature sensor, thermal motor models guarantee
additional protection against overheating.
Features
• Selecting motor models
– When motor model 1 (p0612.0 = 1) and motor model 2 (p0612.1 = 1) are activated at the
same time, the motor model suitable for the motor type is used automatically.
– Motor model 3 cannot be activated simultaneously with another motor model.
• Determining the motor temperature
– In synchronous and synchronous reluctance motors, the motor temperature is calculated
from the motor current and the thermal time constant (p0611[0...n]).
– For all other motors (induction motors, Siemens motors from the motor database), the
motor temperature is calculated from various measured signals (e.g. current, speed, flux).
10.2.1.1 Thermal motor model 1
Overview
You can use the thermal motor model 1 (I2t) for selected permanent-magnet synchronous
motors and synchronous reluctance motors with or without temperature sensor.
The thermal load of a motor is determined from the continuous measurement of the motor
current and the time constant of the motor model. In addition, the actual value of the stator
winding temperature can be measured using a temperature sensor and taken into account.
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10.2 Thermal motor protection
The stator winding temperature of the motor temperature model is indicated in parameter
r0632. The temperature is calculated from the following values:
• r0068 (absolute current actual value)
• r0035 (currently measured motor temperature); if available
• p0318 (motor stall current)
• p0605 (rated temperature of stator winding) with activated extension p0627 (motor
overtemperature stator winding)
• p0611 (I2t motor model thermal time constant)
Requirements
• Using rotary, permanent-magnet synchronous motors or synchronous reluctance motors
Function description
If the above listed requirements are met, the thermal motor model 1 (I2t) is activated
automatically during commissioning. Together with the motor model, an extension (p0612.8)
is activated which improves the clarity of the motor model.
Procedure
Proceed as follows to activate the thermal motor model 1 (I2t) including extension:
1. Set p0612.0 = 1.
2. Set p0612.8 = 1.
The motor model and the extension are activated.
3. Set p0612.12 = 1.
Parameter p0613 is enabled. The factory setting is 40 °C.
This setting is only effective if a temperature sensor has not been parameterized.
4. Enter the actual ambient temperature in p0613.
The deviating value is applied and considered in the motor temperature monitoring.
Important settings
The most important parameters for thermal motor model 1 including extension are explained in
the following table.
Parameters for the following settings: Explanation
p0612.8 = 0 p0612.8 = 1 1)
p0605 p5390 Alarm threshold
When the temperature from the motor temperature model (r0632) exceeds the
alarm threshold, alarm A07012 "Drive: Motor temperature model 1/3 overtem‐
perature" is output
p0615 p5391 Fault threshold
When the temperature from the motor temperature model (r0632) exceeds the
fault threshold, fault F07011 "Drive: Motor overtemperature" is output.
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10.2 Thermal motor protection
Parameters for the following settings: Explanation
p0612.8 = 0 p0612.8 = 11)
p0605 p0627 + 40 °C Rated temperature (winding)
Defines the rated overtemperature of the stator winding referred to the ambient
temperature.
1.333 (fixed value) p5350 Boost factor
Defines the boost factor for the copper losses at standstill.
p0612.0 = 1 p0612.8 = 1 Activation
Activates the motor model and the extension.
r0632 r0632 Actual temperature
Indicates the stator winding temperature of the motor temperature model.
r0034 r0034 Motor utilization
Shows the current motor utilization.
1)
When the extension is subsequently activated, the corresponding parameters are pre-assigned with the values before
activation.
10.2.1.2 Thermal motor model 2
Requirements
• Use of induction motors
Function description
The thermal motor model 2 (p0612.1) is activated automatically during commissioning. In
addition to the motor model, you can activate an extension (p0612.9) that increases the
accuracy of the motor model.
Procedure
Proceed as follows to activate the thermal motor model 2 including extension:
1. Set p0612.1 = 1.
2. Set p0612.9 = 1.
The motor model and the extension are activated.
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10.2 Thermal motor protection
Important settings
In addition to activating the motor model, you need to check and set additional parameters.
• Total motor mass
Enter the total motor mass in p0344.
• Motor temperatures
Set the motor temperatures in the following parameters:
– p0625 = ambient temperature
– p0626 = Rated overtemperature, stator core (in relation to the ambient temperature)
– p0627 = Overtemperature, stator winding (in relation to the ambient temperature)
– p0628 = Overtemperature, rotor winding (in relation to the ambient temperature)
The temperatures in the motor are calculated from the motor measured values. The
calculated temperatures are indicated in the following parameters:
– r0630 Motor temperature model ambient temperature
– r0631 Motor temperature model stator iron temperature
– r0632 Motor temperature model stator winding temperature
– r0633 Motor temperature model rotor temperature
Operation with temperature sensors
When operated with an additional KTY84 or Pt1000 temperature sensor, the calculated
temperature value of thermal motor model 2 is continuously corrected to track the measured
temperature value.
After deactivating the temperature sensor with p0600 = 0 or p0601 = 0, the calculation
continues with the last measured temperature value.
10.2.1.3 Thermal motor model 3
Function description
Thermal motor model 3 is only intended for certain Siemens motors without temperature
sensor. Motor model is a thermal 3-mass model. It is activated with p0612.02 = 1. The necessary
parameters are automatically transferred when commissioning via DRIVE-CLiQ.
Note
During commissioning, thermal motor model 3 is automatically set after selecting a suitable
Siemens motor (p0301). The parameters are set to values appropriate for the particular motor
type.
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10.2 Thermal motor protection
The temperatures in the motor are calculated from the motor measured values and displayed in
the following monitoring and adjustable parameters:
• r0034 (motor utilization thermal)
• p0610 (motor overtemperature response)
• p0613 (motor temperature model 1 or 3 ambient temperature)
• r0631 (motor temperature model stator iron temperature)
• r0632 (motor temperature model stator winding temperature)
• r0633 (motor temperature model rotor temperature)
• r5387 (motor temperature model 3 timer)
• p5388 (motor temperature current reduction inhibit)
• p5389 (motor temperature status word faults / alarms)
Important settings
The most important parameters for thermal motor model 3 including extension are explained in
the following table.
Parameter Explanation
p5390 Alarm threshold
When the temperature from the motor temperature model (r0632) exceeds the alarm threshold, alarm
A07012 "Drive: Motor temperature model 1/3 overtemperature" is output
p5391 Fault threshold
When the temperature from the motor temperature model (r0632) exceeds the fault threshold, fault
F07011 "Drive: Motor overtemperature" is output.
p5350 Boost factor
Defines the boost factor for the copper losses at standstill.
10.2.1.4 Function diagrams (see SINAMICS S120/S150 List Manual)
• 8015 Signals and monitoring functions - Motor temperature status word faults/
alarms
• 8016 Signals and monitoring functions - thermal monitoring motor, Mot_temp ZSW
F/A
• 8017 Signals and monitoring functions - motor temperature model - 1 (I2t)
• 8018 Signals and monitoring functions - motor temperature model 2
• 8019 Signals and monitoring functions - motor temperature model 3
10.2.1.5 Messages (see SINAMICS S120/S150 List Manual)
• F07011 Drive: Motor overtemperature
• A07012 Drive: Motor temperature model 1/3 overtemperature
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10.2 Thermal motor protection
• F07013 Drive: Motor temperature model configuration fault
• A07014 Drive: Motor temperature model configuration alarm
10.2.1.6 Parameters (see SINAMICS S120/S150 List Manual)
Thermal motor model 1, 2 and 3
• p0610[0...n] Motor overtemperature response
• p0612[0...n] Mot_temp_mod activation
• p0632[0...n] Mot_temp_mod stator winding temperature
• p5388 BI: Mot_temp current reduction inhibit signal source
• p5389.0...8 CO/BO: Mot_temp status word faults/alarms
Thermal motor model 1
• r0034 CO: Motor utilization thermal
• p0318[0...n] Motor stall current
• p0605[0...n] Mot_temp_mod 1/2 threshold and temperature value
• p0611[0...n] I2t motor model thermal time constant
• p0613[0...n] Mot_temp_mod 1/3 ambient temperature
• p0615[0...n] Mot_temp_mod 1 (I2t) fault threshold
• p0627[0...n] Motor overtemperature, stator winding
• p5350[0...n] Mot_temp_mod 1/3 zero speed boost factor
• p5390[0...n] Mot_temp_mod 1/3 alarm threshold
• p5391[0...n] Mot_temp_mod 1/3 fault threshold
Thermal motor model 2
• p0344[0...n] Motor weight (for the thermal motor model)
• p0617[0...n] Stator thermally relevant iron component
• p0618[0...n] Stator thermally relevant copper component
• p0619[0...n] Rotor thermally relevant weight
• p0625[0...n] Motor ambient temperature during commissioning
• p0626[0...n] Motor overtemperature, stator iron
• p0627[0...n] Motor overtemperature, stator winding
• p0628[0...n] Motor overtemperature rotor
• r0630[0...n] Mot_temp_mod ambient temperature
• r0631[0...n] Mot_temp_mod stator iron temperature
• r0633[0...n] Mot_temp_mod rotor temperature
Thermal motor model 3
• r0034 CO: Motor utilization thermal
• p0613[0...n] Mot_temp_mod 1/3 ambient temperature
• r0631[0...n] Mot_temp_mod stator iron temperature
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10.2 Thermal motor protection
• r0633[0...n] Mot_temp_mod rotor temperature
• p5350[0...n] Mot_temp_mod 1/3 zero speed boost factor
• r5387[0...n] Mot_temp_mod 3: Timer
• p5390[0...n] Mot_temp_mod 1/3 alarm threshold
• p5391[0...n] Mot_temp_mod 1/3 fault threshold
10.2.2 Temperature measurements in the motor
10.2.2.1 Temperature sensors
Description
The motor temperature is sensed using temperature sensors integrated in the motor windings.
The following sensor types are fitted in the motor windings by default:
• PTC
• KTY84
• Pt100 / Pt1000
• Bimetal NC contact (bimetallic sensor with NC contact)
Function of the PTC
The sensor is connected to the Sensor Module terminals intended for this purpose (-Temp,
+Temp).
PTC sensors usually have a strongly non-linear characteristic and are therefore used like a switch.
When the typical rated response temperature is exceeded, then the resistance changes abruptly
(step function). The tripping resistance is ≥ 1650 Ω and is used for switching over to an alarm or
fault.
Setting Reaction
p0600 = 1 Activates motor temperature sensing via encoder 1.
p0601 = 1 Sets the "PTC" sensor type.
You will find additional information on this sensor type in the SINAMICS S120 Control Units and
Supplementary System Components manual.
Function of the KTY84
The sensor is connected to the Sensor Module terminals intended for this purpose (-Temp,
+Temp).
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KTY84 temperature sensors have an almost linear characteristic and are therefore suitable for
continuously measuring and displaying the motor temperature.
Setting Reaction
p0600 = 1 Activates motor temperature sensing via encoder 1.
p0601 = 2 Sets the "KTY84" sensor type.
You will find additional information on this sensor type in the SINAMICS S120 Control Units and
Supplementary System Components manual.
Function of the Pt100 / Pt1000
Pt100 and Pt1000 sensors are characterized by positive temperature coefficients and an almost
linear characteristic. They are therefore suitable for continuously measuring and displaying the
motor temperature.
Not every sensor input is suitable for use of a Pt100 or Pt1000.
Setting Reaction
p0600 = 1 Activates motor temperature sensing via encoder 1.
p0601 = 5 Sets the "Pt100" sensor type.
p0601 = 6 Sets the "Pt1000" sensor type.
Function of the bimetallic NC contact
A bimetallic NC contact at a certain nominal response temperature actuates a switch. The
tripping resistance is < 100 Ω.
Not every sensor input is suitable for use of a bimetal NC contact.
Setting Reaction
p0600 = 1 Activates motor temperature sensing via encoder 1.
p0601 = 4 Sets the "Bimetal NC contact" sensor type.
Sensor type for multiple temperature channels
Set p0601 = 10 if you wish to use several temperature channels. The sensors are then
interconnected via BICO.
10.2.2.2 Sensor Modules
Description
Sensor Modules are needed when additional temperature sensors are connected via DRIVE-CLiQ.
The following Sensor Module types are available:
• Sensor Module Cabinet-Mounted (SMC) for installation in control cabinets
• Sensor Module External (SME) for motor-level installation (degree of protection IP67)
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10.2 Thermal motor protection
Sensor types
The following sensor types can be connected to a Sensor Module: PTC, KTY84, Pt1000 and also
bimetal NC contacts in some cases.
Available interfaces
The following table provides an overview of the interfaces available on the various
Sensor Module types:
Device Interface +Temp -Temp Sensor type
SMC10 X520 13 25 KTY84, PTC, Pt1000
SMC20 X520 13 25 KTY84, PTC, Pt1000
SMC30 X520 1 8 KTY84, PTC, Pt1000
X531 4 3 KTY84, PTC, Pt1000
SMC40 – – – A temperature sensor cannot be connected
SME20 X100 9 7 KTY84, PTC, Pt1000
SME25 – – – A temperature sensor cannot be connected
SME120 X200 See below KTY84, PTC, Pt1000, bimetal NC contact
SME125 X200 See below KTY84, PTC, Pt1000, bimetal NC contact
Sensor Module Cabinet-Mounted
A Sensor Module Cabinet-Mounted (SMCx0) evaluates encoder signals. The results are
transferred to the drive for further processing via DRIVE-CLiQ. An SMCx0 is intended for
operation in a control cabinet.
SMC10, SMC20, SMC30 and SMC40 differ with respect to the quantity and specification of the
encoder interfaces. However, the function for detecting the motor temperature is the same.
SMC30
An SMC30 offers two encoder connections. The encoder can either be connected to the
interface X520 (15-pin D-sub connector) or to the interface X521 / X531 (terminal strip).
SMC40
An SMC40 only supports pure digital encoders without incremental signals (order designation:
EnDat 22). In contrast to the other Sensor Modules, the SMC40 is a double SMC. SMC40 is wired
with the connector by means of two DRIVE-CLiQ cables. Motor temperature monitoring is not
possible with the SMC40.
Without a connected EnDat 2.2 encoder, it is not possible to integrate the SMC40 into the
topology, which means that it cannot be fully configured.
Note
Safety Integrated Functions
Firmware V4.5 does not support any Safety Integrated Functions.
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Sensor Module External
A Sensor Module External (SME) is required if the encoder interface is to be installed close to the
motor encoder outside a control cabinet.
Features
• SME has IP67 degree of protection.
SME20 / 25
SME2x evaluate encoder and sensor data. The calculated values are transferred to the Control
Unit via DRIVE-CLiQ.
SME20 and SME25 differ regarding the encoder interface. A temperature sensor cannot be
connected to the SME25 to sense the motor temperature. Instead, use an SME125.
SME120 / 125
SME12x are required for the following usage conditions:
• The encoder interface is installed close to the motor outside a control cabinet.
• Multiple motor temperature channels are required.
• The motor temperature sensors do not have safe electrical separation.
• Safe electrical separation is not possible.
SME12x are particularly suitable for linear and torque motor applications.
If r0458[0...2].8 = 1 is displayed, up to three temperature sensors can be connected to terminal
strip X200. A temperature channel is assigned to each sensor.
The SME12x evaluates the data of the temperature sensors and makes the calculated values
available via DRIVE-CLiQ for further processing.
Table 10-1 Assignment of terminal strip X200 for the temperature sensors
Terminal Function Chan‐ Parameter Sensor type
nel
1 -Temp 2 p4601[0] KTY84, PTC, Pt1000, bimetal NC contact
2 +Temp Linear and torque motors: KTY84/Pt1000
3 +Temp 3 p4602[0] KTY84, PTC, Pt1000, bimetal NC contact
4 -Temp Linear and torque motors: PTC – triplet 1 or bimetal NC contact
5 +Temp 4 p4603[0] KTY84, PTC, Pt1000, bimetal NC contact
6 -Temp Linear and torque motors: PTC – triplet 1 or bimetal NC contact
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10.2 Thermal motor protection
• Temperature measurement
The following settings are possible:
Setting Reaction
p0600 = 1, 2 or 3 Selects the additional motor temperature sensing via channels 2
to 4.
p0601 = 10 Activates evaluation via multiple temperature channels SME12x.
• KTY84
The following settings are possible:
Setting Reaction
p4601[0...n] to p4603[0...n] = 20 Sets the KTY84 sensor type.
r4620[0...3] ≠ -200 °C The temperature display is valid.
r4620[1] Shows the actual value of the temperature sensors from channel
2.
r4620[2] Shows the actual value of the temperature sensors from channel
3.
r4620[3] Shows the actual value of the temperature sensors from channel
4.
• Pt1000
The following settings are possible:
Setting Reaction
p4601[0...n] to p4603[0...n] = 60 Sets the Pt1000 sensor type.
r4620[0...3] ≠ -200 °C The temperature display is valid.
r4620[1] Shows the actual value of the temperature sensors from channel
2.
r4620[2] Shows the actual value of the temperature sensors from channel
3.
r4620[3] Shows the actual value of the temperature sensors from channel
4.
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• PTC
The following settings are possible:
Setting Reaction
p4601[0...n] to Sets the sensor type PTC, sets the evaluation type and activates
p4603[0...n] = 10, 11 or 12 the evaluation.
p4601[0...n] = 10 PTC fault
p4601[0...n] = 11 PTC alarm
p4601[0...n] = 12 PTC alarm and timer
r4620[0...3] = -200 °C –
• Bimetal NC contact
The following settings are possible:
Setting Reaction
p4601[0...n] to Sets the sensor type Bimetal NC contact, sets the evaluation type
p4603[0...n] = 30, 31 or 32 and activates the evaluation.
p4601[0...n] = 30 Bimetal NC contact fault
p4601[0...n] = 31 Bimetal NC contact alarm
p4601[0...n] = 32 Bimetal NC contact alarm and timer
r4620[0...3] = -200 °C –
10.2.2.3 Terminal Modules
Description
Terminal Modules provided the drive system with additional analog and digital data inputs and
outputs. They are intended for use in control cabinets. Terminal Modules are connected with the
drive system via DRIVE-CLiQ.
Number of sensors that can be evaluated
The Terminal Modules TM31, TM120 and TM150 differ in terms of the number of temperature
sensors that can be evaluated.
• The TM31 can evaluate one sensor.
• The TM120 can evaluate up to 4 sensors. The sensor inputs have protective separation.
• The TM150 can evaluate up to 12 sensors. The sensors can be split up into a maximum of 3
groups. Each sensor can be freely assigned to one of the groups.
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Available interfaces
The table below gives you an overview of the available interfaces on the various Terminal
Modules:
Device Interface Channel Terminals Sensor type
+Temp -Temp
TM31 X522 0 7 8 KTY84, PTC, Pt1000
TM120 X521 0 2 1 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
1 4 3 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
2 6 5 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
3 8 7 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
TM150 X531 0 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X532 1 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X533 2 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X534 3 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X535 4 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X536 5 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
Terminal Module 31
A TM31 is used when additional digital and analog inputs/outputs are required.
The temperature sensor is connected to terminal X522. The values of the fault and/or alarm
thresholds can be set in parameter p4102[0..1] from -48 °C to 251 °C. p4102 = 251°C deactivates
the alarm and fault threshold. The factory setting is 100 °C for the alarm threshold and 120 °C
for the fault threshold.
• Temperature measurement
The following settings are possible:
Setting Condition Reaction
p0600 = 10 – Activates motor temperature sensing via external
sensor.
p0603 – Sets the signal source for the evaluation of the motor
temperature.
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Setting Condition Reaction
p4100 = 0 – Disables the evaluation. Then parameter
r4105 = -300°C.
r4105 p4100 = 0 Shows the value -300 °C.
• PTC
The following settings are possible:
Setting Condition Reaction
p4100 = 1 – Sets the sensor type PTC and activates the evalua‐
tion.
r4105 The actual temperature value is below the rated re‐ Shows the value -50 °C.
sponse temperature.
The actual temperature value is above the rated re‐ Shows the value +250 °C.
sponse temperature.
The actual temperature value is invalid (F35920 out‐ Shows the value -300 °C.
put).
p4100 = 0 Shows the value -300 °C.
• KTY84
The following settings are possible:
Setting Condition Reaction
p4100 = 2 – Sets the sensor type KTY84 and activates the evalu‐
ation.
r4105 – Shows the actual temperature value of the evalua‐
tion.
No sensor selected or the actual temperature value is Shows the value -300 °C.
invalid.
• Pt1000
The following settings are possible:
Setting Condition Reaction
p4100 = 6 – Sets the sensor type Pt1000 and activates the eval‐
uation.
r4105 – Shows the actual temperature value of the evalua‐
tion.
No sensor selected or the actual temperature value is Shows the value -300 °C.
invalid.
Terminal Module 120
If the temperature sensors in the motors used do not have electrical separation, you require a
TM120. Up to 4 different temperature sensors can be connected to the TM120.
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The TM120 senses the actual temperature values and evaluates them. The fault and alarm
thresholds (p4102) of the actual temperature values can be set from -48° C up to +251° C.
Temperature sensors are connected as follows to terminal strip X521:
Interface Chan‐ Terminals Sensor type
nel +Temp -Temp
X521 0 2 1 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
1 4 3 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
2 6 5 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
3 8 7 KTY84-130, PTC, Pt1000, bimetal NC contact
Linear motor: KTY84-130, Pt1000
Fault messages on TM120
Fault messages for an individual temperature channel of the TM120 are propagated to all other
drive objects connected with the TM120. The drive objects connected to the TM120 then trigger
a fault.
You will find additional information in the SINAMICS S120 Control Units and Supplementary
System Components manual.
• Temperature measurement
The following settings are possible:
Setting Reaction
p0600[0...n] = 20 or 21 Activates motor temperature sensing via an external sensor.
p0601[0...n] = 11 Sets the evaluation for several temperature channels.
p0608[0...3] Assigns the temperature channels for the motor temperatures to signal source 2.
p0609[0...3] Assigns the temperature channels for the motor temperatures to signal source 3.
p4100[0...n] = 0 Deactivates temperature evaluation.
r4101[0...3] Indicates the actual resistance value of the respective temperature sensor. The maxi‐
mum measurable resistance is 2170 Ω.
p4102[0/2/4/6] Sets the alarm thresholds of the temperature sensors to between -48 °C and 250 °C.
p4102[1/3/5/7] Sets the fault thresholds of the temperature sensors to between -48 °C and 250 °C.
p4102[0...7] = 251 °C Deactivates the alarm and/or fault message that has been set.
p4610[0...n] to p4613[0...n] Assigns up to four temperature sensors to the motor and defines the responses.
r4620[0...3] ≠ -200 °C Means:
• A KTY84/PT1000 is connected.
• The temperature display is valid.
r4620[0...3] = -200 °C Means:
• A PTC or a bimetal NC contact is connected.
• There is a temperature sensor fault.
• The sensor channel is deactivated.
• The temperature evaluation is deactivated.
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• KTY84
The following settings are possible:
Setting Condition Reaction
p4100[0...3] = 2 – Assigns the temperature sensor type KTY84 to a cor‐
responding channel 1 to 4 and activates the evalua‐
tion.
r4105[0...3] – Indicates the actual temperature value of the respec‐
tive measuring channel of the evaluation.
No sensor selected or the actual temperature value is Shows the value -300 °C.
invalid.
• Pt1000
The following settings are possible:
Setting Condition Reaction
p4100[0...3] = 6 – Assigns the sensor type Pt1000 to a corresponding
channel 1 to 4 and activates the evaluation.
r4105[0...3] – Indicates the actual temperature value of the respec‐
tive measuring channel of the evaluation.
No sensor selected or the actual temperature value is Shows the value -300 °C.
invalid.
• PTC
The following settings are possible:
Setting Condition Reaction
p4100[0...3] = 1 – Sets the sensor type PTC to the corresponding chan‐
nel 1 to 4 and activates the evaluation.
r4105[0...3] – Shows the actual temperature value of the evalua‐
tion.
The actual temperature value is below the rated re‐ Shows the value -50 °C.
sponse temperature.
The actual temperature value is above the rated re‐ Shows the value +250 °C.
sponse temperature.
No sensor selected or the actual temperature value is Shows the value -300 °C.
invalid.
• Bimetal NC contact
The following settings are possible:
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Setting Condition Reaction
p4100[0...3] = 4 – Sets the sensor type Bimetal NC contact and acti‐
vates the evaluation.
r4105[0...3] – Shows the actual temperature value of the evalua‐
tion.
The actual temperature value is below the rated re‐ Shows the value -50 °C.
sponse temperature.
The actual temperature value is above the rated re‐ Shows the value +250 °C.
sponse temperature.
No sensor selected or the actual temperature value is Shows the value -300 °C.
invalid.
Terminal Module 150
The TM150 has the following features and characteristics:
• 6 connecting terminals (4-pin) for temperature sensors
• Sensors can be connected in a 1x2, 1x3 or 1x4-wire system.
• In a 2x2-wire system, up to 12 input channels can be evaluated.
• 12 input channels can be evaluated in the factory setting.
• The temperature channels of a TM150 can be distributed over 3 groups and evaluated
together.
• Supported sensor types:
– KTY84, PTC, bimetal NC contact, Pt100 and Pt1000
Note
Temperature inputs
The TM150 temperature inputs are not electrically isolated.
The fault and alarm thresholds of the temperature values can be set from -99 °C to 251 °C.
Temperature sensors are connected as follows to terminal strips X531 to X536:
Interface Chan‐ Terminals Sensor type
nel +Temp -Temp
X531 0 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X532 1 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X533 2 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X534 3 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
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Interface Chan‐ Terminals Sensor type
nel +Temp -Temp
X535 4 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
X536 5 1 2 KTY84-130, PTC, bimetal NC contact, Pt100/Pt1000
3 4
Fault messages on TM150
Fault messages for an individual temperature channel in the TM150 are propagated to all other
drive objects connected with the TM150. The drive objects connected to the TM150 then trigger
a fault.
You can find additional information in the function diagrams 9625, 9626 and 9627 in the
SINAMICS S120/S150 List Manual.
Selecting the sensor type
The following settings are possible:
Setting Condition Reaction
p4100[0...11] – Sets the sensor type for the respective temperature
channel.
p4100[0...11] = – Disables the evaluation.
0
p4100[0...11] = – Sets the PTC thermistor sensor type.
1
p4100[0...11] = – Sets the KTY84 sensor type.
2
p4100[0...11] = – Sets the Bimetal NC contact sensor type.
4
p4100[0...11] = – Sets the Pt100 sensor type.
5
p4100[0...11] = – Sets the Pt1000 sensor type.
6
r4105[0...11] – Shows the actual value of the temperature channel.
Sensor types: PTC, bimetal NC contact Shows the value -50 °C.
The actual temperature value is below the rated re‐
sponse temperature.
Sensor types: KTY84, Pt100, Pt1000 Shows the value -99 °C.
The actual temperature value is below the rated re‐
sponse temperature.
All sensor types Shows the value +250 °C.
The actual temperature value is above the rated re‐
sponse temperature.
Switching temperature sensors (e.g. PTC, bimetal NC Two limit values (symbolic) are displayed.
contact) Note
With PTC and bimetal NC contact, the display in
r4105[0...11] does not correspond to the actual
temperature value.
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Measuring the cable resistances
When 2-wire sensors are used, the cable resistance can be measured and saved to increase the
measuring accuracy of the cable resistance. To do this, short-circuit the sensor cable as close as
possible to the sensor. The procedure is described in the SINAMICS S120/150 List Manual under
p4109[0...11].
The measured cable resistance is then taken into account when evaluating the temperature. The
cable resistance value is saved in p4110[0...11].
Line filter
A line filter is activated to suppress noise radiated from the line supply. Using p4121, the filter can
be set to a 50 Hz or 60 Hz line frequency.
Measurement with up to 6 channels
The following settings are possible:
Temperature measure‐ Parameterizing the connections
ment
2-wire sensor With p4108[0...5] = 0, you evaluate a sensor in a 2-wire system at a 4-wire
connection at terminals 1 and 2. Terminals 3 and 4 remain open.
3-wire sensor With p4108[0...5] = 2, you evaluate a sensor in a 3-wire system at a 4-wire
connection at terminals 3 and 4. The measuring cable is connected to terminal
1. You must short-circuit terminals 2 and 4.
4-wire sensor With p4108[0...5] = 3, you evaluate a sensor in a 4-wire system at a 4-wire
connection at terminals 3 and 4. The measuring cable is connected to termi‐
nals 1 and 2.
You can find additional information in function diagram 9626 in the SINAMICS S120/S150 List
Manual.
Measurement with up to 12 channels
Up to 12 temperature sensors can be connected to a TM150.
Note
Connection diagram for 12 temperature channels
The temperature sensors connected to a TM150 are not numbered consecutively. The first 6
temperature channels retain their numbering of 0 to 5. The other 6 temperature channels are
consecutively numbered from 6 to 11, starting at terminal X531 (see function diagram 9627 in
the SINAMICS S120/S150 Lists Manual).
The following settings are possible:
Temperature measure‐ Parameterizing the connections
ment
2-wire sensor With p4108[0...5] = 1, you evaluate two sensors in a 2-wire system. The first
sensor is connected to terminals 1 and 2. The second sensor (number = first
sensor + 6) is connected to terminals 3 and 4.
When connecting two 2-wire sensors to terminal X531, the first sensor is
assigned to temperature channel 1. The second sensor is assigned to channel
7 (1+6).
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You can find additional information in function diagram 9627 in the SINAMICS S120/S150 List
Manual.
• Example of 8 temperature channels
– 2x2 wire at terminal X531: p4108[0] = 1 ≙ sensor 1 is at channel 0 and sensor 2 is at
channel 6
– 2x2 wire at terminal X532: p4108[1] = 1 ≙ sensor 1 is at channel 1 and sensor 2 is at
channel 7
– 1x3 wire at terminal X533: p4108[2] = 2 ≙ sensor 1 is at channel 2
– 1x3 wire at terminal X534: p4108[3] = 2 ≙ sensor 1 is at channel 3
– 1x4 wire at terminal X535: p4108[4] = 3 ≙ sensor 1 is at channel 4
– 1x2 wire at terminal X536: p4108[5] = 0 ≙ sensor 1 is at channel 5
Forming groups of temperature sensors
You can combine the temperature channels to form groups using parameter p4111[0...2]. For
each group, the following calculated values are provided from the temperature actual values
(r4105[0...11]):
• Maximum = r4112[0...2] (index 0, 1, 2 = group 0, 1, 2)
• Minimum = r4113[0...2]
• Average value = r4114[0...2]
Note
PTC and bimetal NC contact sensor types
Only form groups of continuously measuring temperature sensors. Depending on the status, the
switching temperature sensors PTC and bimetal NC contacts are only assigned the temperatures
-50 °C and +250 °C. Within a group with continuous temperature actual values, the calculation
of the maximum/minimum/mean value temperature is significantly falsified by taking into
account switching temperature sensors.
• Example
The temperature actual value from channels 0, 3, 7, and 9 should be combined in group 1:
– p4111[1].0 = 1
– p4111[1].3 = 1
– p4111[1].7 = 1
– p4111[1].9 = 1
The calculated values from group 1 are available in the following parameters for further
interconnection:
– r4112[1] = maximum
– r4113[1] = minimum
– r4114[1] = mean value
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Evaluating temperature channels
For each of the 12 individual temperature channels, an alarm threshold and a fault threshold can
be set in p4102[0...23]. The even parameter indices contain the alarm threshold and the uneven
parameter indices contain the fault threshold. The temperature thresholds can be set between
-99°C and +251°C for each channel.
If the evaluation of the temperature actual value from p4105[0...11] exceeds the alarm
threshold set in p4102[0...23], then an alarm is output at r4104.0...23. Timer p4103[0...11] is
started at the same time.
If, after the timer has expired, the temperature actual value is still above the alarm threshold,
then an appropriate fault is output. This fault can be acknowledged as soon as the temperature
actual value is again below the alarm threshold.
If the evaluation of the temperature actual value from p4105[0...11] has exceeded the fault
threshold set in p4102[0...23], then the corresponding fault is immediately activated.
Using p4118[0...11], a hysteresis for p4102[0...23] can be set for each channel.
Using p4119[0...11], a filter can be activated to smooth the temperature signal for each channel.
The time constant of the filter depends on the number of active temperature channels and can
be read in r4120.
• Failure of a sensor
Using parameter p4117[0...2], you set the response to the failure of a temperature sensor
within a group:
– Set p4117 = 0.
The failed sensor is not taken into account.
OR
– Set p4117 = 1.
The group outputs the value -300 °C to the outputs for the maximum, minimum and
mean value.
Setting the smoothing time for temperature channels
With long or unshielded temperature cables, interference can occur and incorrectly shut down
the drive. To avoid this, a smoothing time can be set individually for every temperature channel
in TM150 for the respective temperature signal.
The smoothing is realized using a 1st order lowpass filter. The effective smoothing time constant
depends on the number of simultaneously active temperature channels and is indicated in
parameter r4120[0...11].
The smoothing time constant to be set is calculated using the following formula:
Smoothing time constant (p4122) ≥ 2 · active number of channels · 50 ms
Procedure
Proceed as follows to set the smoothing time for the temperature channels:
1. Open the inputs/outputs of the TM150 component in the STARTER commissioning tool
("Drive unit x > Input/output components > TM150_component > Inputs/outputs").
2. Select the desired temperature sensor (e.g. sensor 5) using the tab.
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3. Click on the "Smoothing" button in the circuit diagram of the displayed temperature sensor/
channel (for sensor 5: p4119[5] = 1).
Figure 10-1 Smoothing time of a temperature sensor/channel
The filter to smooth the temperature signal is activated. Under the "Smoothing" button, an
input field for the necessary smoothing time constant (p4122[0...11]) is displayed.
4. Enter the required smoothing time constant (p4122) into the input field.
The smoothing time constants can be calculated using the aforementioned formula. To do
this, you have to know over how many temperature channels you wish to configure a
smoothing time.
The implemented smoothing time is displayed after the entry in p4122 beneath the input
field for the selected temperature channel (r4120[0...11]).
5. Repeat steps 2 to 4 for all temperature sensors/channels being used.
10.2.2.4 Motor Modules
Description
Motor Modules have a direct connection for a motor temperature sensor. You can evaluate PTC,
KTY84, Pt100, Pt1000 or bimetal NC contact temperature sensors. The terminals of the
temperature sensors at a Motor Module depend on their design.
Available interfaces
The table below gives you an overview of the available interfaces on Motor Modules of different
formats:
Type Format Terminal +Temp -Temp
Single Motor Module Chassis X41 4 3
Chassis-2 X41 3 4
Booksize X21 1 2
Booksize Compact X21 1 2
Double Motor Module Booksize X21 / X22 1/1 2/2
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Activating temperature measurement
With p0600[0...n] = 11, motor temperature sensing via a Motor Module is activated.
Setting the temperature sensor
The sensor type is set using p0601[0...n]. When a sensor is connected to terminal X41 of a
Chassis device, the power unit to which the sensor is to be connected still needs to be defined
when power units are connected in parallel. The desired power unit is connected via p0602.
Note
Temperature measurement with bimetal NC contact
Temperature measurement using a bimetal NC contact is only possible with Motor Modules in
the Booksize format.
Note
Temperature measurement with Pt100
Temperature measurement using a Pt100 is only possible with Motor Modules in the Chassis
format.
When r0192.15 shows the value "1", you can select the sensor type Pt100 with p0601[0...n] = 5.
A motor temperature offset can be set using p0624 [0...n].
10.2.2.5 Power Modules (Chassis format)
Description
A Power Module in the Chassis format has one temperature channel and can evaluate
temperature sensors of the type PTC, KTY84, Pt1000 and Pt100 (r0192.15 = 1).
Available interfaces
The table below gives you an overview of the available interfaces on Power Modules in Chassis
format.
Type Format Terminal +Temp -Temp
Power Module Chassis X41 4 3
10.2.2.6 CU310-2 and CUA31/CUA32 (adapter)
Description
Control Unit Adapter 31 (CUA31) and 32 (CUA32) each have one temperature channel. The
terminal strip in the CUA31 has an interface for a motor temperature sensor. The temperature
sensor can be alternatively connected at the CUA32 via the encoder interface.
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The Control Unit 310-2 DP/PN has two independent temperature channels. The motor
temperature sensors can be connected via two interfaces. One of the channels is in the encoder
interface, the second channel is on the terminal strip. PTC or KTY84 temperature sensors can be
connected and evaluated.
Available interfaces
The following table provides an overview of the available interfaces:
Table 10-2 Temperature sensor connection
Device Connection point Interface +Temp -Temp PTC KTY Pt100
CU 310-2 Encoder interface X120 1 2 x x ‑
DP/PN Terminal strip X23 1 8 x x ‑
CUA31 Terminal strip X210 1 2 x x ‑
CUA32 Terminal strip X210 1 2 x x ‑
Encoder interface X220 1 8 x x ‑
CUA31
The following settings are possible:
Setting Reaction
p0600[0...n] = 11 Sets the temperature channel via CU terminals.
p0601[0...n] = Sets the sensor type and the response.
0, 1, 2, 3 or 5
CUA32
The following settings are possible:
Setting Reaction
p0600[0...n] = 10 Sets the temperature measurement via BICO interconnection
p4600[0...n] Sets the sensor type for temperature channel 1 (encoder interface).
p4601[0...n] Sets the sensor type for temperature channel 2 (terminal strip).
CU310-2 DP/PN (AC Drive)
The following settings are possible:
Setting Reaction
p0600[0...n] = 10 Sets the temperature measurement via BICO interconnection
p4600[0...n] Sets the sensor type for temperature channel 1 (encoder interface).
p4601[0...n] Sets the sensor type for temperature channel 2 (terminal strip).
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10.2.2.7 Motor with DRIVE-CLiQ
Description
In a motor with DRIVE-CLiQ connection, the motor and encoder data is saved as an electronic
rating plate. This data is transferred to the Control Unit when commissioning. All necessary
parameters are preset. The parameters for monitoring the motor temperature are also preset.
Other changes are not required.
Parameterization
The following parameters are preset during commissioning:
Setting Explanation
p0600 = 1 Setting of the temperature sensor via encoder 1
p0601 = 2 The sensor type KTY84 is set.
p0604[0...n] Motor temperature alarm threshold
p0605[0...n] Motor temperature fault threshold
p0606[0...n] Motor temperature timer (timer for changeover from an alarm to a fault value).
10.2.2.8 Temperature sensor evaluation
Description
The temperature recorded by a sensor is evaluated as follows:
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Pt1000 or KTY84
• When the alarm threshold p0604 is exceeded, alarm A07910 is output.
Using p0610 (motor temperature response), you can set the response of the drive to the
triggered alarm as follows:
Value Reaction
0 • No reaction
• Alarm A07910
• No reduction of I_max
1 • Alarm A07910
• Fault F07011
• Reduction of I_max
2 • Alarm A07910
• Fault F07011
• No reduction of I_max
12 • Alarm A07910
• Fault F07011
• No reduction of I_max
• Temperature storage
• If the set fault threshold is reached, fault F07011 is triggered depending on the setting in
p0610.
PTC
• Alarm A07910 is triggered once the PTC responds.
• Fault F07011 is triggered once the waiting time defined in p0606 has elapsed.
Sensor monitoring for short circuit and wire break
• Short-circuit:
Monitoring for short-circuit in the sensor cable is possible for the following sensor types:
– PTC
– Pt1000 or KTY84
If the temperature value lies outside the specified range of ‑140 °C ... +250 °C, it is probable
that the sensor cable has a short-circuit.
The alarm A07015 "Drive: Motor temperature sensor alarm" is then output. After the wait
time in p0607 has expired, fault F07016 "Drive: Motor temperature sensor fault" is output.
• Wire break:
Monitoring for wire break is possible for the following sensor types:
– Pt1000 or KTY84
When the temperature value lies outside the specified range of ‑140 °C ... +250 °C, it is
probable that there is a wire break.
The alarm A07015 "Drive: Motor temperature sensor alarm" is then output. After the wait
time in p0607 has expired, fault F07016 "Drive: Motor temperature sensor fault" is output.
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• If an induction motor is connected, you can suppress fault F07016 by setting p0607 = 0. The
drive then continues to operate with the data calculated in the thermal 3-mass model.
• If the motor temperature sensor set in p0600 is not connected, alarm A07820 "Temperature
sensor not connected" is triggered.
10.2.2.9 Function diagrams (see SINSMAICS S120/S150 List Manual)
• 8015 Motor temperature status word faults/alarms
• 8016 Signals and monitoring functions - thermal monitoring motor, Mot_temp ZSW F/
A
• 8017 Signals and monitoring functions - motor temperature model - 1 (I2t)
• 8018 Signals and monitoring functions - motor temperature model 2 (thermal 3-mass
model)
• 8019 Signals and monitoring functions - motor temperature model 3
• 9576 Terminal Module 31 (TM31) - Temperature evaluation
• 9605 Terminal Module 120 (TM120) - Temperature evaluation, channels 0 and 1
• 9606 Terminal Module 120 (TM120) - Temperature evaluation, channels 2 and 3
• 9625 Terminal Module 150 (TM150) - Temperature evaluation structure (channels 0
to 11)
• 9626 Terminal Module 150 (TM150) - Temperature evaluation 1x2-, 3-, 4-wire (chan‐
nels 0 to 5)
• 9627 Terminal Module 150 (TM150) - Temperature evaluation 2x2-wire (channels 0
to 11)
10.2.2.10 Parameters (see SINSMAICS S120/S150 List Manual)
General
• r0034 CO: Motor utilization thermal
• r0035 CO: Motor temperature
• r0068 CO: Absolute actual current value
• p0318[0...n] Motor stall current
• p0600[0...n] Motor temperature sensor for monitoring
• p0601[0...n] Motor temperature sensor type
• p0602 Parallel connection power unit number temperature sensor
• p0603 CI: Motor temperature signal source
• p0604[0...n] Mot_temp_mod 2:sensor alarm threshold
• p0605[0...n] Mot_temp_mod 1/2 threshold and temperature value
• p0606[0...n] Mot_temp_mod 2/sensor timer
• p0607[0...n] Temperature sensor fault timer
• p0608[0...3] CI: Motor temperature signal source 2
• p0609[0...3] CI: Motor temperature signal source 3
• p0610[0...n] Motor overtemperature response
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• p0624[0...n] Motor temperature offset Pt100
• p0625[0...n] Motor ambient temperature during commissioning
• p4600[0...n] Motor temperature sensor 1 sensor type
• p4601[0...n] Motor temperature sensor 2 sensor type
• p4602[0...n] Motor temperature sensor 3 sensor type
• p4603[0...n] Motor temperature sensor 4 sensor type
• r4620[0...3] Motor temperature measured
Parameters for TM31
• p4100 TM31 sensor type
• p4102[0...1] TM31 fault threshold/alarm threshold
• p4103 TM31 temperature evaluation delay time
• r4104.0...1 BO: TM31 temperature evaluation status
• r4105 CO: TM31 actual temperature value
Parameters for TM120
• p4100[0...3] TM120 temperature evaluation sensor type
• r4101[0...3] TM120 sensor resistance
• p4102[0...7] TM120 fault threshold/alarm threshold
• p4103[0...3] TM120 temperature evaluation delay time
• r4104.0...7 BO: TM120 temperature evaluation status
• r4105 [0...3] CO: TM120 actual temperature value
Parameters for TM150
• p4100[0...11] TM150 sensor type
• r4101[0...11] TM150 sensor resistance
• p4102[0...23] TM150 fault threshold/alarm threshold
• p4103[0...11] TM150 delay time
• r4104.0...23 BO: TM150 temperature evaluation status
• r4105[0...11] CO: TM150 actual temperature value
• p4108[0...5] TM150 terminal block measuring method
• p4109[0...11] TM150 wire resistance measurement
• p4110[0...11] TM150 wire resistance value
• p4111[0...2] TM150 group channel assignment
• r4112[0...2] CO: TM150 group temperature actual value maximum value
• r4113[0...2] CO: TM150 group temperature actual value minimum value
• r4114[0...2] CO: TM150 group temperature average actual value
• p4117[0...2] TM150 group sensor error effect
• p4118[0...11] TM150 fault threshold/alarm threshold hysteresis
• p4119[0...11] TM150 activate/deactivate smoothing
• r4120[0...11] TM150 actual smoothing time in ms
• p4121 TM150 filter rated line frequency
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Monitoring functions and protective functions
10.2 Thermal motor protection
• p4122[0...11] TM150 smoothing time constant
Thermal motor models
• p0318[0...n] Motor stall current
• p0335[0...n] Motor cooling type
• p0344[0...n] Motor weight (for the thermal motor model)
• p0611[0...n] I2t motor model thermal time constant
• p0612[0...n] Mot_temp_mod activation
• p0615[0...n] Mot_temp_mod 1 (I2t) fault threshold
• p0617[0...n] Stator thermally relevant iron component
• p0618[0...n] Stator thermally relevant copper component
• p0619[0...n] Rotor thermally relevant weight
• p0620[0...n] Thermal adaptation, stator and rotor resistance
• p0625[0...n] Motor ambient temperature during commissioning
10.2.3 Calculating time remaining
Function description
The function is used to display the calculated time under thermal overload until an alarm is
triggered. When the alarm is triggered, the drive goes into fault condition without delay.
A constant motor load is the basis for the calculation. The calculation is performed
independently of the configured motor or set motor model.
The motor temperature is monitored by temperature sensors or using a set motor model.
Display of time remaining
The value for the determined time remaining is displayed in r5386[0]. Indices [1] to [4] are for
diagnostic purposes and provide information about the source (sensor or motor model) via
which a temperature bottleneck is currently being determined.
The maximum value of the displayed time remaining is 120 s. The maximum value also applies
with a time remaining > 120 s.
If multiple motor data sets (MDS) are configured, the time remaining always relates to the
currently selected MDS. With an MDS switchover, a meaningful value is displayed for the time
remaining with a delay of 2 s in r5386.
10.2.4 Motor overload protection according to IEC/UL 61800-5-1
Overview
To guarantee motor overload protection according to IEC/UL 61800‑5‑1 for your drive, some
parameters of the temperature monitoring have to be checked and adapted if necessary.
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Monitoring functions and protective functions
10.2 Thermal motor protection
Requirement
• You have correctly entered the motor data during commissioning.
Procedure
NOTICE
Thermal overload of third-party motors due to a shutdown threshold that is too high
With a Siemens motor, the drive sets the shutdown threshold of the thermal motor model to
match the motor. With a third-party motor, the drive cannot ensure in every case that the
shutdown threshold is exactly right for the motor. A shutdown threshold that is set too high can
lead to a thermal overload, thus causing damage to the motor.
• If required for a third-party motor, reduce the corresponding shutdown threshold p0605,
p0615 or p5391.
Proceed as follows to check and set all relevant temperature monitoring parameters:
1. Set p0610 = 12.
2. Set the following parameters depending on the configured motor:
– Synchronous motor:
p0612.0 = 1
p0612.8 = 1
p0612.12 = 1
For a motor without temperature sensor: p0613 = 40 °C
– Induction motor:
p0612.1 = 1
p0612.9 = 1
For a motor without temperature sensor: p0625 = 40 °C
The shutdown threshold p0605, p0615 or p5391 parameterized in the motor data set may not
be increased.
Changing additional parameters of the thermal motor model can lead to the converter no longer
satisfying the motor overload protection in accordance with IEC/UL 61800‑5‑1.
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10.3 Blocking protection
10.3 Blocking protection
Function description
The "Motor blocked" fault is output if the speed of the drive is below the adjustable speed
threshold (p2175). In addition, the following applies:
• Vector control type
The speed controller is at its limits.
• U/f control type
The current limit has been reached.
Once the ON delay (p2177) has elapsed, the message "Motor blocked" and fault F07900 are
generated.
The enable for blocked motor monitoring can be deactivated using p2144.
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 8012 Signals and monitoring functions - Torque messages, motor locked/stalled
Parameters (see SINAMICS S120/S150 List Manual)
• p2144[0...n] BI: Blocked motor monitoring enable (negated)
• p2175[0...n] Motor locked speed threshold
• p2177[0...n] Motor locked delay time
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10.4 Stall protection for vector control
10.4 Stall protection for vector control
Overview
This function is only available in the Vector control type.
Function description
If the adaptation controller output exceeds the speed threshold set in p1744 for stall detection,
r1408.11 (speed adaptation, speed deviation) is set.
If the error threshold value set in p1745 is exceeded at low speeds (speed < p1755 · (100% -
p1756)), then r1408.12 (motor stalled) is set.
If r1408.11 or r1408.12 is set, then after the delay time in p2178, fault F7902 (motor stalled)
is output.
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Function diagrams (see SINAMICS S120/S150 List Manual)
• 6730 Vector control - Interface to Motor Module (ASM, p0300 = 1)
• 8012 Signals and monitoring functions - Torque messages, motor locked/stalled
Parameters (see SINAMICS S120/S150 List Manual)
• r1408.0...15 CO/BO: Status word, current controller
• p1744[0...n] Motor model speed threshold stall detection
• p1745[0...n] Motor model error threshold stall detection
• p1755[0...n] Motor model changeover speed encoderless operation
• p1756 Motor model changeover speed encoderless operation
• p2178[0...n] Motor stalled delay time
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10.4 Stall protection for vector control
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Safety Integrated Basic Functions 11
11.1 Latest information
Important note for maintaining the operational safety of your system:
NOTICE
Danger to operational safety due to unwanted motion
Systems with safety-related characteristics are subject to special operational safety
requirements on the part of the operating company. If information on a lack of product safety
becomes known in the course of observing a product, this information is declared in various
ways. For this reason, we publish a special newsletter containing information on product
developments and features that are (or could be) relevant when operating safety-related
systems.
• You should subscribe to and carefully read the corresponding newsletter in order to obtain
the latest information and to allow you to modify your equipment accordingly.
To subscribe to the newsletter, please proceed as follows:
1. Go to the following Siemens internet site in your browser:
Siemens Drives (http://www.industry.siemens.com/drives/global/en/pages/drive-
technology.aspx)
2. Select the desired language for the Web page.
Note
Newsletter
You have to register and log in if you want to subscribe to any newsletters. You will be led
automatically through the registration process.
3. Click on "Login / registration".
4. Login with your access data. If you do not yet have a login and password, select "Yes, I would
like to register now".
You can subscribe to the individual newsletters in the following window.
5. Under the "All newsletters" heading on this page, you can see which newsletter is currently
available.
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11.1 Latest information
6. Open the topic "Products and solutions".
You will now be shown which newsletter is available for this particular subject area or topic.
You can subscribe to the appropriate newsletter by clicking on the "Subscribe" entry. If you
require more detailed information on the newsletters, then please use the supplementary
function on the website.
7. At the very least, register for the newsletters for the following product areas:
– Safety Integrated Newsletter
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11.2 General information
11.2 General information
Note
Further references
This manual exclusively contains information about the Safety Integrated Basic Functions.
More information about the Safety Integrated Extended Functions and Safety Integrated
Advanced Functions can be found in the SINAMICS S120 Safety Integrated function manual.
Note
Handling the safety password
• The safety password protects safety parameters against maloperation. Always assign a
strong password, to activate efficient protection.
• To reset the password to the factory setting, you require the valid password.
• The probability of failure (PFH) and certification of the safety functions apply even if no
password has been set.
• More information can be found in the SINAMICS S120 Safety Integrated Function Manual.
11.2.1 Explanations, standards and terminology
Safety Integrated
The "Safety Integrated" functions enable the implementation of highly effective application-
oriented functions for man and machine protection. This innovate safety technology offers the
following benefits:
• Increased safety
• More economic operation
• Greater flexibility
• Higher level of plant availability
Standards and Directives
Various standards and guidelines for safety technology must be observed. Guidelines are
binding for both the manufacturer and operator of machines.
Standards generally reflect the state of the art and act as a basis for implementing safety
concepts. However, in contrast to directives, standards are not binding.
Below is a list of standards and guidelines for safety technology.
• EU Machinery Directive
This guideline defines basic protection measures for safety technology.
• EN ISO 12100
Safety of machinery, basic terminology, general principles for design
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11.2 General information
• EN 60204-1
Safety of machinery - Electrical equipment of machines - Part 1: Electrical equipment of
machinery - General requirements
• IEC 61508
Functional safety of electrical and electronic systems
This standard defines "safety integrity levels" (SIL), which not only describe a certain degree
of integrity with regard to safety-oriented software but also defined, quantitative error
probability ranges with regard to the hardware.
• IEC 61800-5-2
Adjustable-speed electrical power drive systems
Part 5-2: Safety requirements - Functional
Note
Certifications
In conjunction with certified components, the safety functions of the SINAMICS S120 drive
system fulfill the following requirements:
• Safety integrity level 2 (SIL 2) to IEC 61508
• Category 3 according to DIN EN ISO 13849‑1
• Performance level (PL) d according to DIN EN ISO 13849-1
In addition, the SINAMICS S120 safety functions are normally certified by independent
institutions. A list of currently certified components is available on request from your local
Siemens office.
Two-channel monitoring structure
All the main hardware and software functions for Safety Integrated are implemented in two
independent monitoring channels (e.g. switch-off signal paths, data management, data
comparison).
The two drive monitoring channels are implemented using the following components:
• Control Unit
• Motor Module/Power Module belonging to a drive
The monitoring functions in each monitoring channel work on the principle that a defined status
must prevail before each action is carried out and a specific acknowledgment must be made after
each action.
If these expectations of a monitoring channel are not fulfilled, the drive coasts to a standstill
(two-channel) and an appropriate message is output.
Two-channel parameterization
Parameterization of the Safety Integrated functions must be performed in two channels; i.e.
there is one parameter each for the 1st and 2nd channel. These two parameters must be
identically parameterized.
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11.2 General information
For safety reasons, you can only configure the Safety-relevant parameters of the first channel
with the Startdrive commissioning tool while offline. Startdrive copies the parameters of the
second channel automatically.
Since Startdrive generates the safety-relevant parameters of the second channel by copying, this
manual contains only the parameters of the first channel. You will find the relevant parameters
of the 2nd channel in the parameter description, e.g. in SINAMICS S120/S150 List Manual.
On faults and alarms, only the error number of the 1st channel is stated.
Switch-off signal paths
Two independent switch-off signal paths are available. All switch-off signal paths are low-active,
thereby ensuring that the system is always switched to a safe state if a component fails or in the
event of an open circuit.
If a fault is discovered in the switch-off signal paths, the "Safe Torque Off" function is activated
and a system restart inhibited.
Monitoring cycle
The safety-relevant drive functions are executed cyclically in the monitoring cycle.
The safety monitoring cycle lasts a minimum of 4 ms. Increasing the current controller cycle
(p0115) also increases the safety monitoring cycle.
Data cross-check
A cyclic cross-check of the safety-related data in the two monitoring channels is carried out. If
any data is inconsistent, a stop response is triggered with any Safety function.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r9780 SI monitoring cycle (Control Unit)
11.2.2 Supported functions
The Safety Integrated Functions comprise the following components:
• Safety Integrated Basic Functions
• Safety Integrated Extended Functions
• Safety Integrated Advanced Functions
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11.2 General information
Safety Integrated Basic Functions
The following functions are part of the standard scope of the drive and can be used without any
additional license:
• Safe Torque Off (STO)
STO is a safety function that prevents the drive from restarting unexpectedly, in accordance
with EN 60204-1:2006 Section 5.4.
• Safe Stop 1 (SS1, time controlled)
Safe Stop 1 is based on the "Safe Torque Off" function. This means that a Category 1 stop in
accordance with EN 60204-1:2006 can be implemented.
• Safe Brake Control (SBC)1) 2)
The SBC function permits the safe control of a holding brake. Special requirements:
1)
Note regarding Power/Motor Modules in the Chassis format: For the Chassis format, SBC is
only supported by Power/Motor Modules with article number ...3 (final digit) or higher. A Safe
Brake Adapter is also needed for this format.
2)
Note regarding Power/Motor Modules in the Blocksize format: Blocksize Power Modules
also require a Safe Brake Relay for this function.
Function Description
Safe Torque Off (STO) STO is a safety function that prevents the drive from restarting unexpectedly, in accordance with
EN 60204-1:2006 Section 5.4.
Safe Stop 1 (SS1, time con‐ Safe Stop 1 is based on the "Safe Torque Off" function. This means that a Category 1 stop in
trolled) accordance with EN 60204-1:2006 can be implemented.
Safe Brake Control (SBC) The SBC function permits the safe control of a holding brake. Special requirements exist for Power/
Motor Modules of the Chassis format1) as well as Power Modules of the Blocksize format2).
1) SBC is only supported by Power/Motor Modules of the Chassis format that have article number ...3 (final digit) or higher. A Safe
Brake Adapter is also needed for this format.
2) Power Modules of the Blocksize format also require a Safe Brake Relay for this function.
Safety Integrated Extended Functions
Note
Scope of functions
The Safety Integrated Extended Functions include the Basic Functions.
An additional license that will be charged is required to use the following Safety Integrated
Extended Functions. Extended Functions with encoder require an encoder with safety capability.
• Safe Torque Off (STO)
• Safe Stop 1 (SS1, time and acceleration controlled)
• Safe Brake Control (SBC)
• Safe Stop 2 (SS2)
• Safe Operating Stop (SOS)
• Safely-Limited Speed (SLS)
• Safe Speed Monitor (SSM)
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11.2 General information
• Safe Acceleration Monitor (SAM)
• Safe Brake Ramp (SBR)
• Safe Direction (SDI)
• Safe gearbox stage switchover
• Safety Info Channel (SIC)
• Safe homing
• Safe Brake Test (SBT)1)
• Safely-Limited Acceleration (SLA)
1)
The Safe Brake Test (SBT) is a diagnostic function that is included in the list of Safety
Integrated Extended Functions for organizational reasons only.
Safety Integrated Advanced Functions
Note
Scope of functions
The Safety Integrated Advanced Functions include the Basic and Extended Functions
These functions require an additional Safety Advanced license. Advanced Functions with
encoder require an encoder with safety capability.
• Safely-Limited Position (SLP)
• Transferring safe position values (SP)
• Safe Cam (SCA)
11.2.3 Control possibilities
The following options for controlling Safety Integrated Functions are available:
Control via: Basic Extended Advanced
Terminals (on the Control Unit and Motor/Power Mod‐ x ‑ ‑
ule)
PROFIsafe based on PROFIBUS or PROFINET x x x
TM54F x x x
Control without selection ‑ SLS, SDI -
Onboard F‑DI/F‑DO (CU310‑2) x1)
x x
1)
Only the F-DI 0 can be used for the control. The F‑DO is not available.
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11.2 General information
Note
PROFIsafe or TM54F
Using a Control Unit, control is possible either via PROFIsafe or TM54F. Mixed operation is not
permissible.
11.2.4 Parameters, checksum, version
Properties of Safety Integrated parameters
The following applies to Safety Integrated parameters:
• They are kept separate for each monitoring channel.
• During startup, checksum calculations (Cyclic Redundancy Check, CRC) are performed on the
safety parameter data and checked. The display parameters are not contained in the CRC.
• Data storage: The parameters are stored on the non-volatile memory card.
• Resetting safety parameters to the factory setting:
– A reset of the safety parameters to the factory setting on a drive-specific basis using p3900
and p0010 = 30 is only possible when the safety functions are not enabled (p9301 =
p9601 = p10010 = 0).
– Safety parameters can be reset to the factory setting with p0970 = 5. To do so, the Safety
Integrated password must be set. When Safety Integrated is enabled, this can result in
faults, which in turn require an acceptance test to be performed. Then save the
parameters and carry out a POWER ON.
– A complete reset of all parameters to the factory settings (p0976 = 1 and p0009 = 30 on
the Control Unit) is possible even when the safety functions are enabled (p9301 = p9601
= p10010 ≠ 0).
• The safety parameterization is password-protected against accidental or unauthorized
changes.
Note
The password protection is only available online.
Checking the checksum
For each monitoring channel, the Safety parameters include one parameter for the actual
checksum for the Safety parameters that have undergone a checksum check.
During commissioning, the actual checksum must be transferred to the corresponding
parameter for the reference checksum. This can be done for all checksums of a drive object at the
same time with parameter p9701.
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11.2 General information
Basic Functions
• r9798 SI actual checksum SI parameters (Control Unit)
• p9799 SI reference checksum SI parameters (Control Unit)
• r9898 SI actual checksum SI parameters (Motor Module)
• p9899 SI reference checksum SI parameters (Motor Module)
During each ramp-up procedure, the actual checksum is calculated via the Safety parameters
and then compared with the reference checksum.
If the actual and reference checksums differ, fault F01650 or F01680 is output and an
acceptance test requested.
Safety Integrated versions
The Safety firmware has a separate version ID for the Control Unit and Motor Module.
For the Basic Functions:
• r9770 SI version, drive-autonomous safety functions (Control Unit)
• r9870 SI version (Motor Module)
11.2.5 Handling the Safety password
The safety password protects safety parameters against maloperation. Always assign a strong
password, to enable protection.
Note
The safety password does not have the equivalent quality of a password (protection against
unauthorized access, e.g. by an attacker), but rather that of write protection (e.g. protection
against maloperation).
Note
The password protection is only available online.
Password reset
• You require a valid password to reset the password to the factory setting by resetting the
safety parameters.
• Please note that when the factory setting is reset throughout the complete device, then the
safety password is also deleted.
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11.2 General information
Details on handling the safety password
If a password is set, in commissioning mode for Safety Integrated (p0010 = 95), you cannot
change safety parameters until you have entered the valid safety password in p9761 for the
drives or p10061 for the TM54F. In addition to the specified parameters, a corresponding
functionality is available in Startdrive!
• When Safety Integrated is commissioned for the first time, the following applies:
– Default of p10061 = 0 (SI password entry TM54F)
– Default of p9761 = 0 (SI password entry drive)
This means:
You do not need to enter a safety password during the first commissioning.
• In the case of a series commissioning of Safety or in the case of spare part installation, the
following applies:
– The Safety password is retained on the memory card and in the Startdrive project.
– No safety password is required in the case of spare part installation.
• Change password for the drives
– p0010 = 95 Commissioning mode.
– p9761 = Enter "old safety password".
– p9762 = Enter "new password".
– p9763 = Confirm "new password".
– p0977 = 1; "Copy from RAM to ROM"
– The new and confirmed safety password is valid immediately.
• Change password for the TM54F
– p0010 = 95 Commissioning mode.
– p10061 = Enter "Old TM54F Safety Password" (factory setting "0")
– p10062 = Enter "new password"
– p10063 = Acknowledge "new password"
– p0977 = 1; "Copy from RAM to ROM"
– The new and acknowledged safety password is valid immediately.
• Change password with Startdrive
– Click "Enter password" in the Startdrive secondary navigation.
– Enter the current password.
– Enter the new password.
– Enter the new password again.
– Click "Change password" to accept the new password.
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11.2 General information
• Reset password with Startdrive
– Click "Enter password" in the Startdrive secondary navigation.
– In the subsequent dialog, first enter the old password.
– Set the new password = 0.
– Click "Change password" to accept the new password.
– SINAMICS S120 responds with the message "Please change the password!"
– Close the message.
– In the "Change password" dialog box, then click the "Cancel" button.
– The password has now been reset to the default "0."
• If the safety password is no longer available, you can no longer change the safety
configuration. You then have the following options:
– To commission the SINAMICS S120 completely as new:
- Restore the factory settings of the entire drive (Control Unit with all connected drives/
components).
- Commission the drive unit and the drives afresh.
- Commission Safety Integrated as new.
– To load another project into the drive (without a Safety password or with a known Safety
password). This is possible without a password because this operation is the same as
complete new commissioning.
– If neither option is acceptable to you, please contact "Technical Support" (see "Training
and support (Page 23)").
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2818 SI Extended/Advanced Functions - parameter manager
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p9761 SI password input
• p9762 SI password new
• p9763 SI password acknowledgment
• p10061 SI TM54F password entry
• p10062 SI TM54F password new
• p10063 SI TM54F password confirmation
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11.2 General information
11.2.6 Forced checking procedure (test stop)
11.2.6.1 Forced checking procedure or test of the switch-off signal paths (test stop) for Safety
Integrated Basic
The forced checking procedure (test stop) at the switch-off signal paths is used to detect
software/hardware faults at both monitoring channels in time and is automated by means of
activation/deactivation of the "Safe Torque Off" (STO) or "Safe Stop 1" (SS1) function.
To fulfill the requirements of ISO 13849-1 regarding timely error detection, the two switch-off
signal paths must be tested at least once within a defined time to ensure that they are
functioning properly. This functionality must be implemented using the forced checking
procedure (test stop), triggered either in the manual mode or by the automated process.
A timer ensures that forced checking procedure (test stop) is carried out in a timely fashion.
• p9659 SI forced checking procedure, timer.
A forced checking procedure (test stop) must be performed on the switch-off signal paths at least
once during the time set in this parameter.
Once this time has elapsed, an alarm is output and remains active until forced checking
procedure (test stop) is carried out.
The timer returns to the set value each time the STO/SS1 function is deactivated.
Note
Resetting the timer of the Basic Functions
When simultaneously using the Extended Functions, if the forced checking procedure (test stop)
is performed, then the timer of the Basic Functions is also reset.
While STO is selected by the Extended Functions, the terminals for the selection of the Basic
Functions are not checked for discrepancy. This means that the forced checking procedure (test
stop) of the Basic Functions must always be performed without the selection of STO or SS1 by
the Extended Functions. It is otherwise not possible to verify the correct control by the terminals.
When the appropriate safety devices are implemented (e.g. protective doors), it can be assumed
that running machinery will not pose any risk to personnel. The user is therefore only informed
that the forced checking procedure (test stop) is due in the form of an alarm, which requests the
user to perform forced checking procedure (test stop) at the next possible opportunity. This
alarm does not affect machine operation.
The user must set the time interval for carrying out forced checking procedure (test stop) to
between 0.00 and 9000.00 hours depending on the application (factory setting: 8.00 hours).
Examples of when the forced checking procedure (test stop) must be performed:
• When the drives are at a standstill after the system has been switched on (POWER ON).
• When the protective door is opened.
• At defined intervals (e.g. every 8 hours).
• In automatic mode (time and event dependent).
• The maximum time interval is one year (8760 hours).
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11.2 General information
11.2.6.2 Forced checking procedure (test stop) with POWER ON
Forced checking procedure (test stop) can be automatically executed at POWER ON.
• If the forced checking procedure (test stop) as well as the test of the F‑DO for the CU310-2
are to be executed automatically, then set p9507.6 = 1. When testing the F-DO of the
CU310-2, you must parameterize p10042 and activate the test in p10046.
• If the forced checking procedure (test stop) of the F‑DI and F‑DO of the TM54F is to be
executed automatically, then set p10048 = 1.
• If you have parameterized the forced checking procedure (test stop) for POWER ON, you can
still initiate a forced checking procedure (test stop) at any time as part of the engineered
application.
• If the automatically initiated function cannot be correctly completed as a result of a problem
(e.g. communication failure), then after the problem has been resolved, the function is
automatically restarted.
• After the forced checking procedure (test stop) has been performed successfully, the
converter goes into the "Ready" state.
• Timer p9659 is automatically reset as a result of the forced checking procedure (test stop).
• The automatic forced checking procedure (test stop) for POWER ON does not influence the
Safety Integrated Functions.
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11.3 Safety instructions
11.3 Safety instructions
Additional safety information and residual risks not specified in this chapter are included in the
relevant sections of this Function Manual.
DANGER
Risk minimization through Safety Integrated
Safety Integrated can be used to minimize the level of risk associated with machines and plants.
Machines and plants can only be operated safely in conjunction with Safety Integrated,
however, when the machine manufacturer:
• Precisely knows and observes this technical user documentation - including the
documented limitations, safety information and residual risks.
• Carefully constructs and configures the machine/plant. A careful and thorough acceptance
test must then be performed by qualified personnel and the results documented.
• Implements and validates all the measures required in accordance with the machine/plant
risk analysis by means of the programmed and configured Safety Integrated Functions or by
other means.
The use of Safety Integrated does not replace the machine/plant risk assessment carried out by
the machine manufacturer as required by the EC machinery directive.
In addition to using Safety Integrated Functions, further risk reduction measures must be
implemented.
NOTICE
Danger to life as a result of inactive Safety Integrated Functions after powering up
The Safety Integrated Functions are only activated after the system has completely powered
up. System startup is a critical operating state with increased risk. When accidents occur, this
can result in death or severe injury.
• Make sure that the machine is safe during the system start-up.
WARNING
Danger to life as a result of undesirable motor movement when automatically restarting
The Emergency Stop function must bring the machine to a standstill according to Stop Category
0 or 1 (STO or SS1) (EN 60204-1).
It is not permissible that the motor automatically restarts after an Emergency Stop, as this
represents danger to life as a result of the associated undesirable motor motion.
When individual safety functions (Safety Integrated Extended Functions or Safety Integrated
Advanced Functions) are deactivated, an automatic restart is permitted under certain
circumstances depending on the risk analysis (except when Emergency Stop is reset). An
automatic start is permitted when a protective door is closed, for example.
• For the cases listed above, ensure that an automatic restart is absolutely not possible.
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11.3 Safety instructions
WARNING
Danger to life as a result of undesirable motor motion when the system powers up and the
drives are activated after changing or replacing hardware and/or software
After hardware and/or software components have been modified or replaced, it is only
permissible for the system to run up and the drives to be activated with the protective devices
closed. Personnel shall not be present within the danger zone.
• It may be necessary to carry out a partial or complete acceptance test or a simplified
functional test after having made certain changes or replacements.
• Before personnel may re-enter the hazardous area, all of the drives should be tested to
ensure that they exhibit stable control behavior by briefly moving them in both the plus and
minus directions (+/-).
• When switching on carefully observed the following:
The Safety Integrated Functions are only available and can only be selected after the system
has completely powered up.
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11.4 Safe Torque Off (STO)
11.4 Safe Torque Off (STO)
In conjunction with a machine function or in the event of a fault, the "Safe Torque Off" (STO)
function is used to safely disconnect the torque-generating energy supply to the motor.
A restart is prevented by the two-channel pulse suppression. The switching on inhibited
prevents an automatic restart after deselection of STO.
The two-channel pulse suppression function integrated in the Motor Modules / Power Modules
is the basis for this function.
Functional features of "Safe Torque Off"
• The function is completely integrated in the drive. It can be selected via terminals, TM54F or
PROFIsafe from an external source.
• The function is drive-specific, i.e. it is available for each drive and must be individually
commissioned.
• The function must be enabled via parameter.
• When the "Safe Torque Off" function is selected, the following applies:
– The motor cannot be started accidentally.
– The pulse suppression safely disconnects the torque-generating energy supply to the
motor.
– The power unit and motor are not electrically isolated.
• The selection/deselection of the STO function also acknowledges the safety faults when the
Basic Functions are used. The standard acknowledgment mechanism must also be
performed.
• Extended acknowledgement:
The selection/deselection of STO can also acknowledge the safety messages of the extended
safety functions. This requires that the extended message acknowledgement is configured
(p9507.0 = 1).
If in addition to the "Extended Functions", the "Basic Functions via terminals" are also
enabled, in addition to selection/deselection of STO via PROFIsafe or TM54F,
acknowledgement is also possible by selection/deselection of STO via terminals.
• The status of the "Safe Torque Off" function is displayed using parameters (r9772, r9872,
r9773 and r9774).
• Effect on the "Setpoint speed limit effective" (r9733[0...2]):
For STO (≙ STOP A), a setpoint of 0 is specified in r9733[0...2].
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11.4 Safe Torque Off (STO)
WARNING
Unplanned motor motion
After the energy feed has been disconnected (STO active) the motor can undesirably move (e.g.
the motor can coast down), therefore presenting risk to persons.
• Take suitable measures to prevent undesirable movement, e.g. by using a brake with safety-
relevant monitoring. For additional information, see Chapter "Safe Brake Control (SBC)
(Page 691)".
WARNING
Danger due to short, limited movements
If two power transistors simultaneously fail in the power unit (one in the upper and one in the
lower inverter bridge), then this can cause cause brief, limited movement.
The maximum movement can be:
• Synchronous rotary motors: Max. movement = 180° / no. of pole pairs
• Synchronous linear motors: Max. movement = pole width
Enabling the "Safe Torque Off" function (Basic Functions)
The "Safe Torque Off" function is enabled via parameter p9601:
• STO for the Safety Integrated Basic Functions:
– p9601 = 1 hex (Basic Functions via onboard terminals)
– p9601 = 8 hex (Basic Functions via PROFIsafe)
– p9601 = 9 hex (Basic Functions via PROFIsafe and onboard terminals)
– p9601 = 40 hex (basic functions via TM54F)
– p9601 = 41 hex (basic functions via TM54F and onboard terminals)
• STO via PROFIsafe:
– p9601.0 = 0
– p9601.2 = 0
– p9601.3 = 1
• STO via PROFIsafe and onboard terminals:
– p9601.0 = 1
– p9601.2 = 0
– p9601.3 = 1
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11.4 Safe Torque Off (STO)
• STO via TM54F:
– p9601.0 = 0
– p9601.2 = 0
– p9601.3 = 0
– p9601.6 = 1
• STO via TM54F and onboard terminals:
– p9601.0 = 1
– p9601.2 = 0
– p9601.3 = 0
– p9601.6 = 1
• STO via onboard terminals:
– p9601.0 = 1
Selecting/deselecting "Safe Torque Off"
The following is executed when "Safe Torque Off" is selected:
• Each monitoring channel triggers safe pulse suppression via its switch-off signal path.
• A motor holding brake is closed (if connected and configured).
Deselecting "Safe Torque Off" represents an internal safety acknowledgment. The following is
executed if the cause of the fault has been removed:
• Each monitoring channel cancels safe pulse suppression via its switch-off signal path.
• The Safety requirement "Close motor holding brake" is canceled. A motor holding brake is
closed by the Safe Brake Control (SBC) function (if connected and configured)."
• Any pending STOP F or STOP A commands are canceled (see r9772 / r9872).
• The messages in the fault memory must also be reset using the general acknowledgment
mechanism.
Note
No message during selection/deselection within p9650
If "Safe Torque Off" is selected and deselected through one channel within the time in p9650,
the pulses are suppressed without a message being output.
However, if you want a message to be displayed, then you must reconfigure N01620 as an
alarm or fault using p2118 and p2119.
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11.4 Safe Torque Off (STO)
Restart after the "Safe Torque Off" function has been selected
1. Deselect the function.
2. Set drive enables.
3. Cancel the "switching on inhibited" and switch the drive back on.
– 1/0 edge at input signal "ON/OFF1" (cancel "switching on inhibited")
– 0/1 edge at input signal "ON/OFF1" (switch on drive)
Status for "Safe Torque Off"
The status of the "Safe Torque Off" (STO) function is displayed using the parameters r9772,
r9872, r9773 and r9774.
As an alternative, the status of the functions can be displayed using the configurable messages
N01620 and N30620 (configured using p2118 and p2119).
Response time for the "Safe Torque Off" function
For the response times when the function is selected/deselected via input terminals, see the
table in Section "Response times (Page 695)".
Internal armature short-circuit with the "Safe Torque Off" function
The function "internal armature short-circuit" can be configured together with the "STO"
function.
The "STO" safety function has the higher priority when simultaneously selected. If the "STO"
function is initiated, then an activated "internal armature short-circuit" is disabled.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0799[0...2] CU inputs/outputs, sampling time
• p9601 SI enable functions integrated in the drive (Control Unit)
• r9772.0...23 CO/BO: SI Status (Control Unit)
• r9773.0...31 CO/BO: SI status (Control Unit + Hydraulic Motor Module)
• r9774.0...31 CO/BO: SI Status (group STO)
• r9780 SI monitoring cycle (Control Unit)
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11.5 Safe Stop 1 (SS1, time controlled)
11.5 Safe Stop 1 (SS1, time controlled)
11.5.1 SS1 with OFF3
The "Safe Stop 1" (SS1) function allows the drive to be stopped in accordance with EN 60204-1,
Stop Category 1. The drive decelerates with the OFF3 ramp (p1135) once "Safe Stop 1" is
selected and switches to "Safe Torque Off" (STO) once the delay time set in p9652 has elapsed.
Note
Selection via terminals
The selection of the "Safe Stop 1" (time-controlled) function via terminals is parameterized by
setting a delay > 0 in p9652. In this case, the STO function can no longer be selected directly via
terminals, i.e. either STO or SS1 can be selected via terminals.
If the "Safe Stop 1" (time-controlled) function has been selected by parameterizing a delay time
in p9652, STO can no longer be selected directly via terminals.
Precondition
• The Basic Functions are enabled via terminals and/or PROFIsafe:
– p9601 = 1, 8 or 9 (hex)
• Enabling Basic Functions via TM54F
– p9601.6 = 1
• In order that the drive can brake down to a standstill even when selected through one
channel, the time in p9652 must be shorter than the sum of the parameters for the data cross-
check (p9650 and p9658). Otherwise the drive will coast down after the time p9650 + p9658
has elapsed.
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11.5 Safe Stop 1 (SS1, time controlled)
Functional features of Safe Stop 1
SS1 is enabled by p9652 (delay time) ≠ 0.
• Setting parameter p9652 has the following effect:
– p9652 = 0
SS1 is not enabled. Only STO can be selected via TM54F, the onboard terminals and/or
PROFIsafe.
– p9652 > 0
SS1 is enabled. Only SS1 can be selected via the onboard terminals; with PROFIsafe, a
selection of SS1 and STO is possible.
• When SS1 is selected, the drive is braked along the OFF3 ramp (p1135) and STO/SBC is
automatically initiated after the delay time has expired (p9652).
After the function has been selected, the delay timer runs down - even if the function is
deselected during this time. In this case, after the delay time has expired, the STO/SBC
function is selected and then again deselected immediately.
Note
Setting the delay time
So that the drive is able to travel down the OFF3 ramp completely and any motor holding
brake present can be applied, before the pulses have been safely deleted, the delay time
should be set as follows:
• Motor holding brake parameterized: Delay time p9652 ≥ p1135 + p1228 + p1217
• Motor holding brake not parameterized: Delay time p9652 ≥ p1135 + p1228
• The setting of parameter p1135 must be oriented towards the actual braking capability
of the drive.
• The timer (p9652) after whose expiration STO is activated, is implemented with two
channels, although deceleration along the OFF3 ramp is only one channel.
• Effect on "Speed setpoint limit effective" (r9733[0...2]):
If SS1 (≙ STOP B), setpoint 0 is specified in r9733[0...2].
Status of Safe Stop 1
The status of the "Safe Stop 1" (SS1) function is displayed using the parameters r9772, r9872,
r9773 and r9774.
As an alternative, the status of the function can be displayed using the configurable message
N01621 (configured using p2118 and p2119).
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11.5 Safe Stop 1 (SS1, time controlled)
11.5.2 SS1 with external stop
In drive line-ups (e.g. drives that are mechanically connected via the material), the drive-
independent braking on the respective OFF3 ramp can cause problems. If the SS1E function is
used, the safe delay time (p9652) is started when the function is selected, but no OFF3 is
triggered. The higher-level controller still enters the setpoint. The controller receives the
information that SS1E has been selected via the Safety Info Channel.
WARNING
Any axis motion is possible
During the delay time (p9652), for "Safe Stop 1 (time-controlled) with external stop", any axis
movements are possible.
Differences between "SS1 with OFF3" and "SS1 with external stop"
"SS1 with OFF3" and "SS1 with external stop" have the following differences:
• In order to activate "Safe Stop 1 with external stop", additionally set p9653 = 1.
• When SS1E is selected, the drive is not braked along the OFF3 ramp, but after the delay time
has expired (p9652), only STO/SBC is automatically initiated.
11.5.3 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2810 SI Basic Functions - STO (Safe Torque Off), SS1 (Safe Stop 1)
• 2811 SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p1135[0...n] OFF3 ramp-down time
• p1217 Motor holding brake closing time
• p1228 Pulse suppression delay time
• p9601 SI enable functions integrated in the drive (Control Unit)
• p9652 SI Safe Stop 1 delay time (Control Unit)
• r9772.0...23 CO/BO: SI Status (Control Unit)
• r9773.0...31 CO/BO: SI Status (Control Unit + Motor Module)
• r9774.0...31 CO/BO: SI Status (group STO)
Only for "Safe Stop 1 (time-controlled) with external stop"
• p9653 SI Safe Stop 1 drive-based braking response
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11.6 Safe Brake Control (SBC)
11.6 Safe Brake Control (SBC)
The "Safe Brake Control" function (SBC) is used to safely control holding brakes that function
according to the closed-circuit principle (e.g. motor holding brake).
The opening and closing of the brake is controlled by the Motor Module / Power Module.
Terminals are available for this on the device in booksize format. A Safe Brake Relay is also
required for the "Safe Brake Control" in the blocksize format. A Safe Brake Adapter is required in
the chassis format (starting with article numbers ending with ...3). When the Power Module is
configured automatically, the Safe Brake Relay is detected and the motor holding brake type is
defaulted (p1278 = 0).
Brake activation via the brake connection on the Motor Module / Safe Brake Relay (SBR) / Safe
Brake Adapter (SBA) involves a safe, two-channel method.
Note
No SBC for SINAMICS HLA
SINAMICS HLA does not support Safe Brake Control.
Note
Controlling the brake via a relay for "Safe Brake Control"
If you use the "Safe Brake Control (SBC)" function, the use of relays/contactors can cause faults
in the brake control when brakes are switched.
WARNING
Undesirable motor motion due to defective brake
"Safe Brake Control" does not detect mechanical defects of the brake.
A cable break or a short-circuit in the brake winding is only detected when the state changes,
i.e. when the brake either opens and/or closes. In SINAMICS S120M, a cable break is only
identified when opening the brake.
For devices in Chassis format with connected Safe Brake Adapter, the connecting cable
between the Safe Brake Adapter and the motor brake is not monitored for cable break or short-
circuit.
The aforementioned defects may trigger unwanted motor motion, which may result in physical
injury or death.
• In particular, ensure the brake is not powered from an external source. Information on this
topic can be found in EN 61800‑5‑2, Appendix D.
• During commissioning, test the brake using the diagnostic function "Safe Brake Test (SBT)"
(Safety Integrated Extended Function): Detailed information can be found in the "SINAMICS
Safety Integrated Function Manual".
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11.6 Safe Brake Control (SBC)
Functional features of "Safe Brake Control"
• SBC is executed when "Safe Torque Off" (STO) is selected.
• In contrast to conventional brake control, SBC is executed via two channels.
• SBC is executed regardless of the brake control or mode set in p1215. However, SBC does not
make sense for p1215 = 0 or 3.
• The function must be enabled using parameters.
• When the state changes, electrical faults, such as a short-circuit in the brake winding or wire
breakage can be detected.
Enabling the "Safe Brake Control" function
The "Safe Brake Control" function is enabled via parameter p9602.
The SBC function can be used only together with STO. The selection of SBC alone is not possible.
2-channel brake control
Note
Connecting the brake
The brake cannot be directly connected to the Motor Module in chassis format. A Safe Brake
Adapter is also required.
The brake is controlled from the Control Unit. Two signal paths are available for applying the
brake.
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Figure 11-1 2-channel brake control, blocksize (example)
The Motor / Power Module carries out a check to ensure that the "Safe Brake Control" function
is working properly and ensures that, if the Control Unit fails or is faulty, the brake current is
interrupted and the brake applied.
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11.6 Safe Brake Control (SBC)
The brake diagnosis can only reliably detect a malfunction in either of the switches (TB+, TB-)
when the status changes, i.e. when the brake is released or applied.
If the Motor Module or Control Unit detects a fault, the brake current is switched off. The brake
then closes and a safe state is reached.
11.6.1 SBC for Motor Modules in the chassis format
To be able to set higher power in the brakes of devices of this format, an additional Safe Brake
Adapter (SBA) module is needed. For more information about connecting and wiring the Safe
Brake Adapter, refer to the "SINAMICS G130/G150/S120 Chassis/S120 Cabinet Modules/S150
Safety Integrated" Function Manual.
Using parameter p9621, you can define via which digital input the relay (NO contacts) feedback
signal of the Safe Brake Adapter is routed to the Control Unit.
To evaluate the feedback signal contacts, you must maintain the wait times caused by the SBA.
Parameter p9622 is pre-assigned with the SBA-relay wait times:
• p9622[0] ≙ wait time, switching on
• p9622[1] ≙ wait time, switching off
Further functionality and the activation of the brake, i.e. reaching the safe status, are in this case
the same as the above described procedure for booksize devices.
Safe Brake Control with power units in a parallel connection
Note
SBC for parallel connection of power units
Safe Brake Control with power units in a parallel connection is available if r9771.14 = 1.
If you wish to use SBC with SBA for chassis format power units connected in parallel, then it is
only permissible that you connect precisely one SBA to a power unit in the parallel connection.
The Safe Brake Adapter and therefore the brake are controlled via this power unit.
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11.6 Safe Brake Control (SBC)
There are two options for registering this power unit with the system:
• Automatic brake identification when commissioning the system for the first time
– Requirements:
- No Safety Integrated functions enabled
- p1215 = 0 (no motor holding brake available)
– During the first commissioning, SINAMICS checks at which power unit an SBA is
connected. If precisely one SBA is found, the number of the power unit is entered into
parameter p7015.
If several SBAs are found at the parallel-connected power units, message "F07935 drive:
Motor holding brake configuration error" is output.
– For devices in the chassis format, if the SBA feedback signal (SBA_DIAG) is read in via an
input of the power unit, then in addition, this digital input is automatically entered into
parameter p9621.
• Manually defining the power unit
– Enter the component number of the power unit, to which the SBA is connected, into
parameter p7015. If no SBA is connected to the power unit, faults are detected when
controlling the motor holding brake and fault F01630 is output.
– In parameter p9621 (p9621 = BICO interconnection to r9872.3), enter the digital input of
the power unit to which the SBA is connected and via which the SBA feedback signal
(SBA_DIAG) is read in.
Note
Disconnecting the brake cable for service purposes
As long as the brake is permanently released and not actuated, it is possible to briefly disconnect
the brake cable, e.g. for service purposes, and not receive fault messages. In the case of a fault,
message F07935 is only output when the brake is controlled.
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11.7 Response times
11.7 Response times
The Safety Integrated Basic Functions are executed in the monitoring cycle (p9780). PROFIsafe
telegrams are evaluated in the PROFIsafe scan cycle, which corresponds to twice the monitoring
clock cycle (PROFIsafe scan cycle = 2 · r9780).
Note
Actual value of the monitoring cycle (r9780)
You can only see the actual value of the monitoring cycle (r9780) if you are connected online
with the drive. However, you can use the following values to roughly calculate the response
times:
• If P0115[0] = 31.25 µs or 62.5 µs or 125 µs, then r9780 = 4 ms.
• If p0115[0] = 250 µs, then r9780 = 8 ms.
• If p0115[0] = 400 µs or 500 µs, then r9780 = 16 ms.
Note for understanding the tables
The drive system is the component that provides the safety functions. The designation "fault-
free drive system" means that the component that provides the safety functions does not have
a defect itself:
• Worst case for a fault-free drive system
For faults outside the drive system (e.g. faulty setpoint input from a control system, limit
value violations as a result of the behavior of the motor, closed-loop control, load, etc.), the
"Worst case for a fault-free drive system" response time is guaranteed.
• Worst case when a fault exists
For a single fault within the drive system (e.g. a defect in a switch-off signal path of the power
unit, in an encoder actual value measurement, in a microprocessor (Control Unit or Motor
Module) etc.), the "Worst case when a fault exists" response time is guaranteed.
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11.7 Response times
11.7.1 Controlling via terminals on the Control Unit and Motor Module
The following table lists the response times from the control via terminals until the response
actually occurs.
Table 11-1 Response times for control via terminals on the Control Unit and the Motor Module.
Function Worst case for
Drive system has no fault A fault is present
STO 2 · r9780 + t_E 1)
3 · r9780 + t_E1)
SS1/SS1E (time-controlled)
Selection until STO is initiated 2 · r9780 + p9652 + t_E1) 3 · r9780 + p9652 + t_E1)
SS1/SS1E (time-controlled)
Selection until SBC is initiated 4 · r9780 + p9652 + t_E1) 8 · r9780 + p9652 + t_E1)
SS1 (time-controlled)
Selection until braking is initiated 3 · r9780 + 2 ms + t_E1) 4 · r9780 + 2 ms + t_E1)
SBC 4 · r9780 + t_E1) 8 · r9780 + t_E1)
1)
The following applies for t_E (debounce time of the digital input being used):
p9651 = 0 t_E1) = 2 · p0799 (default = 4 ms)
p9651 ≠ 0 t_E1) = p9651 + p0799 + 1 ms
1)
The minimum time for t_E is t_E_min = 2 ms.
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11.7 Response times
11.7.2 Control via PROFIsafe
The following table lists the response times from receiving the PROFIsafe telegram at the Control
Unit up to initiating the particular response.
Note
Internal SINAMICS response times
The specified response times are internal SINAMICS response times. Program run times in the
F‑host and the transmission time via PROFIBUS or PROFINET are not taken into account. When
calculating the response times between the F-CPU and the converter, you must take into account
that faults in the communication can result in a safety function only being selected after the
PROFIsafe monitoring time (F_WD_Time) has expired. The PROFIsafe monitoring time
(F_WD_Time) must also be included in the calculation when an error occurs.
Table 11-2 Response times when controlling via PROFIsafe
Function Worst case for
Drive system has no fault A fault is present
STO 5 · r9780 + t_K 2)
5 · r9780 + t_K2)
SS1/SS1E (time controlled)
Selection until STO is initiated 5 · r9780 + p9652 + t_K2) 5 · r978 + p9652 + t_K2)
SS1/SS1E (time controlled)
Selection until SBC is initiated 6 · r9780 + p9652 + t_K2) 10 · r9780 + p9652 + t_K2)
SS1 (time controlled)
Selection until braking is initiated 5 · r9780 + 2 ms + t_K2) 5 · r9780 + 2 ms + t_K2)
SBC 6 · r9780 + t_K 2)
10 · r9780 + t_K2)
2)
t_K is the time for internal communication within the SINAMICS module. t_K can be determined as follows:
Isochronous communication t_K = To (for To, see parameter r2064[4])
Non-isochronous communication t_K = 4 ms
Applies to modules on which p2048 (for communication via IF1) or p8848 (for
communication via IF2) do not exist.
t_K = value from p2048 or p8848
Applies to modules on which p2048 (for communication via IF1) or p8848 (for
communication via IF2) exist.
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11.7 Response times
11.7.3 Control via TM54F
The following table lists the response times from the control via TM54F until the response
actually occurs.
Table 11-3 Response times for control via TM54F
Function Worst case for
Drive system has no fault A fault is present
STO 3 · r9780 + p10017 + 2 ms 3 · r9780 + p10017 + 2 ms
SS1/SS1E (time-controlled) 3 · r9780 + p9652 + p10017 + 2 ms 3 · r9780 + p9652 + p10017 + 2 ms
Selection until STO is initiated
SS1/SS1E (time-controlled) 4 · r9780 + p9652 + p10017 + 2 ms 8 · r9780 + p9652 + p10017 + 2 ms
Selection until SBC is initiated
SS1 (time-controlled) 3 · r9780 + p10017 + 4 ms 3 · r9780 + p10017 + 4 ms
Selection until braking is initiated
SBC 4 · r9780 + p10017 + 2 ms 8 · r9780 + p10017 + 2 ms
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11.8 Controlling via terminals on the Control Unit and Motor/Power Module
11.8 Controlling via terminals on the Control Unit and Motor/Power
Module
Features
• Only for the Basic Functions
• Two-channel structure via two digital inputs (e.g. Control Unit/power unit)
• A debounce function can be applied to the terminals of the Control Unit and the Motor
Module to prevent incorrect trips due to signal disturbances or test signals. The filter times
are set using parameter p9651.
• Different terminal blocks depending on the format
• Automatic ANDing of up to eight digital inputs (p9620[0...7]) on the Control Unit for Chassis
format power units connected in parallel
• The F-DI 0 is available on the CU310-2
Overview of the safety function terminals for SINAMICS S120
The different power unit formats of SINAMICS S120 have different terminal designations for the
inputs of the safety functions. These are shown in the following table.
Table 11-4 Inputs for safety functions
Module 1st switch-off signal path 2nd switch-off signal path (EP termi‐
(p9620[0]) nals)
Control Unit CU320‑2 X122.1....6/X132.1…6 –
DI 0...7/16/17/20/21
Booksize / Booksize Com‐ (see CU320‑2) X21.3 and X21.4
pact Single Motor Module (on the Motor Module)
Chassis Single Motor Mod‐ (see CU320‑2) X41.1 and X41.2
ule / Power Module
Booksize / Booksize Com‐ (see CU320‑2) X21.3 and X21.4 (X1 motor connection)
pact Double Motor Module X22.3 und X22.4 (X2 motor connection)
(on the Motor Module)
Blocksize Power Module (see CU320‑2) X210.3 and X210.4 (on the
with CUA31 / CUA32 CUA31 / CUA32)
Control Unit CU310-2 X120.3 X120.4 and X120.51)
X121.1...4
Chassis Power Module with (see CU310-2) X41.1 and X41.2
CU310-2
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11.8 Controlling via terminals on the Control Unit and Motor/Power Module
Module 1st switch-off signal path 2nd switch-off signal path (EP termi‐
(p9620[0]) nals)
Blocksize Power Module (see CU310-2) STO_A and STO_B
with CU310-2 (for more detailed information, see "SI‐
NAMICS S120 AC Drive Manual ")
SIMOTION CX32-2 control‐ X122.1...6 –
ler extension DI 0...3/16/17
1)
Please note: For the CU310-2, you must use the EP terminal (DI 17) as a switchoff signal path. As 2nd
switch-off signal path, use any free digital input (DI). For further information about the terminals, see
the Equipment Manuals.
Note
Function of the EP terminals
The EP terminals are only evaluated if the Safety Integrated Basic Functions are enabled via
onboard terminals.
Description of the two-channel structure
The functions are separately selected/deselected for each drive using two terminals.
• Switch-off signal path, Control Unit (CU310-2 / CU320-2)
The desired input terminal is selected via BICO interconnection (BI: p9620[0]).
• Switch-off signal path, Motor Module / Power Module (with CUA3x or CU310-2)
The input terminal is the "EP" terminal ("Enable Pulses").
Both terminals must be energized within the tolerance time p9650, otherwise a fault will be
output.
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Drive functions
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Safety Integrated Basic Functions
11.8 Controlling via terminals on the Control Unit and Motor/Power Module
Grouping drives (not for CU310-2)
To ensure that the function works for more than one drive at the same time, the terminals for the
corresponding drives must be grouped together as follows:
1. Switch-off signal path
Connect the p9620 parameters of all drives that belong to a group with a single DI (r0722.x)
of the CU320‑2.
2. Switch-off signal path (Motor Module / Power Module with CUA3x)
Wire the terminals for the individual Motor Modules/Power Modules, belonging to the group,
with CUA31/CUA32.
Note
Parameterization of the grouping
The grouping must be configured (DI on Control Unit) and wired (EP terminals) identically in
both monitoring channels.
Note
Response of STO for grouping
If a fault in a drive results in a "Safe Torque Off" (STO), this does not automatically mean that the
other drives in the same group also switch to "Safe Torque Off" (STO).
The assignment is checked during the test for the switch-off signal paths. The operator selects
"Safe Torque Off" for each group. The check is drive-specific.
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Safety Integrated Basic Functions
11.8 Controlling via terminals on the Control Unit and Motor/Power Module
Example: Terminal groups
It must be possible to select/deselect "Safe Torque Off" separately for group 1 (drives 1 and 2) and
group 2 (drives 3 and 4). For this purpose, the same grouping for "Safe Torque Off" must be
realized both for the Control Unit and the Motor Modules.
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Information on the parallel connection of Chassis format Motor Modules
When Chassis format Motor Modules are connected in parallel, a safe AND element is created on
the parallel drive object. The number of indexes in p9620 corresponds to the number of parallel
Chassis components in p0120.
11.8.1 Simultaneity and tolerance time of the two monitoring channels
The monitoring functions must be selected/deselected simultaneously in both monitoring
channels via the input terminals and only have an effect on the associated drive.
• 1 signal: Deselecting the function
• 0 signal: Selecting the function
The time delay that is unavoidable due to mechanical switching, for example, can be adapted via
parameters. The tolerance time, within which selection/deselection of the two monitoring
channels must occur if they are to be considered "simultaneous," is set in the following
parameters:
• p9650 (Basic Functions)
• p10002 (Extended / Advanced Functions)
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11.8 Controlling via terminals on the Control Unit and Motor/Power Module
Note
Parameterization of the tolerance time
In order to avoid that faults are incorrectly initiated, at these inputs the tolerance time must
always be set shorter than the shortest time between two switching events (ON/OFF, OFF/ON).
• If the monitoring functions are not selected/deselected within the tolerance time, this is
detected by the cross-check, and the following fault (STOP F) is output.
– F01611 (Basic Functions)
– C01770 (Extended / Advanced Functions)
For STO, the following applies: In this case, the pulses have already been canceled as a result
of the selection of "Safe Torque Off" on one channel.
Note
Timing between the switching operations in the Basic Functions
Message F01611 with fault value 1000 is output if switching operations occur too
frequently. The cause depends on the type of control:
• Persistent signal changes occurred at the F-DI.
• STO was permanently triggered via PROFIsafe (also as subsequent response).
Within the time 5 · p9650, there must be at least two switching operations at the terminals
or via PROFIsafe with a minimum time between them of p9650.
• If the "Safe Stop 1" of the Basic Functions is not selected within the tolerance time in two
channels, this is detected by the cross-check, and fault F01611 (STOP F) is output. After the
set "SI Safe Stop 1 delay time" (p9652), the pulses are suppressed.
Note
In order that the drive can brake down to a standstill even when selected through one
channel, the time in p9652 must be shorter than the sum of the parameters for the data cross-
check (p9650 and p9658). Otherwise, the drive will coast down after the time p9650 +
p9658 has elapsed.
Further notes for setting the discrepancy time (also see the following diagram "Discrepancy
time") are provided in the "SINAMICS S120/S150 List Manual" for the following message:
• F01611 (Basic Functions)
• C01770 (Extended / Advanced Functions)
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11.8 Controlling via terminals on the Control Unit and Motor/Power Module
7' 7'
75 75
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TS Switching interval
TD Discrepancy time
TR Response time
Figure 11-4 Discrepancy time
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p9650 SI SGE switchover discrepancy time (Control Unit)
• p9652 SI Safe Stop 1 delay time (Control Unit)
• p9658 SI transition time STOP F to STOP A (Control Unit)
• p10002 SI Motion F-DI switchover discrepancy time (CPU 1)
11.8.2 Bit pattern test
Bit pattern test of fail-safe outputs
The converter normally responds immediately to signal changes in its fail-safe inputs. This is not
desired in the following case: Several control modules test their fail-safe outputs using bit
pattern tests (on/off tests), in order to identify faults due to either short-circuit or cross-circuit
faults. When you interconnect a fail-safe input of the converter with a fail-safe output of a
control module, the converter responds to these test signals.
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11.8 Controlling via terminals on the Control Unit and Motor/Power Module
Note
Debounce time for unwanted triggering of Safety Integrated Functions
If the test pulses cause an unwanted triggering of the Safety Integrated functions, these test
pulses can be suppressed with the aid of the F-DI input filter (p9651 for Basic Functions). To do
this, a value must be entered in p9651 or p10017 that is greater than the duration of a test pulse.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p9651 SI STO/SBC/SS1 debounce time (Control Unit)
• p10017 SI Motion digital inputs debounce time (processor 1)
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11.9 Control via TM54F
11.9 Control via TM54F
11.9.1 Design
The TM54F is a terminal expansion module for snapping onto a DIN EN 60715 mounting rail: The
TM54F features fail-safe digital inputs and outputs for controlling and signaling the states of the
Safety Integrated Basic Functions.
Note
DRIVE-CLiQ line of the TM54F
• A TM54F must be connected directly to a Control Unit via DRIVE-CLiQ.
• Each Control Unit can be assigned only one TM54F which is connected via DRIVE-CLiQ.
• Additional DRIVE-CLiQ nodes can be operated at the TM54F, such as Sensor Modules and
Terminal Modules (excluding an additional TM54F). It is not permissible that Motor Modules
and Line Modules are connected to a TM54F.
• In the case of a CU310-2 Control Unit, it is not possible to connect the TM54F to the DRIVE-
CLiQ line of a Power Module. The TM54F can only be connected to the sole DRIVE‑CLiQ X100
socket of the Control Unit.
Table 11-5 Overview of the TM54F interfaces
Type Number
Fail-safe digital outputs (F-DO) 4
Fail-safe digital inputs (F-DI) 10
Sensor 1)
power supplies, dynamic response supported 2)
2
Sensor 1) power supply, no dynamic response 1
Digital inputs for checking the F-DO with activated forced checking procedure (test stop) 4
1)
Sensors: Fail-safe devices for command operations and status logging (e.g. emergency stop buttons,
safety door locks, position switches, and light arrays/light curtains).
2)
Dynamic response: The sensor power supply is switched on and off by the TM54F when the forced
checking procedure (test stop) is active for the sensors, cable routing, and the evaluation electronics.
The TM54F provides four fail-safe digital outputs and ten fail-safe digital inputs. A fail-safe digital
output consists of a 24 VDC switching output, an output switching to ground and a digital input
for reading back the switching state. A fail-safe digital input is made up of 2 digital inputs.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2890 SI TM54F - overview
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11.9 Control via TM54F
11.9.2 Fault acknowledgment
You have the following options of acknowledging TM54F faults after troubleshooting:
• POWER ON
• Falling edge of the signal "Internal Event ACK" with subsequent acknowledgment on the
Control Unit ("fail-safe acknowledgment")
11.9.3 F-DI function
Description
Fail-safe digital inputs (F-DI) consist of 2 digital inputs. At the 2nd digital input, the cathode (M)
of the optocoupler is additionally brought out to enable connection of an output of a fail-safe
control grounded through a switch. (The anode must be connected to 24 V DC).
Parameter p10040 is used to determine whether an F-DI is operated as NC/NC or NC/NO contact.
The status of each DI can be read at parameter r10051. The bits of both drive objects are logically
AND'ed and return the status of the relevant F-DI.
Test signals from F-DOs and interference pulses can be filtered out using the input filter
(p10017), so that they do not cause any faults.
Explanation of terms:
NC contact/NC contact: to select the safety function, a "zero level" must be present at both
inputs.
NC contact / NO contact: to select the safety function, a "zero level" must be present at input 1
and a "1 level" at input 2.
The signal states at the two associated digital inputs (F-DI) must assume the same status
configured in p10040 within the monitoring time set in p10002.
To enable the forced checking procedure (test stop), connect the digital inputs of F-DI 0 ... 4 of
the TM54F to the dynamic voltage supply L1+ and the digital inputs to F-DI 5 ... 9 to L2+.
Additional information for the forced checking procedure (test stop) is provided in Chapter
"Forced checking procedure or test of the switch-off signal paths (test stop) for Safety Integrated
Basic (Page 680)".
Table 11-6 Overview of the fail-safe inputs in the SINAMICS S120/S150 List Manual:
Module Function diagram Inputs
TM54F 2893 F-DI 0 .... 4
2894 F-DI 5 ... 9
F-DI features
• Fail-safe configuration with 2 digital inputs per F-DI
• Input filter to block test signals with an adjustable suppression time (p10017), see Chapter
"Bit pattern test (Page 704)".
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11.9 Control via TM54F
• Configurable connection of NC contact/NC contact or NC contact/NO contact using p10040
• Status parameter r10051
• Adjustable time window for monitoring discrepancy at both digital inputs by means of
parameter p10002 for all F-DIs
Note
Discrepancy time
To avoid that fault messages are incorrectly triggered ("nuisance tripping"), at these inputs the
discrepancy time must always be set less than the shortest time between 2 switching events (ON/
OFF, OFF/ON) (see also the following diagram "Discrepancy time").
Further notes for setting the discrepancy time are contained in the "SINAMICS S120/S150 List
Manual" for the following messages:
• F01611 (Basic Functions)
• C01770 (Extended / Advanced Functions)
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TD Discrepancy time
TR Response time
Figure 11-6 Discrepancy time
• Second digital input with additional tap of the optocoupler cathode for connecting a ground-
switching output of a fail-safe controller.
• The signal states of the two digital inputs of the F-DIs are frozen at logical 0 (safety function
selected) when different signal states are present within a failsafe F-DI until a safe
acknowledgment has been carried out by means of an F-DI via parameter p10006 (SI
acknowledgment internal event input terminal).
• The monitoring time (p10002) for the discrepancy of the two digital inputs of an F-DI may
have to be increased so that switching operations do not trigger an undesired response,
thereby necessitating a safe acknowledgment. Therefore, the signal states at the two
associated digital inputs (F-DI) must have the same state within this monitoring time,
otherwise the following fault will be output F35151 "TM54F: Discrepancy error". This
requires safe acknowledgment.
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11.9 Control via TM54F
WARNING
Unwanted movement due to incorrect signal states as a result of diagnostic currents in
the switched-off state (logical state "0" or "OFF")
Unlike mechanical switching contacts, e.g. emergency stop switches, diagnostic currents can
also flow when the semiconductor is in the switched-off state. If interconnection with digital
inputs is faulty, the diagnostic currents can result in incorrect switching states. Incorrect signal
states of digital inputs can cause unwanted movements of machine parts and result in serious
injury or death.
• Observe the conditions of digital inputs and digital outputs specified in the relevant
manufacturer documentation.
• Check the conditions of the digital inputs and digital outputs with regard to currents in the
"OFF" state and, if necessary, connect the digital inputs to suitably dimensioned, external
resistors to protect against the reference potential of the digital inputs.
More information on this topic is available on the Internet at: Parameterizing and configuring
safety hardware (https://support.industry.siemens.com/cs/ww/en/view/39700013).
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2893 SI TM54F - fail-safe digital inputs (F-DI 0 … F-DI 4)
• 2894 SI TM54F - fail-safe digital inputs (F-DI 5 … F-DI 9)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p10002 SI TM54F F-DI switchover discrepancy time
• p10017 SI TM54F digital inputs debounce time
• p10040 SI TM54F F-DI input mode
• r10051.0...9 CO/BO: SI TM54F digital inputs, status
11.9.4 Function of the F-DO
Fail-safe digital outputs (F-DO) consist of 2 digital outputs and 1 digital input that checks the
switching state for the forced checking procedure (test stop). The 1st digital output switches
24 V DC, and the 2nd switches the ground of the power supply of X514 (TM54F).
The status of each F-DO can be read at parameter r10052. The status of the associated DI can be
read at parameter r10053 (only available for TM54F_SL (TM54F Slave Module)).
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11.9 Control via TM54F
The actuator connected to the F-DO can also be tested under specific conditions as part of forced
checking procedure (test stop). See Chapter "Forced checking procedure or test of the switch-off
signal paths (test stop) for Safety Integrated Basic (Page 680)".
Table 11-7 Overview of the fail-safe outputs in the SINAMICS S120/S150 List Manual:
Module Function diagram Outputs Associated checking
inputs
TM54F 2895 F-DO 0 ... 3 DI 20 ... 23
F-DO signal sources
A drive group contains several drives with similar characteristics. The groups are parameterized
at the p10010 and p10011 parameters.
The following signals are available for interconnecting (p10042, ..., p10045) each one of the
four drive groups with the F-DO:
• STO active • SS1 active
• SS2 active • SOS active
• SLS active • SSM feedback active
• Safe State • SOS selected
• Active SLS level bit 0 • Active SLS level bit 1
• SDI positive active • SDI negative active
• SLP active • Active SLP area
• Internal event
The following safe state signals can be requested via p10039[0...3] for each drive group (index
0 corresponds to drive group 1 etc.):
• STO active (power removed/pulse deleted) • SS1 active
• SS2 active • SOS active
• SLS active • SLP active
• SDI positive active • SDI negative active
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The same signals (high-active) of each drive or drive group are logically linked by means of AND
operation. The different signals selected via p10039 are logically OR'ed. Result of these logic
Drive functions
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11.9 Control via TM54F
operations is the "Safe State" for each drive group. You will find details in the SINAMICS S120/
S150 List Manual in function diagrams 2901 (Basic Functions) and 2906 (Extended Functions).
Each F-DO supports the interconnection of up to 6 signals by way of indexing (p10042[0...5] to
p10045[0...5]) and their output as logical AND operation.
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2893 SI TM54F - fail-safe digital inputs (F-DI 0 … F-DI 4)
• 2894 SI TM54F - fail-safe digital inputs (F-DI 5 … F-DI 9)
• 2895 SI TM54F - Failsafe digital outputs (F-DO 0 ... 3), digital inputs (DI 20 ... 23)
• 2900 SI TM54F - Basic Functions control interface (p9601.2/3 = 0 & p9601.6 = 1)
• 2901 SI TM54F - Basic Functions Safe State selection
• 2902 SI TM54F - Basic Functions assignment (F-DO 0 ... F-DO 3)
• 2905 SI TM54F - Extended Functions control interface (p9601.2 = 1 & p9601.3 = 0)
• 2906 SI TM54F - Extended Functions Safe State selection
• 2907 SI TM54F - Extended Functions assignment (F-DO 0 ... F-DO 3)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p10039[0...3] SI TM54F Safe State signal selection
• p10042[0...5] SI TM54F F-DO 0 signal sources
• p10043[0...5] SI TM54F F-DO 1 signal sources
• p10044[0...5] SI TM54F F-DO 2 signal sources
• p10045[0...5] SI TM54F F-DO 3 signal sources
• r10051.0... CO/BO: SI TM54F digital inputs, status
• r10052.0...3 CO/BO: SI TM54F digital outputs, status
• r10053.0...3 CO/BO: SI TM54F digital inputs, 20 ... 23 status
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Safety Integrated Basic Functions
11.10 Commissioning the functions "STO", "SBC" and "SS1"
11.10 Commissioning the functions "STO", "SBC" and "SS1"
11.10.1 General information on commissioning Safety Integrated Functions
Note
Incompatible version in the Motor Module
If there is no compatible version in the Motor Module, the Control Unit will respond as follows
on transition to Safety commissioning mode (p0010 = 95):
• The control unit outputs the fault F01655 (SI CU: aligning the monitoring functions). The
fault initiates fault response OFF2.
• The Control Unit triggers safe pulse suppression via its own Safety switch-off signal path.
• If parameterized (p1215, p9602), the motor holding brake is closed.
• The fault can only be acknowledged after the Safety functions have been blocked (p9601).
Note
Duplicate the parameters for the 2nd channel
After you have parameterized all safety functions, the drive must accept the settings.
To accept the settings in the drive, it must be online.
1. To accept the settings and deactivate the safety functions, click the icon in the toolbar.
The following steps are executed:
– The parameter settings are copied from CPU 1 to CPU 2.
– Copying RAM to ROM is offered.
– Safety mode is deactivated, the icon now has a yellow border.
2. Go offline with the drive.
You can now continue with the further settings of the parameterization. The dialogs are no
longer deactivated.
Note
Behavior when copying
For the encoder parameters (p9515 to p9529), which are used for safe motion monitoring, the
following procedure applies when copying:
• The following applies to safety-related functions that have not been enabled (p9501 = 0):
The parameters are automatically set during startup in the same way as the corresponding
encoder parameters (e.g. p0410, p0474, ...).
• The following applies to safety-related functions that have been enabled (p9501 > 0):
The parameters are checked against their corresponding encoder parameters (e.g. p0410,
p0474, ...).
Further information can be found in the parameter descriptions in the SINAMICS S120/S150 List
Manual.
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11.10 Commissioning the functions "STO", "SBC" and "SS1"
Note
Copying a drive with enabled Safety Integrated Functions
If a drive with enabled Safety Integrated Functions is copied offline, fault F01656 can occur when
the project is downloaded. This behavior occurs whenever component numbers change during
copying (e.g. different DO number or hardware).
Take care to observe these limitations or perform Safety commissioning again.
Note
Activating changed safety parameters
When exiting the commissioning mode (p0010 = 0), most of the changed parameters
immediately become active.
However, for some parameters, a POWER ON is required. In this case, a drive message (A01693
or A30693) will inform you.
11.10.2 Commissioning with Startdrive
11.10.2.1 STO/SS1/SBC (Basic Functions)
Configuring safety functions
In order to configure the Safety Integrated Functions STO, SS1 and SBC proceed as follows:
1. Call up “STO/SS1/SBC.”
Figure 11-8 Safety Integrated Basic Functions STO, SS1 and SBC
2. Click the button (Select STO) to configure the "STO" function.
The "Control" screen form opens. The display of the screen form depends on the basic
settings of the Safety Integrated Basic Functions.
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11.10 Commissioning the functions "STO", "SBC" and "SS1"
3. In this screen form, configure the controls via the fail-safe inputs and outputs and/or
PROFIsafe.
Figure 11-9 Example: Control of STO
4. Call up “STO/SS1/SBC” again.
5. To configure the "SS1" function, set the delay time until the start of "STO" in the "Safe stop 1
delay time" field.
6. Then connect the signal source r9773.1 for the "STO active in the drive" function.
7. Click the button (brake control) to configure the "SBC" function.
Figure 11-10 Example: Brake control without motor holding brake
8. Click "Save project" in the toolbar to save the changes in the project.
9. Accept these settings in the drive: Chapter "General information on commissioning Safety
Integrated Functions (Page 712)"
Result
You have configured the Safety Integrated Basic Functions.
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11.10 Commissioning the functions "STO", "SBC" and "SS1"
11.10.3 Commissioning via direct parameter access
To commission the Basic Functions "STO", "SBC" and "SS1" via terminals, proceed as follows:
Table 11-8 Commissioning the "STO", "SBC" and "SS1" Basic Functions
No. Parameter Description/comments
1 p0010 = 95 Setting Safety Integrated commissioning mode.
• The following alarms and faults are output:
– A01698 (SI CU: Commissioning mode active)
During first commissioning only:
– F01650 (SI CU: Acceptance test required) with fault value = 130 (no Safety Integrated
parameters exist for the Motor Module).
– F30650 (SI MM: Acceptance test required) with fault value = 130 (no Safety Integrated
parameters exist for the Motor Module).
Acceptance test and test certificate, see step 17.
• The pulses are safely suppressed.
• An existing and parameterized motor holding brake has already been applied.
• In this mode, fault F01650 or F30650 with fault value = 2003 is output after a Safety Inte‐
grated parameter is changed for the first time.
This behavior applies for the entire duration of Safety Integrated commissioning, that means, the
"STO" function cannot be selected/deselected while Safety Integrated commissioning mode is
active because this would constantly force safe pulse suppression.
2 p9761 = "Value" Entering Safety Integrated password.
When Safety Integrated is commissioned for the first time, the following applies:
• Safety Integrated password = 0
• Default setting for p9761 = 0
This means that the Safety Integrated password does not need to be set during first commission‐
ing.
3 p9601.0 = 1 Enabling "Safe Torque Off" function (STO).
4 p9602 = 1 Enabling "Safe Brake Control" function (SBC).
• SBC cannot be used alone, but only in conjunction with one of the STO and SS1 functions.
5 p9652 > 0 Enabling "Safe Stop 1" function (SS1).
• The "Safe Stop 1" function is not activated until at least one Safety Integrated monitoring
function has been enabled (i.e. p9601 ≠ 0).
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11.10 Commissioning the functions "STO", "SBC" and "SS1"
No. Parameter Description/comments
6 p9620 = "fast DI on Set terminals for "Safe Torque Off (STO)".
CU" Wire terminal "EP" (enable pulses) on the Motor Module.
Terminal "EP" • Control Unit monitoring channel:
By appropriately interconnecting BI: p9620 for the individual drives, the following is possible:
– Selecting/deselecting the STO
– Grouping the terminals for STO
• Motor Module monitoring channel:
By wiring the "EP" terminal accordingly on the individual Motor Modules, the following is
possible:
– Selecting/deselecting the STO
– Grouping the terminals for STO
Note:
The STO terminals must be grouped identically in both monitoring channels.
7 Set F-DI changeover tolerance time.
p9650 = "Value" F-DI changeover tolerance time on Control Unit
• The parameter is not changed until Safety Integrated commissioning mode has been exited
(i.e. when p0010 ≠ 95 is set).
• Due to the different runtimes in the two monitoring channels, an F-DI changeover (e.g. se‐
lection/deselection of STO) does not take immediate effect. After an F-DI changeover, dy‐
namic data is not subject to a data cross-check during this tolerance time.
8 p9651 = "Value" Debounce time for the failsafe digital inputs to control STO/SBC/SS1
9 p9658 = "Value" Set transition period from STOP F to STOP A.
• STOP F is the stop response that is initiated when the data cross-check is violated as a result
of fault F01611 or F30611 (SI: Defect in a monitoring channel). STOP F initiates "No stop
response" as default setting.
• After the parameterized time has expired, STOP A (immediate Safety Integrated pulse inhibit)
is triggered by the fault F01600 or F30600 (SI: STOP A triggered).
The default setting for p9658 is 0 (i.e. STOP F immediately results in STOP A).
10 p9659 = "Value" Time for carrying out forced checking procedure and testing the Safety Integrated shut‐
down paths.
• After this time has expired, the user is requested to test the switch-off paths as a result of alarm
A01699 (SI CU: Necessary to test the switch-off signal paths) (i.e. select/deselect STO).
• The commissioning engineer can change the time required for carrying out the forced check‐
ing procedure and testing the Safety Integrated shutdown paths.
11 Setting a new Safety Integrated password.
p9762 = "Value" Enter a new password.
p9763 = "Value" Confirm the new password.
• The new password is not valid until it has been entered in p9762 and confirmed in p9763.
• As of now, you must enter the new password in p9761 to change Safety Integrated parame‐
ters.
• Changing the Safety Integrated password does not mean that you have to change the check‐
sums.
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11.10 Commissioning the functions "STO", "SBC" and "SS1"
No. Parameter Description/comments
12 Parameterizing Safe Brake Adapter.
p9621 = "value" • Set with p9621 the signal source for the Safe Brake Adapter.
p9622[0...1] = "val‐ • Set with p9622 the wait times for switching on and switching off the Safe Brake Adapter relay.
ue"
13 Saving and copying the Safety Integrated Functions parameters.
p9700 = 57 hex After setting the specific parameters of the Safety Integrated Functions, they must be copied from
p9701 = DC hex the Control Unit into the Motor/Power Module and then activated:
• p9700 SI Motion copy function
• p9701 SI Motion confirm data change
14 p0010 = 0 Exiting Safety Integrated commissioning mode.
• The checksums are checked if at least one Safety Integrated monitoring function is enabled
(p9601 ≠ 0):
If the target checksum on the Control Unit has not been correctly adapted, then fault F01650
(SI CU: Acceptance test required) is output with fault code 2000 and it is not possible to exit
the Safety Integrated commissioning mode.
If the target checksum on Motor Modules has not been correctly adapted, then fault F01650
(SI CU: Acceptance test required) is output with fault code 2001 and it is not possible to exit
the Safety Integrated commissioning mode.
• If a Safety Integrated monitoring function has not been enabled (p9601 = 0), the Safety
Integrated commissioning mode is exited without the checksums being checked.
When the Safety Integrated commissioning mode is exited, the following is carried out:
• A POWER ON must be performed after the initial commissioning. This is indicated with the
A01693 message.
15 p0971 = 1 All drive parameters (entire drive group or only single axis) must be manually saved from RAM to
p0977 = 1 ROM. This data is not saved automatically!
16 POWER ON Carry out POWER ON.
After commissioning, a reset must be carried out with POWER ON.
17 - Carry out acceptance test and create test certificate.
Once Safety Integrated commissioning is complete, the commissioning engineer must carry out
an acceptance test for the enabled Safety Integrated monitoring functions.
The results of the acceptance test must be documented in an acceptance certificate.
11.10.4 Safety faults
The fault messages of the Safety Integrated Basic Functions are saved in the standard message
buffer and can be read out from there.
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11.10 Commissioning the functions "STO", "SBC" and "SS1"
When faults associated with Safety Integrated Basic Functions occur, the following stop
responses can be initiated:
Table 11-9 Stop responses for Safety Integrated Basic Functions
Stop re‐ Triggered ... Action Effect
sponse
STOP A can‐ For all Safety faults with Trigger safe pulse suppres‐ The motor coasts to a stand‐
not be ac‐ pulse suppression that sion via the switch-off sig‐ still or is braked by the holding
knowledged cannot be acknowledged. nal path for the relevant brake.
STOP A For all acknowledgeable monitoring channel. Dur‐
Safety faults ing operation with SBC:
Apply motor holding
As a follow-up reaction of
brake.
STOP F
STOP A corresponds to Stop Category 0 in accordance with EN 60204-1.
With STOP A, the motor is switched directly to zero torque via the "Safe Torque Off (STO)"
function.
A motor at standstill cannot be started again accidentally.
A moving motor coasts to standstill. This can be prevented by using external braking
mechanisms, e.g. holding or operating brake.
When STOP A is present, "Safe Torque Off" (STO) is active.
STOP F If an error occurs in the da‐ Transition to STOP A. Follow-up response STOP A
ta cross-check. with adjustable delay (factory
setting without delay) if one
of the safety functions is selec‐
ted
STOP F is permanently assigned to the data cross-check (DCC). In this way, errors are
detected in the monitoring channels.
After STOP F, STOP A is triggered.
When STOP A is present, "Safe Torque Off" (STO) is active.
WARNING
Danger to life due to an uncontrolled movement of the axis
With a vertical axis or pulling load, there is a risk of uncontrolled axis movements when STOP
A/F is triggered. This can cause serious injury or death to persons in the danger zone.
• If there is a hazard due to undesirable or unwanted motion in your application, take
measures to counter it, for example, by using a brake with safe monitoring. For further
information, see Chapter "Safe Brake Control (SBC) (Page 691)."
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11.10 Commissioning the functions "STO", "SBC" and "SS1"
Acknowledging the Safety faults
There are several options for acknowledging Safety faults (for more details see SINAMICS S120
Commissioning Manual):
1. Faults associated with Safety Integrated Basic Functions must be acknowledged as follows:
– Remove the cause of the fault.
– Deselect "Safe Torque Off" (STO).
– Acknowledge the fault.
If the Safety commissioning mode is exited when the safety functions are switched off
(p0010 = value not equal to 95 for p9601 = 0), then all the Safety faults can be acknowledged.
Once Safety commissioning mode has been selected again (p0010 = 95), all the faults that
were previously present reappear.
2. The higher-level controller sets the signal "Internal Event ACK" via the PROFIsafe telegram
(STW bit 7). A falling edge in this signal resets the status "Internal Event" and so
acknowledges the fault.
Note
Safety faults can also be acknowledged (as with all other faults) by switching the drive unit off
and then on again (POWER ON).
If this action has not eliminated the fault cause, the fault is displayed again immediately after
power-up.
Description of faults and alarms
Note
The faults and alarms for SINAMICS Safety Integrated functions are described in SINAMICS S120/
S150 List Manual
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11.11 Acceptance test and acceptance report
11.11 Acceptance test and acceptance report
Note
Responsibilities
The machine manufacturer is responsible for carrying out and documenting the acceptance
test: In Chapter "Acceptance test (Page 724)" you will find examples of how the acceptance test
is carried out and documented for the individual safety functions.
Why is acceptance required?
The EC Machinery Directive and DIN EN ISO 13849‑1 stipulate:
• You must check safety-related functions and machine parts after commissioning.
→ Acceptance test.
For SINAMICS Safety Integrated Functions (SI Functions) this specifically means: The
acceptance test is used to test the functionality of the Safety Integrated monitoring and stop
functions used in the drive. The test objective is to verify proper implementation of the
defined safety functions and test mechanisms (measures for forced checking procedure (test
stop)) and to examine the response of specific monitoring functions to explicitly entered
values outside tolerance limits. The test must cover all drive-specific Safety Integrated motion
monitoring functions and global Safety Integrated functionality of Terminal Modules TM54F
(if used).
Note
Purpose of the acceptance test
The measured values (e.g. distance, time) and the system behavior identified (e.g. initiation
of a specific stop) can be used for checking the plausibility of the configured safety functions.
The objective of an acceptance test is to identify potential configuration errors and/or to
document the correct function of the configuration. The measured values are typical values
(not worst case values). They represent the behavior of the machine at the time of
measurement. These measurements cannot be used to derive real values (e.g. maximum
values for over-travel distances).
• You must create an "acceptance report" showing the test results.
→ Documentation.
Requirements
The requirements for an acceptance test (configuration test) for safety functions of electric
drives come from EN 61800‑5‑2 (chapter 7.1, paragraph f). The acceptance test "configuration
check" is cited in this standard.
• Description of the application including a picture
• Description of the safety-relevant components (including software versions) that are used in
the application
• List of the PDS(SR) [Power Drive System(Safety Related)] safety functions used
• Results of all tests of these safety functions, using the specified testing procedure
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11.11 Acceptance test and acceptance report
• List of all safety-relevant parameters and their values in the PDS(SR)
• Checksum, test date and confirmation by testing personnel
Acceptance test
The acceptance test comprises 2 parts:
• Checking whether the safety functions in the converter are correctly set:
– Does the speed control handle the configured application cases in the machine?
– Do the set interface, times and monitoring functions match the configuration of the
machine?
• Checking whether the safety-relevant functions in the plant or machine function correctly.
This part of the acceptance test goes beyond the converter acceptance test:
– Are all safety equipment such as protective door monitoring devices, light barriers or
emergency-off switches connected and ready for operation?
– Does the higher-level control correctly respond to the safety-relevant feedback signals of
the converter?
– Do the converter settings match the configured safety-relevant function in the machine?
Documentation
The documentation consists of the following parts:
• Description of the safety-relevant components and functions of the machine or plant.
• Report of the acceptance test results.
• Report of the settings of the safety functions.
• Countersigned documentation.
Authorized persons
Personnel from the machine manufacturer, who, on account of their technical qualifications
and knowledge of the safety functions, are in a position to perform the acceptance test in the
correct manner.
WARNING
Unwanted motion due to incorrect parameter changes
Incorrect parameter changes for SI functions can result in unwanted motion leading to death
or severe injury.
• After making a change to a parameter for the Safety Integrated Functions, always perform
an acceptance test for the function in question.
• Document the values calculated in an acceptance report.
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11.11 Acceptance test and acceptance report
WARNING
Unsafe operating states due to manipulation of the Safety Integrated parameters after
the acceptance test
Incorrect parameter changes to Safety Integrated functions after an acceptance test can result
in unwanted motion resulting in severe injury or death.
• To prevent access to your plants and systems by unauthorized persons, implement access
restrictions and take the precautions described in the security information (see Chapter
"Safety instructions (Page 682)" and manual "SINUMERIK/SIMOTION/SINAMICS Motion
Control Industrial Security").
• To avoid incorrect changes to the configuration and parameters of the Safety Integrated
functions, take the precautions described in this manual.
• Check the Safety log book of SINAMICS Safety Integrated at regular intervals. Verify that no
changes have been made to the parameters since the last acceptance test was performed.
• If any changes have been made and they are intentional, repeat the acceptance test for the
Safety Integrated functions affected. The purpose of the acceptance test is to ensure and
document safe operation of the plant. Correct any unintentional changes back to the
original values and repeat the acceptance test.
11.11.1 Acceptance test structure
The test of individual Safety Integrated Functions must be carried out by an authorized person
and logged in the acceptance report. The report must be signed by the person who carried out
the acceptance test. Access rights to SI parameters must be protected by a password. This
procedure must be documented in the acceptance report - the password itself must not appear
there. Authorized in this sense refers to a person who has the necessary technical training and
knowledge of the safety functions and is authorized by the machine manufacturer to carry out
the acceptance test.
Note
Further information
• The procedure in Chapter "Acceptance test (Page 724)" is an example and a
recommendation.
• An acceptance report template in electronic format is available at your local Siemens sales
office.
Note
PFH values
The PFH values of the individual SINAMICS S120 safety components can be found at:
PFH values (PFH values (https://support.industry.siemens.com/cs/ww/en/view/76254308))
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11.11 Acceptance test and acceptance report
Necessity of an acceptance test
A complete acceptance test (as described in this chapter) is required after initial commissioning
of Safety Integrated functionality on a machine. The acceptance tests must be carried out for
each individual drive. Safety-related function expansions, transfer of the commissioning
settings to other series machines, hardware changes, software upgrades or similar, permit the
acceptance test to be performed with a reduced scope if necessary. A summary of conditions
which determine the necessary test scope or proposals in this context is provided below.
Requirements for the acceptance test
• The machine is properly wired.
• All safety equipment such as protective door monitoring devices, light barriers or emergency
limit switches are connected and ready for operation.
• Commissioning of the open-loop and closed-loop control must be completed, as e.g. the
over-travel distance may otherwise change as a result of a changed dynamic response of the
drive control. These include, for example:
– Configuration of the setpoint channel
– Position control in the higher-level controller
– Drive control
Note on the acceptance test mode
The acceptance test mode can be activated for a definable period (p9558) by setting the
appropriate parameters (p9570). It tolerates specific limit violations during the acceptance test.
For instance, the setpoint speed limits are no longer active in the acceptance test mode. To
ensure that this state is not accidentally kept, the acceptance test mode is automatically exited
after the time set in p9558.
It is only worth activating acceptance test mode during the acceptance test of the SS2, SOS, SDI,
SLS and SLP functions. It has no effect on other functions.
Normally, SOS can be selected directly or via SS2. To be able to trigger violation of the SOS
standstill limits with acceptance test mode active (even in the "SS2 active" state), the setpoint is
enabled again by the acceptance test mode after deceleration and transition to SOS to allow the
motor to travel. When an SOS violation is acknowledged in the active acceptance test mode, the
current position is adopted as the new stop position so that an SOS violation is not immediately
identified again.
WARNING
Axis movement during the acceptance test
If a speed setpoint ≠ 0 is present, the active stop function SS2 is set, and the motor is at a
standstill (active SOS), the axis starts to move as soon as the acceptance test is activated. If
persons are in the danger zone, accidents causing death or severe injury can occur.
• Take suitable measures to ensure that nobody is in the danger zone during the acceptance
test.
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11.11 Acceptance test and acceptance report
11.11.2 Safety Logbook
The "Safety Logbook" function is used to detect changes to Safety Integrated parameters that
affect the associated CRC sums. CRCs are only generated when p9601 (SI enable, functions
integrated in the drive CU/Motor Module) is > 0.
Data changes are detected when the CRCs of the SI parameters change. Each SI parameter
change that is to become active requires the reference CRC to be changed so that the drive can
be operated without SI fault messages. In addition to functional SI changes, hardware-
dependent changes are also detected (e.g. hardware replacement) through changes to the CRC.
The following changes are recorded by the safety logbook:
• Functional changes are recorded in the checksum r9781[0]:
– Functional CRCs of the motion monitoring functions (p9729[0...1]), axis specific
(Extended and Advanced Functions)
– Functional cyclic redundancy checks of the basic safety functions integrated in the drive
(p9799, SI setpoint checksum SI parameters CU), for each axis.
– Functional CRCs of the TM54F (p10005[0]), global (Basic, Extended and Advanced
Functions)
– Enabling functions integrated in the drive (p9601), axis specific (Basic, Extended and
Advanced Functions)
• Hardware-dependent changes are recorded in the checksum r9781[1]:
– Hardware-dependent CRC of the motion monitoring functions (p9729[2]), axis specific
(Extended and Advanced Functions)
– Functional CRCs of the TM54F (p10005[1]), global (Basic, Extended and Advanced
Functions)
11.11.3 Acceptance test
Note
Conditions for the acceptance test
As far as possible, the acceptance tests are to be carried out at the maximum possible machine
speed and acceleration rates to determine the maximum braking distances and braking times
that can be expected.
Note
Acceptance test for Basic and Extended Functions
The Safety Integrated acceptance test allows you to select the testable functions depending on
the device type and its settings (Basic or Extended Functions, actuation over PROFIsafe or
terminals).
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11.11 Acceptance test and acceptance report
Note
Trace recordings
The trace recordings for the Extended Functions allow the analysis of the machine behavior
during the test execution. Here, you can use the signal curves to check whether the machine’s
behavior matches your expectations. The recorded signals allow, for example, the delay times
and over-travel distances to be evaluated.
Note
Non-critical alarms
When evaluating the alarm buffer you can tolerate the following alarms:
• A01697 SI Motion: Motion monitoring test required
• A35014 TM54F: Test stop required
These alarms occur after every system startup and can be evaluated as non-critical.
• A01699 SI CU: Shutdown path test required
This alarm occurs after the time in p9659 has expired.
You do not need to include these alarms in the acceptance report.
Note
No acceptance test with alarm A01796
If the alarm A01796 is active, the pulses are safely canceled, and an acceptance test is not
possible.
11.11.3.1 Preparing the acceptance test
On the “Drive axis_x - Function selection” screen, the acceptance wizard provides all Safety
Integrated functions for selection that are available in the drive or for which a license exists.
These options take into account whether Basic Functions, Extended Functions or Advanced
Functions have been selected as well as the selected actuation.
Requirement
Startdrive is connected to the drive being tested online.
Procedure
To prepare for the acceptance test, proceed as follows:
1. Parameterize the drive being tested completely and put it into operation.
2. Click "Acceptance test" in the project navigator.
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11.11 Acceptance test and acceptance report
3. In the secondary navigation for the desired drive, select all Safety Integrated Functions being
tested.
The active functions are automatically pre-selected. You can change this pre-selection and
select/deselect functions.
4. In order to define the function selection for the Safety Integrated acceptance test, click on
“Accept.”
For the functions being tested, entries are shown in the secondary navigation. Navigate with
these settings to the individual tests.
Resetting test results
1. In order to delete all tests previously carried out for this drive, click on the “Reset test results”
button.
This restores the initial state, which can be used to carry out the acceptance test again. A
confirmation prompt is displayed.
2. Acknowledge the query with "Yes".
Then the results are reset and you can restart the acceptance test using new settings as
needed.
11.11.3.2 Carrying out an acceptance test (example)
After accepting the function selection in the Preparing the acceptance test (Page 725) step,
Startdrive shows the functions being tested in the secondary navigation.
You can now work through the tests in any order.
The status of the individual tests is represented as follows:
• Blue: The test is initial and has not yet been started.
• Green: The test was performed successfully.
• Red: The test was aborted with error. The test can be repeated by reselecting the function.
Structure of the acceptance test wizards
The listed wizards have the same structure for every acceptance test.
In the upper area, the workflow represents the individual test steps and their status. The statuses
have the following meaning:
• Blue: Active test step.
• Green: Test step completed.
In the area below the workflow, Startdrive displays the instructions for the test steps. You must
carry out these test steps. Once you have carried out the instructions, click “Next” to go to the
next step. Finally, close the text by clicking on “Finish.” Then Startdrive updates the status for this
test in the secondary navigation.
The operator controls for the test steps are located in the lower area. These controls include, for
example, the control panel for moving the axis being tested.
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11.11 Acceptance test and acceptance report
Starting and performing the acceptance test
Subsequently, the acceptance test is to be explained using the “SS1” example.
1. Click on one of the functions being tested (SS1 in this case).
In the working area, the test tool is started.
2. Enter a test designation. This designation also appears later in the acceptance report.
3. As required, change the trace settings for this test or use the default settings. The
preassignment is adequate for most applications.
– In the “Recording Duration” field, enter the desired value for the recording duration.
– In the “Pre-trigger Duration” field, enter the desired value for the duration that is to be
recorded before the trigger.
A change enables adaptation to the mechanical conditions of the machine, e.g. if the
mechanical system of the axis has a very high moment of inertia, which would make longer
ramp times necessary for accelerating and braking.
4. Observe the safety information and notes on the start screen form of the acceptance test.
5. Once all precautions have been taken, click on the “Start” button in the “Start acceptance
wizard” area.
The assistant for the selected test is opened.
6. In the first step, traverse the drive so that Emergency Stop can be triggered.
In the “Move drive using” drop-down list, select whether the drive will traverse using the
control panel or using the user program of a higher-level controller.
– Control panel
If the drive traverses using the control panel, then the control panel is shown on this
screen. Activate the master control, specify a setpoint and start the motor in the desired
direction of rotation. Then click "Next” to go to the next step.
– User program
Start the traversing process if the drive is being moved using the user program. Once the
motor comes to a stop, click on “Next” for the next step.
7. Initiate emergency stop (SS1) on the selected drive. Click on “Next” once the LED displays that
SS1 is active.
The motor is braked along the AUS3 braking ramp. The transition to STO is made based on the
parameter assignment (e.g. after expiration of the delay time or when the shut-down speed
is undershot). If a brake parameterized via SBC is present, it is closed after transition to STO.
8. Return the control priority when the drive is stationary. Click "Next".
9. The sequence carried out thus far is recorded and represented as a trace.
Based on the signal record, check the sequence of the test with respect to time and content.
In this test, STO must not be triggered until the motor is close to reaching a standstill. Click
“Next” once the test sequence matches your expectations.
10.If the sequence does not match your expectations, click “Cancel” to cancel the test.
In this case, check the correctness of all input conditions and repeat the test if necessary.
Example scenario: STO is initiated, even though the motor speed is still high. In this case,
faulty parameter assignment may be a possible cause, for example, a delay time for SS1 to
STO that is too short or a shutdown speed that is too high.
11.Deselect SS1 and click "Next".
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11.11 Acceptance test and acceptance report
12.The test has been carried out successfully.
Click “Finish” to close the wizard. The test status in the secondary navigation is updated.
13.Execute the wizards of all further functions similarly through the tests.
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11.12 Overview of parameters and function diagrams
11.12 Overview of parameters and function diagrams
Function diagrams (see SINAMICS S120/S150 List Manual)
• 2800 SI Basic Functions - Parameter manager
• 2802 SI Basic Functions - Monitoring functions and faults/alarms
• 2804 SI Basic Functions - SI status CU, MM, CU+MM group STO
• 2806 SI Basic Functions - S_STW1/2 safety control word 1/2, S_ZSW1/2 safety status
word 1/2
• 2810 SI Basic Functions - STO (Safe Torque Off), SS1 (Safe Stop 1)
• 2811 SI Basic Functions - STO (Safe Torque Off), safe pulse cancellation
• 2814 SI Basic Functions - SBC (Safe Brake Control), SBA (Safe Brake Adapter)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
Table 11-10 Parameters for Safety Integrated Functions
Parame‐ Name Changeable to ...
ter
p9601 SI enable safety functions Safety Integrated commissioning (p0010 = 95)
p9602 SI enable safe brake control
p9610 SI PROFIsafe address (Control Unit)
p9620 SI signal source for Safe Torque Off
p9650 SI SGE changeover, tolerance time (Motor Module)
p9651 SI STO/SBC/SS1 debounce time (Control Unit)
p9652 SI Safe Stop 1 delay time
p9658 SI transition time STOP F to STOP A
p9659 SI timer for the forced checking procedure
p9761 SI password input In every operating mode
p9762 SI password new Safety Integrated commissioning (p0010 = 95)
p9763 SI password acknowledgment
r9770[0... SI version safety function integrated in the drive
2]
r9771 SI shared functions
r9772 SI CO/BO: Status
r9773 SI CO/BO: Status (Control Unit + Motor Module)
r9774 SI CO/BO: Status (Safe Torque Off group)
r9780 SI monitoring clock cycle
r9794 SI crosswise comparison list
r9795 SI diagnostics for STOP F
r9798 SI actual checksum SI parameters
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11.12 Overview of parameters and function diagrams
Parame‐ Name Changeable to ...
ter
p9799 SI reference checksum SI parameters Safety Integrated commissioning (p0010 = 95)
p10039[0. SI TM54F Safe State signal selection
..3]
p10040 SI TM54F F-DI input mode
p10041 SI TM54F F-DI test enable
p10042[0. SI TM54F F-DO 0 signal sources
..5]
p10043[0. SI TM54F F-DO 1 signal sources
..5]
p10044[0. SI TM54F F-DO 2 signal sources
..5]
p10045[0. SI TM54F F-DO 3 signal sources
..5]
p10046 SI TM54F F-DO feedback signal input activation
p10047[0. SI TM54F F-DO test stop mode
..3]
p10048 SI TM54F F-DI F-DO test stop configuration
r10051.0.. CO/BO: SI TM54F digital inputs, status
.9
r10052.0.. CO/BO: SI TM54F digital outputs, status
.3
r10053.0.. CO/BO: SI TM54F digital inputs, 20 ... 23 status
.3
r10054 SI TM54F fail-safe events active
r10055 SI TM54F drive-specific communication status
r10056.0 CO/BO: SI TM54F status
p10061 SI TM54F password input
p10062 SI TM54F password new
p10063 SI TM54F password confirmation
r10070 SI TM54F module identification
r10090[0. SI TM54F version
..3]
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Applications 12
12.1 Application examples
You can find application examples for SINAMICS S120 drives on the web page "SINAMICS
Application Examples (https://www.automation.siemens.com/mc-app/sinamics-application-
examples/Home/Index?language=en)". You will find efficient system approaches for optimized
interaction of SIMATIC control technology and SINAMICS drive technology here, as well as much
more.
The application examples provide you with:
• Reusable modules for scaling setpoints and actual values
• Explanation of the necessary configuring steps together with screenshots
• Security through already tested programs and modules for accessing parameters
• Significantly lower commissioning times
• Detailed documentation with parts lists of the hardware and software components being
used
Further, you can also find technological application examples, such as winders, traversing arms
and basic synchronous operation. Application examples also explain how to use free function
blocks (FBLOCKS), logic processing integrated in the drive with Drive Control Chart (DCC) and
Safety Integrated.
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Applications
12.1 Application examples
Finding and calling application examples
1. Call the following Internet site in your browser: SINAMICS Application Examples (https://
www.automation.siemens.com/mc-app/sinamics-application-examples/Home/Index?
language=en).
2. Set the desired filter settings.
The result list is updated with each filter setting.
If necessary, reset individual or all filters.
① Selectable options (e.g. S120): The number of available entries is displayed in the square
brackets.
② Reset individual filters
③ Reset all filters
Figure 12-1 Example: Filter settings
3. To view a tooltip on an entry, click the appropriate entry in the result list.
The required tooltip is then displayed in the Siemens Industry Online Support (SIOS).
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12.1 Application examples
Generally, you can download a detailed application description as PDF via the tooltip.
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Applications
12.2 Switch on infeed unit via a drive axis
12.2 Switch on infeed unit via a drive axis
Using this BICO interconnection, a drive object (DO) "X_INF" (= all drive objects "Infeed"; i.e.:
A_INF, B_INF, S_INF) can be activated by a "Servo/Vector" drive object. This switch-on version is
mainly used for drive units in the "chassis" format if a single Infeed Module and a Motor Module
are used.
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If an application requires an automatic restart function (AR), (see Chapter Automatic restart
(Page 356)), then the following extended interconnection applies:
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12.2 Switch on infeed unit via a drive axis
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Figure 12-3 BICO interconnection: Switching on an infeed by a drive - in addition with automatic restart
• The "AR" function is only activated on the "Servo/Vector" drive object (p1210).
• In addition to the "AR" function, the following conditions must be fulfilled:
– The "Flying restart" function (p1200) must be activated on the "Vector" drive object so
that automatic restart is possible on a motor that is still rotating.
– The supply voltage must be reliably available at the Infeed Module (before the switch-on
command, an additional line contactor or motor relay must have closed).
Individual steps when restarting:
• After the line supply returns and the electronics has ramped up, the faults that have occurred
at the "Servo/Vector" drive object as a result of its automatic restart are acknowledged
depending on the settings in p1210.
• The faults of the X_INF drive object are acknowledged via the BICO connection from r1214.3
to p2105.
• The ON command (p0840) for the Infeed Module is generated via the binector output
"Control contactor" of the "Servo/Vector" drive object (p0863.1).
It is AND’ed with the negated binector output "Switching on inhibited" of drive object "X_INF"
(r0899.6) so that when the Control Unit restarts (powers up after the 24 V returns), the
necessary signal edge is generated.
• The switch-on attempt is interrupted if, during the restart, a fault occurs in the Infeed Module
(drive object X_INF).
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Applications
12.2 Switch on infeed unit via a drive axis
• A fault in drive object "X_INF" is communicated to the "Servo/Vector" drive object via the BICO
connection from p1208.0 to r2139.3 shown above.
• The automatic restart of the X_INF drive object has absolutely no significance for the
described switch-on version. It is deactivated for drive object "X_INF".
WARNING
Unplanned motion when the automatic restart function is active
When the automatic restart is activated, when the line supply returns, unexpected motion can
occur that may result in death or serious injury.
• Take the appropriate measures on the plant/system side so that there is no safety risk as a
result of an unexpected restart.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0863.0...2 CO/BO: Drive coupling status word / control word
• p0864 BI: Infeed operation
• p0840[0...n] BI: ON/OFF (OFF1)
• r0899.0...15 CO/BO: Status word sequence control
• p1200[0...n] Flying restart operating mode
• p1207 BI: Automatic restart (AR) - connection to the following drive object
• p1208[0...1] BI: Automatic restart modification, infeed
• p1210 Automatic restart mode
• r1214.0...15 CO/BO: Automatic restart status
• p2105[0...n] BI: 3. Acknowledge faults
• r2139.0...15 CO/BO: Status word, faults/alarms 1
• p2810[0...1] BI: AND logic operation inputs
• r2811.0 CO/BO: AND logic operation result
• p2822[0...3] BI: NOT logic operation input
• r2823.0...3 CO/BO: NOT logic operation result
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12.3 Control Units without infeed control
12.3 Control Units without infeed control
Overview
To ensure that the drive line-up functions satisfactorily, you must ensure, among other things,
that the drives only draw power from the DC link when the infeed is in operation. In a DC link line-
up that is controlled by precisely one Control Unit and which includes a drive object X_INF, the
BICO interconnection p0864 = p0863.0 is established automatically during commissioning.
X_INF stands for all drive objects of the type "Infeed" (A_INF, B_INF, S_INF).
In the following cases, the BICO input p0864 must be supplied manually:
• Smart Line Modules (SLM) without DRIVE-CLiQ (5 kW and 10 kW)
• DC link line-up with more than one Control Unit
Examples: interconnecting "Infeed ready"
• Smart Line Modules without DRIVE-CLiQ (5 kW and 10 kW)
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• DC link line-up with more than one Control Unit
In the following example, two Control Units control the drives connected to the same DC link.
The source for the "Infeed operation" signal is a digital input in the example.
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12.3 Control Units without infeed control
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0722.0...21 CO/BO: CU digital inputs, status
• r0863.0...2 CO/BO: Drive coupling status word / control word
• p0864 BI: Infeed operation
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12.4 Quick stop in the event of a power failure or emergency stop (servo)
12.4 Quick stop in the event of a power failure or emergency stop
(servo)
A drive line-up generally responds when the power fails with an OFF2, even when a Control
Supply Module and a Braking Module is being used. This means that the connected motors coast
down. The Control Supply Module provides the electronics with power via the supply system or
DC link. In this way, controlled movements can be made if a power failure occurs provided that
the DC link voltage is still available. The following section describes how all the drives carry out
a quick stop (OFF3) if the power fails.
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In addition to the component wiring shown above, each drive object that is to carry out a quick
stop if the power fails needs to be parameterized. If parameterization is not carried out, the drive
coasts down once a DC link undervoltage has been identified (OFF2). To implement the OFF3
function (quick stop), the following parameters need to be set:
• p1240 = 5 (activates Vdc_min monitoring)
As well as the DC link monitor, which is always active, this activates another variable alarm
threshold, which should be set to a value above the undervoltage shutdown threshold of
360 V ±2 % in p1248.
• p1248 ≤ 570 V (for Active Line Modules)
p1248 ≤ 510 V (for Smart Line Modules)
This alarm level (in volts) indicates that the set value has been fallen below. Fault F07403 is
triggered when this threshold is reached.
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Applications
12.4 Quick stop in the event of a power failure or emergency stop (servo)
• p2100[x] = 7403
Here you change the response to fault F07403.
• p2101[x] = 3 (OFF3) response to the fault entered in p2100[x]
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Applications
12.5 Motor changeover
12.5 Motor changeover
Description
The motor changeover is used in the following cases, for example:
• Changing over between different motors and encoders
• Changing over different windings in a motor (e.g. star-delta changeover)
• Adapting the motor data
If several motors are operated alternately on a Motor Module, a matching number of drive data
sets must be created.
Note
Vector control
For vector control, to switch to a rotating motor the "flying restart (Page 295)" function must be
activated (p1200).
Note
When changing over the drive data set between several motors that physically exist with
integrated holding brakes, it is not permissible that the internal brake control is used.
Example of a motor changeover for four motors (encoderless)
Requirements
• The first commissioning has been completed.
• 4 motor data sets (MDS), p0130 = 4
• 4 drive data sets (DDS), p0180 = 4
• 4 digital outputs to control the auxiliary contactors
• 4 digital inputs to monitor the auxiliary contactors
• 2 digital inputs for selecting the data set
• 4 auxiliary contactors with auxiliary contacts (1 NO contact)
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Applications
12.5 Motor changeover
• 4 motor contactors with positively driven auxiliary contacts (3 NC contacts, 1 NO contact)
• 4 motors, 1 Control Unit, 1 infeed, and 1 Motor Module
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Table 12-1 Settings for the example
Parameter Settings Remark
p0130 4 Configure four MDS.
p0180 4 Configure four DDS.
p0186[0...3] 0, 1, 2, 3 The MDS are assigned to the DDS.
p0820, p0821 Digital inputs DDS selec‐ The digital inputs for motor changeover via DDS selec‐
tion tion are selected. Binary coding is used (p0820 = bit 0,
p0822 to p0824 0 etc.).
p0826[0...3] 0, 1, 2, 3 Different numbers indicate a different thermal model.
p0827[0...3] 0, 1, 2, 3 Assigning the bit from r0830 to the MDS. If p0827[0] =
1, for example, bit p0830.1 is set when MDS0 is selected
via DDS0.
r0830.0 to r0830.3 Digital outputs, contac‐ The digital outputs for the contactors are assigned to the
tors bits.
p0831[0...3] Digital inputs, auxiliary The digital inputs for the feedback signal of the motor
contacts contactors are assigned.
p0833.0..2 0, 0, 0 The drive controls the contactor circuit and pulse inhib‐
ition. Parking bit (Gn_ZSW14) is set.
Procedure for changeover between motor data sets
1. Start condition:
For synchronous motors, the actual speed must be lower than the speed at the start of field
weakening. This prevents the regenerative voltage from exceeding the terminal voltage.
2. Pulse inhibit:
The pulses are inhibited after a new drive data set is selected with p0820 to p0824.
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12.5 Motor changeover
3. Open the motor contactor:
Motor contactor 1 is opened (r0830 = 0) and the status bit "Motor changeover active"
(r0835.0) is set.
4. Change over the drive data set:
The requested data set is activated (r0051 = requested data set).
5. Energize the motor contactor:
After the feedback signal (motor contactor opened) for motor contactor 1, the appropriate
bit of r0830 is set and motor contactor 2 is energized.
6. Enable the pulses:
After the feedback signal (motor contactor closed) for motor contactor 2, the bit "motor
changeover active" (r0835.0) is reset and the pulses are enabled. The motor has now been
changed over.
Example of a star-delta changeover (via speed threshold; encoderless)
Requirements
• The first commissioning has been completed.
• 2 motor data sets (MDS), p0130 = 2
• 2 drive data sets (DDS), p0180 = 2
• 2 digital outputs to control the auxiliary contactors
• 2 digital inputs to monitor the auxiliary contactors
• 1 free speed monitoring (p2155)
• 2 auxiliary contactors with auxiliary contacts (1 NO contact)
• 2 motor contactors with positively driven auxiliary contacts (1 NC contact, 1 NO contact)
• 1 motor, 1 Control Unit, 1 infeed, and 1 Motor Module
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12.5 Motor changeover
Table 12-2 Settings for the example
Parameter Settings Remark
p0130 2 Configure two MDS.
p0180 2 Configure two DDS.
p0186[0...1] 0, 1 The MDS are assigned to the DDS.
p0820 p2197.2 Changeover to delta connection after speed in
p0821 to p0824 0 0 p2155 is exceeded.
p0826[0...1] 0; 0 Identical numbers signify the same thermal model.
p0827[0...1] 0, 1 Assigning the bit from r0830 to the MDS. If
p0827[0] = 1, for example, bit r0830.1 is set when
MDS0 is selected via DDS0.
r0830.0 and r0830.1 Digital outputs, contac‐ The digital outputs for the contactors are assigned
tors to the bits.
p0831[0...1] Digital inputs, auxiliary The digital inputs for the feedback signal of the mo‐
contacts tor contactors are assigned.
p0833.0..2 0, 0, 0 The drive controls the contactor circuit and pulse
inhibition. Parking bit (Gn_ZSW14) is set.
p2155.0...1 Changeover speed Sets the speed at which the circuit is to be changed
over to the delta connection.
Note:
Using p2140, you can define an additional hystere‐
sis for the changeover (refer to function diagram
8010 in the SINAMICS S120/150 List Manual).
Procedure for star-delta changeover
1. Start condition:
For synchronous motors, the actual speed must be lower than the star field-weakening
speed. This prevents the regenerative voltage from exceeding the terminal voltage.
2. Pulse inhibit:
The pulses are suppressed after the changeover speed (p2155) is reached.
3. Open the motor contactor:
Motor contactor 1 is opened (r0830 = 0) and the status bit "Motor data set changeover active"
(r0835.0) is set.
4. Change over the drive data set:
The requested data set is activated (r0051 = requested data set).
5. Energize the motor contactor:
After the feedback signal (motor contactor opened) for motor contactor 1, the appropriate
bit of r0830 is set and motor contactor 2 is energized.
6. Enable the pulses:
After the feedback signal (motor contactor closed) for motor contactor 2, the bit "motor
changeover active" (r0835.0) is reset and the pulses are enabled. The changeover is
complete.
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12.5 Motor changeover
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8565 Data sets - Drive Data Sets (DDS)
• 8570 Data sets - Encoder Data Sets (EDS)
• 8575 Data sets - Motor Data Sets (MDS)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• r0051[0...4] CO/BO: Drive data set DDS effective
• p0130 Motor data sets (MDS) number
• p0140 Encoder data sets (EDS) number
• p0180 Drive data set (DDS) number
• p0186 [0...n] Motor data set (MDS) number
• p0187[0...n] Encoder 1 encoder data set number
• p0188[0...n] Encoder 2 encoder data set number
• p0189[0...n] Encoder 3 encoder data set number
• p0820[0...n] BI: Drive data set selection DDS, bit 0
...
• p0824[0...n] BI: Drive data set selection DDS, bit 4
• p0826 [0...n] Motor changeover, motor number
• p0827 [0...n] Motor changeover status word bit number
• p0828 [0...n] BI: Motor changeover feedback
• r0830.0...15 CO/BO: Motor changeover status word
• p0831[0...15] BI: Motor changeover contactor feedback
• p0833 Data set changeover configuration
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Applications
12.6 Application examples with DMC20
12.6 Application examples with DMC20
The DRIVE-CLiQ Hub Module Cabinet 20 (DMC20/DME20) is used for the star-shaped
distribution of a DRIVE-CLiQ line. With the DMC20, an axis grouping can be expanded with five
DRIVE-CLiQ sockets for additional subgroups.
The component is especially suitable for applications which require DRIVE-CLiQ nodes to be
removed in groups, without interrupting the DRIVE-CLiQ line and, therefore, the data exchange
process.
DME20
DME20 offers the same functions as the DMC20. However, the difference is that it has a
different enclosure with degree of protection IP67 for mounting outside a control cabinet.
Features
The DRIVE-CLiQ Hub Module Cabinet 20 (DMC20) has the following features:
• Own drive object
• Six DRIVE-CLiQ ports
• Own faults and alarms
Typical applications:
• Implementation of a distributed topology via a DRIVE-CLiQ cable
• Hot-plugging (a DRIVE-CLiQ connection is withdrawn in operation)
Example: Distributed structure
Several direct length measuring systems are used in a machine. These are to be combined in a
control cabinet and connected to the Control Unit via a DRIVE-CLiQ cable.
When a DMC20 is used, up to five measuring systems can be combined.
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12.6 Application examples with DMC20
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Example: Hot-plugging
Using the hot-plugging function, components can be withdrawn from the operational drive line-
up (the other components continue to operate) on the DRIVE-CLiQ line. This means that all of the
drive objects or components involved must first be deactivated/parked using parameter p0105
or STW2.7.
The following requirements must be satisfied:
Hot-plugging only functions when a drive object is connected in a star configuration to a Control
Unit or to the DRIVE-CLiQ Hub DMC20/DME20.
The system does not support removing DRIVE-CLiQ connections between the other DRIVE-CLiQ
components, e.g. Sensor/Terminal Module to Motor Module, Motor Module to Motor Module.
The complete drive object (Motor Module, motor encoder, Sensor Module) is disabled via p0105.
STW2.7 is used to set the function "Park axis" for all components that are assigned to the motor
control (Motor Module, motor encoders). All components that belong to Encoder_2 or
Encoder_3 remain active. The "Park axis" function is only enabled by setting the ZSW2.7 bit in
combination with pulse inhibit.
Note
Drives with enabled Safety functions must not be deactivated, see Section "Safety Integrated" for
further details.
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Applications
12.6 Application examples with DMC20
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Note
In order to disconnect and isolate the power unit from the DC link, additional measures must be
applied - such as DC link wiring through the DC link infeed adapter and DC link disconnecting
devices. The safety information and instructions in the Equipment Manual must be carefully
observed.
Instructions for offline commissioning with STARTER
With automatic online configuration in STARTER, the DMC20 is detected and integrated in the
topology. The following steps must be taken to commission offline:
1. Configure the offline drive device.
2. Right-click "Topology" in the project navigator and call the "Add new object > DRIVE-CLiQ hub"
context menu.
3. Configure the topology.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0105 Activate/deactivate drive object
• r0106 Drive object active/inactive
• p0151[0...1] DRIVE-CLiQ Hub Module component number
• p0154 DRIVE-CLiQ Hub Module detection via LED
• r0157 DRIVE-CLiQ Hub Module EEPROM data version
• r0158 DRIVE-CLiQ Hub Module firmware version
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12.6 Application examples with DMC20
• r0896.0 BO: Parking axis status word
• p0897 BI: Parking axis selection
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Applications
12.7 DCC and DCB extension applications
12.7 DCC and DCB extension applications
You can find further application examples, such as applications with DCC, on the Siemens
homepage.
Finding and calling application examples
1. Call the following web page: SINAMICS Application Examples (https://
www.automation.siemens.com/mc-app/sinamics-application-examples/Home/Index?
language=en).
2. Select the "DCC" entry in the following "Speciality" search field.
3. Click the required DCC application.
A tooltip on the required DCC application is then displayed in the
Siemens Industry Online Support (SIOS). Generally, you can download a detailed application
description as PDF via the tooltip.
Example: Synchronous operation applications with DCC
You require the "Synchronous operation" drive function and the "DCC" feature as filter settings.
Figure 12-11 Important synchronous applications
The most important synchronous operation application examples are marked in red in the
figure.
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Web server 13
Overview
The web server is a web-based commissioning tool for SINAMICS S120 converters and provides
information on a connected SINAMICS S120 converter via its web pages.
You can open the web server via the Internet browser of your commissioning device.
Total memory size
The sum of the data and files stored in the web server must not exceed the total memory size of
100 MB. The total size of the saved data and files has an impact on the backup times. The larger
the data quantity, the longer the backup takes.
Delimitation of contents
The display areas "System > Files", "System > User area configuration" and "User area" are
described in detail in the documentation specified below and are not described in this chapter.
• S120 web server - Creating user-defined web pages (https://support.industry.siemens.com/
cs/ww/en/view/68691599)
• S120 web server – User-defined sample pages (https://support.industry.siemens.com/cs/ww/
en/view/78388880)
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Web server
Configuration
The web server is already activated in the factory settings of the converter. You perform
configuration of the web server either directly in the web server (see Chapter "System settings
(Page 814)") or in the Startdrive engineering tool.
Web browser
remote maintenance
VPN
Web browser Internet
local mainte-
nance
Intranet
Machine
PROFINET
Industrial Ethernet
SINAMICS S120 SINAMICS S120
Figure 13-1 Web server structure
Additional information
Additional information regarding configuring the web server in the Startdrive engineering tool
is provided in the SINAMICS S120 Commissioning Manual with Startdrive.
Communication
The web server supports unencrypted communication via the HTTP protocol as well as
encrypted communication via the HTTPS protocol.
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Additional information
You can find more information on configuring the IP connection in Chapter "Configuring the IP
connection (Page 820)".
Access rights
The normal SINAMICS protection mechanisms apply to the web server, including password
protection. The permanently defined user roles with the assigned access rights offer additional
security.
User roles
The user roles in the web server have the following features and characteristics:
• Administrator:
– Advanced access rights
The advanced access rights authorize the "Administrator" user to expand the access rights
of the "SINAMICS" user role.
– Intended for commissioning tasks
The most important commissioning tasks include creating parameter lists and changing
parameter values in existing parameter lists.
• SINAMICS:
– Restricted access rights
– Intended for diagnostics tasks
Additional information
You will find information about the user roles and their access rights to the web server functions
in Chapter "Access rights (Page 757)".
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13.1 Fundamentals
13.1.1 Supported Internet browsers
Overview
You can display the content of the web server either on a PC/laptop screen, a tablet PC or a
smartphone.
List of supported Internet browsers
The web server integrated in the converter supports the following web browsers:
Commissioning device Operating system Supported browsers
PG/PC Windows (as of Version 7)1) • Microsoft Internet Explorer (Version 11)
• Microsoft Edge (Version 14)
• Mozilla Firefox (Version 62)
• Google Chrome (Version 69)2)
Tablet, Apple iOS (from Version 12.0) • Google Chrome (Version 69)
Smartphone • Safari (Version 12.0)
Android (from Version 4.4.4) • Google Chrome (Version 69)
1) We recommend the use of Windows 10, Version 1803, dated April 2018 or later.
2) We recommend the use of Google Chrome in the supported version 69.
Reloading pages
If the web server does not respond, or if buttons are inactive or are not labeled, although the
converter is not fully utilized with internal calculations, load the web server pages again as
follows:
• With the PG/PC via <F5>
• With the smartphone or tablet via
13.1.2 Accessing the web server
For access to the web server, the following interfaces are available on the converter:
• Service interface X127 (standard)
• PROFINET interface X150
13.1.2.1 Access via service interface X127
The web server is accessed per default via the service interface X127.
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Features
• Preset IP address: 169.254.11.22
• Preset subnet mask: 255.255.0.0
• Access via the service interface is activated by default in the web server.
• Data transfer via HTTP (factory setting) and HTTPS connection possible.
NOTICE
Risk of software manipulation with HTTP connection
The HTTP protocol transfers data without encryption. This facilitates, for example, password
theft and can lead to data manipulation by unauthorized parties and thus to damage.
• Limit access to HTTPS connections so that all data is transferred in encrypted form.
Interface X127 can also be connected to an external WLAN access point, and from this an IP
address can be sourced via DHCP. This is just a temporary situation, and is only used for
commissioning and/or diagnostics with mobile devices. The subsequently described security
notes must be carefully observed when doing this.
Additional notes on using the service interface
Note
Service interface X127 is intended for commissioning and diagnostics, which means that it must
always be accessible (e.g. for service).
The following restrictions apply in addition:
• Only local access is permissible.
• No networking - or only local networking is permissible in a locked control cabinet.
If remote access to the control cabinet is required, additional safety measures need to be taken
so that misuse through sabotage, unqualified data manipulation and eavesdropping on
confidential data can be ruled out (see also Chapter "Security information (Page 29)").
13.1.2.2 Access via PROFINET interface X150
Access to the web server is also possible via the PROFINET interface X150.
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Features
• Access via the PROFINET interface is deactivated by default in the web server.
The PROFINET interface can be activated using parameter p8984[1]. Because parameter
p8984[1] is a BICO parameter, the interface can also be activated via a key-operated switch.
• Data transfer is only possible via an HTTPS connection.
Note
Security measures for communication via PROFINET
In accordance with the Defense in Depth concept, PROFINET must be isolated from the
remaining plant network (see Chapter Security information (Page 29)). Access to cables and
possibly open connections must be implemented in a protected fashion, such as in a control
cabinet.
Note
It is not permissible that the IP addresses of the service and PROFINET interfaces are in the
same subnet (see Chapter "Access via service interface X127 (Page 754)").
13.1.2.3 Calling the web server
Procedure
Proceed as follows to call the web server:
1. Connect the converter to your commissioning device via the service interface X127.
2. Switch the converter on.
The converter starts up.
3. Open the web browser in your commissioning device.
4. Call the web server using the converter IP address (e.g. 169.254.11.22).
13.1.3 Access protection
Overview
Access protection in the web server comprises the following protective measures:
• User roles
Access to the converter is possible via two defined user roles ("Administrator" and
"SINAMICS") with different access rights in the web server (see Chapter "Access rights
(Page 757)").
We recommend the creation of secure passwords for access to the SINAMICS S120 converter.
• Access rights to parameter lists
Access rights to parameter lists in the web server are defined or changed by the
"Administrator" user (see Chapter "Creating a parameter list (Page 806)" and "Changing the
list properties (Page 809)").
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13.1.3.1 Access rights
Overview
The following user roles are available for access to the web server:
• Administrator
Access rights The "Administrator" user has full access to the converter data displayed in the
web server.
Password For access to the converter, assigning an administrator password is absolutely
necessary (see Chapter "Assigning the administrator password (Page 761)").
• SINAMICS
Access rights The "SINAMICS" user has restricted access rights in the default settings of the
web server.
Password By default, a password is not assigned for the SINAMICS user. We recommend
that a password is assigned to avoid access by unauthorized persons.
Configuring passwords
You can configure the passwords of the users "Administrator" and "SINAMICS” in the system
settings of the web server with administrator rights (see Chapter "AUTOHOTSPOT").
Assignment of access rights
The access rights for the "Administrator" and "SINAMICS" users are assigned as follows in the
default settings:
Display areas and functions Administra‐ SINAMICS
tor
W/E R W/E R
Home page Password input x x
Diagnostics Drive objects and components x x
Messages > Search and filter x x
Messages > Acknowledge faults x x
Diagnostics buffer > Search and filter x x
Communication x x
Trace files x x
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Display areas and functions Administra‐ SINAMICS
tor
W/E R W/E R
Parameter Create list x x
List properties > Access rights > Read parameter values x x1)
List properties > Access rights > Change parameter values ... x x2)
• ... Add parameters
• ... Delete parameters
• ... Change parameter values
List properties > Access rights > Change list x x1)
• ... Enter / change list names
• ... Delete list
List properties > Change position of list x x
Backup and restore Back up parameters x3)
Restore parameters from file x3)
Restore factory settings x3)
System Settings > User accounts x3)
Settings > Configure IP connections x3)
Licenses x x
Firmware update x 3)
Save changes (RAM to ROM) x x
Call Support x x
W/E = Write/Edit, R = Read
1)
The parameter lists generated by user "SINAMICS" are automatically assigned access rights "Read parameter values" and
"Change list". The automatically assigned access rights can be extended or restricted by the "Administrator" user. The
"Administrator" user can assign the access right "Change parameter values" to a parameter list created by the "SINAMICS" user
and at the same time deactivate the automatically assigned access right "Change list". As a consequence, a "SINAMICS" user
can change individual values in the corresponding parameter list; however, he cannot add additional parameters to the list
or delete parameters that have already been added.
2)
The function and the associated operating options are displayed for both users. However, the access rights for the function
can only be assigned by user "Administrator".
3)
The function and the associated operating options are not displayed for the "SINAMICS" user and are solely reserved for the
"Administrator" user.
13.1.4 SINAMICS write and know-how protection
Function description
Write or know-how protection set in the STARTER or Startdrive commissioning tool is also
effective for access via the web server. The set protective measure cannot be configured or
deactivated in the web server.
If know-how protection is set, then no values are displayed in the parameter list of the web
server; instead, a note referring to the fact that know-how protection is activated.
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Additional information
• A description of SINAMICS write protection is provided in Chapter "Write protection
(Page 868)".
• A description of SINAMICS know-how protection is provided in Chapter "Know-how
protection (Page 869)".
13.1.5 Dialog screen forms in the web server
You make most of the important converter settings in the dialog screen forms of the web server.
The web pages are as follows:
① Navigation bar
② Status bar
• Top: Device designation, drop-down list for the language selection and to log out, display of
the security level
• Bottom: Name of the converter (if entered), status of the converter, fault and warning mes‐
sages
③ Main window (depending on navigation)
Figure 13-2 Example of a dialog screen
In some cases, you must make the parameter settings or read out values which can only be found
in the parameter list of the converter. Additional information is provided in Chapter "Creating
and adjusting the parameter list (Page 806)".
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13.1.6 Changing parameter values
Overview
The parameters displayed in the web server are subdivided into adjustable parameters (p...) and
display parameters (r...). The parameters are shown in the same way in parameter lists and
dialog screen forms.
Adjustable parameters
You change the parameter values for adjustable parameters in the parameter lists and dialog
screen forms by means of input fields ② or drop-down lists ③.
① Parameter (opened)
② "Parameter" column
③ "Value" column (values can be changed via drop-down lists or input fields.)
④ "Unit" column
⑤ Input field (invalid values are displayed with red background.)
Figure 13-3 Example: Display of adjustable parameters
Input of invalid values
The web server responds to the input of invalid values in the following ways:
• If the input of an invalid value is confirmed with "Enter", a corresponding message is shown
(e.g. "Value invalid") and the value is automatically set to the previously set value.
The invalid value is not applied.
• If the input of an invalid value is confirmed with "Enter", the value is automatically set to the
default value. If the previously set value differs from the default value, the previously set
value is overwritten.
The invalid value is not applied.
Display parameters
Display parameters are for information purposes only and cannot be changed.
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13.1.7 Administrator password
13.1.7.1 Assigning the administrator password
Overview
For the first login to the web server, the assignment of an administrator password is mandatory.
When you have logged on successfully, you will receive advanced access to all web server
functions as "Administrator" user. An overview of all web server functions and the assignment
of access rights is provided in Chapter "Access rights (Page 757)".
Administrator password already assigned
If you have already been assigned an administrator password, then proceed as described in
Chapter "User login (Page 763)".
You have forgotten the administrator password
If you as "Administrator" user have misplaced or forgotten your administrator password, there is
no possibility in the web server to assign a new password. To create a new administrator
password, proceed as described in Chapter "Password forgotten (Page 816)".
Requirements
• The converter has the factory settings.
All web server data (passwords and settings) are lost if the converter is reset to the factory
settings.
Procedure
Proceed as follows to assign an administrator password:
1. Switch the converter on.
2. Connect the commissioning device (PG/PC, tablet or smartphone) to service interface X127
on the converter using a LAN cable.
Note
Observe time window
Once you have connected the commissioning device with service interface X127 at the
converter, assign a password within 10 minutes.
If a password is not assigned within this time window, the display automatically switches to
the login screen of the web server. To redisplay dialog "Define administrator", proceed as
follows:
• Switch the converter off and on again.
OR
• Withdraw the LAN cable from service interface X127, and then reinsert it into the service
interface.
3. Open the browser in your commissioning device.
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4. Call the web server using the converter IP address (e.g. 169.254.11.22).
If you have not assigned a password, then the following dialog is displayed.
5. Enter an administrator password in the "Password" field.
Note
Secure passwords
To protect against unauthorized access, by a hacker, for example, select a secure password
that comprises:
• At least 8 characters
• Uppercase and lowercase letters
• Numbers and special characters (e.g.: ?!%+ ...)
It is not permissible that the password is used elsewhere.
Note
Checking passwords
When passwords are entered, the converter only checks the password length. A check is not
made for special characters or uppercase/lowercase letters!
6. Repeat the password in the "Confirm password" field.
If the input is not identical in both fields, the "OK" button is not enabled.
7. Confirm the password that you entered with "OK".
The display changes to the login page of the web server.
8. Log in using the administrator password.
9. Remember the password or store it in a secure place that cannot be accessed by unauthorized
persons.
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13.1.7.2 Changing the administrator password
Procedure
To change an existing administrator password, proceed as described in Chapter "Setting or
changing user accounts (Page 814)".
13.1.8 User login
Overview
In order to be able to work with the web server, you must be logged in as "SINAMICS" or
"Administrator" user.
You must be logged in as "Administrator" user to perform commissioning tasks.
Requirements
• You have already assigned a password for the "Administrator" user
Additional information on assigning a password for an "Administrator" user is provided in
Chapter "Assigning the administrator password (Page 761)".
• You have already assigned a password for the "SINAMICS" user.
You can find additional information on assigning a password for the "SINAMICS" user in
Chapter "Setting or changing user accounts (Page 814)".
Procedure
Proceed as follows to log into the web server:
1. Call the web server using the converter IP address (e.g. 169.254.11.22).
The login page of the web server is displayed in the browser.
2. Enter the name of the user (Administrator or SINAMICS) in the "User name" field.
3. Then enter the password of the particular user.
4. Make sure that you have entered the user name and password correctly.
5. Click "Login".
You are logged into the web server.
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13.1.9 User logout
Procedure
Proceed as follows to log out of the web server:
1. Click the user symbol in the status bar of the web server.
2. Click "Logout".
If have changed the settings, a save prompt appears.
3. If you want to save the settings retentively, click "Save changes".
The settings are saved retentively and you are logged out of the web server.
OR
4. If you want to discard the settings, click "Log out without saving".
The settings are discarded and you are logged out of the web server.
13.1.9.1 Automatic logout
Overview
If you do not perform any actions in the web server, you are automatically logged out after
10 minutes.
Settings made are not lost as a result of automatic logout. You must log in again to be able to
access the web server.
Saving settings retentively
Proceed as follows to save settings made retentively after automatic logout:
1. Log in to the web server.
2. Click "Save changes" .
A corresponding dialog is displayed.
3. Click "Save".
The settings are saved retentively.
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13.1.10 Layout of the start page
After you have logged in, the web server will display the following start page:
① Navigation bar
② Status bar
• Top: Device designation, drop-down list for logout and language selection, display of the
security level
• Bottom: Name of the converter (if entered), status of the converter, fault and warning mes‐
sages
③ Main window (depending on navigation)
④ Action bar:
• Support information
• Save changes retentively (RAM to ROM)
Figure 13-4 Structure of the web server
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13.1.10.1 Navigation
The web server provides the following options for navigating:
• Multi-level navigation bar:
① Main menu as icon
② Main menu in text format
③ Submenu(s) of the active main menu
• Via drop-down lists:
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① Main menu in text format
② Submenu in text format
③ Submenu(s) of the active submenu
For navigation on mobile end devices, the screen forms can also be called in the active view
of the web server via drop-down lists ① / ②.
13.1.10.2 Call support information
Overview
You call the support addresses for SINAMICS S120 via the action bar of the web server (see
Chapter "Layout of the start page (Page 765)").
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Procedure
Proceed as follows to call Support:
1. Click "Support" in the action bar of the web server.
The following information is shown:
Figure 13-5 Support addresses
You can use the links to open or copy the desired support addresses.
2. Click "OK" to close the dialog.
13.1.10.3 Saving settings retentively
Overview
Changed settings are saved in the volatile memory of the converter, and retained when the web
server is closed.
The settings are lost when the drive is switched off. Therefore, save the changes retentively on
a regular basis (also known as "RAM to ROM"). You can save the changed settings and
optimization results both for each individual commissioning step and after commissioning is
complete.
Procedure
Proceed as follows to save changed settings retentively:
1. Click "Save changes" in the footer of the web server.
A save dialog appears.
2. Click "Save".
The settings are saved retentively.
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13.1.11 Using SSL/TLS certificates for secure data transfer
13.1.11.1 Overview
Overview
You require a valid SSL/TLS certificate to establish a secure HTTPS connection between your
commissioning device (PG/PC, tablet or smartphone) and the web server.
Establishing an HTTPS connection using a valid SSL/TLS certificate
The following options are available to establish a secure HTTPS connection using a valid SSL/TLS
certificate:
• Use an SSL/TLS certificate from a certificate authority
• Use a user-defined SSL/TLS certificate
When doing this, the user generates an SSL/TLS certificate using suitable software (e.g.
OpenSSL). The user must ensure that the browser being used trusts the user-defined
certificate and the HTTPS connection can be classified as secure.
Additional information about calling a secure HTTPS connection when using a user-defined
certificate is provided in Chapter "Using a self-created or purchased certificate (Page 771)".
• Using a self-signed certificate
This certificate type is automatically generated when calling an HTTPS connection. The user
must trust the self-signed certificate in order that a secure HTTPS connection can be
established.
Additional information about calling a secure HTTPS connection when using a self-signed
certificate is provided in Chapter "Using a self-signed certificate (Page 773)".
Duration of validity
The certificates generated from the firmware files are valid until 01.01.2030. After expiration of
the validity period, install new valid certificates on all the relevant drives.
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Validating a server certificate
When calling an HTTPS connection to the web server, the validity of a server certificate is
validated by the browser being used and the web server independent of the certificate type
being used (e.g. a user-defined certificate). The following criteria are used for the validation:
Criterion Browser Web server
The server certificate originates from a certificate authority, whose pri‐ X –
vate server key is contained in the Windows certificate store or in the
certificate store of the browser being used in the list of trustworthy cer‐
tification authorities.
The server certificate specifies the maximum validity period of the cer‐ X X
tificate.
The server certificate contains the currently valid IP addresses of service X X
interface X127 and PROFINET interface X150.
Note
The server certificate can contain IP addresses set in the factory (e.g.:
https://169.254.11.22 for service interface X127 at the converter) as
well as user-defined IP addresses.
All criteria that are used as basis must be satisfied in order that a server certificate is validated.
Server certificates that are not validated are classified as invalid.
Validation failed
When calling an HTTPS connection to the web server, if a self-signed certificate is not validated,
the certificate is overwritten by a self-signed certificate that the converter automatically
generates. This is applicable independent of the certificate type used.
Overwriting the previously used server certificate (e.g. a user-defined certificate) by a self-signed
certificate can cause the web server to significantly slow down. To prevent this, depending on
the browser being used, proceed as described in one of the following chapters:
• Internet Explorer 11 application (Page 774)
• Using Google Chrome and Microsoft edge (Page 781)
• Using Mozilla Firefox (Page 789)
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Important notes
• Using an invalid server certificate:
When calling an HTTPS connection to the web server, if you use a server certificate that is
classified as invalid then this can significantly slow down the web server.
• Firmware version V5.2 SP3:
If you upgrade your drive to the current firmware version V5.2 SP3, and the previously used
server certificate is not validated when calling an HTTPS connection, the previously used
server certificate is overwritten by a new self-signed certificate. This is applicable
independent of the certificate type previously used.
Validating a previously used server certificate can be unsuccessful for the following reasons,
for example:
– After the upgrade, the IP addresses of service interface X127 and/or PROFINET interface
X150, included in the newly generated server certificate, do not match the IP addresses
contained in the previously used server certificate.
– The previously used server certificate only contains one IP address (e.g. IP address of the
service interface X127).
To validate a server certificate, the certificate must contain all the currently valid IP
addresses of service interface X127 and PROFINET interface X150. Refer to the list of
criteria above.
13.1.11.2 Using a self-created or purchased certificate
Overview
You can either generate your own SSL/TLS certificates for secure data transfer or purchase them
from a certificate authority. You can find certificate authorities for purchasing certificates as well
as software to generate certificates (e.g. OpenSSL) on the Internet.
As shown in the following example, a valid SSL/TLS certificate comprises a server certificate and
a private server key. The server certificate and the private key must be individualized for the
relevant IP address.
• Server certificate: <IP addr>.TLS.crt Example: 192.168.2.90.TLS.crt
• Private server key: <IP addr>.TLS.key Example: 192.168.2.90.TLS.key
Requirements
• You have connected your commissioning device to service interface X127 or PROFINET
interface X150.
• You have administrator rights on your commissioning device.
• You have a user-defined or purchased SSL/TLS certificate comprising server certificate (*.crt)
and private server key (*.key). Certificate files (*.crt and *.key) are saved in your
commissioning device in a folder that only you can access.
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Copying the certificate files to a Siemens memory card
Proceed as follows to copy a user-defined or purchased SSL/TLS certificate to the Siemens
memory card of your SINAMICS S120 drive:
1. Switch off your drive.
2. Remove the Siemens memory card from the drive.
3. Copy the certificate files (*.crt and *.key) into the following directory on the Siemens
memory card:
– OEM\SINAMICS\HMICFG\CERTSTORES\SERVERCERTS
4. Rename the server certificate as "SINAMICS.crt".
5. Rename the private server key as "SINAMICS.key".
6. Insert the Siemens memory card into your drive.
7. Switch on your drive.
The drive powers up.
8. Wait until the drive has finished ramping up.
9. Proceed as described in the following section.
Establishing a secure HTTPS connection
Proceed as follows to establish a secure HTTPS connection between the browser and the web
server:
1. Open the browser.
2. Call the web server using the IP address of your drive (e.g.: https://169.254.11.22 for service
interface X127 at the converter).
The login page of the web server opens.
Generally, a secure connection is indicated using a lock symbol in the browser address line.
Figure 13-6 Example: Mozilla Firefox
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Result
By copying the certificate files (*.crt and *.key) to the Siemens memory card of your SINAMICS
drive, the user-defined or purchased server certificate is validated, and the HTTPS connection is
classified as being secure.
Validation failed
If the user-defined or purchased server certificate is not validated, as an alternative you can use
a self-signed certificate.
Additional information for using self-signed certificates is provided in Chapter "Using a self-
signed certificate (Page 773)".
13.1.11.3 Using a self-signed certificate
Overview
The converter automatically generates a server certificate when first establishing an HTTPS
connection to the web server. The certificate files required (*.crt and *key) are included in the
firmware files of the converter.
In this case, the self-signed certificate is individualized for the IP address of the interface, via
which communication is established (e.g.: https://169.254.11.22 for service interface X127 at
the converter).
Security warning with non-secure HTTPS connection
The usual Internet browsers do not validate self-signed certificates. As a consequence, the
browser classifies these certificates as invalid, and when calling an HTTPS connection first issues
a security warning.
For the browser to trust a self-signed certificate, the self-signed certificate must first be exported
from the browser and then installed or imported into the certificate store of the Windows
system.
A secure HTTPS connection can be established once the self-signed certificate has been
successfully installed or has been imported into the certificate store of the Window system.
Managing certificates in common browsers
The essential features and special issues relating to the following browsers in conjunction with
certificate management in the Window system are listed in the following table:
Browser Version Engine Certificate management
Google Chrome 80.0.3987.122 [64 bit] Chromium The browser only accesses certificates that are
Microsoft Edge 81.0.416.72 [64 bit] saved in the certificate store of the Windows
system. A self-signed certificate cannot be di‐
rectly installed from the browser.
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Browser Version Engine Certificate management
Mozilla Firefox 68.8.0 ESR [32 bit] Gecko Data relating to Google Chrome and Microsoft
Edge are applicable. Mozilla Firefox also has its
own certificate management integrated in the
browser.
Internet Explorer 11 11.1425.17134.0 Trident A self-signed certificate can be directly instal‐
led from the browser. The certificate is saved
in the certificate store of the Windows system.
Restrictions
The descriptions in this chapter refer exclusively to the browser versions listed above. Browser
response can deviate depending on the browser version being used. The display examples
contained in this chapter may differ from the displays in your browser or commissioning device.
Important notes
• Using a self-signed certificate as subsequently described does not represent the most secure
form of data transfer via an HTTPS connection. Only use the self-signed certificate in secure
networks (e.g. PROFINET below a PLC) or for direct point-to-point connections to the service
interface X127 or PROFINET interface X150.
13.1.11.4 Internet Explorer 11 application
Overview
Internet Explorer 11 uses the "Trident" browser engine and accesses the Windows certificate
store. Using Internet Explorer 11 self-signed certificates can be installed in the Window
certificate store directly from the browser.
It is crucial that the subsequently described steps are complied with to establish a secure HTTPS
connection between the browser and the web server.
Important notes
• Certificates, which are installed in the Windows certificate store using Internet Explorer 11
and are classified as valid, are also available for other browsers (e.g. Chrome, Edge, Firefox).
This applies to all certificate types.
Requirements
• You have connected your commissioning device to service interface X127 or PROFINET
interface X150.
• You have administrator rights on your commissioning device.
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13.1 Fundamentals
Calling the web server via an HTTPS connection
Proceed as follows to establish an HTTPS connection between the browser and the web server:
1. Open the browser.
2. Call the web server using the IP address of your drive (e.g.: https://169.254.11.22 for service
interface X127 at the converter).
When establishing the HTTPS connection, the converter automatically generates a server
certificate. The self-signed certificate is individualized for the IP address of the interface being
used.
The browser classifies the certificate as being invalid, and responds with a security warning.
3. Proceed as described in the following section.
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13.1 Fundamentals
Installing a certificate
Proceed as follows to install the self-signed certificate:
1. In the the opened webpage, click on option "More information" ①.
2. Click on "Go on to the web page (not recommended)" ②.
The login page of the web server opens.
Status "Certificate error" is displayed in the browser address line.
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3. In the browser address line, click on status display "Certificate error" ③.
A corresponding dialog is displayed.
4. Click on "Display certificate" ④.
Dialog "certificate" opens.
5. Under tab "General", click on "Install certificate...".
The "Certificate Export Wizard" opens.
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6. On the wizard welcome page, select option "Local computer" ⑤.
7. To continue the operation, click on "Next" ⑥.
The "User Account Control" dialog opens.
8. Acknowledge the confirmation prompt with "Yes".
The dialog to select the certificate store opens.
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9. Select option "Place all certificates in the following store" ⑦.
10.Click on "Browse..." ⑧.
A corresponding dialog opens.
11.Select the certificate store "Trusted Root Certification Authorities" ⑨.
12.Click "OK" ⑩ to confirm the selection.
13.To continue the operation, click on "Next".
An overview of the settings made is displayed for you to check.
14.Click "Finish" to apply the settings.
The Wizard reports that the export has been completed successfully.
15.Confirm the procedure with "OK".
The Wizard closes.
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13.1 Fundamentals
16.Close dialog "Certificate".
17.Close the browser.
18.Proceed as described in the following section.
Establishing a secure HTTPS connection
Proceed as follows to establish a secure HTTPS connection between the browser and the web
server:
1. Open the browser.
2. Call the web server using the IP address of your drive (e.g.: https://169.254.11.22 for service
interface X127 at the converter).
The login page of the web server opens.
A secure connection is indicated using a lock symbol in the browser address line.
3. Click on the lock symbol ① to check the certification status .
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4. Click on "View certificates".
Dialog "certificate" opens.
5. Click on tab "Certification Path".
The certification status is displayed in the lower part of the window.
Result
The self-signed certificate is validated, and the HTTPS connection is classified as secure by
installing the automatically generated server certificate in the Windows certificate store.
13.1.11.5 Using Google Chrome and Microsoft edge
Overview
Google Chrome and Microsoft Edge use the "Chromium" browser engine, and when checking
certificates, access the Windows certificate store. This applies to all browsers that use
"Chromium" as browser engine.
To keep it simple, only screen examples from Google Chrome are subsequently shown. The term
"Browser" refers to both Google Chrome and Microsoft Edge.
It is crucial that the subsequently described steps are complied with to establish a secure HTTPS
connection between the browser and the web server.
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13.1 Fundamentals
Important notes
• Certificates that are installed in the Windows certificate store using Internet Explorer 11 and
are classified as valid are also available for other browsers (e.g. Chrome, Edge, Firefox). This
applies to all certificate types.
If you have already installed the self-signed certificate using Internet Explorer 11, then you
can skip the steps described below and go directly to section "Establishing a secure HTTPS
connection". Otherwise, proceed as described below.
Requirements
• You have connected your commissioning device to service interface X127 or PROFINET
interface X150.
• You have administrator rights on your commissioning device.
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13.1 Fundamentals
Calling the web server via an HTTPS connection
Proceed as follows to establish an HTTPS connection between the browser and the web server:
1. Open the browser.
2. Call the web server using the IP address of your drive (e.g.: https://169.254.11.22 for service
interface X127 at the converter).
When establishing the HTTPS connection, the converter automatically generates a server
certificate. The self-signed certificate is individualized for the IP address of the interface being
used.
The browser classifies the certificate as being invalid, and responds with a security warning.
3. Proceed as described in the following section.
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13.1 Fundamentals
Exporting a certificate
Proceed as follows to export the generated certificate:
1. In the browser address line, click on status display "Not secure" ①.
A corresponding dialog opens.
2. Click on "Certificate (invalid)" ②.
Dialog "certificate" opens.
3. Click the "Details" tab ③.
4. To export the certificate, click on "Copy to File..." ④.
The "Certificate Export Wizard" opens.
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5. On the Wizard welcome page, click on "Next".
The dialog for selecting the export format opens.
In the default setting, format "DER-coded-binary X.509 (.CER)" is selected.
6. To continue the operation, click on "Next".
The dialog for selecting the storage location opens.
7. Click on "Browse...".
The file explorer opens.
8. Navigate to the desired storage location.
9. Assign a descriptive name to the certificate and then click on "Save".
The file explorer closes.
10.To continue the operation, click on "Next".
An overview of the settings made is displayed for you to check.
11.Click "Finish" to apply the settings.
The Wizard reports that the export has been completed successfully.
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13.1 Fundamentals
12.Confirm the procedure with "OK".
The Wizard closes.
13.Close dialog "Certificate".
14.Close the browser.
15.Proceed as described in the following section.
Importing a certificate
Proceed as follows to import the certificate that was exported to the Windows certificate store:
1. Press the keys R at the same time.
The command line input opens.
2. Enter the command "certlm.msc" and click "OK".
The "User Account Control" dialog opens.
3. Confirm the prompt in the "User Account Control" dialog with "Yes".
The certificate store opens.
4. Right-click the "Trusted Root Certification Authorities" folder ①.
The possible actions are displayed.
5. Click "All Tasks" ②.
The tasks are displayed.
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6. Click "Import" ③.
The "Certificate Import Wizard" opens.
"Local Machine" is preset as storage location.
7. To continue the operation, click on "Next".
The dialog for specifying the certificate to be imported opens.
8. Click "Browse...".
The file explorer opens.
9. Go to the storage location of the exported certificate.
10.Click on the certificate to be imported.
The path is displayed in the "File name" input field.
11.To continue the operation, click on "Next".
The dialog for selecting the certificate store opens.
The "Trusted Root Certification Authorities" certificate store is already set.
12.Confirm the settings with "Next".
An overview of the settings made is displayed for you to check.
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13.1 Fundamentals
13.Click "Finish" to apply the settings.
The Wizard reports that the import has been successfully completed.
14.Confirm the procedure with "OK".
The Wizard closes.
15.Close the certificate store.
16.Proceed as described in the following section.
Establishing a secure HTTPS connection
Proceed as follows to establish a secure HTTPS connection between the browser and the web
server:
1. Open the browser.
2. Call the web server using the IP address of your drive (e.g.: https://169.254.11.22 for service
interface X127 at the converter).
The login page of the web server opens.
A secure connection is indicated using a lock symbol in the browser address line.
3. Click on the lock symbol ① in the browser address line to check the certification status.
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4. Click on "Certificate (valid)" ②.
Dialog "certificate" opens.
5. Click on tab "Certification Path".
The certification status is displayed in the lower part of the window.
Result
The self-signed certificate is validated, and the HTTPS connection is classified as secure by
installing the self-signed certificate in the Windows certificate store.
13.1.11.6 Using Mozilla Firefox
Overview
Mozilla Firefox uses browser engine "Gecko", and in addition to its own browser certificate
management, it also accesses the Windows certificate store.
It is crucial that the subsequently described steps are complied with to establish a secure HTTPS
connection between the browser and the web server.
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13.1 Fundamentals
Important notes
• Certificates that are installed in the Windows certificate store using Internet Explorer 11 and
are classified as valid are also available for other browsers (e.g. Chrome, Edge, Firefox). This
applies to all certificate types.
If you have already installed the self-signed certificate using Internet Explorer 11, then you
can skip the steps described below and go directly to section "Establishing a secure HTTPS
connection". Otherwise, proceed as described below.
Requirements
• You have connected your commissioning device to service interface X127 or PROFINET
interface X150.
• You have administrator rights on your commissioning device.
Calling the web server via an HTTPS connection
Proceed as follows to establish an HTTPS connection between the browser and the web server:
1. Open the browser.
2. Call the web server using the IP address of your drive (e.g.: https://169.254.11.22 for service
interface X127 at the converter).
When establishing the HTTPS connection, the converter automatically generates a server
certificate. The self-signed certificate is individualized for the IP address of the interface being
used.
The browser classifies the certificate as being invalid, and responds with a security warning.
3. Proceed as described in the following section.
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13.1 Fundamentals
Exporting a certificate
Proceed as follows to export the generated certificate:
1. In the open page, click on "Advanced" ①.
A field with additional details and options is displayed.
2. Click on "View Certificate" ②.
Dialog "Certificate view: SINAMICS" opens.
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13.1 Fundamentals
3. Click the "Details" tab ③.
4. To export the certificate, click on "Export..." ④.
The file explorer opens.
5. Navigate to the desired storage location.
6. Assign a descriptive name to the certificate and then click on "Save".
The file explorer closes.
7. Close the dialog.
8. Close the browser.
9. Proceed as described in the following section.
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Importing a certificate
Proceed as follows to import the certificate that was exported to the Windows certificate store:
1. Press the keys R at the same time.
The command line input opens.
2. Enter the command "certlm.msc" and click "OK".
The "User Account Control" dialog opens.
3. Confirm the prompt in the "User Account Control" dialog with "Yes".
The certificate store opens.
4. Right-click the "Trusted Root Certification Authorities" folder ①.
The possible actions are displayed.
5. Click "All Tasks" ②.
The tasks are displayed.
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13.1 Fundamentals
6. Click "Import" ③.
The "Certificate Import Wizard" opens.
"Local Machine" is preset as storage location.
7. To continue the operation, click on "Next".
The dialog for specifying the certificate to be imported opens.
8. Click "Browse...".
The file explorer opens.
9. Go to the storage location of the exported certificate.
10.Click on the certificate to be imported.
The path is displayed in the "File name" input field.
11.To continue the operation, click on "Next".
The dialog for selecting the certificate store opens.
The "Trusted Root Certification Authorities" certificate store is already set.
12.Confirm the settings with "Next".
An overview of the settings made is displayed for you to check.
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13.Click "Finish" to apply the settings.
The Wizard reports that the import has been successfully completed.
14.Confirm the procedure with "OK".
The Wizard closes.
15.Close the certificate store.
16.Proceed as described in the following section.
Establishing a secure HTTPS connection
Proceed as follows to establish a secure HTTPS connection between the browser and the web
server:
1. Open the browser.
2. Call the web server using the IP address of your drive (e.g.: https://169.254.11.22 for service
interface X127 at the converter).
The login page of the web server opens.
A secure connection is indicated using a lock symbol in the browser address line.
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13.1 Fundamentals
3. Click on the lock symbol ① in the browser address line to check the status of the HTTPS
connection.
4. To obtain additional details, click on button ② next to the displayed status message.
Result
The self-signed certificate is validated, and the HTTPS connection is classified as secure by
installing the self-signed certificate in the Windows certificate store.
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13.2 Diagnostic functions
13.2 Diagnostic functions
13.2.1 “Drive objects and components” display area
In the “Drive objects and components” display area, you can view information on the drive
objects and components as well as on DRIVE-CLiQ wiring errors.
View drive objects
To display of drive objects for your drive, proceed as follows:
Procedure
1. Click in the “Drive objects and components” display area on the “Drive objects” tab.
Then, the information and messages regarding the drive objects are displayed in a list.
Figure 13-7 Example: Drive objects display area
2. If needed, you can re-sort the individual columns by clicking on the corresponding column
head (e.g. Type).
You can view the entries in ascending or descending order.
Note
Re-sorting the entries in a list affects only the list currently being shown. Re-sorting has no
effect on other lists.
Displaying and identifying components
In order to view the components of your drive, proceed as follows:
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13.2 Diagnostic functions
Procedure
1. Click in the “Drive objects and components” display area on the “Components” tab.
Then, the information and messages regarding the components are displayed in a list.
Figure 13-8 Example: “Components” display area
2. In order to carry out an LED flash test for individual components, click on in the
corresponding line.
The ready LED on the corresponding component then begins to flash.
3. If needed, you can re-sort the individual columns by clicking on the corresponding column
head (e.g. Type).
You can view the entries in ascending or descending order.
Note
Re-sorting the entries in a list affects only the list currently being shown. Re-sorting has no
effect on other lists.
A red or orange marking indicates a DRIVE-CLiQ wiring error on a component. Switch to the
“Topology” tab in order to view further information.
Displaying DRIVE-CLiQ wiring errors
In order to view existing DRIVE-CLiQ wiring errors and diagnostic information about the
individual components of your drive, proceed as follows:
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13.2 Diagnostic functions
Procedure
1. Click in the “Drive objects and components” display area on the “Topology” tab.
Then the diagnostic information about the components is shown in a list. Using the
information in the “Separate Port,” “Uplink to Port” and “Uplink to number” columns, you can
diagnose wiring errors on the individual components.
Figure 13-9 Example: Topology display area
2. If needed, you can re-sort the individual columns by clicking on the corresponding column
head (e.g. Type).
You can view the entries in ascending or descending order.
Note
Re-sorting the entries in a list affects only the list currently being shown. Re-sorting has no
effect on other lists.
13.2.2 “Alarms” display area
In the “Messages” display area, you can view the messages regarding the drive objects. In
addition to this, the display area provides you with the following options:
• Filtering according to message text.
• Selecting messages regarding specific drive objects.
• Filtering messages according to date.
• In order to compare current and past states to each other, you can activate the “View message
history” option.
• Filtering messages according to the respective message type.
• Acknowledging messages.
• In order to evaluate messages in greater detail, you can view additional details for the
messages.
The following description addresses exclusively the fundamental configuration and operation
options in the display area “Messages.”
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13.2 Diagnostic functions
Meaning of the symbols
The symbols indicate the following states of individual drive objects:
Alarm
Fault
Acknowledged fault
Viewing messages and additional information
In order to call up the list of messages, proceed as follows:
1. Select "Diagnostics > Messages" in the navigation.
OR
2. Click in the header of the web server on the or symbols.
Figure 13-10 Example: Message list
3. In order to view additional details on individual messages, click anywhere in the
corresponding line.
Then, under the corresponding message, an additional line with details and instructions is
shown. If additional information has been stored, it appears in the line under the
corresponding messages. Otherwise, the line is shown without content.
Figure 13-11 Example: Further information
4. If needed, you can re-sort the individual columns by clicking on the corresponding column
head (e.g. Type).
You can view the entries in ascending or descending order.
Note
Re-sorting the entries in a list affects only the list currently being shown. Re-sorting has no
effect on other lists.
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13.2 Diagnostic functions
13.2.2.1 Filtering messages
You can set filters in the message list and therefore limit the display of the messages. You can
configure the filter settings using the error bar above the message list. All filters are linked by a
logical conjunction (AND).
Figure 13-12 Example: Filtering messages
Setting filters
Proceed as follows to set the filters in the “Search and filter” filter bar.
Note
Collapsing the filter bar
The filter bar is opened per default. To close the filter bar, click anywhere in the header of the
“Search and filter” bar.
Procedure
1. In the "Search" field, enter a search term (any number of characters) for which you want to
search in the message list.
The search results are displayed in the message list.
Note
The search term is applied to the "Message" column in the message list.
2. If necessary, select a drive object and, in the “Filter by date” fields, determine a date range for
which you want to display messages.
After each setting is configured, the search results in the message list are narrowed down
further. The filters can be set in any order.
Resetting filters
As long as you are logged in to the web server and the filter settings have not changed, the
message list is always displayed with the last filter settings. In order to reset all filter settings in
the message list, proceed as follows:
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13.2 Diagnostic functions
Procedure
1. Click "Reset all filters" at the top right in the filter bar.
You have now re-set all configured filters. The message list then displays the unfiltered view
of the messages again.
13.2.2.2 Acknowledging faults
In order to acknowledge faults in the message list, proceed as follows:
Procedure
1. In order to acknowledge the faults being displayed, click on the "Acknowledge faults" button.
The displayed faults are acknowledged. Acknowledged faults continue to be displayed in the
message list with the symbol.
13.2.3 “Diagnostics buffer” display area
In the “Diagnostics buffer” display area, important operating events are included in the log in the
form of a logbook. The relevant data is read out from the non-volatile memory and is available
along with its history in the diagnostics buffer for the subsequent analysis of an operating fault.
Note
Detailed information on the diagnostic buffer or fault and warning buffer can be found in the
“Messages - Faults and warnings” chapter of the SINAMICS S120 commissioning manual with
Startdrive.
Displaying the diagnostic buffer
In order to call up the diagnostic buffer, proceed as follows:
Procedure
1. In the navigation, select “Diagnostics > Diagnostics buffer.”
The logged events are displayed.
Note
In the “Date and time” column, the time - differing from the current drive time - is combined
from the following components: "1.1.2000 + Operating hours counter".
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13.2 Diagnostic functions
Filtering diagnostic buffers
In the event list of the diagnostic buffer, you can set filters, narrowing down the events that are
displayed. The filter settings can be configured using the filter list above the event list. All filters
are linked by a logical conjunction (AND).
Figure 13-13 Example: Filtering diagnostic buffers
Setting filters
Proceed as follows to set the filters in the “Search and filter” filter bar.
Note
Collapsing the filter bar
The filter bar is opened per default. To close the filter bar, click anywhere in the header of the
“Search and filter” bar.
Procedure
1. In the "Search" field, enter a search term (any number of characters) for which you want to
search in the diagnostic buffer.
The search results are displayed in the event list.
Note
The search term affects the column “Event text” in the event list.
2. In the “Filter by date” fields, specify a date range for which you want to display events.
After each setting is configured, the search results in the event list are narrowed down
further. The filters can be set in any order.
Resetting filters
As long as you are logged in to the web server and the filter settings have not changed, the event
list is always displayed with the last filter settings. In order to reset all filter settings in the event
list, proceed as follows:
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Procedure
1. Click "Reset all filters" at the top right in the filter bar.
You have now re-set all configured filters. The event list then displays the unfiltered view of
the operating events again.
13.2.4 “Communication” display area
In order to call up the “Communication” display area, proceed as follows:
Procedure
1. Select "Diagnostics > Communication" in the navigation.
The web server shows a window with the following contents:
– IP address of the converter
– Name of the station
– Information as to whether the connection between the controller and the converter is
active.
– Table with process data for the transfer direction "controller > converter"
– Table with process data for the transfer direction "converter > controller"
Figure 13-14 Example: Communication display area
The values are displayed in hexadecimal format in the default setting. You can switch the display
of individual values between binary and hex format by clicking on the button to the right of the
value.
13.2.5 “Trace files” display area
The web server permits the loading of trace files that were created using a multiple trace and
stored on the memory card of the drive. All the files in the "USER/SINAMICS/DATA/TRACE"
directory of the memory card can be loaded to the web client (i.e. to the PC). The loadable trace
files are displayed on the web page with their name.
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13.2 Diagnostic functions
The trace files can be displayed graphically in the engineering tool.
Note
Activation and parameterization of the multiple trace
Detailed information on the activation and parameter assignment of a multiple trace can be
obtained in the following documentation:
• SINAMICS S120 Commissioning Manual with Startdrive
• Startdrive information system
Here, you can also obtain detailed information about how you can load trace files into your PC
file system.
Loading trace files from the memory card
In order to load trace files from the memory card to your device/computer, proceed as follows:
Procedure
1. In the main menu, click on the “Diagnostics” entry.
2. In the sub-menu, select the “Trace files” option.
If you have already saved trace files, these are displayed in the list.
3. In the list, select the trace file that you want to load.
You are then prompted whether you want to open the trace file or store it in your file system.
4. Save the file in your file system.
The file stored in the file system can be opened with the engineering tool.
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13.3 Creating and adjusting the parameter list
13.3 Creating and adjusting the parameter list
13.3.1 Overview
In the web server, you can manage up to 20 parameter lists with 40 parameters each. The
created parameter lists are saved on the memory card of the converter and are also available
after a restart.
13.3.2 Creating a parameter list
Procedure
To create a parameter list, proceed as follows:
1. Click the "Parameter" entry in the navigation.
The "Parameters" display area opens.
2. Click the "Create list" tab.
The "Create user-defined parameter list" dialog opens.
① "Name of the list" input field
② "Position" drop-down list
③ "Access rights" setting area (expandable)
3. In the "Name of the list" ① input field, enter a name for the parameter list.
When assigning license names, only use alphanumeric characters and the special characters
specified in brackets (-_+.).
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4. In the "Position" drop-down list ② select a position for the parameter list.
You can create a maximum of 20 parameter lists. If needed, you can change the order of the
tabs in the "Parameters" display area (see the "Changing the list properties (Page 809)"
chapter).
5. Change the access rights ③ for the "SINAMICS" user if required.
The "Read parameter values" option is preset in the default settings.
Observe and adhere to the following instructions if you want to change the access rights of
the "SINAMICS" user.
– Never simultaneously assign a "SINAMICS" user the access rights for the "Change list" and
"Change parameter values" functions.
– Only assign the access rights for the "Change parameter values" function if this is
absolutely necessary. The access rights can be extended during creation of a parameter
list or via the "List properties" dialog. The extension of the access rights is limited to
individual parameter lists and the parameters contained in them. The "Administrator"
user can change the access rights for the "SINAMICS" user at any time via the "List
properties" dialog (see Chapter "Changing the list properties (Page 809)").
6. In order to save your settings, click "OK".
The "Create user-define parameter list" is closed and the settings are saved. The created
parameter list appears as an empty list at the position that you selected.
OR
7. To discard your settings, click "Cancel".
The "Create user-defined parameter list" dialog is closed and the settings are discarded.
13.3.3 Adding parameters
Procedure
WARNING
Uncontrolled movement of the drive as a result of incorrect parameter assignment
Incorrect parameterization can cause uncontrolled drive movements, which may result in
death or serious injury.
• Make sure that the parameter assignment of the drive objects is correct.
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13.3 Creating and adjusting the parameter list
You can add individual parameters to an existing parameter list as follows:
1. Click the "Parameter" entry in the navigation.
The "Parameters" display area opens.
2. Click anywhere in the "Add parameters" field.
The entry and selection boxes in the "Add parameters" field are then displayed. The ③ and ④
selection boxes are only activated if index-coded or bit-coded parameters are input.
① Selection box: DO (selection in accordance with the present configuration)
Note: You can only change the name of the drive objects when configuring your drive in the
Startdrive engineering tool.
② Input field: Parameter
③ Selection box: Index value (selection of adjustable indices for index-coded parameters)
④ Selection box: Bit value (selection of configurable bits for bit-coded parameters)
3. Enter a parameter into the "Parameter" input field.
If you enter an invalid parameter, it is highlighted in red. Parameters are indicated as invalid
if they do not exist or are not assigned to the selected drive object (e.g. CU_S). Invalid
parameters are not added to the parameter list.
More detailed information on the individual parameters and their assignment to a drive
object can be found in the SINAMICS S120/S150 List Manual.
4. If necessary, select the desired bit and/or index for the parameter that was entered.
5. In order to accept the parameter with the selected settings into the parameter list, click "Add"
or confirm with "Enter".
The parameter is added to the existing parameter list.
13.3.4 Selecting/entering parameters
Procedure
In an existing parameter list, you can select or enter the parameter values for individual
parameters in the “Value” column. Proceed as follows:
1. Select the desired value for a parameter from the corresponding drop-down list.
OR
Enter the desired value for a parameter into the corresponding entry field.
Additional information
For more information on adjustable parameter values, refer to the SINAMICS S120/S150 list
manual.
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13.3 Creating and adjusting the parameter list
13.3.5 Changing the parameter sequence
In an existing parameter list, you can change the parameter sequence by appropriately dragging
& dropping.
13.3.6 Deleting parameters
In an existing parameter list, you can delete individual parameters as follows:
1. To delete a parameter, click on the cross symbol in the corresponding line.
The “Remove parameter from list” dialog opens.
2. Confirm the deletion operation by clicking “Remove.”
OR
Click on “Cancel” to cancel the deletion operation.
13.3.7 Changing the list properties
To change the list properties of an existing parameter list, proceed as follows:
1. Click the "Parameter" entry in the navigation.
The "Parameters" display area opens.
2. Click on the “List properties” button.
The “List properties" dialog opens.
3. Make your relevant changes.
You can change the following properties:
– Name of the list
– Position of the list in the tab bar.
– Access rights of the “SINAMICS” user and/or “Administrator”
4. Confirm your changes by clicking "OK".
The dialog closes.
The changes made are applied.
13.3.8 Deleting a parameter list
Proceed as follows to delete a previously existing parameter list:
1. Click the "Parameter" entry in the navigation.
The "Parameters" display area opens.
2. Select the relevant parameter list in the tab bar.
3. Click on the “List properties” button.
The “List properties" dialog opens.
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13.3 Creating and adjusting the parameter list
4. Click on the “Delete this list” button.
The “Delete list” dialog opens.
5. Confirm the deletion operation by clicking “Delete this list.”
The dialog closes.
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13.4 Backup and restore
13.4 Backup and restore
13.4.1 Overview
Overview
The “Back up and restore” function provides you with the following options:
• Backing up parameters that have been configured.
• Assigning a name to the backup file.
• Restoring parameters from a valid parameter backup and loading them to the drive.
• Resetting the drive to factory settings.
Note
The individual options have their own adjustment areas assigned to them, each with an info box,
on the “Back up and restore” screen. Observe and follow all information and instructions in the
info boxes.
Procedure
1. To call the function, select "Backup and restore" in the navigation.
The “Back up and restore” screen is open.
13.4.2 Backing up parameters
Overview
You can back up the converter settings externally using the web server.
You can perform the data backup at any time. We recommend a data backup after the
commissioning of the converter.
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13.4 Backup and restore
Procedure
Proceed as follows to back up the parameters:
1. Click "Save changes" in the footer of the web server.
The settings are saved protected against power failure.
2. Click "Back up parameters" in the "Parameter Backup" setting area.
The parameters are backed up. A corresponding message is displayed when the data backup
is successful.
Note
Defining a storage location for the backup file
Depending on the browser used, a dialog appears in which you can specify where the backup
file is to be saved. In some browsers (e.g. Google Chrome), the file is stored in the standard
directory for downloads as "Backup.zip" without a prompt for the storage location.
Note
Checking and editing data
The data to be backed up is written to the backup file in a format that cannot be edited; the
data cannot be checked or edited.
3. Change the automatically created name of the backup file.
The backup file can be unambiguously identified based on the assigned name.
13.4.3 Restore file parameters
If you load the externally backed-up parameter settings to the converter again, you restore the
converter state to the time of the data backup. You can also use the externally backed-up files for
a series commissioning.
1. Click "Browse" in the "Restore Parameters From File" setting area.
2. In your file system, select the backup file.
The backup file is now displayed in the view.
3. Click "Restore" in the "Restore Parameters From File" setting area.
The data backup is loaded and the converter is restarted. You must log in to the web server
again.
4. Log in to the web server again.
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13.4 Backup and restore
13.4.4 Restoring the factory setting
Note
You have forgotten the administrator password
If you have forgotten the administrator password, it is not possible to reset the converter to
factory settings over the web server. For information on reconfiguring the administrator
password, see Chapter "Assigning the administrator password (Page 761)".
Note
Communication settings
If you reset the converter to the factory settings, the IP address of the service interface, the
PROFINET IP address and the PROFINET device name are not cleared.
Procedure
In order to reset the converter in the web server to factory settings, proceed as follows:
1. In the "Restore factory settings" setting area, click on "Restore factory settings".
2. Acknowledge the confirmation prompt. The converter is reset, and then restarted.
If the LED on the converter lights up green, resetting is complete.
You have finished resetting the converter to factory settings. When the web server is called
again, the initial setup is started (see Chapter "Assigning the administrator password
(Page 761)").
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13.5 System settings
13.5 System settings
13.5.1 Setting or changing user accounts
Overview
The "SINAMICS" and "Administrator" user roles have been predefined and cannot be changed.
Settings
The following settings are available for the user roles:
User role Setting Note
Administrator Change password The user cannot be disabled in the web server.
SINAMICS Enable/lock user The user is enabled by default.
Assign password The user must be enabled.
Change/delete password –
Requirements for secure passwords
To protect against unauthorized access, by an attacker, for example, generate a secure password
that consists of:
• At least 8 characters
• Uppercase and lowercase letters
• Numbers and special characters (e. g. ?!%+ etc.)
• Different passwords for different user roles
Checking the password
The length of the password is checked by the converter. There is no check for special characters
or upper and lower case letters.
Remember the passwords or store the passwords in a safe place that cannot be accessed by
unauthorized persons.
Changing the password for the "Administrator" user
You can only disable the "Administrator" user in the Startdrive engineering tool. Further
information can be found in the following manual:
• SINAMICS S120 Commissioning Manual with Startdrive
Procedure
To change the password for the "Administrator" user, proceed as follows:
1. Select "System > Settings" in the navigation.
2. Select the "User Accounts" tab.
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13.5 System settings
3. Click "Change password..." for the "Administrator" user.
A corresponding dialog opens.
4. Enter the passwords as requested in the dialog.
5. Click "Change" to complete the operation.
If the entered parameters match, the dialog is closed.
6. To save the settings retentively, click .
Assigning the password for the "SINAMICS" user
Before you assign the password for the "SINAMICS" user, the user must be enabled.
Procedure
To assign the password for the "SINAMICS" user, proceed as follows:
1. Select "System > Settings" in the navigation.
2. Select the "User Accounts" tab.
3. For the "SINAMICS" user, click on "Assign password...".
A corresponding dialog opens.
4. Enter the password as requested in the dialog.
5. Click "Assign" to complete the operation.
If the entered parameters match, the dialog is closed.
6. To save the settings retentively, click .
Changing the password for the "SINAMICS" user
To change the password for the "SINAMICS" user, proceed as follows:
1. Select "System > Settings" in the navigation.
2. Select the "User Accounts" tab.
3. Click "Change password..." for the "SINAMICS" user.
4. Enter the passwords as requested in the dialog.
5. Click "Change" to complete the operation.
If the entered parameters match, the dialog is closed.
6. To save the settings retentively, click .
Deleting the password for the "SINAMICS" user
Proceed as follows to delete the "SINAMICS" user:
1. Select "System > Settings" in the navigation.
2. Select the "User Accounts" tab.
3. Click "Delete password..." for the "SINAMICS" user.
4. Enter the current password as requested in the dialog.
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13.5 System settings
5. Click "Delete" to complete the operation.
If the password was entered correctly, the dialog is closed.
6. To save the settings retentively, click .
13.5.2 Password forgotten
Overview
Without the password for the "SINAMICS" user or "Administrator", you are locked out of accessing
SINAMICS data and functions in the web server.
Requirements
• The password for the "SINAMICS" or "Administrator" user is not known.
Assigning a new password for the "SINAMICS" user.
If you work in the web server as a "SINAMICS" user, and you have misplaced or forgotten your
password, then you can request your password from the "Administrator" user. However, this is
only possible when the following conditions are satisfied:
• The "Administrator" user is known.
• The "Administrator" user knows the password for the "SINAMICS" user.
If the "Administrator" user does not know the password for the "SINAMICS" user, then he must
generate a new password for the "SINAMICS" user. In this case, the "Administrator" user must
reset the converter to the factory settings in the web server, and then assign a new password for
the "Administrator" and "SINAMICS" users.
Procedure
Proceed as follows, to reset the converter in the web server and to assign a new password for the
"Administrator" and "SINAMICS" users:
1. Ensure that you as the "Administrator" user are logged into the web server.
Observe the information displayed in the web server status bar.
2. In the "Restore factory settings" setting area, click on "Restore factory settings".
3. Acknowledge the confirmation prompt. The converter is reset, and then restarted.
If the LED on the converter lights up green, resetting is complete.
4. Open the browser in your commissioning device.
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13.5 System settings
5. Call the web server using the converter IP address (e.g. 169.254.11.22).
If you have not assigned a password, then the following dialog is displayed.
6. Enter an administrator password in the "Password" field.
Note
Secure passwords
To protect against unauthorized access, by a hacker, for example, select a secure password
that comprises:
• At least 8 characters
• Uppercase and lowercase letters
• Numbers and special characters (e.g.: ?!%+ ...)
It is not permissible that the password is used elsewhere.
Note
Checking passwords
When passwords are entered, the converter only checks the password length. A check is not
made for special characters or uppercase/lowercase letters!
7. Repeat the password in the "Confirm password" field.
If the input is not identical in both fields, the "OK" button is not enabled.
8. Confirm the password that you entered with "OK".
The display changes to the login page of the web server.
9. Log in using the administrator password.
10.Select "System > Settings" in the navigation.
11.Select the "User Accounts" tab.
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13.5 System settings
12.For the "SINAMICS" user, click on "Assign password...".
A corresponding dialog opens.
13.Enter the password as requested in the dialog.
14.Click "Assign" to complete the operation.
If the entered parameters match, the dialog is closed.
15.To save the settings retentively, click on .
16.Remember the passwords or store them in a secure place that cannot be accessed by
unauthorized persons.
Assigning a new password for the "Administrator" user
If you as "Administrator" user have misplaced or forgotten your administrator password, there is
no possibility in the web server to assign a new password.
To generate a new administrator password, you must reset the converter in the Startdrive
engineering tool and then assign a new administrator password.
As soon as you have generated a new administrator password, and have logged into the web
server, when required, you can also generate a new password for the "SINAMICS" user. In this
case, proceed as described above.
Procedure
Proceed as follows, to reset the converter in the Startdrive engineering tool and assign a new
administrator password:
1. Open the appropriate project in the Startdrive engineering tool.
2. Load the project data from the drive unit to your commissioning device ("Load from device").
By doing this, you secure the current drive configuration in the existing project.
3. Reset the converter to the factory settings.
4. Load the saved drive configuration back into the drive ("Load to device").
5. Open the browser in your commissioning device.
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13.5 System settings
6. Call the web server using the converter IP address (e.g. 169.254.11.22).
If you have not assigned a password, then the following dialog is displayed.
Figure 13-15 Prompt to enter the administrator password
7. Enter an administrator password in the "Password" field.
Note
Secure passwords
To protect against unauthorized access, by a hacker, for example, select a secure password
that comprises:
• At least 8 characters
• Uppercase and lowercase letters
• Numbers and special characters (e.g.: ?!%+ ...)
It is not permissible that the password is used elsewhere.
Note
Checking passwords
When passwords are entered, the converter only checks the password length. A check is not
made for special characters or uppercase/lowercase letters!
8. Repeat the password in the "Confirm password" field.
If the input is not identical in both fields, the "OK" button is not enabled.
9. Confirm the password that you entered with "OK".
The display changes to the login page of the web server.
10.Log in using the administrator password.
11.Remember the password or store it in a secure place that cannot be accessed by unauthorized
persons.
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13.5 System settings
13.5.3 Configuring the IP connection
Overview
Communication between the converter and commissioning device (PG/PC) is established either
via an unsecured HTTP connection (see Chapter "Access via service interface X127 (Page 754)")
or via a secured HTTPS connection (see Chapter "Access via PROFINET interface X150
(Page 755)").
Changing to a secured HTTPS connection
For security reasons, for access via the X127 service interface, we recommend switching over
from the unsecured HTTP connection to a secured HTTPS connection.
Proceed as follows:
1. Select "System > Settings" in the navigation.
2. Select the "IP Connections and Addresses" tab.
3. Activate the "Only permit secure access via HTTPS protocol" option.
4. Click "Apply".
A corresponding dialog opens.
5. Click "OK" to complete the operation.
If you were logged in via a HTTP connection, you will be logged out of the web server. After
this, login is only possible via a secure HTTPS connection.
Note
Certificates for the secure data transfer
To secure an HTTPS connection, it requires security certificates for the encryption of the
access. Detailed information on working with these security certificates can be found in
Chapter "Using SSL/TLS certificates for secure data transfer (Page 769)".
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13.5 System settings
13.5.4 Using functions that require a license
Overview
If you have obtained a license key via the SINAMICS/SINUMERIK Web License Manager, you can
enter the license key and activate the license. You can find more detailed information on
licensing in Chapter "Licensing (Page 835)".
Trial License mode
If you have not yet purchased a license key, you can set up and test functions that require a
license in Trial License mode. You can find further information on the Trial License mode in
Chapter "Trial License mode (Page 843)".
Requirements
• There is a physical connection (LAN cable) between the commissioning device and the drive.
Display/enter license key
You can view existing license keys on the license overview page of the web server and enter a
new license key. Proceed as follows:
1. Select "System > Licenses" in the navigation.
The license overview page is displayed.
2. In the license overview page, click on "Display/enter license key".
The corresponding dialog is opened.
The current license key – if any – is displayed in the upper field of the dialog.
3. Enter the new license key (example: 3SDK-MAGK-AXLC-A) in the "New license key" field.
4. Click on "Activate" to activate the new license key.
The dialog closes.
The new license key becomes active on the next ramp-up.
System reactions to under-licensing
The system responses in case of insufficient licensing are demonstrated using two case
examples.
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13.5 System settings
Trial License mode not activated
If licenses are missing for functions that require a license and Trial License mode is not activated,
the following system responses are displayed.
• On the converter:
State is displayed by red flashing (2 Hz) of the RDY LED.
• In the web server:
– Fault F13000, "Licensing is insufficient"
– System > Licenses
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13.5 System settings
Trial License mode activated
If licenses are missing for functions that require a license and Trial License mode is activated, the
following system responses are displayed.
• On the converter:
State is displayed by red/green flashing (2 Hz) of the RDY LED.
• In the web server:
– Message A13030 "Trial License activated"
– System > Licenses
13.5.5 Updating the firmware via the web server
Overview
Using the web server, you can upgrade or downgrade the firmware of your drive and load
existing STARTER project files onto your drive. The following options are available:
• Loading firmware and STARTER project files into the drive at the same time.
For information on this, see Chapter "Loading firmware and STARTER project files into the
drive (Page 824)".
• Loading firmware and STARTER project files into the drive independently of one another.
For information on this, see Chapter "Loading STARTER project data into the drive
(Page 826)".
Function description
Observe the following information and notes before you upgrade or downgrade the firmware:
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13.5 System settings
Upgrading the firmware
The project-related data is retained when you upgrade the firmware. To retain the web server
settings, back up all project-related data in the following directory on the Siemens memory card
before the upgrade: \OEM\SINAMICS\HMI\. Load the saved data back into your drive after the
upgrade.
Note
Downgrading a Control Unit
Higher firmware versions are characterized by a larger range of functions. When you downgrade
a Control Unit from a higher to a lower firmware version, certain functions may no longer be
available.
Downgrading the firmware
When the firmware is downgraded to a lower firmware version, the converter is reset to the
factory settings. All project-based data and web server settings are hereby lost.
Protection against power failure
From firmware version ≥ V4.6, data on the Siemens memory card is automatically copied from
the working partition to a backup partition. This ensures that the data is saved protected against
power failure in the event of a fault.
You can find more detailed information on protection against power failure when using a
Siemens memory card in Chapter "Protection against power failure (Page 436)".
Available firmware versions
You can find the available firmware versions at the following link: SINAMICS S120 firmware
(https://support.industry.siemens.com/cs/ww/en/view/109762626).
Additional information
You can find more information on updating the firmware using the web server in the
SINAMICS S120 commissioning manual and in the Startdrive information system.
13.5.5.1 Loading firmware and STARTER project files into the drive
Requirements
• The firmware is available as ZIP file.
• The STARTER project file is available as ZIP file.
• You can access the ZIP files with your commissioning device (PG/PC, tablet or smartphone).
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13.5 System settings
Procedure
To upgrade the firmware together with existing STARTER project files, do the following:
1. Click on "Firmware update" in the "System" navigation.
The appropriate dialog opens.
Note
Before continuing, observe and follow the instructions and information from the first info
box and ensure the following for the duration of the firmware update:
• The drive(s) are stalled and are not in the "Operation" state.
• A communication connection is established and the browser is open.
• The currently open web page cannot be reloaded.
2. Click on "Browse" to the right alongside the "Select firmware/project file" entry field.
3. In the folder directory, select the ZIP file with the firmware version that you wish to load into
the drive.
4. If, in addition to the firmware, you also wish to load STARTER project files into the drive, click
on "Browse" next to the "Select project file" field.
5. In the folder directory of your commissioning device, select the ZIP file with the STARTER
project files that you wish to load into the drive.
6. If you do not want to back up the status of the drive before the update, deactivate the "Create
system restoration point" option.
Note
The "Create system restoration point" option is activated as default setting. If you activate the
option, then the present status of the drive is backed up - and in case of fault, can be restored.
The status of the drive, backed up in the already existing system restoration point, is then
overwritten, and can no longer be restored.
7. Start the firmware update.
– Checking process:
During the update, a check is made as to whether there is sufficient free space on the
memory card of the drive. The state of the drive objects of the Control Unit is also checked.
– Alarm and fault messages:
The alarm "A01073 POWER ON for backup copy to memory card required" is output if
partition 1 and partition 2 on the memory card are not consistent with respect to each
other.
The error message "F01070 Project/firmware is being downloaded to the memory card"
is output for the entire duration of the update.
You can find entries on alarms and faults in the diagnostics buffer of the CU.
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13.5 System settings
8. The new firmware is installed.
This process may take several minutes. The CU is restarted after the firmware update has
been completed.
RDY COM Explanation of the LED displays
Firmware update is active.
• Do not switch off the power supply.
• Do not disconnect the motor from the converter.
9. Check whether the new firmware version is installed.
The firmware version of the drive is displayed on the home page of the web server.
13.5.5.2 Loading STARTER project data into the drive
Overview
You can load project files created in the STARTER commissioning tool including firmware versions
into your drive by means of the "Firmware update" function. The following options are available:
1. Merge the project files incl. firmware versions generated in the STARTER commissioning tool
and load them into the drive.
For information on this, see Chapter "Loading firmware and STARTER project files into the
drive (Page 824)".
2. Load the project files generated in the STARTER commissioning tool and load them
individually into the drive.
This option is subsequently described.
Requirement
• The STARTER project file incl. firmware version is available as ZIP file.
• You can access the ZIP file with your commissioning device (PG/PC, tablet or smartphone).
Procedure
Proceed as follows to load a STARTER project file including firmware version into your drive:
1. Click on "Firmware update" in the "System" navigation.
The appropriate dialog opens.
Note
Before continuing, observe and follow the instructions and information from the first info
box and ensure the following for the duration of the firmware update:
• The drive(s) are stalled and are not in the "Operation" state.
• A communication connection is established and the browser is open.
• The currently open web page cannot be reloaded.
2. Click on "Browse" to the right of the "Select project file" input field and select the ZIP file with
the STARTER project file which you would like to load into the drive.
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13.5 System settings
3. If you do not want to back up the status of the drive before the upgrade, deactivate the
"Create system restoration point" option.
Note
Creating a system restoration point
The "Create a system restoration point" option is activated as standard. We recommend
leaving this option activated at all times.
4. Start the firmware update.
5. The new firmware is installed.
This process may take several minutes. The Control Unit is restarted after the firmware update
has been completed.
RDY COM Explanation of the LED displays
Firmware update is active.
• Do not switch off the power supply.
• Do not disconnect the motor from the converter.
13.5.6 System restoration
Overview
Using the "System restoration" function, you can restore an earlier status of your drive with the
help of a generated system restoration point.
Procedure
To restore an earlier status of your drive, proceed as follows:
1. Click on "Firmware update" in the "System" navigation.
The web server displays the "Firmware update" tab.
2. Click on the "System restoration" tab.
The "System restoration" screen opens.
Note
Before continuing, observe and follow the instructions and information from the first info
box and ensure the following for the duration of the firmware update:
• The drive(s) are stalled and are not in the "Operation" state.
• A communication connection is established and the browser is open.
• The currently open web page cannot be reloaded.
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13.5 System settings
3. If you do not want an automatic restart, deactivate the "Execute a restart automatically"
option.
Note
Executing a restart automatically
The "Execute a restart automatically" option is activated as standard. We recommend leaving
this option activated at all times.
4. To start the system restoration, click on the "Start system restoration" button.
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Basic information about the drive system 14
14.1 Parameter
Overview
Drive parameters can be divided into two categories:
• Adjustable parameters (p...):
– Can be read and written.
– Have a direct impact on the behavior of a function.
• Display parameters (r...):
– Can be read but not written.
– Show internal variables.
All drive parameters can be read via PROFIBUS and changed by means of p parameters using the
mechanisms defined in the PROFIdrive profile.
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Basic information about the drive system
14.1 Parameter
Parameter categories
The parameters of the individual drive objects are categorized into data sets as follows:
• Data set-independent parameters:
These parameters exist only once per drive object.
• Data set-dependent parameters:
These parameters can be assigned several times for each drive object and can be addressed
via the parameter index for reading and writing.
The following data set types are available:
– Command Data Set (CDS)
By parameterizing several command data sets and switching between them, the drive can
be operated with different pre-configured signal sources.
– Drive Data Set (DDS)
The drive data set contains the parameters for switching between different drive control
configurations.
– Encoder Data Set (EDS)
– Motor Data Set (MDS)
The CDS and DDS can be switched over during normal operation. In contrast, the EDS and
MDS data sets can only be activated indirectly by means of a DDS switchover.
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14.1 Parameter
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Figure 14-2 Dividing the parameters into data sets
Saving parameters in a non-volatile memory
Changed parameter values are only saved in the volatile work memory. When the drive/drive
line-up is switched off, this data is lost.
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14.1 Parameter
The data must be saved retentively or protected against power failure on the memory card of the
drive so that the changes are available again after the next POWER ON. When saving, only the
adjustable parameters intended to be saved are taken into account.
Note
Save operation
complete
Perform POWER ON of the drive only after the save operation is complete. The save operation is
complete when parameter p9077 is reset to the value "0" after the start of the save operation.
No parameters can be written during the save operation.
Proceed as follows to save the data retentively or protected against power failure:
1. In the parameter list, set p0977 = 1.
After the data is saved, the parameter (p0977) is automatically reset to "0".
OR
2. In the Startdrive engineering tool, save the parameters using the command "Copy RAM to
ROM".
Resetting parameters
Proceed as follows to reset all parameters to the factory settings:
1. Reset parameters for the current drive object using p0970 = 1. The parameter is
automatically reset to 0.
2. Reset parameters for all parameters of drive object "Control Unit" (CU_*) using p0009 = 30
(parameter reset) and p0976 = 1. Parameter p0976 is automatically reset to 0.
Access level
Adjustable and display parameters are assigned to access levels 1 to 4. The SINAMICS S120/S150
List Manual specifies the access level in which the parameter is displayed and can be changed.
Table 14-1 Access levels
Access level Remark
1 Standard Parameters for the simplest operator functions (e.g. p1120 = ramp-function
generator ramp-up time)
2 Advanced Parameters for operating the basic functions of the drive
3 Expert Expert knowledge is required for these parameters (e.g. for BICO parameteri‐
zation).
4 Service Expert knowledge is required for these parameters. Parameters of this access
level are no longer password-protected as of firmware V5.1.
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14.2 Drive objects
14.2 Drive objects
Description
A drive object (DO) is an independent, "self-contained" software function that has its own
parameters and, in some cases, its own faults and alarms. Drive objects can be provided as
standard (e.g. I/O evaluation), or you can add single (e.g. terminal board) or multiple objects
(e.g. drive control).
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Figure 14-3 Drive objects (DOs)
Overview of the drive objects
• Drive control
The drive control handles closed-loop control of the motor. At least 1 Motor Module and at
least 1 motor and up to 3 sensors are assigned to the drive control.
Various drive control modes can be configured (e.g. servo control, vector control, etc.).
Several drive controls can be configured, depending on the performance of the Control Unit
and the demands made on the drive controller.
• Control Unit, inputs/outputs
The I/Os on the Control Unit are evaluated within a DO. High-speed inputs for probes are
processed here in addition to bidirectional digital I/Os.
• Properties of a drive object
– Separate parameter space
– Separate fault/alarm system
– Separate PROFIdrive telegram for process data
• Infeed: Line Module infeed control with DRIVE-CLiQ interface
If a Line Module with a DRIVE-CLiQ interface is used for the infeed unit in a drive system, open-
loop/closed-loop control is implemented on the Control Unit within a corresponding DO.
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14.2 Drive objects
• Infeed: Line Module infeed control with DRIVE-CLiQ interface
If a Line Module without a DRIVE-CLiQ interface is used for the infeed unit in a drive system,
the Control Unit must handle activation and evaluation of the corresponding signals (RESET,
READY).
• Option Board evaluation
An additional DO is responsible for evaluating an inserted option board. The specific method
of operation depends on the type of option board.
• Terminal Module evaluation
A separate DO handles evaluation of the respective optional Terminal Modules.
• Evaluating an external ENCODER
A dedicated DO is responsible for evaluating an optional additional encoder that can be
connected.
Note
Drive objects
A list of all drive objects is provided in the SINAMICS S120/S150 List Manual in Chapter "Overview
of parameters".
Configuring drive objects
Various DOs can be created within a Control Unit. When commissioning for the first time, these
DOs can be set up using Startdrive.
The DOs are configurable function blocks and are used to execute specific drive functions. If you
need to configure additional DOs or delete existing ones after first commissioning, the drive
system must be switched to configuration mode. The parameters of a DO cannot be accessed
until the DO has been configured and you have switched from configuration mode to
parameterization mode.
Note
Each installed DO is allocated a number between 0 and 63 during first commissioning for unique
identification.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0101[0...n] Drive object numbers
• r0102[0...1] Number of drive objects
• p0107[0...n] Drive object type
• p0108[0...n] Drive object function module (only for "Control Unit" drive object)
• r0108 Drive object function module (all other drive objects)
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14.3 Licensing
14.3 Licensing
Overview
Refer to the order documentation (e.g. product catalog) for information about functions and
Technology Extensions (TEC) that require a license.
Description
When using functions and Technology Extensions (TEC) that require a license, valid runtime
licenses must be assigned to a Siemens memory card. The license key that is generated links the
licenses with the intended or used Siemens memory card.
Ordering and assigning licenses
The following options are available to you for ordering and assigning licenses:
• Z options:
Licenses for functions and Technology Extensions (TEC) that require a license are generally
ordered together with a Siemens memory card to operate a SINAMICS drive.
The licenses are assigned to a Siemens memory card during the ordering process and are pre-
installed on the memory card. The serial numbers of Siemens memory cards with pre-
installed licenses ends with the letter "Z" (e.g. 6SL3...-.....-....-Z).
In this particular case, no additional steps are required to use the required functions and
Technology Extensions (TEC).
• Certificates of License (CoL):
Licenses that are not ordered as Z option are delivered in the form of Certificates of License.
The Certificates of License contain the delivery note number and license number that can be
assigned to a Siemens memory card using a generated license key.
In this case, generation of the license key and assignment take place using the SINAMICS/
SINUMERIK Web License Manager. Within the scope of this operation, you can assign
generated license keys to an existing Siemens memory card. This also applies to Siemens
memory cards, which already include pre-installed Z options. You can find additional
information on this in Chapter "Creating and saving a License Key (Page 840)".
Features
A valid license key has the following features and characteristics:
• Is assigned to a specific memory card during the ordering process.
• It is retentively saved on the assigned Siemens memory card.
• It cannot be transferred to another Siemens memory card.
• Can be generated retroactively with the SINAMICS/SINUMERIK Web License Manager, and
assigned to an existing Siemens memory card. You can find additional information on this in
Chapter "Creating and saving a License Key (Page 840)".
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14.3 Licensing
Licenses for released functions and Technology Extensions (TEC)
The following table provides an overview of licenses for functions and Technology Extensions,
which have been released for SINAMCIS S120 drives for each Control Unit (CU) or axis. Further,
the table provides information about using functions and Technology Extensions in the Trial
License Mode (TLM).
Functions / Technology TLM CU Axis Application Article number
Extensions (TEC)
Performance Extension Yes x This license is required on a Control Unit 6SL3074-0AA01-0Ax0
from the 4th axis (servo/vector) or from
the 7th axis (U/f).
PN gate for SINAMICS Yes x This license is required when operating 6SL3074-0AA03-0Ax0
a CBE20 communication module as
gateway between the standard Ether‐
net and PROFINET IRT.
Safety Integrated Yes x This license is required when using at 6SL3074-0AA10-0Ax0
Extended Functions least one of the Safety Integrated Ex‐
tended Functions for safe motion mon‐
itoring.
Safety Integrated Yes x This license is required when using at 6SL3074-0AA20-0Ax0
Advanced Functions least one of the Safety Integrated Ad‐
vanced Functions for safe position and
torque monitoring.
Dynamic Grid Support No x This license is required when using 6SL3074-0AA07-xAx0
(S01) function S01 "Dynamic grid support for (dependent on the power)
feeding back energy/feeding energy in‐
to a power grid".
Grid Control for Island Grid No x This license is required when using 6SL3074-0AA08-xAx0
(S02) function S02 "Grid droop control for (dependent on the power)
feeding back energy/feeding energy in‐
to an island grid".
High Output Frequency No x As a result of export regulations, this 6SL3074-0AA02-0Ax0
license is required for output frequen‐
cies > 550 Hz.
Enhanced Vibration Yes x This license is required when using 6SL3074-0AA05-0Ax0
Suppression (APC+AVS) function module "Advanced Position
Control (APC)" to actively suppress vi‐
bration levels in drive systems.
Cogging Torque Yes x This license is required when using 6SL3074-0AA15-0Ax0
Compensation function module "Cogging torque com‐
pensation" for software-supported
compensation of periodic cogging tor‐
ques.
Advanced Synchronous Yes x This license is required when control‐ 6SL3074-0AA06-0Ax0
Reluctance Control ling (closed loop) synchronous-reluc‐
tance motors (RESM) down to zero
speed with test signals (p1750.5 = 1).
Controller Parameter Yes x This license is required for adapting con‐ 6SL3074-0AA17-0AH0
Adaptation troller parameters depending on a free‐
ly selectable input variable.
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14.3 Licensing
Functions / Technology TLM CU Axis Application Article number
Extensions (TEC)
DCB Extension Yes x This license is required when using an 6SL3077-0AA00-0Ax0
extended block scope for SINAMICS
Drive Control Chart (SINAMICS DCC)
with DCB Extension libraries.
VIBX Yes x This license is required to reduce me‐ 6SL3077-0AA00-5Ax0
(Vibration Extinction) chanical vibration levels in a drive sys‐
tem using a command variable filter in
the setpoint channel.
POLYGON Yes x This license is required to enter a set‐ 6SL3077-0AA00-7Ax0
(Polygonal Line) point or adapt a setpoint (e.g. speed,
torque) using a user-defined polygon
line.
SERVCOUP Yes x This license is required when coupling 6SL3077-0AA00-8Ax0
(Servo Coupling) several Motor Modules with an encoder
in closed-loop servo control.
OALINK Yes x This license is required to setup a basic 6SL3077-0AA01-0Ax0
(Open Application Link) point-to-point connection (DRIVE-
CLiQ) for data exchange between 2
Control Units.
DCDCCONV Yes x This license is required when using a 6SL3077-0AA02-0Ax0
(DC-DC Converter) Motor Module as DC-DC converter
Purchasing licenses
The following options are available for purchasing licenses to use functions or Technology
Extensions (TEC) requiring licenses:
• You order a Siemens memory card with the required licenses.
• You order licenses, and using the SINAMICS/SINUMERIK Web License Manager, assign these
to an existing Siemens memory card.
Using functions and Technology Extensions (TEC) that require a license in the Trial License
mode
In the Trial License mode, you can try out released functions and Technology Extensions until
you actually purchase the required licenses. You can find additional information on Trial License
mode in Chapter "Trial License mode (Page 843)".
An overview of the functions and Technology Extensions, which are released for use in the Trial
License mode, has been previously provided in this Chapter.
See also
Licensing (Page 835)
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14.3 Licensing
Layout of the license overview page
The following figure shows the structure of the license overview page in the web server for
SINAMICS S120 drives. The layout and arrangement of the elements in the screen form
corresponds to the layout of the license overview page in the Startdrive engineering tool.
① List of the functions requiring a license that are used
② Display of the system response to the current license status (e.g. prevents the drive from being
switched on again.)
③ Display of current license status (e.g. underlicensed)
④ Display of current status of the Trial License mode
⑤ "Activate Trial License mode" button
⑥ "Display/enter license key" button
⑦ Display of the serial number of the memory card (you copy the displayed serial number to the
clipboard with )
⑧ Display of the required licenses in relation to the licenses contained in the license key
Figure 14-4 Example: License overview in web server S120
Possible actions
The following actions are possible in the license overview:
• Obtain a status overview of the individual licenses of your drive system.
• View and enter existing license keys (see Chapter "Display/enter License Key (Page 842)").
• View and copy the serial number of the memory card.
• Activating Trial License mode (see Chapter "Activating Trial License mode (Page 845)").
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14.3 Licensing
14.3.1 System reactions to under-licensing
Description
For the operation of your SINAMICS S120 drive with functions, function modules and
Technology Extensions that require a license, make sure that you have sufficient licensing.
• Using functions that require a license
Insufficient licensing is indicated as follows:
– F13000 licensing is insufficient.
– LED READY Red light flashing at 2 Hz
Note
Most functions that require a license can be used during commissioning and in service
scenarios in Trial License-Modus (see Chapter "Trial License mode (Page 843)").
• Using function modules that require a license
Insufficient licensing is indicated as follows:
– F13000 licensing is insufficient.
– F13010 licensing, function module not licensed.
– The drive is stopped with an OFF1 response.
– READY LED red light flashing at 2 Hz
• Using Technology Extensions (OA applications) that require a license
Insufficient licensing is indicated as follows:
– F13000 licensing is insufficient.
– READY LED red light flashing at 2 Hz
Note
Most Technology Extensions can be used during commissioning and in service scenarios in
Trial License mode (see Chapter "Trial License mode (Page 843)").
"Performance option"
The extension "Performance option" (article number: 6SL3074-0AA01-0AA0) is required for
operation of a CU320-2 as of 4 axes in Servo/Vector control or as of 7 U/f axes (see Availability
of SW functions).
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14.3 Licensing
If the specified number of axes per CU320-2 is exceeded, fault F13000 is output and the READY
LED on the Control Unit flashes red at 2 Hz.
Axis-specific options
When axis-specific options are used (e.g. Safety Integrated Extended Functions), there must be
a license for each individual axis.
14.3.2 License Key
14.3.2.1 Creating and saving a License Key
Overview
Using the SINAMICS/SINUMERIK Web License Manager, you can check which licenses are
assigned to your memory card.
You can generate a new license key for existing licenses. If you have deleted the license key on
the memory card of your Control Unit, you can view the license key in the SINAMICS/
SINUMERIK Web License Manager.
Upgrading the firmware
No new licenses are required for upgrading the firmware.
Note
Backing up existing license keys
License keys are stored non-volatile on the memory card of a Control Unit. Therefore, back up all
license keys already saved on the memory card of your Control Unit before you transfer different
firmware to the memory card.
License keys are saved on the memory card in the following folder: ...\KEYS\SINAMICS\KEYS.TXT.
Necessary data
To view and/or create a license key in the SINAMICS/SINUMERIK Web License Manager, the
following data is required:
• Serial number of the memory card:
The serial number is on the memory card or can be copied via the corresponding display field
on the license overview page.
• License and delivery note number:
You take the corresponding data from the Certificate of License (CoL).
• Product name
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14.3 Licensing
Creating and assigning a license key
Proceed as follows to create a license key in the SINAMICS/SINUMERIK Web License Manager and
assign it to a memory card:
1. Call the following link: SINAMICS/SINUMERIK Web License Manager (https://
workplace.automation.siemens.com/dwh-p/pls/apex_swl/f?
p=10130:1:17466362328710).
2. Click the "Direct access" entry in the "User menu".
3. Enter the license and delivery note number of your license in the corresponding input fields.
4. Click "Next".
5. Select the product used (e.g. "SINAMICS S CU320-2").
6. Enter the serial number of the memory card in the "Hardware serial number" input field.
7. Click "Next".
8. If licenses have already been assigned to the memory card, these licenses are displayed.
OR
9. If no licenses have been assigned to the memory card, no licenses are displayed.
10.Click "Next".
A list of licenses that are linked to the associated delivery note is displayed.
11.Select the licenses or license numbers that you want to assign to the memory card.
Individual licenses are displayed with license numbers. Refer to the Certificates of License for
the assignment between the displayed license numbers and the respective licenses.
Figure 14-5 Example: Selection according to license number in CoL
12.Click "Next".
A summary of the selected licenses is displayed for you to check.
13.If you are sure that the assignment is correct, click "Assign".
The generated license key is displayed.
The following options are available later:
– You copy the license key directly from the screen form and input it in the Startdrive
engineering tool or the S120 web server. Proceed as described in Chapter "Display/enter
License Key (Page 842)".
– You save the license key as text file ("keys.txt") and transfer it to the memory card. Proceed
as described in the following section.
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14.3 Licensing
Transferring license key to memory card
Proceed as follows to transfer the generated license key to the memory card:
1. Insert the memory card into your PG/PC.
2. Open folder "...KEYS/SINAMICS".
3. Copy the generated license key to the specified folder.
Displaying the license key
If you have deleted the license key on the memory card of your Control Unit, you can view the
license key in the SINAMICS/SINUMERIK Web License Manager. Based on the displayed license
keys, you can re-generate deleted license keys and assign them to the memory card.
Requirements
• The license key that you want to view is the most recently generated license key.
• The license key has already been assigned to the memory card.
Procedure
Proceed as follows to view the license key:
1. Call the following link: SINAMICS/SINUMERIK Web License Manager (https://
workplace.automation.siemens.com/dwh-p/pls/apex_swl/f?
p=10130:1:17466362328710).
2. In the navigation, click the "Display license key" option in the "User menu".
Several input fields can be found on the right of the "Display license key" view.
3. Enter the serial number of the memory card in the "Hardware serial number" field.
OR
In the "License number" field, enter your license number.
4. Click the "Display license key" button.
The current license key is then displayed.
You can also request a report by email for the displayed license key. This report contains all
previously ordered licenses for this memory card. Missing licenses can be identified and
ordered on the basis of this report.
5. Enter your address in the "Email address" field.
6. Click the "Request license report" button.
14.3.2.2 Display/enter License Key
Requirements
• A project has been created.
• A drive has been created.
• There is an online connection between the commissioning device and the drive.
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14.3 Licensing
Procedure
You can view existing license keys on the license overview page in the Startdrive engineering
tool and enter a new license key. Proceed as follows:
1. Double-click on "Drive control" in the project navigator.
2. Double-click on the entry "Parameterization".
3. Click "License" in the secondary navigation.
The license overview page opens.
The license overview page shows all SINAMICS functions that are active in your project and
that require a valid runtime license for use.
4. In the list, select the function for which you want to enter a new license key.
5. Click on "Display/enter License Key".
The appropriate dialog opens.
6. Enter the current license key in the "Current license key" input field.
7. Enter the new license key in the "New license key" input field.
8. Click "Close".
The new license key is activated.
Restriction
The function for entering license keys is not available in Startdrive version V15.0. You can find
additional information on entering license keys using parameter p9920 (Licensing enter license
key) at the following link: Entering license key in Startdrive V15.0 (https://
support.industry.siemens.com/cs/us/en/view/109760009).
14.3.3 Trial License mode
Overview
In the Trial License mode, you can try out released functions and Technology Extensions (TEC)
until you actually purchase the required licenses.
An overview of the functions and Technology Extensions (TEC), which are released for use in the
Trial License mode, is provided in Chapter "Licensing (Page 835)".
Purpose
Trial License mode can be used for the following purposes:
• Commissioning and testing
• Service scenarios (preferably trial periods 2 and 3)
Valid licenses must exist to use functions and Technology Extensions that require a license
beyond the Trial License mode.
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14.3 Licensing
Function description
Trial License mode has the following features and characteristics:
• Comprises a total of three trial periods.
• Trial periods are activated individually.
• The operating time for each individual trial period is limited to 300 hours and cannot be
changed.
• The operating time of Trial License mode is limited to a maximum of 900 hours and cannot
be changed.
• The operating time corresponds to the time for which the Control Unit is switched on. Valid
as of firmware version ≥ 5.1.
The following figure shows the maximum available time contingent in relation to Trial License
mode and the individual trial periods.
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Trial License period ended (valid licenses are required to use functions that require a license!)
Indication of operating hours per trial period
Indication of the total remaining operating hours (valid from activation of the individual trial
period in each case).
Figure 14-6 Available time contingent with activated Trial License mode
Activating individual trial periods
The first trial period is automatically activated when Trial License mode is activated. Trial periods
2 and 3 must be individually activated after the previous trial period expires.
The operating time of an activated trial period corresponds to the time for which the Control Unit
is switched on. This behavior only applies with firmware versions ≥ 5.1. The time of activation
or the number of functions requiring a license have no effect on the remaining operating time
of the respective trial period.
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14.3 Licensing
Pausing/resuming individual trial periods
The operating time of an activated trial period is paused or "frozen" if one of the following
conditions is met:
• You deactivate all functions and Technology Extensions requiring a license that have been
activated since activation of the Trial License mode.
If functions and Technology Extensions requiring a license have been deactivated and then
activated again, the firmware detects underlicensing and the "frozen" operating time of the
most recently activated trial period is automatically resumed.
• You enter a valid license key for using the functions and Technology Extensions requiring a
license.
Deactivating individual trial periods
Activated trial periods cannot be deactivated by the user.
Automatic deactivation of Trial License mode
Trial License mode is automatically deactivated in the following cases:
• When the operating time of the last trial period has expired.
In this case, you cannot activate Trial License mode again.
• If you ignore the message prompting you to activate the next trial period.
The expiration of a trial period is announced by a message.
If you ignore the message and do not activate the next trial period, Trial License mode is
automatically deactivated on the next ramp-up of the drive. In this case, you can activate the
subsequent trial period or purchase a license for using the function or Technology Extension
that requires a license.
14.3.3.1 Activating Trial License mode
Requirements
• A project has been created.
• A drive has been created.
• There is an online connection between the commissioning device and the drive.
Procedure
Proceed as follows to activate Trial License mode in the Startdrive engineering tool:
1. Double-click on "Drive control" in the project navigator.
2. Double-click on the entry "Parameterization".
3. Click "License" in the secondary navigation.
The license overview page opens.
The license overview page shows all SINAMICS functions that are active in your project and
that require a valid runtime license for use.
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14.3 Licensing
4. Click "Activate Trial License mode".
A corresponding dialog box opens.
5. To activate Trial License mode, click the "Activate" button in the dialog window.
The following alarms are displayed:
– Alarm A13030:
The alarm only appears if Trial License mode is activated. The license overview page then
shows the remaining operating time of the functions requiring a license.
The alarm is not displayed if the activation failed.
– Alarm A13031:
The "Trial period expired" alarm indicates that the previously activated trial period (e.g.
1 of 3) has expired.
Repeat steps 3 to 5 to active the next trial period.
Note
Automatic deactivation
If you ignore the alarm and do not activate the next trial period, Trial License mode is
automatically deactivated on the next ramp-up of the drive. In this case, you can activate
the subsequent trial period or purchase a license for using the functions that require a
license.
The following figure shows an example of the display of the currently running trial period.
① Display of the currently running trial period and the remaining operating hours
② The button is grayed out with activated Trial License mode.
Figure 14-7 Example: License overview with running trial period
Last trial period expired
When the last trial period has expired, alarm A13033 "Trial License last period expired" is output
and Trial License mode is deactivated. It is no longer possible to activate Trial License mode after
this.
The next time that the drive runs-up, a lock (inhibit) becomes active. It is only possible to use
functions requiring a license if valid licenses are available!
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14.3 Licensing
Remedy
The following options are available to you if you wish to continue using functions requiring a
license:
• Purchase a license for the function you are using that requires a license (see Chapter
"Licensing (Page 835)").
• Generate a new license key (see Chapter "Creating and saving a License Key (Page 840)") and
enter it (see Chapter "Display/enter License Key (Page 842)").
Activation failed
Activation of Trial License mode can fail for the following reasons:
• The license for the selected function requiring a license has already been installed and
activated.
• A selected function requiring a license is not released for operation in Trial License mode.
14.3.4 Messages (see SINAMICS S120/S150 List Manual)
• F13000 Licensing is not sufficient
• F13010 Licensing, function module not licensed.
• A13030 Trial License activated
• A13031 Trial License period expired
• A13032 Trial License, last period activated
• A13033 Trial License, last period expired
14.3.5 Parameters (see SINAMICS S120/S150 List Manual)
• p9918 Activate the licensing of a Trial License
• p9919 Licensing Trial License status
• p9920[0...99] Licensing, enter license key
• p9921 Licensing, activate license key
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14.4 BICO technology: Interconnecting signals
14.4 BICO technology: Interconnecting signals
Every drive contains a large number of interconnectable input and output variables and internal
control variables.
BICO technology (Binector Connector Technology) allows the drive to be adapted to a wide
variety of requirements.
Digital and analog signals which can be connected freely by means of BICO parameters, are
identified by the prefix BI, BO, CI or CO in their parameter name.
These parameters are identified accordingly in the parameter list or in the function diagrams.
14.4.1 Binectors, connectors
Binectors, BI: Binector Input, BO: Binector Output
A binector is a digital (binary) signal without a unit which can assume the value 0 or 1.
Binectors are subdivided into binector inputs (signal sink) and binector outputs (signal source).
Table 14-2 Binectors
Abbrevia‐ Symbol Name Description
tion
BI Binector input Can be interconnected to a binector output as
source.
(signal sink) The number of the binector output must be en‐
tered as a parameter value.
BO Binector output Can be used as a source for a binector input.
(signal source)
Connectors, CI: Connector Input, CO: Connector Output
A connector is a digital signal, e.g. in 32-bit format. It can be used to emulate words (16 bits),
double words (32 bits) or analog signals. Connectors are subdivided into connector inputs
(signal sink) and connector outputs (signal source).
Table 14-3 Connectors
Abbrevia‐ Symbol Name Description
tion
CI Connector input Can be interconnected to a connector output as
source.
(signal sink) The number of the connector output must be en‐
tered as a parameter value.
CO Connector output Can be used as a source for a connector input.
(signal source)
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14.4 BICO technology: Interconnecting signals
14.4.2 Interconnecting signals using BICO technology
To interconnect two signals, a BICO input parameter (signal sink) must be assigned to the desired
BICO output parameter (signal source).
The following information is required in order to connect a binector/connector input to a
binector/connector output:
• Binectors: Parameter number, bit number, and drive object ID
• Connectors with no index: Parameter number and drive object ID
• Connectors with index: Parameter number, index, and drive object ID
• Data type (signal source for connector output parameter)
%2 ELQHFWRURXWSXW %, ELQHFWRULQSXW
&2 FRQQHFWRURXWSXW &, FRQQHFWRULQSXW
6LJQDOVRXUFH 6LJQDOVLQN
%,
%2 S[[[[\
U
&,
&2 ZLWKRXWLQGH[ S[[[[\
U
&2 ZLWKLQGH[
,QGH[ >@ U &,
>@ U S[[[[\
>@ U >@
>@ U
Figure 14-8 Interconnecting signals using BICO technology
Note
A connector input (CI) cannot be interconnected with any connector output (CO, signal source).
The same applies to the binector input (BI) and binector output (BO).
For each CI and BI parameter, the parameter list shows under "data type" the information on the
data type of the parameter and the data type of the BICO parameter.
For CO parameters and BO parameters, only the data type of the BICO parameter is shown.
Notation:
• Data type BICO input: Data type parameter/Data type BICO parameter
Example: Unsigned32 / Integer16
• Data type BICO output: Data type BICO parameter
Example: FloatingPoint32
The possible interconnections between the BICO input (signal sink) and BICO output (signal
source) are listed in the table titled "Possible combinations for BICO interconnections"
, which can be found in the "Explanations on the parameter list" section of the SINAMICS S120/
S150 List Manual.
The BICO parameter interconnection can be implemented in different command data sets (CDS).
The different interconnections are activated by switching data sets. Interconnections across
drive objects are also possible.
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14.4 BICO technology: Interconnecting signals
14.4.3 Internal coding of the binector/connector output parameters
Internal coding is required for writing BICO input parameters via PROFIBUS, for example.
'ULYH
3DUDPHWHUQXPEHU ,QGH[QXPEHU
REMHFW
%LW ಹ ಹ ಹ
2ZQREMHFW
([DPSOHVRIVLJQDOVRXUFHV
ELQ ELQ ELQ
( )&KH[ದದ!&2 >@
GHF GHF GHF
ELQ ELQ ELQ KH[ದದ!IL[HGರರ
ELQ ELQ ELQ KH[ದದ!IL[HGರರ
Figure 14-9 Internal coding of the binector/connector output parameters
14.4.4 Sample interconnections
Example 1: Interconnection of digital signals
Suppose you want to operate a drive via terminals DI 0 and DI 1 on the Control Unit using jog 1
and jog 2.
%2 ELQHFWRURXWSXW %, ELQHFWRULQSXW
6LJQDOVRXUFH 6LJQDOVLQN
9
S&
; ', -RJ
U
S&
; ', -RJ
U
9
S&
; ', ,QWHUQDO -RJ
U
S&
; ',
U
,QWHUQDO -RJ
Figure 14-10 Interconnection of digital signals (example)
Example 2: Connection of OC/OFF3 to several drives
The OFF3 signal should be connected to two drives via terminal DI 2 on the Control Unit.
Each drive has the two binector inputs, "1st OFF3" and "2nd OFF3". The two signals are processed
via an AND gate to STW1.2 (OFF3).
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14.4 BICO technology: Interconnecting signals
%2 ELQHFWRURXWSXW %, %LQHFWRULQSXW
6LJQDOVRXUFH 6LJQDOVLQN
9 'ULYH
S&
; ', 2))
U
2))
S &
2))
'ULYH
S&
2))
2))
S &
2))
Figure 14-11 Connection of OFF3 to several drives (example)
14.4.5 Notes on BICO technology
BICO interconnections to other drives
The following parameters are available for BICO interconnections to other drives:
• r9490 Number of BICO interconnections to other drives
• r9491[0...9] BI/CI of BICO interconnections to other drives
• r9492[0...9] BO/CO of BICO interconnections to other drives
• p9493[0...9] Reset BICO interconnections to other drives
Copying drives
When a drive is copied, the interconnection is copied with it.
Binector-connector converters and connector-binector converters
Binector-connector converter
• Several digital signals are converted to a 32-bit integer double word or to a 16-bit integer
word.
• p2080[0...15] BI: PROFIdrive PZD send bit-serial
Connector-binector converter
• A 32-bit integer double word or a 16-bit integer word is converted to individual digital signals.
• p2099[0...1] CI: PROFIdrive PZD selection receive bit-by-bit
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14.4 BICO technology: Interconnecting signals
Fixed values for interconnection using BICO technology
The following connector outputs are available for interconnecting any fixed value settings:
• p2900[0...n] CO: Fixed value_%_1
• p2901[0...n] CO: Fixed value_%_2
• p2930[0...n] CO: Fixed value_M_1
Example:
These parameters can be used to interconnect the scaling factor for the main setpoint or to
interconnect an additional torque.
14.4.6 Scaling
Signals for the analog outputs
Table 14-4 List of signals for analog outputs
Signal Parameter Unit Scaling
(100% = ...)
Speed setpoint before the set‐ r0060 rpm p2000
point filter
Actual speed value, motor en‐ r0061 rpm p2000
coder
Actual speed value r0063 rpm p2000
Drive output frequency r0066 Hz Reference frequency
Absolute actual current value r0068 Arms p2002
Actual DC-link voltage value r0070 V p2001
Total torque setpoint r0079 Nm p2003
Actual active power r0082 kW r2004
Control deviation r0064 rpm p2000
Modulation depth r0074 % Reference modulation depth
Torque-generating current set‐ r0077 A p2002
point
Torque-generating actual cur‐ r0078 A p2002
rent value
Flux setpoint r0083 % Reference flux
Flux actual value r0084 % Reference flux
Speed controller r1480 Nm p2003
PI torque output
Speed controller r1482 Nm p2003
I torque output
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14.4 BICO technology: Interconnecting signals
Changing scaling parameters p2000 to p2007
Note
If a per unit representation is selected and the reference parameter is subsequently changed
(e.g. p2000), the per unit values of some control parameters are automatically adapted so that
the control behavior does not change.
14.4.7 Propagation of faults
Overview
In the case of faults that are, for example, triggered by the Control Unit or a Terminal Module,
central functions of the drive are also often affected. As a result of propagation, faults that are
triggered by one drive object are therefore transferred to other drive objects. This response also
applies to the faults that are set in a DCC chart on the Control Unit using a DCC block.
Propagation types
The following types of propagation are available:
• BICO
The fault is propagated to all active drive objects with closed-loop control functions (infeed,
drive) to which there is a BICO interconnection.
• DRIVE
The fault is propagated to all active drive objects with closed-loop control functions.
• GLOBAL
The fault is propagated to all active drive objects.
• LOCAL
The behavior of this propagation type is dependent on parameter p3116.
– For binector input p3116 = 0 signal, the following applies (factory setting):
The fault is propagated to the first active drive object with closed-loop control functions.
– For binector input p3116 = 1 signal, the following applies:
The fault is not propagated.
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14.5 Data sets
14.5 Data sets
14.5.1 CDS: Command data set
The BICO parameters are combined (binector and connector inputs) in a command data set
(CDS). These parameters are used to interconnect the signal sources of a drive.
By parameterizing several command data sets and switching between them, the drive can be
operated with different pre-configured signal sources.
A command data set contains the following (examples):
• Binector inputs for control commands (digital signals)
– ON/OFF, enable signals (p0844, etc.)
– Jog (p1055, etc.)
• Connector inputs for setpoints (analog signals)
– Voltage setpoint for V/f control (p1330)
– Torque limits and scaling factors (p1522, p1523, p1528, p1529)
A drive object can – depending on the type – manage up to 4 command data sets. The number
of command data sets is configured with p0170.
The following parameters are available for selecting command data sets and for displaying
currently selected command data sets - e.g. in the vector mode:
Binector inputs p0810 to p0811 are used to select a command data set. They represent the
number of the command data set (0 to 3) in binary format (where p0811 is the most significant
bit).
• p0810 BI: Command data set selection CDS bit 0
• p0811 BI: Command data set selection CDS bit 1
If a command data set that does not exist is selected, the current data set remains active. The
selected data set is displayed using parameter (r0836).
Note
When using standard telegrams in command data records, make sure that you do not change
telegram interconnections as this may lead to inconsistent behavior otherwise. If you wish to
change telegram interconnections, please assign the telegram selection with 999 (free
telegram).
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14.5 Data sets
Example: Changeover between command data set 0 and 1
&'6
S U U &'6VHOHFWHG
S
S
S W
6ZLWFKRYHUWLPH
&'6HIIHFWLYH U U
W
Figure 14-12 Switching the command data set (example)
14.5.2 DDS: Drive Data Set
A drive data set (DDS) contains various adjustable parameters that are relevant for open-loop
and closed-loop drive control:
• Numbers of the assigned motor and encoder data sets:
– p0186: Assigned motor data set (MDS)
– p0187 to p0189: Up to three assigned encoder data sets (EDS)
• Various control parameters, e.g.:
– Fixed speed setpoints (p1001 to p1015)
– Speed limits min./max. (p1080, p1082)
– Characteristic data of ramp-function generator (p1120 ff)
– Characteristic data of controller (p1240 ff)
– ...
The parameters that are grouped together in the drive data set are identified in the
SINAMICS S120/S150 List Manual by "Data Set DDS" and are assigned an index [0...n].
It is possible to parameterize several drive data sets. You can switch easily between different
drive configurations (control type, motor, encoder) by selecting the corresponding drive data
set.
One drive object can manage up to 32 drive data sets. The number of drive data sets is
configured with p0180.
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14.5 Data sets
Binector inputs p0820 to p0824 are used to select a drive data set. They represent the number
of the drive data set (0 to 31) in binary format (where p0824 is the most significant bit).
• p0820 BI: Drive data set selection DDS, bit 0
• p0821 BI: Drive data set selection DDS, bit 1
• p0822 BI: Drive data set selection DDS, bit 2
• p0823 BI: Drive data set selection DDS, bit 3
• p0824 BI: Drive data set selection DDS, bit 4
Supplementary conditions and recommendations
• Recommendation for the number of drive data sets for a drive
The number of drive data sets for a drive should correspond to the options for changeover.
The following must therefore apply:
p0180 (DDS) ≥ max. (p0120 (PDS), p0130 (MDS))
• Max. number of DDS for one drive object = 32 DDS
14.5.3 EDS: Encoder Data Set
An encoder data set (EDS) contains various adjustable parameters of the connected encoder,
which are relevant for configuring the drive; e.g.:
• Encoder interface component number (p0141)
• Encoder component number (p0142)
• Encoder type selection (p0400)
The parameters that are grouped together in the encoder data set are identified in the parameter
list by "Data Set EDS" and are assigned an index [0...n].
A separate encoder data set is required for each encoder controlled by the Control Unit. Up to
three encoder data sets are assigned to a drive data set via parameters p0187, p0188, and
p0189.
An encoder data set can only be changed over using a DDS switchover.
An encoder data set switchover without pulse inhibit (motor is being fed with power) may only
be performed on adjusted encoders (pole position identification has been carried out or the
commutation angle determined for absolute encoders).
Each encoder must only be assigned to one drive.
Using a power unit for the alternating operation of several motors would be an EDS switchover
application. Contactors are switched over so that the power unit can be connected to the
different motors. Each of the motors can be equipped with an encoder or can also be operated
without an encoder. Each encoder must be connected to its own SMx.
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14.5 Data sets
If encoder 1 (p0187) is switched over via DDS, then an MDS must also be switched over.
Note
Switching over between several encoders
In order to be able to switch between two or more encoders using the EDS switched function,
you must connect these encoders via various Sensor Modules or DRIVE-CLiQ ports.
When using the same connection for several encoders, the same EDS and the same encoder type
must be used. In this case a switched on the analog side (e.g. of the SMC) is recommended. A
switched on the DRIVE-CLiQ side is, due to the permissible insertion cycles and the longer times
to establish DRIVE-CLiQ communication, only possible with some restrictions.
If a motor is operated with motor encoder 1 and then later with motor encoder 2, two different
MDSs must be created with identical motor data.
One drive object can manage up to 16 encoder data sets. The number of encoder data sets
configured is specified in p0140.
When a drive data set is selected, the assigned encoder data sets are also selected.
Note
EDS switchover for safe motion monitoring
An encoder which is used for safety functions must not be switched over when a drive data set
(DDS) is switched over.
The safety functions check the safety-relevant encoder data for changes when data sets are
switched over. If a change is detected, fault F01670 is displayed with a fault value of 10, which
results in a non-acknowledgeable STOP A. The safety-relevant encoder data in the various data
sets must therefore be identical.
14.5.4 MDS: Motor Data Set
A motor data set (MDS) contains various setting parameters of the connected motor, which are
relevant when configuring the drive. It also contains certain display parameters with calculated
data.
• Adjustable parameters, e.g.:
– Motor component number (p0131)
– Motor type selection (p0300)
– Rated motor data (p0304 ff.)
– ...
• Display parameters, e.g.:
– Calculated rated data (p0330 ff.)
– ...
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14.5 Data sets
The parameters that are grouped together in the motor data set are identified in the
SINAMICS S120/S150 List Manual by "Data Set MDS" and are assigned an index [0...n].
A separate motor data set is required for each motor that is controlled by the Control Unit via a
Motor Module. The motor data set is assigned to a drive data set via parameter p0186.
A motor data set can only be changed using a DDS changeover. The motor data set changeover
is, for example, used for:
• Changing over between different motors
• Changing over different windings in a motor (e.g. star-delta changeover)
• Adapting the motor data
If several motors are operated alternately on a Motor Module, a matching number of drive data
sets must be created. Further information about motor changeover, see Section Motor
changeover in this manual.
One drive object can manage up to 16 motor data sets. The number of motor data sets in p0130
must not exceed the number of drive data sets in p0180.
For the 611U interface mode (p2038 = 1), the drive data sets are divided into groups of eight
(1-8; 9-16;...). Within a group, the assignment to the motor data set must be identical:
p0186[0] = p0186[1] = ... = p0186[7]
p0186[8] = p0186[9] = ... = p0186[15]
p0186[16] = p0186[17] = ... = p0186[23]
p0186[24] = p0186[25] = ... = p0186[31]
If this rule is not observed, alarm A07514 is output. If you need a precise representation of the
data set structure of the 611U, 32 drive data sets and 4 motor data sets must be configured.
Example of data set assignment
Table 14-5 Example, data set assignment
DDS Motor Encoder 1 Encoder 2 Encoder 3
(p0186) (p0187) (p0188) (p0189)
DDS 0 MDS 0 EDS 0 EDS 1 EDS 2
DDS 1 MDS 0 EDS 0 EDS 3 -
DDS 2 MDS 0 EDS 0 EDS 4 EDS 5
DDS 3 MDS 1 EDS 6 - -
14.5.5 Function diagrams and parameters
Function diagrams (see SINAMICS S120/S150 List Manual)
• 8560 Data sets - Command Data Sets (CDS)
• 8565 Data sets - Drive Data Sets (DDS)
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14.5 Data sets
• 8570 Data sets - Encoder Data Sets (EDS)
• 8575 Data sets - Motor Data Sets (MDS)
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0120 Power Module data sets (PDS) number
• p0130 Motor data sets (MDS) number
• p0139[0...2] Copy motor data set (MDS)
• p0140 Encoder data sets (EDS) number
• p0170 Command data set (CDS) number
• p0180 Drive data set (DDS) number
• p0186 [0...n] Motor data sets (MDS) number
• p0187[0...n] Encoder 1 encoder data set number
• p0188[0...n] Encoder 2 encoder data set number
• p0189[0...n] Encoder 3 encoder data set number
• p0809[0...2] Copy Command Data Set CDS
• p0810 BI: Command data set selection CDS bit 0
• p0811 BI: Command data set selection CDS bit 1
• p0819[0...2] Copy drive data set DDS
• p0820[0...n] BI: Drive data set selection DDS, bit 0
• p0821[0...n] BI: Drive data set selection DDS, bit 1
• p0822[0...n] BI: Drive data set selection DDS, bit 2
• p0823[0...n] BI: Drive data set selection DDS, bit 3
• p0824[0...n] BI: Drive data set selection DDS, bit 4
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14.6 Inputs/outputs
14.6 Inputs/outputs
The following digital/analog inputs/outputs are available:
Table 14-6 Overview of inputs/outputs
Component Digital Analog
Inputs Bidirectional in‐ Outputs Inputs Outputs
puts/outputs
CU320-2 121) 82) - - -
CU310-2 5+3 3)
8+1 3)
- 1 -
TB30 4 - 4 2 2
TM15 - 24 - - -
TM31 8 4 - 2 2
Relay outputs: 2
Temperature sensor input: 1
TM41 4 4 - 1 -
Incremental encoder emulation: 1
TM120 Temperature sensor inputs: 4
1)
Adjustable: floating or non-floating
2)
Six of these are "high-speed inputs"
3)
Additional inputs for Safety Integrated Basic Functions
Note
Detailed information on the hardware properties of the inputs/outputs can be found in the
SINAMICS S120 Control Units Manual.
For detailed information about the structural relationships between all I/Os of a component and
their parameters, please refer to the function diagrams in the SINAMICS S120/S150 List Manual:
14.6.1 Digital inputs/outputs
Signal processing using the digital inputs is shown in the function diagrams listed below.
Properties
• The digital inputs are "high active".
• An open input is interpreted as "low".
• Fixed debounce setting.
Delay time = 1 to 2 current controller cycles (p0115[0])
• Availability of the input signal for further interconnection.
– Inverted and not inverted as a binector output
– As a connector output
• Simulation mode settable and parameterizable.
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14.6 Inputs/outputs
• Isolation block by block, set by jumper.
– Jumper open: Isolated.
The digital inputs function only if a reference ground is connected.
– Jumper closed, non-isolated.
The reference potential of the digital inputs is the ground of the Control Unit.
• Sampling time for digital inputs/outputs can be adjusted (p0799).
Function diagrams (see SINAMICS S120/S150 List Manual)
Control Unit 320-2
• 2120 CU320-2 input/output terminals -
isolated digital inputs (DI 0...DI 3, DI 16, DI 17)
• 2121 CU320-2 input/output terminals -
isolated digital inputs (DI 4...DI 7, DI 20, DI 21)
TB30
• 9100 Terminal Board 30 (TB30) -
isolated digital inputs (DI 0 ... DI 3)
TM15
• 9550 Terminal Module 31 (TM31) -
isolated digital inputs (DI 0 ... DI 3)
• 9552 Terminal Module 31 (TM31) -
isolated digital inputs (DI 4 ... DI 7)
TM41
• 9660 Terminal Module 41 (TM41) -
isolated digital inputs (DI 0 ... DI 3)
Control Unit 310-2
• 2020 CU310-2 input/output terminals -
isolated digital inputs (DI 0 ... DI 3, DI 22)
• 2021 CU310-2 input/output terminals -
isolated digital inputs (DI 16 ... DI 21)
• 2030 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 8 … DI/DO 9)
• 2031 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 10 … DI/DO 11)
• 2032 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 12 … DI/DO 13)
• 2033 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 14 … DI/DO 15)
• 2038 CU310-2 input/output terminals -
digital output (DO 16)
Digital outputs
Signal processing using the digital outputs is shown in the function diagrams listed below.
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14.6 Inputs/outputs
Properties
• Separate power supply for the digital outputs.
• Source of output signal can be selected by parameter.
• Signal can be inverted by parameter.
• Status of output signal can be displayed
– As a binector output
– As a connector output
Note
Before the digital outputs can function, their own electronics power supply must be connected.
Function diagrams (see SINAMICS S120/S150 List Manual)
TB30
• 9102 Terminal Board 30 (TB30) -
isolated digital inputs (DI 0 ... DI 3)
TM31
• 9556 Terminal Module 31 (TM31) -
Digital relay outputs, electrically isolated (DO 0 ... DO 1)
Control Unit 310-2
• 2038 CU310-2 input/output terminals -
digital output (DO 16)
Bidirectional digital inputs/outputs
Signal processing using the bidirectional inputs/outputs is shown in the function diagrams listed
below.
Properties
• Can be parameterized as digital input or output.
• When set as digital input:
– Six "high-speed inputs" on Control Unit
If these inputs are used, for example, for the "flying measurement" function, they act as
"high-speed inputs" with virtually no time delay when the actual value is saved.
– The properties of the "pure" digital outputs apply.
• When set as digital output:
– The properties of the "pure" digital outputs apply.
• Sharing of bidirectional input/output resources by the CU and higher-level controller (see
Section "Use of bidirectional inputs/outputs on the CU (Page 863)")
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14.6 Inputs/outputs
Function diagrams (see SINAMICS S120/S150 List Manual)
Control Unit CU310-2
• 2030 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 8 … DI/DO 9)
• 2031 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 10 ... DI/DO 11)
• 2032 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 12 ... DI/DO 13)
• 2033 CU310-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 14 … DI/DO 15)
CU320-2 Control Unit
• 2130 CU320-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 8 and DI/DO 9)
• 2131 CU320-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 10 and DI/DO 11)
• 2132 CU320-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 12 and DI/DO 13)
• 2133 CU320-2 input/output terminals -
digital input/outputs, bidirectional (DI/DO 14 and DI/DO 5)
TM15
• 9400 Terminal Module 15 (TM15) -
digital inputs/outputs, bidirectional (DI/DO 0 ... DI/DO 7)
• 9401 Terminal Module 15 (TM15) -
digital inputs/outputs, bidirectional (DI/DO 8 ... DI/DO 15)
• 9402 Terminal Module 15 (TM15) -
digital inputs/outputs, bidirectional (DI/DO 16 ... DI/DO 23)
TM31
• 9560 Terminal Module 31 (TM31) -
digital inputs/outputs, bidirectional (DI/DO 8 and DI/DO 9)
• 9562 Terminal Module 31 (TM31) -
digital inputs/outputs, bidirectional (DI/DO 10 and DI/DO 1)
TM41
• 9661 Terminal Module 41 (TM41) -
digital inputs/outputs, bidirectional (DI/DO 0 and DI/DO 1)
• 9662 Terminal Module 41 (TM41) -
digital inputs/outputs, bidirectional (DI/DO 2 and DI/DO 3)
14.6.2 Use of bidirectional inputs/outputs on the CU
The bidirectional inputs/outputs of terminals X122 and X132 on the CU (DO1) can be used by a
drive object as well as a higher-level controller (resource sharing).
The assignment to a terminal is defined by means of BICO interconnections which are either
connected to a controller via the DO1 telegram p0922 = 39x or to a drive object.
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14.6 Inputs/outputs
The setting of parameter p0729 indicates how a digital output of a Control Unit has been
assigned, i.e. whether the output of an onboard terminal X122 or X132 is assigned directly to
the Control Unit or connected via PROFIBUS to a higher-level controller.
• r0729 = 0: The output is assigned to the Control Unit of the drive or terminal output not
available.
• r0729 = 1: Output is assigned to the higher-level controller (PROFIBUS connection).
Assignment to the controller means:
– Terminal is parameterized as output x (p0728.x =1) and
– Terminal is connected with p2901 via BICO, i.e. the control uses the output in conjunction
with the DO1 telegram (p0922 = 39x)
– Use of the terminal's output signal for integrated platform via high-speed bypass channel
of the controller (standard channel with DO1 telegram is always written in parallel).
Parameter r0729 is updated if
• the direction of the onboard terminals changes over (p0728), or
• the signal sources for the outputs (p0738 ff) are changed.
Access priorities
• Reparameterization output controller --> output drive via parameter p0738 ff
The drive output has higher priority than a standard controller output using the DO1
telegram, but direct access by the controller to the terminal (bypass) has higher priority than
the drive output.
When the output is reconfigured to the drive, the controller needs to cancel a bypass to the
terminals (if one has been set up) before the new configuration can take effect.
• Reconfiguration input drive --> output controller
The output of the controller has higher priority. This is the specified behavior.
The drive is notified of the change so that the affected application can issue an alarm.
• Reconfiguration output drive --> output controller
The output of the controller has higher priority.
This is the specified behavior.
The drive is notified of the change so that the affected application can issue an alarm/fault
message is necessary. Readback of the output information can cause problems in the drive,
i.e. the drive application checks the interconnection condition of "its" terminals. If the
terminal remains assigned to a drive I/O device as required by the drive function, but is
assigned simultaneously a controller terminal status, the drive function cannot be
guaranteed to work correctly.
Fault reaction to controller failure
The onboard I/Os assigned to the controller are switched to the safe state in response to a fault.
This also applies to terminals whose signals are transferred via the bypass channel of the
controller. This status is signaled by failure of the DO1 telegram (sign-of-life failure).
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14.6 Inputs/outputs
14.6.3 Analog inputs
Overview
Signal processing using the analog inputs is shown in the function diagrams listed below.
Features
• Hardware input filter set permanently
• Simulation mode parameterizable
• Adjustable offset
• Signal can be inverted via binector input
• Adjustable absolute-value generation
• Noise suppression (p4068)
• Enabling of inputs via binector input
• Output signal available via connector output
• Scaling
• Smoothing
Note
Scaling parameters p4057 to p4060 do not limit the voltage values/current values. For TM31,
the input can be used as current input.
Analog input CU 310-2
CU310-2 has an integrated analog input at terminal strip X131, terminals 7 and 8. The input is
preset as current or voltage input using DIP switch S5. The input can be further differentiated
using p0756 [x]:
p0756[x] Input function
0 0 to 10 V
2 0 to 20 mA
3 4 to 20 mA
4 -10 V to +10 V
5 -20 mA to +20 mA
The characteristic of the analog input can be scaled using parameters p0757 to P0760.
The value of the analog input can be read out from r0755.
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14.6 Inputs/outputs
Function diagrams (see SINAMICS S120/S150 List Manual)
• 9104 Terminal Board 30 (TB30) - Analog inputs (AI 0 ... AI 1)
• 9566 Terminal Module 31 (TM31) - Analog input 0 (AI 0)
• 9568 Terminal Module 31 (TM31) - Analog input 1 (AI 1)
• 9663 Terminal Module 41 (TM41) - Analog input 0 (AI 0)
CU310-2
• 2040 CU310-2 input/output terminals - Analog input (AI 0)
Parameters (see SINAMICS S120/S150 List Manual)
• r0752[0] CO: CU analog input current input voltage/current
• p0753[0] CU analog input smoothing time constant
• p0761[0] CU analog input wire-break monitoring response threshold
• p0762[0] CU analog input wire-break monitoring delay time
• p0763[0] CU analog input offset
• p0766[0] CU analog input activate absolute-value generation
• p0769[0] BI: CU analog input enable signal source
CU310-2
• r0755[0] CO: CU analog input actual value in percent
• p0756 [0] CU analog input type
• p0757[0] CU analog input characteristic value x1
• p0758[0] CU analog input characteristic value y1
• p0759[0] CU analog input characteristic value x2
• p0760[0] CU analog input characteristic value y2
14.6.4 Analog outputs
Signal processing using the analog outputs is shown in the function diagrams listed below.
Properties
• Adjustable absolute-value generation
• Inversion via binector input
• Adjustable smoothing
• Adjustable transfer characteristic
• Output signal can be displayed via visualization parameter
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14.6 Inputs/outputs
Note
Parameters p4077 to p4080 of the scaling do not limit the voltage values / current values (for
TM31, the output can be used as current output).
Function diagrams (see SINAMICS S120/S150 List Manual)
• 9106 Terminal Board 30 (TB30) - Analog outputs (AO 0 ... AO 1)
• 9572 Terminal Module 31 (TM31) - Analog outputs (AO 0 ... AO 1)
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14.7 Write and know-how protection
14.7 Write and know-how protection
14.7.1 Write protection
Function description
Write protection prevents unauthorized or inadvertent changes to the settings in the drive.
Activated write protection
Write protection can be activated in offline or online mode. Activated write protection has the
following effects:
• Parameters not excluded from write protection cannot be changed.
Figure 14-13 Message text when write protection is active
• Information regarding the current status of write protection is displayed in the header line of
the working area:
– In online mode, a note is output stating that write protection is activated and therefore no
parameters can be written.
Exceptions to write protection
The following parameters are not affected by write protection:
• Parameters with attribute "WRITE_NO_LOCK" are generally not affected by write protection.
You can find a list of parameters with the attribute "WRITE_NO_LOCK" in the chapter
"Parameters with "WRITE_NO_LOCK"" of the SINAMICS S120/S150 List Manual.
The following functions are not affected by write protection:
• Activate/deactivate write protection
• Change access level (p0003)
• Save parameters (p0971)
• Safely remove memory card (p9400)
• Restore factory settings
• Import settings from an external storage medium (e.g. upload from a memory card)
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14.7 Write and know-how protection
Parameters (see SINAMICS S120/S150 List Manual)
• r7760.0...12 Write protection/know-how protection status
• p7761 Write protection
14.7.2 Activating/deactivating write protection
Overview
Write protection can be activated in offline or online mode. In online mode, write protection
takes effect immediately after activation. We therefore recommend activating write protection
in online mode.
Write protection must be deactivated in order to activate or configure know-how protection.
However, if necessary, it is possible to activate write protection in addition when know-how
protection is activated.
Requirements
• A SINAMICS S120 control module has been inserted in the device configuration.
Procedure
Proceed as follows to activate/deactivate write protection:
1. Establish an online connection to your drive.
2. Call the "Drive control > Parameterization" menu in the project navigator.
3. In the secondary navigation, call "Basic parameterization > Write and know-how protection".
4. Click on "Activate write protection".
Write protection is activated.
OR
5. Click on "Deactivate write protection".
Write protection is deactivated.
6. To save the setting retentively, click .
14.7.3 Know-how protection
Function description
With the know-how protection function, a machine manufacturer can prevent unauthorized
persons from reading, changing or copying confidential company know-how on configuring and
parameterizing.
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14.7 Write and know-how protection
Activated know-how protection
Note
Assistance provided by technical support
When know-how protection is activated, assistance can only be provided by Technical Support
after prior agreement from the machine manufacturer.
Note
Know-how protection when write protection is active
When write protection is enabled, the protection settings of the know-how protection cannot be
changed.
Activated know-how protection has the following effects:
• Parameter view:
In the parameter view, know-how-protected parameters are not shown in the parameter lists.
• Function view:
– Know-how-protected parameter values ("KHP_ACTIVE_READ") that can be read but not
changed ① are shown but are protected against modification.
– Know-how protected parameter values that can neither be read nor changed ② are
indicated by "???" and are protected against modification.
① Properties: Can be read, cannot be changed (dark orange background)
② Properties: Cannot be changed (light orange background)
• Information regarding the current status of know-how protection is displayed in the header
line of the working area:
– When the "Write and know-how protection" function is called in offline mode, a note is
output indicating that know-how protection can only be configured in online mode.
– In online mode and when know-how protection is activated, a note is output in all screens
indicating that know-how protection is active, which means that you cannot read or
change all parameters.
• The status of the know-how protection is indicated by the lock icon in the project
navigator.
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14.7 Write and know-how protection
Available protection settings
The following figure shows the protection settings with which drives can be protected against
unauthorized access and unauthorized reproduction of the drive settings (parameter and DCC
data):
.QRZKRZ6FKXW]
RKQH.RSLHUVFKXW]
.QRZKRZ6FKXW]
PLW%DVLV.RSLHUVFKXW]
.QRZKRZ6FKXW]
PLWHUZHLWHUWHP.RSLHUVFKXW]
Figure 14-14 Available protection settings
Note
Siemens memory card
Use of know-how protection with basic copy protection and extended copy protection is only
possible with a Siemens memory card.
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14.7 Write and know-how protection
Effects during device replacement
The settings serve to protect confidential company know-how on configuration and
parameterization and limit the end user's possibilities as follows, according to the selected
setting:
• Know-how protection without copy protection
Despite activated know-how protection, the end user can copy the drive settings and transfer
them to further Control Units using any memory card.
• Know-how protection with basic copy protection
Know-how protection is bound to the serial number of the Siemens memory card. When
know-how protection is activated, the know-how-protected drive settings are protected
against copying and use on other memory cards.
Note
After a device replacement, the converter can be operated with the Siemens memory card
from the defective device without knowing the know-how protection password.
• Know-how protection with extended copy protection
Know-how protection is bound to the serial number of the Siemens memory card and the
Control Unit. When know-how protection is activated, the know-how-protected drive
settings are protected against copying and use on other memory cards and Control Units.
Note
After a device replacement, the converter can be operated with the Siemens memory card
from the defective device only if the know-how protection password is known.
Effects on parameters and functions
The following table provides a detailed overview of the effects of the individual protection
settings on parameters and functions with activated know-how protection:
Affected Protection set‐ Description
tings
Adjustable pa‐ Readable, Adjustable parameters without know-how protection (p...) can be read and changed
rameters changeable when know-how protection is active. You can find a list of the adjustable parameters that
can be read and changed in the SINAMICS S120/S150 List Manual in the chapter "Pa‐
rameters with "KHP_WRITE_NO_LOCK"".
Note:
Adjustable parameters without know-how protection cannot be added to an exception
list (see Chapter "Managing the exception list (Page 877)").
Readable Certain adjustable parameters with know-how protection (p...) can be read but not
changed when know-how protection is active. You can find a list of the adjustable pa‐
rameters that can be read in the SINAMICS S120/S150 List Manual in the chapter "Pa‐
rameters with "KHP_ACTIVE_READ"".
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14.7 Write and know-how protection
Affected Protection set‐ Description
tings
Functions Locked The following functions are locked when know-how protection is activated:
• Loading drive settings into the project (function: "Upload from device")
• Automatic controller optimization
• Stationary or rotating measurement of the motor data identification
• Deleting alarm history and fault history
• Generating acceptance documents for safety functions
Executable The following functions can be executed when know-how protection is activated:
• Restoring factory settings
• Acknowledging faults
• Displaying faults, alarms, fault history and alarm history
• Reading out the diagnostic buffer
• Controlling the drive via the control panel
• Displaying acceptance documents for safety functions
Optionally exe‐ The following functions can be executed if the "Allow diagnostic functions" option is
cutable enabled when know-how protection is activated:
• Trace function
• Measurement function
Parameters (see SINAMICS S120/S150 List Manual)
• r7760.0...12 Write protection/know-how protection status
• p7765 Know-how protection configuration
• p7766[0...29] Know-how protection password input
• p7767[0...29] Know-how protection password new
• p7768[0...29] Know-how protection password confirmation
14.7.4 Configuring know-how protection
Overview
Know-how protection can only be activated and configured in online mode. Therefore, always
make sure that there is an online connection to your drive unit before calling the configuration
screen for know-how protection.
More information on the individual protection settings can be found in Chapter "Know-how
protection (Page 869)".
Requirements
• A SINAMICS S120 control module has been inserted in the device configuration.
• An online connection to the drive has been established.
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14.7 Write and know-how protection
• Write and know-how protection are disabled.
• A Siemens memory card is inserted in the converter. This requirement applies to know-how
protection with basic copy protection and extended copy protection.
• Optional:
– The drive unit is fully commissioned.
– The exception list for know-how protection is created. No critical parameters have been
added to the exception list.
Selecting and activating the protection setting
Proceed as follows to select and activate the desired protection setting:
1. If you have already added know-how parameters to the exception list before activating know-
how protection, make sure that you have not added any critical parameters (see Chapter
"Managing the exception list (Page 877)").
Note
Parameters in the exception list can be read and modified
With activated know-how protection, parameters in the exception list can be read and
modified in other commissioning tools and in the web server. Therefore, do not add any
critical parameters to the exception list.
2. Establish an online connection to your drive.
3. Select the "Drive control > Parameters" menu in the project navigator.
4. In the secondary navigation, select menu "Basic parameterization > Write and know-how
protection".
The "Write and know-how protection" screen form is displayed with the available protection
settings.
5. Select the required setting.
The following settings are available:
– Know-how protection without copy protection (default setting)
– Basic copy protection
– Extended copy protection
6. To activate use of diagnostic functions with enabled know-how protection, select the option
"Permit trace and measuring functions for diagnostic purposes".
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14.7 Write and know-how protection
7. To activate know-how protection with the selected protection setting, click "Specify
password for the activation".
The corresponding dialog is opened.
8. Assign a password and confirm with "OK".
Note
Recommendation for secure passwords
When assigning a password, make sure that it contains the following:
• At least 8 characters
• Upper and lower case letters
• Numbers and special characters (e.g. ?!%+)
It is not permissible that the password is used elsewhere.
Know-how protection with the desired protection setting is activated. The know-how protected
parameters cannot be changed until know-how protection is deactivated.
Important notes
• Write protection can be activated in addition to activated know-how protection. Make sure
that write protection is deactivated before you deactivate know-how protection.
• Know-how protection must be deactivated to be able to change a created exception list.
Changing a password
To change an existing password, proceed as follows:
1. Click the "Change password" button.
The corresponding dialog is opened.
2. Enter the existing and the new password in the appropriate input fields.
3. Confirm your entries with "OK".
The dialog closes. The new password becomes immediately valid.
Deactivating know-how protection temporarily
Deactivate know-how protection temporarily to change the protection settings and/or the
exception list. You can find more information on managing an exception list in Chapter
"Managing the exception list (Page 877)".
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14.7 Write and know-how protection
Proceed as follows to deactivate the know-how protection temporarily:
1. Click on "Deactivation".
The corresponding dialog is opened. The following options are available:
2. Select option "Temporary deactivation for configuration changes" option.
Know-how protection is deactivated.
3. Enter the existing password for know-how protection.
4. To save the setting retentively, click .
Know-how protection is temporarily deactivated and can be reactivated at any time with the
selected protection settings.
Deactivating know-how protection permanently
Proceed as follows to deactivate the know-how protection permanently:
1. Click on "Deactivation".
The corresponding dialog is opened. The following options are available:
2. Select option "Permanent deactivation of the know-how protection".
A security prompt is displayed.
3. Enter the existing password for know-how protection.
4. If you want to permanently deactivate know-how protection, confirm the prompt with "Yes".
Know-how protection is deactivated and the protection settings are reset to the factory
settings.
5. To save the setting retentively, click .
Know-how protection is permanently deactivated and can be activated and reconfigured at any
time.
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14.7 Write and know-how protection
Additional protective measures
After configuration of know-how protection, make sure that the Startdrive project file is not
retained by the end user.
14.7.5 Managing the exception list
Overview
In the exception list, you manage all parameters that are to remain readable and modifiable with
activated know-how protection.
Features
• The exception list can be configured in both online and offline mode.
• The exception list can be called via the parameter lists of the individual drive objects. In the
factory setting, the exception list that can be called via the parameter list of the "Drive
control" drive object only contains the parameter for the know-how protection password
(p7766[0]).
Figure 14-15 Exception list with know-how protection password
Note
Deactivation of know-how protection not possible
The parameter for the know-how protection password (p7766[0]) cannot be deleted from
the exception list. If this parameter is deleted, know-how protection will remain permanently
activated after activation and can no longer be deactivated. In this case, the drive will need
to be restored to the factory settings.
Requirements
• Write protection is deactivated.
• Know-how protection is deactivated (either temporarily or permanently).
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14.7 Write and know-how protection
Adding parameters to the exception list
Note
Parameters in the exception list can be read and modified
With activated know-how protection, parameters in the exception list can be read and modified
in other commissioning tools and in the web server. Therefore, do not add any critical
parameters to the exception list.
Proceed as follows to add individual parameters to the exception list:
1. Establish an online connection to your drive.
2. Call the parameter view of your drive.
3. In the parameter view, click on the icon .
4. In the "<add new>" input field, enter the parameter number of the know-how protected
parameter to be excluded from know-how protection.
Parameters without know-how protection cannot be added to the exception list.
5. Confirm your entry with Return.
The most important parameter data is displayed in the exception list.
The changes in the exception list take effect immediately in online mode.
6. Repeat the process for all other parameters to be excluded from know-how protection.
7. To save the changes in the exception list retentively, click .
If you created the exception list in offline mode, load the project data into your drive
subsequently. The changes in the exception list take effect immediately when you switch to
online mode.
After the activation of know-how protection in online mode, only the parameters that were not
added to the exception list are know-how protected.
Removing parameters from the exception list
Proceed as follows to remove individual parameters from the exception list:
1. Establish an online connection to your drive.
2. Call the parameter view of your drive.
3. In the parameter view, click on the icon .
4. In the exception list, select the parameter that you wish to remove from the exception list.
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14.7 Write and know-how protection
5. Click in the parameter number field, enter "0" and then confirm with Return.
The complete parameter entry is deleted from the exception list.
The changes in the exception list take effect immediately in online mode.
6. Repeat the process for all other parameters to be removed from the exception list.
7. To save the changes in the exception list retentively, click .
If you remove the parameters from the exception list in offline mode, load the project data
into your drive subsequently. The changes in the exception list take effect immediately when
you switch to online mode.
The modified exception list is taken into account after activation of know-how protection in
online mode. All of the parameters that were removed from the list are then know-how
protected again.
Parameters (see SINAMICS S120/S150 List Manual)
• p7763 Know-how protection OEM exception list, number of indices for p7764
• p7764[0...n] Know-how protection OEM exception list
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14.8 Component replacement
14.8 Component replacement
14.8.1 Replacing components
To ensure that the entire functionality of a firmware version can be used, it is recommended that
all the components in a drive line-up have the same firmware version.
Description
If the type of comparison is set to the highest setting, the following examples apply.
A distinction is made between the following scenarios:
• A component with a different article number
• Components with identical article numbers
– Topology comparison component replacement active (p9909 = 1)
– Topology comparison component replacement inactive (p9909 = 0)
When p9909 = 1, the serial number and the hardware version of the new replacement
component are automatically transferred from the actual topology to the reference topology,
and then saved in the non-volatile memory.
When p9909 = 0, serial numbers and hardware versions are not automatically transferred. In this
case, when the data in the electronic rating plate match, the transfer is realized using p9904 = 1
or p9905 = 1.
For the components that have been replaced, the electronic rating plate must match as far as the
following data is concerned:
• Component type (e.g. "SMC20")
• Article number (e.g. "6SL3055–0AA00–5B..")
Reading out component numbers from STARTER
In the STARTER commissioning tool, for a selected drive unit, you can read out the numbers of
the individual components as follows:
• Version overview
The components of the drive unit are shown in a list in the version overview of the drive unit.
The component number can be read out of the "No" column.
• Topology tree
The components of the drive unit are shown in a topology view in the topology tree of a drive
unit. The component number is shown in brackets to the right of the component name.
Replacing motors with SINAMICS Sensor Module Integrated or with DRIVE-CLiQ Sensor Integrated
If a defect has occurred in a motor with integrated DRIVE-CLiQ interface (SINAMICS Sensor
Module Integrated), please contact the Siemens office in your region to arrange for repair.
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14.8 Component replacement
14.8.2 Examples of replacing components
Example: Replacing a component with different article number
Requirements:
• The replaced component has a different article number.
Table 14-7 Example: Component with a different article number
Action Reaction Remark
• Switch off the power supply
• Replace the defective compo‐
nent and connect the new
one
• Switch on the power supply • Alarm A01420
• Load the project from the • Alarm disappears The new article number is stored
Control Unit to Startdrive (PG) in the RAM of the Control Unit
and has to be copied to the non-
• Configure the replacement
volatile memory with p0977 = 1
drive and select the current and p0971 = 1. As an alternative,
component Startdrive can be used to backup
• Load the project to the Con‐ data using "Copy RAM to ROM".
trol Unit (target system)
The component has been successfully replaced.
Example: (p9909 = 1) replacing a defective component with an identical article number
Requirements:
• The replaced component has an identical article number.
• The serial number of the new replacement component must not be contained in the stored
target topology of the Control Unit.
• Topology comparison component replacement active p9909 = 1.
Sequence:
During startup of the Control Unit, the serial number of the new component is automatically
transferred to the target topology and saved.
Example: (p9909 = 0) replacing a defective component with an identical article number
Requirements:
• The replaced component has an identical article number.
• Topology comparison component replacement inactive p9909 = 0.
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14.8 Component replacement
Table 14-8 Example: Motor Module
Action Reaction Remark
• Switch off the power supply
• Replace the defective compo‐
nent and connect the new
one
• Switch on the power supply • Alarm A01425
• Set p9905 to "1" • Alarm disappears The serial number is stored in the
• The serial number is copied to RAM of the Control Unit and has
to be copied to the non-volatile
the target topology
memory with p0977 = 1 and
p0971 = 1. As an alternative,
Startdrive can be used to backup
data using "Copy RAM to ROM".
The component has been successfully replaced.
Example: Replacing a Motor Module/Power Module with a different power rating
Requirements:
• The replaced power unit has a different power rating
• Vector: Power of the Motor Modules / Power Modules not greater than 4 motor current
Table 14-9 Example: Power unit with a different power rating
Action Reaction Remark
• Switch off the power supply
• Replace the defective compo‐
nent and connect the new one
• Switch on the power supply
• Alarm A01420
• Drive object CU: For p9906 = 2: Caution
– p0009 = 1 • Device configuration Topology monitoring for all
(!) components has been sig‐
– p9906 = 2 • Component comparison
nificantly reduced so that, if
– p0009 = 0 • Completing the configuration DRIVE-CLiQ lines are acciden‐
– p0977 = 1 • Data backup tally changed over, this will
not be detected.
• Drive object component: The new article number is
• Use the code number stored in the RAM of the Con‐
– p0201 = r0200
trol Unit and has to be copied
– p0010 = 0 • Completing commissioning to the non-volatile memory
– p0971 = 1 • Data backup with p0977 = 1 and
p0971 = 1. As an alternative,
Startdrive can be used to
backup data using "Copy RAM
to ROM".
The component has been successfully replaced.
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14.9 Data backup
14.9 Data backup
14.9.1 Backing up the non-volatile memory
For operation-relevant data, the CU320-2 and the CU310-2 have a non-volatile memory, the
NVRAM (Non-Volatile Random Access Memory). The data of the fault buffer, the diagnostics
buffer and message buffer is saved in this memory.
Certain circumstances, for example, a defect in the Control Unit or if the Control Unit has been
replaced, require that this data is backed up. After the hardware has been replaced, transfer the
backed up data back to the NVRAM of the Control Unit. You can perform these operations using
parameter p7775:
1. Using p7775 = 1 backup the NVRAM data to a memory card.
2. Using P7775 = 2, copy NVRAM data from the memory card to the NVRAM.
3. Using P7775 = 3, delete the data in the NVRAM.
After the data has been successfully cleared, a POWER ON is automatically carried out.
p7775 is automatically set to 0 if the operation was successful. If the operation was not
successful, p7775 indicates a corresponding fault value. Further details of the fault values can
be found in the SINAMICS S120/S150 List Manual.
Note
NVRAM data change
The data in the NVRAM can only be restored or deleted if the pulse inhibit is set.
Backing up NVRAM data
With p7775 = 1, the NVRAM data of a stand-alone Control Unit is saved in the subdirectory: "...
\USER\SINAMICS\NVRAM\PMEMORY.ACX" on the memory card.
When the Control Unit is integrated in a controller, the NVRAM data is saved in the subdirectory:
"... \USER\SINAMICS\NVRAM\xx\PMEMORY.ACX" on the memory card. "xx" corresponds to the
DRIVE CLiQ port.
When saving, all data is backed up from the NVRAM.
Note
Backing up NVRAM data
The backup of the NVRAM data to the memory card is also possible when the pulses are enabled.
However, if the drive is operated when NVRAM data is being transferred, then it is possible that
the backed up data is not consistent with the NVRAM data.
Restoring NVRAM data
With p7775 = 2, the NVRAM data is transferred back from the memory card into the Control Unit.
When restoring you decide which data you require and want to copy.
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14.9 Data backup
There are two reasons that necessitate the NVRAM data being restored.
• Replacing the Control Unit.
• Specific restoration of the NVRAM data as it is possible that there are data errors.
When restoring, the Control Unit always searches first for the "PMEMORY.ACX" file. If the file is
available with a valid checksum, then it is loaded.
Replacing the Control Unit:
If a Control Unit has to be replaced, then this is identified by SINAMICS as a result of the
modified Control Unit serial number. After the POWER ON, the NVRAM of the Control Unit is first
deleted. The new NVRAM data is then loaded.
NVRAM restoration:
A specific restoration of the saved NVRAM data is initiated by setting p7775 = 2. The original file
in the NVRAM is first deleted. If the file "PMEMORY.ACX" is available with a valid checksum, it is
loaded to the NVRAM.
The following data is not imported again:
• Control Unit operating hours counter
• Control Unit temperature
• Safety logbook
• Crash diagnostics data
Deleting NVRAM data
With p7775 = 3, the NVRAM data is deleted.
The following data is not deleted:
• Control Unit operating hours counter
• Control Unit temperature
• Safety logbook
• Crash diagnostics data
Note
NVRAM and know-how protection
Know-how protection and write protection apply to parameter p7775. If the parameter should
be readable despite activated protection mechanisms, then p7775 must be placed in the
exception list.
Note
NVRAM and write protection
When write protection is activated, p7775 can only be written to from a higher-level controller
using cyclic communication.
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14.9 Data backup
You can find additional information on fault, diagnostic and message buffers in the SINAMICS
S120 Commissioning Manual with Startdrive.
14.9.2 Redundant data backup on memory card
In conjunction with the "Firmware update via web server" and the associated remote access, the
"Redundant data backup on memory card" provides secure access again to the device in the
event of an interruption of the connection or the power supply. This redundant data backup
cannot be deactivated.
As of firmware version V4.6, the memory cards have a backup partition in addition to the normal
working partition. The most important data is duplicated on this backup partition during ramp-
up of the CU. This ensures that when you update the data on the memory card a data loss cannot
occur due to a power failure. Only the system can access this backup partition. The partition is
not visible for users.
If damage to the file system is detected on the memory card, the system reconstructs the data
on the working partition from the backup partition at the next ramp-up of the CU. The fault
"F01072: memory card recreated from backup copy" is emitted. A running restoration of the
data is indicated via the LEDs (FW Loading). Generally, the restoration of the data takes one
minute.
The duplication of changed project data on the backup partition takes just a few seconds during
ramp-up. After write operations on the working partition (e.g. RAM to ROM), the system
automatically recognizes when an update of the backup copy on the backup partition is required
and issues the message "A01073 (N): POWER ON required for backup copy on memory card". In
this case, perform a POWER ON for the Control Unit or a hardware reset (via p0972).
As of firmware version V4.6, there may be a substantial data backup at the first ramp-up with a
memory card. Generally, this data backup only takes a minute and is indicated via the LEDs (FW
Loading). Such a data backup is also performed once for a firmware update or hotfix of the
memory card via the card reader (as of V4.6).
WARNING
Incorrect parameterization due to software manipulation when using exchangeable
storage media
The storage of files on removable storage media involves a high risk of infection, e.g. via viruses
or malware. As a result of incorrect parameterization, machines can malfunction, which in turn
can lead to injuries or death.
• Protect the files on removable storage media against harmful software through appropriate
protective measures, e.g. virus scanners.
Note
Minimum requirements
Use of this feature is not possible with memory cards of older firmware versions (e.g. V4.5). The
following requirements must be satisfied for working with automatic backup copies:
• a Control Unit with the correct version (see Chapter "Reading off the CU version")
• an original memory card for firmware version V4.6 or higher
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14.9 Data backup
Note
Special issue relating to the firmware update via the web server
When updating the firmware via the web server, in exceptional circumstances, memory cards
with older firmware versions can also be used. However, there is no guarantee of retentive data
storage.
Reading off the CU version
The following table lists the versions required to use the "Redundant data backup on memory
card" for each Control Unit. The appropriate data is available on your CU type plate.
Control Unit Version (PRODIS)
CU310-2 DP ≥E
CU310-2 PN ≥E
CU320-2 DP ≥G
CU320-2 PN ≥D
Overview of important faults and alarms (see SINAMICS S120/S150 List Manual)
• F01072 Memory card restored from backup copy
• A01073 (N) POWER ON required for backup copy on memory card
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14.10 DRIVE-CLiQ
14.10 DRIVE-CLiQ
14.10.1 DRIVE-CLiQ topology
Overview
DRIVE-CLiQ (Drive Component Link with IQ) is a communication system for connecting
SINAMICS components (e.g. Control Unit, Line Module, Motor Module, motor, encoder...).
Definition
A DRIVE-CLiQ topology is a cabling tree in which all DRIVE-CLiQ connections between the
SINAMICS components are displayed. When a topology is created, all components receive their
own component numbers and names.
Features
The DRIVE-CLiQ communication system has the following characteristics:
• Automatic detection of components by the Control Unit
• Standard interfaces to all components
• Standardized diagnostics down to component level
• Standardized service down to component level
Actual topology
The actual topology corresponds to the actual DRIVE-CLiQ cabling tree.
During the ramp-up phase of the drive, the data of the components' electronic rating plates are
read out and assigned to the components.
Target topology
The target topology is configured as follows:
• Using the Startdrive engineering tool:
By creating the offline configuration and loading it into the drive
• By means of quick commissioning:
The actual topology is automatically read out and created as target topology.
After the target topology is created, it must be saved retentively together with the project data
on the memory card of the Control Unit.
You can find additional information about saving project data retentively in the Startdrive
engineering tool in the SINAMICS S120 Commissioning Manual with Startdrive.
Comparison of topologies at Power On
When the drive system ramps up, the Control Unit compares the detected actual topology and
the electronic rating plates with the target topology stored on the memory card. Comparing the
topologies prevents the configured components from being controlled or evaluated incorrectly
(e.g. drive 1 and 2).
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14.10 DRIVE-CLiQ
Electronic rating plate
The following data is read out from the electronic rating plate of a DRIVE-CLiQ component:
• Component type (e.g. SMC20)
• Article number (e.g. 6SL3055-0AA0-5BA0)
Is only provided for display and diagnostic purposes.
• Manufacturer (e.g. Siemens)
• Hardware version (e.g. A)
Is only provided for display and diagnostic purposes.
• Serial number (e.g. T-PD3005049)
• Technical specifications (e.g. rated current)
Are compared during further ramp-up of the drive based on the code number of the power
unit (see p0201).
Check criteria
The match between the actual topology and the saved target topology is checked based on the
following criteria:
• Component type
• DRIVE-CLiQ wiring
• Serial numbers
In the following processes, serial numbers are transferred from the actual topology to the
target topology:
– First download of a project created in offline mode
– Replacement part scenario of a defective component
When DRIVE-CLiQ components of the same type are replaced, the serial number of the
new component is automatically transferred into the target topology.
Changing the check criteria
The specified criteria can be changed retroactively using the following parameters:
• p9906 (Topology comparison all components comparison level)
• p9907 (Topology comparison component number)
• p9908 (Topology comparison of a component comparison level)
14.10.2 DRIVE-CLiQ diagnostics
Function description
Using the DRIVE-CLiQ diagnostics, you can check the connections and cables of DRIVE-CLiQ
connections.
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14.10 DRIVE-CLiQ
Evaluating error counters
Transmission errors are localized globally by evaluating the error counters of all configured
components.
If evaluation with p9937.0 = 1 is activated, the detected errors are displayed in r9936[0...199].
The index indicates the component number and the value of the counted errors in the supply
line from the CU direction.
Detailed diagnostics
Errors in the supply line of individual components can be localized by means of the detailed
diagnostics.
In the scope of detailed diagnostics, the number of errors is determined for selected connections
within a defined time period. Individual connections can be selected via p9942. You set the time
interval for recording the error counter in p9939. The determined transmission errors are
displayed in r9943 and can then be examined in greater detail.
Parameters (see SINAMICS S120/S150 List Manual)
• r9936[0...199] DRIVE-CLiQ diagnostics, error counter connection
• p9937 DRIVE-CLiQ diagnostics configuration
• p9938 DRIVE-CLiQ detailed diagnostics configuration
• p9939 DRIVE-CLiQ detailed diagnostics time interval
• p9942 DRIVE-CLiQ detailed diagnostics individual connection selection
• r9943 DRIVE-CLiQ detailed diagnostics individual connection error counter
14.10.3 Autonomous emergency operation
Overview
In order to protect the drive system against excessive voltages also in the event of failure of the
Control Unit or of the DRIVE-CLiQ communication (e.g. while a spindle is rotating), autonomous
emergency operation is available for the following components:
Power units Format / Power Requirement Function
Basic Line Mod‐ 20 and 40 kW External braking resis‐ Autonomous emergency operation is realized by the "Chop‐
ules tor per operation" function.
Motor Modules Booksize, Chassis – Autonomous emergency operation is realized by the "Internal
voltage protection" function.
Set p1231 = 3 to activate the internal voltage protection.
r0192.10 = 1 indicates whether a Motor Module supports au‐
tonomous emergency operation.
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14.10 DRIVE-CLiQ
Features
Autonomous emergency operation has the following characteristics:
• Resumption and resynchronization of DRIVE-CLiQ communication also in emergency mode
(only if clock cycle conditions have not changed) and without POWER ON
• Changeover from emergency operation to normal operation without POWER ON of the
component
• Defined response with factory setting/project download
Restrictions
The following restrictions apply to autonomous emergency operation:
Power units Restrictions
Motor Modules If a Motor Module supports autonomous, internal voltage protection, the 24 V supply for the components
must be implemented via a Control Supply Module (CSM) to ensure reliable operation in the event of mains
power failure.
Principle of operation
Autonomous emergency operation performs the following tasks:
Power units Principle of operation
Basic Line Mod‐ Depending on the voltage, superfluous energy is dissipated via the external braking resistor.
ules
Motor Modules The function recognizes that a component is getting into a critical state and the protective function must be
maintained.
If the DC link voltage exceeds 800 V, the Motor Module activates the armature short-circuit autonomously.
The protection remains operative even if the DRIVE-CLiQ connection between the Control Unit and the
Motor Module is interrupted. If the DC link voltage falls below 450 V, then the short-circuit is withdrawn.
The function re-establishes communication with the higher-level controller in the Control Unit.
The protective function is maintained until a safe state is reached.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
14.11 System rules, sampling times and DRIVE-CLiQ wiring
14.11.1 Overview of system limits and system utilization
Overview
The number and type of controlled axes, infeeds and Terminal Modules as well as the
additionally activated functions can be scaled by configuring the firmware.
The software and control functions available in the system are executed cyclically with different
sampling times (p0115, p0799, p4099). These sampling times are automatically pre-assigned
when configuring the drive (see Chapter "Default setting (Page 899)"). They can be
subsequently adapted by the user.
Description
The number of controllable drives, infeed units and Terminal Modules that can be operated with
the selected Control Unit depends on several system rules, the set sampling times, the control
type and the activated additional functions.
There are also still dependencies and rules for the components used and the selected DRIVE-CLiQ
wiring.
The existing rules are described in greater detail in the following sub-chapters. After this, there
are notes on the number of controllable drives and some example topologies.
In addition to an infeed, the following standard quantity structures are operable with standard
clock cycles:
• 12 U/f control axes with 500 µs
• 6 vector axes with 500 µs
• 6 servo axes with 125 μs
• 3 vector axes with 250 μs
• 3 servo axes with 62.5 μs
• 1 servo axis with 31.25 μs (single-axis module)
Note
Special case: Synchronous reluctance motors as vector axis
In the case of synchronous reluctance motors, when using the encoderless technique with test
signal, for 250 μs 2 drive axes + 1 infeed unit can be operated - and for 500 μs 4 drive axes + 1
infeed unit.
Consequently, the conversion of an axis from 125 µs to 62.5 µs normally leads to the loss of an
axis. This rule can also be used for the clock-cycle mixing to achieve a general estimate of the
quantity structure.
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Especially for demanding configurations, drives with high dynamic response or a large number
of axes with additional utilization of special functions for example, a check using the SIZER
engineering tool is recommended. The SIZER engineering tool calculates the feasibility of the
project.
Finally, the utilization flag in r9976 indicates whether a topology is operable. If the utilization
exceeds 100%, this is indicated with fault F01054. In this case, one or more axes must be
dispensed with or the function scope reduced.
14.11.2 System rules
Overview
A maximum of 24 drive objects (DOs) in total can be connected to one Control Unit.
Control Units
• The Control Unit CU310-2 is a single-axis control module for operating the AC/AC Power
Modules in Blocksize format (PM240-2 or PM340) and Chassis format. Terminal Modules,
Sensor Modules and HUB Modules can also be connected in addition to these.
• The CU320-2 Control Unit is a multi-axis control module for operating Infeed Modules and
Motor Modules in Booksize, Chassis and Blocksize formats. Terminal Modules, Sensor
Modules and HUB Modules can also be connected in addition to these.
Motor Modules (including closed-loop control modes)
For the CU310-2 Control Unit the following applies:
• The CU310-2 Control Unit is a single-axis control module (servo control, vector control or
vector control U/f control) plugged into a PM240-2 or PM340 Power Module, or for operation
with a maximum of one AC/AC Power Module in the Chassis format (via the X100 DRIVE-CLiQ
connection).
For the CU320-2 Control Unit the following applies:
• The CU320-2 Control Unit is a multi-axis control module for operating Motor Modules in the
Booksize, Chassis and Blocksize formats (PM240-2 and PM340 via a Control Unit Adapter).
• For multi-axis modules, each axis counts individually (one Double Motor Module = two Motor
Modules).
• A maximum of 6 drive objects may be operated concurrently in servo control and HLA
control.
• There can be a maximum of 12 drive objects of the vector type present at the same time.
– A maximum of 6 drive objects can be operated simultaneously in vector control.
– A maximum of 12 drive objects can be operated simultaneously in U/f control.
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• Mixed operation of control types:
The following are permitted:
– Mixed operation of servo control and U/f control.
– Mixed operation of vector control and U/f control.
– Mixed operation of HLA and servo control.
– Mixed operation of HLA and vector control and U/f control.
The following are not permitted:
– Mixed operation of servo control and vector control.
– Mixed operation of HLA and servo control and U/f control.
• The conditions prescribed in Chapter "Number of drives depending on the control mode and
cycle times (Page 924)" must be observed for operation of a CU320-2 with a
Control Unit Adapter CUA31 or CUA32.
The following applies when connecting Motor Modules in parallel:
• Parallel connection is only permitted in the Chassis or Chassis-2 formats.
• When commissioning Motor Modules in the Chassis-2 format, a firmware version of ≥ V5.2
must be available.
• A parallel connection is only permitted in the Vector or U/f control type.
• A maximum of 4 identical Motor Modules of the Chassis format or a maximum of 6 identical
Motor Modules of the Chassis-2 format are permitted in a parallel connection. All modules
connected in parallel must have the same output.
• Only one drive object may be created for a parallel connection.
• Only one parallel connection is permitted per Control Unit.
Line Modules
For the CU310-2 Control Unit the following applies:
• Operating Line Modules is not permitted.
For the CU320-2 Control Unit the following applies:
• Only one drive object of the Smart Line Module (SLM), Basic Line Module (BLM) and Active
Line Module (ALM) types is permissible in each case.
• Mixed operation of an Active Line Module with a Smart Line Module (SLM) or with a Basic
Line Module (BLM) is not permitted.
• Mixed operation of a drive object of the Smart Line Module (SLM) type with a drive object of
the Basic Line Module (BLM) type is permitted.
• An active Voltage Sensing Module (VSM) must be assigned to each active Active Line Module
(ALM) or Smart Line Module (SLM) of the Chassis format. A violation of this rule causes fault
F05061 to be issued.
• Two further Voltage Sensing Modules can be operated with the "network transformer"
function module for Active Line Modules (ALM).
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The following rules apply to the parallel connection of Line Modules of the Chassis or Chassis-2
formats:
• Parallel connection is permissible for a maximum of 4 Infeed Modules of the Chassis format
or a maximum of 6 Infeed Modules of the Chassis-2 format.
• The operation of Infeed Modules with different power ratings is not permissible.
• When commissioning ALMs, Chassis-2 format connected in parallel, a firmware version of
≥ V5.2 must be available.
• An active Voltage Sensing Module (VSM) must be assigned to each Active Line Module
(ALM). A violation of this rule causes alarm F05061 to be issued.
• When using Smart Line Modules (SLM), an active Voltage Sensing Module (VSM) must be
assigned to at least one Smart Line Module (SLM) in the parallel connection. A violation of
this rule causes fault F05061 to be issued.
The following rules apply to the parallel connection of Line Modules of the Booksize format:
• In the Booksize format, a maximum of two Active Line Modules (ALM) from the 55 kW, 80 kW
or 120 kW power class are permissible for each parallel connection.
• The operation of Infeed Modules with different power ratings is not permissible.
• When commissioning ALMs in the Booksize format connected in parallel, a firmware version
of ≥ V5.2 must be available.
• The use of Voltage Sensing Modules (VSM) is optional.
Terminal Modules
Control Unit CU320-2:
• In total a maximum of 16 drive objects of the types TM15 Base, TM31, TM15, TM17, TM41,
TM120 or TM150 can be operated concurrently.
• A maximum of one Terminal Module F (TM54F) can be connected (in addition).
Control Unit CU310-2:
• In total a maximum of eight drive objects of the types TM15 Base, TM31, TM15, TM17, TM41,
TM120 or TM150 can be operated concurrently.
• A maximum of three drive objects of the types TM15, TM17 and TM41 may be operated
concurrently in each case.
• A maximum of one F Terminal Module (TM54F) can be connected (in addition).
DRIVE-CLiQ Hub Module
• A maximum of eight drive objects can be operated concurrently for a DRIVE-CLiQ Hub Module
(DMC20 or DME20). DMC20/DME20 do not count twice here.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
14.11.3 Special configurations and topologies
Overview
This subchapter discusses known special configurations and topologies, therefore expanding
individual tasks from subchapter "System rules (Page 892)".
The applications described should be seen as hypothetical examples. They serve to explain the
secondary conditions under which a certain configuration or topology can run.
Note
Detailed knowledge about servo and U/f control required
For the applications described, it is mandatory that users have detailed knowledge and a very
good understanding of servo and U/f control.
Using drives with servo control and U/f control together on one Double Motor Module
When using drives with servo control and U/f control together on one Double Motor Module, the
following preconditions and secondary conditions apply.
Requirements
• Double Motor Module
• A Control Unit suitable for multi-axis operation
Supplementary conditions
• When using drives with servo control and U/f control together on one Double Motor Module,
for servo control, the higher current controller dynamic response must be deactivated.
Procedure
When commissioning mixed operation (servo and U/f control) and the higher current controller
dynamic response is activated at the servo control (p1810.11 = 1), then fault message F30020
(Power unit: Configuration not supported; fault cause 5) is output.
Proceed as follows to acknowledge the fault message and to commission the configuration:
1. Deactivate the higher current controller dynamic response using p1810.11 = 0.
2. After deactivating the higher current controller dynamic response, recalculate the controller
gain using p0340 = 4.
You can acknowledge fault message F30020, and commission both axes.
14.11.4 Rules on the sampling times
14.11.4.1 Rules when setting the sampling times
The following rules apply when setting the sampling times:
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General rules
• There are a maximum 2 possible cycle levels on the Control Unit, where the lowest sampling
times are not integer multiples with respect to one another. All sampling times set must be
an integer multiple of the smallest sampling time from one of these two cycle levels.
Example 1:
– Smallest sampling time cycle level 1: Active Line Module with 250 µs
– Smallest sampling time cycle level 2: One vector drive object with 455 µs
(p0113 = 1.098 kHz)
This setting is permitted.
Additional sampling times must be integer multiples of 250 µs or 455 µs.
Terminal Modules, Terminal Board, Control Unit:
• For the digital inputs/outputs of these components, a minimum sampling time (p0799,
p4099, p0115) of 125 µs can be set.
Pulse frequencies and current controller sampling times:
• The current controller sampling times of the drives and infeeds must be synchronous with
the set pulse frequency of the power unit (see also p1800 in the SINAMICS S120/S150 Lists
Manual). Increasing the current controller cycle time in an integer ratio that is not equal to
the configured pulse frequency requires reducing the sampling times.
Line Modules
• For Active Line Modules (ALM) and Smart Line Modules (SLM) in Booksize format the only
current controller sampling time which can be set is 125 µs or 250 µs.
• For Active Line Modules (ALM) and Smart Line Modules (SLM) in Chassis format the
permitted current controller sampling time depends on the relevant module. The current
controller sampling time can either only be set to 250 µs or the current controller sampling
time selected can be 400 µs or 375 µs (375 µs for p0092 = 1).
• For Basic Line Modules (BLM) the only current controller sampling time which can be set is
2000 µs (Chassis format) or 250 µs (Booksize format).
Motor Modules
• For Single Motor Modules in Booksize format, a current controller sampling time of minimum
31.25 µs can be set (31.25 µs ≤ p0115[0] ≤ 500 µs).
• For Double Motor Modules in Booksize format, a current controller sampling time of
minimum 62.5 µs can be set (62.5 µs ≤ p0115[0] ≤ 500 µs).
• For Motor Modules in Chassis format, a current controller sampling time of minimum 125 µs
can be set (125 µs ≤ p0115[0] ≤ 500 µs).
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• For Motor Modules in Blocksize format, a current controller sampling time of 62.5 µs, 125 µs,
250 µs or 500 µs can be set (only pulse frequencies in multiples of 2 kHz are permissible).
For PM240‑2 FS D-F the minimum current controller sampling time is 125 µs.
• For the HLA module, a current controller sampling time of minimum 62.5 µs can be set (62.5
µs ≤ p0115[0] ≤ 250 µs).
Servo control/HLA closed-loop control
• For drives, a current controller sampling time between 31.25 µs and 250 µs can be set (31.25
µs ≤ p0115[0] ≤ 250 µs).
• For drives with HLA modules, a current controller sampling time between 62.5 µs and 250 µs
can be set (62.5 µs ≤ p0115[0] ≤ 250 µs).
• The fastest sampling time for a drive object in servo control or HLA is as follows:
– Ti = 31.25 µs: Exactly one drive object in servo control
– Ti = 62.5 µs: Max. three drive objects in servo control or HLA
– Ti = 125 µs: Max. six drive objects in servo control or HLA
Vector control/U/f control
• For drives with vector control, a current controller sampling time between 125 µs and 500 µs
can be set (125 µs ≤ p0115[0] ≤ 500 µs). This also applies to operation with U/f control.
• For vector control and vector control, U/f control modes, and when using a sine-wave filter
(p0230 > 0), it is only permissible to change the current controller sampling time of the DO
involved in multiple integer steps of the default value on account of the design of the sine-
wave filter.
• The fastest sampling time of a drive object in vector control mode is obtained as follows:
– Ti = 250 µs: Max. three drive objects in vector control
– Ti = 375 µs: Max. four drive objects in vector control
– Ti = 400 µs: Max. five drive objects in vector control
– Ti = 500 µs: Max. six drive objects in vector control
Note
Restriction of the number of axes for Chassis in vector control
For active edge modulation or optimized pulse patterns and active wobbling, only half the
number of axes is permitted.
Note
Restriction when using Active Line Modules of the Chassis-2 format
If an Active Line Module (ALM) in the Chassis-2 format is operated in parallel with vector
drives, the sampling times within the Motor Modules must be set to 400 μs. To ensure the
ability to set faster sampling times, the ALM must be operated on a separate CU.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
• The fastest sampling time of a drive object in U/f control mode is obtained as follows:
– Ti = 500 µs: Max. 12 drive objects in U/f control mode
• When vector control is operated together with vector control, U/f control, a maximum of 11
axes is possible (ALM, TB and TM additionally possible).
Safety functions
• Only Single Motor Modules are permissible for servo axes with a current controller sampling
time TIReg ≤ 62.5 μs with the "Safety sensorless" functionality.
14.11.4.2 Rules for isochronous mode
Note
PROFIBUS legend
Tdp = PROFIBUS cycle (also DP cycle)
Tmapc = master application cycle time
Ti = Input Time (German time of incorporation of actual value)
To = Output Time (German time for setpoint value specification)
The following supplementary conditions must be observed for isochronous operation:
• The PROFIBUS cycle Tdp must be an integer multiple of 250 μs.
• The PROFIBUS cycle Tdp must be an integer multiple of the current controller sampling time.
• The times Ti (time of incorporation of actual value) and To (time for setpoint value
specification) must be integer multiples of 125 μs.
• The times Ti and To must be an integer multiple of the current controller sampling time.
• Tmapc is an integer multiple of the speed controller sampling time.
• Because Ti and To are always predefined for a PROFIBUS line, all drives of a Control Unit are
affected and run with the same setting.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
• p0092 = 1 (isochronous operation preassignment/validation) sets default values for the
controller cycles for isochronous PROFIdrive operation during the initial commissioning.
– The current controller sampling times from "Table 14-14 Pulse frequencies and current
controller sampling times for servo control (Page 925)" can be set for servo control.
– The current controller sampling times from "Table 14-16 Pulse frequencies and current
controller sampling times for vector control (Page 927)" can be set for vector control.
• The setting rules for the safety actual value acquisition cycle and the safety monitoring cycle
must be observed (for details, see SINAMICS S120 Safety Integrated Function Manual):
– The monitoring cycle (p9500) must be an integer multiple of the actual value acquisition
cycle (p9511). For p9511 = 0, the isochronous PROFIBUS cycle Tdp is used as the actual
value acquisition cycle.
– Actual value acquisition cycle ≥ 4 × current controller sampling time.
– The DP cycle should be at least one current controller sampling time longer than the sum
of Ti and To.
The above conditions mean that the smallest common multiple of the current controller
sampling time of all axes operated on the isochronous PROFIBUS and 125 µs is used to set Ti, To
and Tdp.
If isochronous operation is not possible due to incorrect sampling time settings, an appropriate
message will be output (A01223, A01224).
Cycle settings for SINAMICS Link
SINAMICS Link permits only three cycle settings:
Table 14-10 Settings for activated isochronous operation
Ti [µs] To [µs] Tdp [µs]
500 500 500
500 1000 1000
1500 1500 1500
14.11.4.3 Default settings for the sampling times
The sampling times of the functions are pre-assigned automatically when the drive is configured.
These default settings are based on the selected mode (vector/servo control) and the activated
functions.
If isochronous mode is to be possible with a controller, before the automatic configuration,
parameter p0092 must be set to "1" in order that the sampling times are appropriately preset. If
isochronous operation is not possible due to incorrect sampling time settings, an appropriate
message will be output (A01223, A01224).
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
If the application requires a change of the preset sampling times, they can be set using
parameters p0112 and p0113 or directly using p0115, p0799 and p4099.
Note
Recommendation
Only appropriately qualified experts should change the sampling times set as default values.
When commissioning for the first time, the current controller sampling times (p0115[0]) are
automatically preset with factory setting values:
Table 14-11 Factory settings
Format Number p0112 p0115[0] p1800
Active Infeed
Booksize 1 2 (Low) 250 µs -
Chassis
400 V / ≤ 300 kW 1 2 (Low) 250 µs -
690 V / ≤ 330 kW 1 2 (Low) 250 µs -
Chassis
400 V / > 300 kW 1 0 (Expert) 375 µs (p0092 = 1) -
690 V / > 330 kW 1 1 (xLow) 400 µs (p0092 = 0) -
Chassis-2 1 2 (Low) 250 µs 4 kHz
Smart Infeed
Booksize 1 2 (Low) 250 µs -
Chassis
400 V / ≤ 355 kW 1 2 (Low) 250 µs -
690 V / ≤ 450 kW 1 2 (Low) 250 µs -
Chassis
400 V / > 355 kW 1 0 (Expert) 375 µs (p0092 = 1) -
690 V / > 450 kW 1 1 (xLow) 400 µs (p0092 = 0) -
Basic Infeed
Booksize 1 4 (High) 250 µs -
Chassis 1 2 (Low) 2000 µs -
Servo
Booksize 1 ... 6 3 (Standard) 125 µs 4 kHz
Chassis 1 ... 6 1 (xLow) 250 µs 2 kHz
Chassis-2 1 ... 6 1 (xLow) 250 µs 2 kHz
Blocksize 1 ... 5 3 (Standard) 125 µs 4 kHz
Vector
Booksize 1 ... 3 only n_ctrl 3 (Standard) 250 µs 4 kHz
Chassis 1 ... 6 only U/f 2 kHz
400 V / ≤ 250 kW
Booksize 4 ... 6 only n_ctrl 0 (Expert) 500 µs 4 kHz
Chassis 2 kHz
400 V / ≤ 250 kW 7 ... 12 only f_ctrl
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
Format Number p0112 p0115[0] p1800
Chassis 1 ... 4 only n_ctrl 0 (Expert) 375 µs (p0092 = 1) 1.333 kHz
400 V / > 250 kW 1 ... 5 only U/f 1 (xLow) 400 µs (p0092 = 0) 1.25 kHz
690 V 5 ... 6 only n_ctrl 0 (Expert) 500 µs (p0092 = 1) 1.0 kHz
Chassis-2 1 ... 4 only n_ctrl 0 (Expert) 375 µs (p0092 = 1) 1.333 kHz
1 ... 5 only U/f 1 (xLow) 400 µs (p0092 = 0) 2.5 kHz
5 ... 6 only n_ctrl 0 (Expert) 500 µs (p0092 = 0) 1.0 kHz
Note
If a Blocksize Power Module is connected to a Control Unit, the sampling times of all vector drives
are set according to the rules for Blocksize Power Modules (only 250 µs or 500 µs possible).
14.11.4.4 Setting the pulse frequency
The sampling times for the following functions are set by selecting the appropriate values in
p0112 for the closed-loop control configuration in µs and are copied to p0115[0...6] depending
on the performance levels required:
• Current controller (p0115[0])
• Speed controller (p0115[1])
• Flux controller (p0115[2])
• Setpoint channel (p0115[3])
• Position controller (p0115[4])
• Positioner (p0115[5])
• Technology controller (p0115[6])
The performance levels range from xLow to xHigh. Details of how to set the sampling times are
given in the SINAMICS S120/S150 List Manual.
Setting the pulse frequency using the commissioning tool in online operation
Enter the minimum pulse frequency in p0113. For isochronous operation (p0092 = 1), you can
only set the parameter so that a resulting current controller sampling time with an integer
multiple of 125 μs is obtained. The required pulse frequency can be set after commissioning
(p0009 = p0010 = 0) in p1800.
Table 14-12 Pulse frequency for isochronous operation
Control mode p0115[0] p0113
Current controller sampling time Pulse frequency
Servo control 250 µs 2 kHz
125 µs 4 kHz
Vector control 500 µs 1 kHz
250 µs 2 kHz
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
When commissioning is exited (p0009 = p0010 = 0), the effective pulse frequency (p1800) is
appropriately pre-assigned, depending on p0113, and can be subsequently modified.
14.11.4.5 Setting sampling times
Overview
If sampling times are required which cannot be set using p0112 > 1, you can directly set the
sampling times in expert mode using p0115.
If p0115 is changed online, then the values of higher indices are automatically adapted.
Note
Do not change the sampling times when the commissioning tool is in the offline mode, because
in this case if there is an incorrect parameterization, the project download is canceled.
Procedure
Follow these steps to set and check the sampling times:
1. Activate in the expert list of the Control Unit the drive base configuration with p0009 = 3.
2. In the expert list of the drive object, activate the expert mode with p0112 = 0.
3. Specify the current controller sampling time for the drive object as follows:
p0115[0] = current controller sampling time.
For the current controller sampling time, only use the values from "Table 14-14 Pulse
frequencies and current controller sampling times for servo control (Page 925)" and "Table
14-16 Pulse frequencies and current controller sampling times for vector control
(Page 927)".
4. Close in the expert list of the Control Unit the cycle setting with p0009 = 0.
A startup is then performed. The speed controller sampling time and flux controller cycle are
adapted automatically. They therefore remain an integer multiple of the current controller
sampling time.
5. Then check the maximum speed p1082, the set pulse frequency p1800 and start an
automatic calculation of the controller data (p0340 = 4).
14.11.4.6 Parameters (see SINAMICS S120/S150 List Manual)
• p0009 Device commissioning parameter filter
• p0092 Isochronous mode, pre-assignment/check
• p0097 Select drive object type
• r0110[0...2] Basic sampling times
• p0112 Sampling times pre-setting p0115
• p0113 Pulse frequency minimum selection
• r0114[0...9] Pulse frequency minimum recommended
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
• p0115[0...6] Sampling times for internal control loops
• r0116[0...1] Drive object cycle recommended
• p0118 Current controller computing dead time
• p0340[0...n] Automatic calculation of motor/control parameters
• p0799[0...2] CU inputs/outputs, sampling time
• p1082[0...n] Maximum velocity
• p1800[0...n] Pulse frequency setpoint
• p4099 Inputs/outputs sampling time
• r9780 SI monitoring cycle (Control Unit)
• r9880 SI monitoring cycle (Motor Module)
• r9976[0...7] System utilization
14.11.5 Rules for wiring with DRIVE-CLiQ
There are binding rules for wiring SINAMICS S120 components with DRIVE-CLiQ which must be
unconditionally observed, as well as recommended rules which should be maintained so that
the topology created in offline mode does not have to be changed.
The maximum number of DRIVE-CLiQ components and the possible wiring type depend on the
following factors:
• The binding DRIVE-CLiQ wiring rules
• The number and type of activated drives and functions on the Control Unit in question
• The computing power of the Control Unit in question
• The set processing and communication cycles
Below you will find the binding wiring rules and some other recommendations as well as a few
sample topologies for DRIVE-CLiQ wiring.
The components used in these examples can be removed, replaced with others or
supplemented. If components are replaced by another type or additional components are
added, then the SIZER configuring tool should be used to check this topology.
If the real topology does not match the topology created in offline mode, the offline topology
must be changed accordingly before it is downloaded.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
14.11.5.1 Binding DRIVE-CLiQ interconnection rules
General rules
The following generally binding DRIVE-CLiQ rules must be observed to ensure safe operation of
the drive.
• Only one Control Unit is permitted in the role of DRIVE-CLiQ master in a DRIVE-CLiQ topology.
• A maximum of 14 DRIVE-CLiQ nodes can be connected to a Control Unit port on a DRIVE-CLiQ
line.
Note
One Double Motor Module, one DMC20, one DME20, one TM54F and one CUA32 each
correspond to two DRIVE-CLiQ nodes. This also applies to Double Motor Modules, at which
just one drive is configured.
• Ring wiring or double wiring of components is not permitted.
• Drive topologies with DRIVE-CLiQ components that are not supported (by the type and the
firmware version of the Control Unit) are not permitted.
• The sampling times (p0115[0] and p4099) of all components that are connected to a DRIVE-
CLiQ line must be divisible by one another with an integer result, or all the sampling times set
for the components must be an integer multiple of a common "base cycle".
– Example 1: A Line Module with 250 µs and Motor Modules with 125 µs can be operated
together on a DRIVE-CLiQ line ("base cycle": 125 µs)
– Example 2: A Line Module with 250 µs and a Motor Module with 375 µs can be operated
together on a DRIVE-CLiQ line ("base cycle": 125 µs)
If the current controller sampling time Ti at one drive object has to be changed in a sampling
time that does not match the other drive objects in the DRIVE-CLiQ line, the following
solutions are available:
– Insert the modified drive object into a separate DRIVE-CLiQ line. Note here that a total of
2 cycle levels are permissible on a Control Unit.
– Modify the current controller sampling times and/or the sampling times of the inputs/
outputs of the other drive objects similarly so they match the modified sampling time
again.
• More than 4 Motor Modules can only be connected to a DRIVE-CLiQ line of the Control Unit.
• With the CU310-2 Control Unit the connection to the AC/AC Power Modules in Chassis format
is made via the DRIVE-CLiQ connection X100.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
Rules and instructions for avoiding overloads
In general any overload must be avoided of a DRIVE-CLiQ line and the components connected to
it through too many components with small sampling times. The following rules and instruction
apply for this:
• A DRIVE-CLiQ line with components with a sampling time of Ti = 31.25 μs must only be
connected to components that are permitted for this sampling time. The following
components are permitted:
– Single Motor Modules in Booksize format
– Sensor Modules SMC20, SMI20, SMI24, SME20, SME25, SME120 and SME125
– High-frequency damping modules (HF damping modules)
– Additional DRIVE-CLiQ lines must be used for additional components.
• With current controller sampling times 31.25 µs and 62.5 µs, the axes on the DRIVE-CLiQ
connections must be distributed as follows:
– DRIVE-CLiQ socket X100: Infeed, axes 2, 4, 6, ...
– DRIVE-CLiQ socket X101: Axes 1, 3, 5, ...
• With a current controller sampling time of 31.25 μs, a filter module should be directly
connected to a DRIVE-CLiQ socket of the Control Unit.
• For the parallel connection of Active Line Modules of the Chassis-2 format with more than 4
modules, the DRIVE-CLiQ line must be separated. The modules 1 to 3 connected in parallel
must be operated at the 1st DRIVE-CLiQ socket. The remaining modules must be operated at
the 2nd DRIVE-CLiQ socket.
• You can operate a maximum of 4 Motor Modules with Safety Extended Functions on one
DRIVE-CLiQ line. The following condition applies in this regard: TIReg (current controller
sampling time) = 125 μs for all axes. In addition to the 4 Motor Modules with Safety Extended
Functions, you can also operate the following modules on a DRIVE-CLiQ line:
– A Line Module if TIReg (current controller sampling time) ≥ 250 μs
– A Motor Module if TIReg (current controller sampling time) ≥ 125 μs
– A maximum of 7 Sensor Modules or DRIVE-CLiQ encoders
Exception: You can operate a maximum of six Motor Modules with Safety Extended
Functions on one DRIVE-CLiQ line if the number of connected S120M or S220 modules in the
line is ≥ 3.
• The TM54F must not be operated together on the same DRIVE-CLiQ line as Line Modules or
Motor Modules.
Rules for wiring with a CU Link and the CX32 and NX10/NX15 Control Units
The following applies for the CU Link and the CX32 and NX10/NX15 Control Units:
• In a topology with CU Link, the SINUMERIK NCU is DRIVE-CLiQ master for the NX and the
SIMOTION D4xx is master for the CX32.
• The CX32 or NX10/NX15 Control Units are master for the subordinate components.
• The connection to the Control Unit is obtained from the PROFIBUS address of the CX/NX
(10 → X100, 11 → X101, 12 → X102, 13 → X103, 14 → X104, 15 → X105).
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
• It is not permitted to combine SIMOTION Master Control Units and SINUMERIK Slave Control
Units.
• It is not permitted to combine SINUMERIK Master Control Units and SIMOTION Slave Control
Units.
14.11.5.2 Recommended interconnection rules
General rules
The following rules should also be observed for the DRIVE-CLiQ wiring:
• The following applies to all DRIVE-CLiQ components with the exception of the Control Unit:
The DRIVE-CLiQ sockets Xx00 are DRIVE-CLiQ inputs (Uplink), the other DRIVE-CLiQ sockets
are outputs (Downlink).
– The DRIVE-CLiQ cable from the Control Unit should be connected to DRIVE-CLiQ socket
X200 on the first Booksize power unit or X400 on the first Chassis power unit.
– The DRIVE-CLiQ connections between the power units should each be connected from
the DRIVE-CLiQ sockets X201 to X200 and/or X401 to X400 on the follow-on component.
Line Modules
• A single Line Module should be connected directly to the Control Unit (recommended DRIVE-
CLiQ socket: X100).
– Several Line Modules should be connected in series.
– For Active Line Modules of the Chassis-2 format with more than 4 modules connected in
parallel, the X101 port is also to be used in order to wire modules 4 through n.
Motor Modules
• No more than 6 Motor Modules should be connected to a DRIVE-CLiQ line on the Control Unit
(including with vector, U/f control).
• Motor Modules should be connected directly to the Control Unit in vector control.
– If DRIVE-CLiQ socket X100 is already assigned to a Line Module, DRIVE-CLiQ socket X101
should be used.
– Several Motor Modules should be connected in a line.
– For Motor Modules of the Chassis-2 format with more than 4 modules connected in
parallel, the X101 port is also to be used in order to wire modules 4 through n.
• In servo control, Motor Modules should be connected to a DRIVE-CLiQ line together with the
Line Module.
– Several Motor Modules should be connected in a line.
– If there is already a Line Module present, the first Motor Module should be connected in
line to socket X201 of the Line Module.
– If there is no Line Module present, the first Motor Module should be connected directly to
the Control Unit (recommended DRIVE-CLiQ socket: X100).
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
• If the Motor Modules need to be distributed across two DRIVE-CLiQ lines (e.g. on account of
the predetermined current controller sampling times), the next higher DRIVE-CLiQ socket on
the Control Unit should be used.
Example, vector control in the Chassis format:
– Active Line Module current controller sampling time 400 µs: X100
– Motor Modules current controller sampling time 250 µs: X101
– Motor Modules current controller sampling time 400 µs: X102
• Only one end node should be connected to free DRIVE-CLiQ sockets within a DRIVE-CLiQ line
(e.g. Motor Modules wired in a line), for example, one Sensor Module or one Terminal
Module, without routing to additional components.
• For mixed operation of the servo control and vector U/f control operating modes, separate
DRIVE-CLiQ lines should be used for the Motor Modules.
• A Power Module with a CUA31/CUA32 should be connected in the middle or at the end of the
DRIVE-CLiQ line.
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Figure 14-16 DQ topology with a Power Module Blocksize and a CUA31
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Encoder, Sensor Modules
• The motor encoder or Sensor Module should be connected to the associated Motor Module.
Connecting the motor encoder via DRIVE-CLiQ:
– Booksize Single Motor Module to terminal X202
– Booksize Double Motor Module motor X1 to terminal X202 and motor X2 to terminal X203
– Chassis Single Motor Module to terminal X402
– Blocksize Power Module with CUA31: Encoder to terminal X202
– Blocksize Power Module with CU310-2: Encoder to terminal X100 or to terminal X501 of
a Terminal Module
– Chassis Power Module to terminal X402
• If possible, Sensor Modules of direct measuring systems should not be connected to the
DRIVE-CLiQ line of Motor Modules, but rather to free DRIVE-CLiQ sockets of the Control Unit.
Note
This restriction does not apply to star-type connections for the Motor Modules.
Voltage Sensing Modules
• When used for the infeed control, the Voltage Sensing Module (VSM) should be connected
to DRIVE-CLiQ socket X202 (Booksize format) or X402 (Chassis format) of the associated Line
Module.
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Figure 14-17 DQ topology with VSM for Booksize and Chassis components
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Terminal Modules
• Terminal Modules should be connected to DRIVE-CLiQ socket X103 of the Control Unit in
series.
• If possible, Terminal Modules should not be connected to the DRIVE-CLiQ line of Motor
Modules, but rather to free DRIVE-CLiQ sockets of the Control Unit.
Note
This restriction does not apply to star-type connections for the Motor Modules.
14.11.5.3 Rules for automatic configuration
Overview
When "Automatic configuration" (auto commissioning) is activated, the software of the Control
Unit automatically assigns where possible all connected components to the drive objects
created in the project.
With p0097, you start auto commissioning by selecting the control type and the type of parallel
connection. You add retroactively interconnected components and drive objects to your project
using p9910 without the need to perform commissioning again. You make the detailed settings
of auto commissioning in p9940, depending on the settings in p0097 and p9910.
The automatic assignment of drive components takes place during auto commissioning
according to the DRIVE-CLiQ wiring rules described below.
Encoder → Motor Module (with wiring via Motor Module)
The following assignment applies when an additional encoder is wired with a Motor Module:
Motor Module Format Encoder Interface Assignment
1x Booksize / Chassis, 1x X202 / X402 The encoder is assigned to the "Motor Mod‐
SMM / DMM Chassis-2 ule" drive object as indirect measuring sys‐
tem (IMS) or motor encoder.
1x Booksize / Chassis, 2x X202 / X402 The encoder is assigned to the "Motor Mod‐
SMM / DMM 1) Chassis-2 ule" drive object as indirect measuring sys‐
tem (IMS) or motor encoder.
X201 / X401 The encoder is assigned to the "Motor Mod‐
ule" drive object as direct measuring sys‐
tem (DMS).
1) The specifications only apply to DMM of the Booksize format.
The following figure illustrates the assignment.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
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Figure 14-18 Wiring of a 2nd encoder
Encoder → Motor Module (with wiring via SME)
The following assignment applies when an additional encoder is wired with an SME:
Component Format Encoder Interface Assignment
1x Booksize / Chassis, 2x X202 / X402 The encoder is assigned to the "Motor Mod‐
Motor Module Chassis-2 ule" drive object as indirect measuring sys‐
tem (IMS) or motor encoder.
1x – – The encoder is assigned to the "Motor Mod‐
Sensor Module ule" drive object as direct measuring sys‐
External tem (DMS).
The following figure illustrates the assignment.
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
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Figure 14-19 Wiring of a 2nd encoder via SME
Encoder → Motor Module (with wiring via CU)
The following assignment applies when an additional encoder is wired with the Control Unit:
Component Format Encoder Interface Assignment
1x Booksize / Chassis, 2x X202 / X402 The encoder is assigned to the "Motor Mod‐
Motor Module Chassis-2 ule" drive object as indirect measuring sys‐
tem (IMS) or motor encoder.
1x – – The encoder is assigned to the "Motor Mod‐
Control Unit ule" drive object as direct measuring sys‐
tem (DMS).
The following figure demonstrates the assignment of three additional encoders. The sequence
of drive objects in the topology is designated by DO 1, 2, 3, ...
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14.11 System rules, sampling times and DRIVE-CLiQ wiring
'2 '2 '2
'06 '06 '06
'2 '2 '2
,06 ,06 ,06
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
&RQWURO $FWLYH 6LQJOH 6LQJOH 6LQJOH
8QLW /LQH 0RWRU 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH 0RGXOH
'2 '2 '2 '2 '2
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'06 'LUHFWPHDVXULQJV\VWHP([WHUQDOHQFRGHU
'2 'ULYH2EMHFW
Figure 14-20 Wiring of additional encoders via the CU
Encoder → Motor Module (with wiring via DMC20)
Additional encoders connected to one or more DMC20 are automatically assigned to the "Motor
Module" drive objects.
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Rules
The following rules apply to automatic assignment:
• The interfaces X500 and X501 on a DMC20 have the exclusive purpose of serial
interconnection of Hub Modules with a CU or another Hub Module.
The restrictions when these rules are violated are described further below.
The following figure illustrates the assignment of the encoders. The sequence of drive
objects in the topology is designated by DO 1, 2, 3, ...
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 913
Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'2 '2 '2 '06 'LUHFWPHDVXULQJV\VWHP([WHUQDOHQFRGHU
;
;
;
;
;
;
'06 '06 '06 '2 'ULYH2EMHFW
'0& '5,9(&/L4+XE0RGXOH&DELQHW
'0&
'2 '2 '2
;
;
;
;
;
;
'06 '06 '06
'0&
'2 '2 '2
,06 ,06 ,06
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
&RQWURO $FWLYH 6LQJOH 6LQJOH 6LQJOH
8QLW /LQH 0RWRU 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH 0RGXOH
'2 '2 '2 '2 '2
'2 '2 '2
,06 ,06 ,06
;
;
;
;
;
;
;
;
;
6LQJOH 6LQJOH 6LQJOH
0RWRU 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH
'2 '2 '2
Figure 14-21 Wiring encoders via 2 DMC20
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
• If an encoder is missing or not connected, all connected encoders are automatically assigned
to the "Motor Module" drive objects. The gap at the corresponding interface is skipped during
assignment.
The following figure illustrates the assignment of the encoders. The sequence of drive
objects in the topology is designated by DO 1, 2, 3, ...
'2 '2
;
;
;
;
;
;
'06 '06
'0&
'2 '2 '2
,06 ,06 ,06
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
&RQWURO $FWLYH 6LQJOH 6LQJOH 6LQJOH
8QLW /LQH 0RWRU 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH 0RGXOH
'2 '2 '2 '2 '2
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'06 'LUHFWPHDVXULQJV\VWHP([WHUQDOHQFRGHU
'2 'ULYH2EMHFW
'0& '5,9(&/L4+XE0RGXOH&DELQHW
Figure 14-22 Encoder not wired
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Restrictions
The following restrictions apply to automatic assignment:
• If additional encoders are connected to a DMC20 and an encoder is connected via the X500
or X501 interface, this encoder is not assigned.
The following figure illustrates the missing assignment of an encoder. The sequence of drive
objects in the topology is designated by DO 1, 2, 3, ...
'2 '2
;
;
;
;
;
;
'06 '06 '06
'0&
'2 '2 '2
,06 ,06 ,06
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
&RQWURO $FWLYH 6LQJOH 6LQJOH 6LQJOH
8QLW /LQH 0RWRU 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH 0RGXOH
'2 '2 '2 '2 '2
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'06 'LUHFWPHDVXULQJV\VWHP([WHUQDOHQFRGHU
'2 'ULYH2EMHFW
'0& '5,9(&/L4+XE0RGXOH&DELQHW
Figure 14-23 Example 1: Missing assignment of an encoder
• If additional encoders are connected to two DMC20 and one encoder is connected to the 1st
DMC20 via the X500 or X501 interface, neither the affected encoder nor any other encoder
connected to the 2nd DMC20 is assigned.
The following figure illustrates the missing assignment of multiple encoders. The sequence
of drive objects in the topology is designated by DO 1, 2, 3, ...
Drive functions
916 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'06 'LUHFWPHDVXULQJV\VWHP([WHUQDOHQFRGHU
;
;
;
;
;
;
'06 '06 '06 '2 'ULYH2EMHFW
'0& '5,9(&/L4+XE0RGXOH&DELQHW
'0&
'2 '2
;
;
;
;
;
;
'06 '06 '06
'0&
'2 '2 '2
,06 ,06 ,06
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
;
&RQWURO $FWLYH 6LQJOH 6LQJOH 6LQJOH
8QLW /LQH 0RWRU 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH 0RGXOH
'2 '2 '2 '2 '2
'2 '2 '2
,06 ,06 ,06
;
;
;
;
;
;
;
;
;
6LQJOH 6LQJOH 6LQJOH
0RWRU 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH
'2 '2 '2
Figure 14-24 Example 2: Missing assignment of multiple encoders
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
VSM → Line Module (with wiring via Line Module)
When wiring a VSM with a Line Module the following assignment applies:
Line Module Format VSM Interface Assignment
1x Booksize / Chassis, 1x X202 / X402 The VSM is assigned to the "Line Module"
Chassis-2 drive object.
The following figure illustrates the assignment. The sequence of drive objects in the topology is
designated by DO 1, 2, 3, ...
'2 '2
960 ,06
;;
;;
;;
;;
;;
;;
;
;
;
;
&RQWURO /LQH 0RWRU
8QLW 0RGXOH 0RGXOH
'2 '2 '2
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'2 'ULYH2EMHFW
960 9ROWDJH6HQVLQJ0RGXOH
Figure 14-25 Wiring a VSM with a Line Module
VSM → Motor Module (with wiring via CU)
The following assignment applies when a VSM is wired with the CU:
Motor Module Format VSM Interface Assignment
1x Booksize / Chassis, 1x X202 / X402 The VSM is assigned to the "Motor Module"
Chassis-2 drive object.
The following figure illustrates the assignment. The sequence of drive objects in the topology is
designated by DO 1, 2, 3, ...
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
'2
960
'2
,06
;;
;;
;;
;;
;;
;;
;
;
;
;
&RQWURO /LQH 0RWRU
8QLW 0RGXOH 0RGXOH
'2 '2 '2
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'2 'ULYH2EMHFW
960 9ROWDJH6HQVLQJ0RGXOH
Figure 14-26 Wiring a VSM with the CU
VSM → Line Module, Motor Module
The following assignment applies when a VSM is wired with a Line Module and a VSM is wired
with the CU:
Component Format VSM Interface Assignment
1x Booksize / Chassis, 2x X202 / X402 The VSM is assigned to the "Line Module"
Line Module Chassis-2 drive object and is used for line voltage
measurement.
1x X202 / X402 The VSM is assigned to the "Motor Module"
Motor Module drive object and is used for motor voltage
measurement.
The following figure illustrates the assignment. The sequence of drive objects in the topology is
designated by DO 1, 2, 3, ...
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
'2
960
'2 '2
960 ,06
;;
;;
;;
;;
;;
;;
;
;
;
;
&RQWURO /LQH 0RWRU
8QLW 0RGXOH 0RGXOH
'2 '2 '2
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'2 'ULYH2EMHFW
960 9ROWDJH6HQVLQJ0RGXOH
Figure 14-27 Wiring the VSM (n > 1)
TM120, TM150 → Motor Module (with wiring via Motor Module)
The following assignment applies when a TM120 or TM150 is wired with a Motor Module:
Motor Module TM120/150 Assignment The following also applies
1x 1x The TM120/150 is assigned to the "Motor The temperature channels of the Terminal
Module" drive object. Module are connected to the motor tem‐
perature monitoring of the drive.
A motor encoder can be connected to
TM120/150.
The following figure illustrates the assignment. The sequence of drive objects in the topology is
designated by DO 1, 2, 3, ...
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
'2
,06
'2
70
;;
;;
;;
;;
;;
;;
;
;
;
;
&RQWURO /LQH 0RWRU
8QLW 0RGXOH 0RGXOH
'2 '2 '2
,06 ,QGLUHFWPHDVXULQJV\VWHP0RWRUHQFRGHU
'2 'ULYH2EMHFW
70 7HUPLQDO0RGXOH
Figure 14-28 Wiring a TM120 with a Motor Module
Connecting Line Modules in parallel
In this case, multiple Line Modules are combined in a parallel connection.
Line Module Motor Module Assignment using p0097 Assignment using p9910
n>1 n>1 During auto commissioning, the Line Mod‐ When components are added retroactive‐
ules are combined in a parallel connection ly, the parallel connection of Line Module
with p0097 = 1 (Servo) or p0097 = 2 (Vec‐ is initiated with p9910.
tor) and assigned to the "Infeed" drive ob‐ The Motor Modules are not connected in
ject. parallel here.
The Motor Modules are not connected in
parallel here.
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Parameters (see SINAMICS S120/S150 List Manual)
• p0097 Select drive object type
• p9910 Target topology accept additional components
• p9940 Configuration auto commissioning (p0097 / p9910)
• p0151 Voltage Sensing Module component number
• p3801 Sync-line-drive drive object number
• p1200 Flying restart operating mode
14.11.5.4 Changing the offline topology in the STARTER commissioning tool
You can change the device topology in the Startdrive commissioning tool by shifting the
components in the topology tree. Please refer to SINAMICS S120 Commissioning Manual and
the Startdrive online help for details and examples.
14.11.5.5 Modular machine concept: Offline correction of the reference topology
The topology is based on a modular machine concept. The machine concept is created in the
Startdrive engineering tool in offline mode in the maximum version as reference topology.
The maximum version is the maximum expansion of a particular machine type. In the maximum
version, all the machine components that can be used are pre-configured in the target topology.
Deactivating components/handling non-existent components
In a lower expansion stage of the machine, you must mark drive objects and encoders that are
not used in the topology. To do this, for the corresponding drive objects and encoder, set
parameter p0105 or p0145 = 2 (deactivate component and does not exist). Components set to
the value "2" in a project generated offline must never be inserted in the actual topology at all.
If a component fails, the sub-topology can also be used to allow a machine to continue to
operate until the spare part is available. In this case, however, no BICO source must be
interconnected from this drive object to other drive objects.
Example of a sub-topology
The starting point is a machine created in the Startdrive engineering tool in offline mode. "Drive
1" was not implemented for this machine.
1. You can remove the drive object "Drive 1" from the target topology in offline mode using
p0105 = 2.
2. Change over the DRIVE-CLiQ cable from the Control Unit directly to “Drive 2”.
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
3. Transfer the project with "Download to drive unit".
4. Then execute a "Copy RAM to ROM".
,QIHHG 'ULYH 'ULYH
&8 $FWLYH 6LQJOH 6LQJOH
/LQH 0RWRU 0RWRU
0RGXOH 0RGXOH 0RGXOH
;
; ; ; ;
; ; ; ;
; ; ; ;
5HIHUHQFH
WRSRORJ\
$FWLYH ; ;
,QWHUIDFH
0RGXOH ; ;
60& 60&
;
960
0 0
,QIHHG 'ULYH
&8 $FWLYH 6LQJOH
/LQH 0RWRU
0RGXOH 0RGXOH
;
; ; ;
; ; VZLWFKHGRYHU ;
; ; ;
3DUW
WRSRORJ\
$FWLYH ;
,QWHUIDFH
0RGXOH ;
60&
;
960
'5,9(&/L4
0
(QFRGHU
3RZHU
Figure 14-29 Example of a sub-topology
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Note
Incorrect SI status display
If a drive in a Safety Integrated drive line-up is deactivated using p0105, then r9774 is not
correctly output. The signals of a deactivated drive are no longer updated.
Activating/deactivating components
Drive objects can be activated/deactivated using parameter p0105 and encoders with
p0145[0...n] in the Expert list in the same way. If a component is not required at certain times,
then for the component, change parameter p0105 or p0145 from "1" to "0". The deactivated
components remain inserted, however, they are deactivated. Errors are not displayed from
deactivated components.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
• p0105 Activating/deactivating drive object
• r0106 Drive object active/inactive
• p0125 Activate/deactivate power unit component
• r0126 Power unit components active/inactive
• p0145[0...n] Enable/disable sensor interface
• r0146 Sensor interface active/inactive
• p9495 BICO behavior to de-activated drive objects
• p9496 BICO behavior when activating drive objects
• r9498[0...29] BICO BI/CI parameters to de-activated drive objects
• r9499[0...29] BICO BO/CO parameters to de-activated drive objects
• r9774.0...31 CO/BO: SI Status (group STO)
14.11.6 Notes on the number of controllable drives
14.11.6.1 Number of drives depending on the control mode and cycle times
The number of axes that can be operated with a Control Unit depends on the cycle times and the
control mode. The number of usable axes and the associated cycle times for each control type
are listed below. The other available remaining computation times are available for options (e.g.
DCC).
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Cycle times for servo control and HLA
The following table lists the number of axes that can be operated with a Control Unit in servo
control and HLA. The number of axes is also dependent on the cycle times of the controller:
Table 14-13 Sampling time setting for servo control
Cycle times [µs] Number Motor/dir. meas‐ TM1)/TB
Current con‐ Speed controller Axes Infeed uring systems
troller
125 125 6 1 [250 μs] 6/6 3 [2000 μs]
62.5 62.5 3 1 [250 μs] 3/3 3 [2000 μs]
31.252) 31.252) 1 1 [250 μs] 1/1 3 [2000 μs]
1)
Valid for TM31 or TM15IO; restrictions are possible for TM54F, TM41, TM15, TM17, TM120, TM150 depending on the set
sampling time.
2)
In the cycle level 31.25 µs, you can also create the following objects:
Sensor Module External (SME) and SMC20 that support the current firmware and hardware. These can be recognized from
the Article end number ... 3.
No additional axis can be operated in this cycle level.
Adjustable pulse frequencies and current controller sampling times for servo control
The pulse frequencies that can be set depending on the selected current controller sampling
time are shown in r0114. Because of the integrating current measurement, pulse frequencies
that are a multiple of half the current controller sampling frequency should be preferred.
Otherwise, the current is not measured synchronous to the pulse frequency and a fluctuating
actual current value results. This causes disturbance in the control circuits and higher losses in
the motor (such as pulse frequency 5.333 kHz and current controller sampling time 62.5 μs).
The recommended settings are marked with XX in the Table; all other possible settings are
marked with X.
Table 14-14 Pulse frequencies and current controller sampling times for servo control
Pulse fre‐ Current controller sampling time [µs]
quency [kHz] 250.0 187.5 150.0 125.0 100.0 93.75 75.0 62.5 50.0 37.5 31.25
16.0 X ‑ ‑ X ‑ ‑ ‑ X ‑ ‑ XX
13.333 ‑ ‑ X ‑ ‑ ‑ X ‑ ‑ XX ‑
12.0 X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
10.666 ‑ X ‑ ‑ ‑ X ‑ ‑ ‑ ‑ X
10.0 ‑ ‑ ‑ ‑ X ‑ ‑ ‑ XX ‑ ‑
8.888 ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑
8.0 X ‑ ‑ X ‑ ‑ ‑ XX ‑ ‑ X
6.666 ‑ ‑ X ‑ ‑ ‑ XX ‑ X X ‑
6.4 ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ X
5.333 ‑ X ‑ ‑ ‑ XX ‑ X ‑ X ‑
5.0 ‑ ‑ ‑ ‑ XX ‑ ‑ ‑ X ‑ ‑
4.444 ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑
4.0 X ‑ ‑ XX ‑ ‑ ‑ X ‑ ‑ ‑
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Pulse fre‐ Current controller sampling time [µs]
quency [kHz] 250.0 187.5 150.0 125.0 100.0 93.75 75.0 62.5 50.0 37.5 31.25
3.555 ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑
3.333 ‑ ‑ XX ‑ X ‑ X ‑ ‑ ‑ ‑
3.2 ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑
2.666 ‑ XX ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑
2.5 ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑
2.222 ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
2.133 ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑
2.0 XX ‑ ‑ X X ‑ ‑ ‑ ‑ ‑ ‑
1.777 ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
1.666 ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
1.6 ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑
1.333 ‑ X X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
Note
Clock cycle mix
Detailed information about the clock cycle mix for servo control is provided in Section Cycle mix
for servo control and vector control (Page 931).
Cycle times for vector control
This following table lists the number of axes that can be operated with a Control Unit in the
vector control mode. The number of axes is also dependent on the cycle times of the controller:
Table 14-15 Sampling time setting for vector control
Cycle times [µs] Number Motor/dir. meas‐ TM1)/TB
Current con‐ Speed controller Axes Infeed 2) uring systems
troller
500 µs 2000 µs 6 1 [250 μs] 6/6 3 [2000 μs]
4003) µs 1600 µs 5 1 [250 μs] 5/5 3 [2000 μs]
250 µs 1000 µs 3 1 [250 μs] 3/3 3 [2000 μs]
1)
Valid for TM31 or TM15IO; restrictions are possible for TM54F, TM41, TM15, TM17, TM120, TM150 depending on the set
sampling time.
2)
For power units in Chassis format, the infeed cycle depends on the power rating of the module and can be 400 μs, 375 μs or
250 μs.
3)
This setting results in lower remaining computation times.
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Note
Restriction when connecting Active Line Modules of the Chassis-2 format in parallel
If an Active Line Module (ALM) in the Chassis-2 format is operated in parallel with vector drives,
the sampling times within the Motor Modules must be set to 400 μs. To ensure the ability to set
faster sampling times, the ALM must be operated on a separate CU.
Adjustable pulse frequencies and current controller sampling times for vector control
The pulse frequencies that can be set depending on the selected current controller sampling
time are shown in r0114.
This means that maximum 2 cycle levels can be mixed.
Note
Clock cycle mix
Detailed information about the clock cycle mix for servo control is provided in Chapter Cycle mix
for servo control and vector control (Page 931).
Table 14-16 Pulse frequencies and current controller sampling times for vector control
Pulse fre‐ Current controller sampling time [µs]
quency 500.0 375.0 312.5 250.0 218.75 200.0 187.5 175.0 156.25 150.0 137.5 125.0
[kHz]
16.0 X X X X ‑ ‑ X ‑ ‑ ‑ ‑ X
15.0 ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑
14.545 ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑
14.0 X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
13.714 ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑
13.333 ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑
12.8 ‑ ‑ X ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑
12.0 X ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
11.428 ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑
10.666 ‑ X ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑
10.0 X ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑
9.6 ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
9.142 ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑
8.0 X X ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ X
7.272 ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑
6.666 ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑
6.4 ‑ ‑ X ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑
6.0 X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
5.714 ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Pulse fre‐ Current controller sampling time [µs]
quency 500.0 375.0 312.5 250.0 218.75 200.0 187.5 175.0 156.25 150.0 137.5 125.0
[kHz]
5.333 ‑ X ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑
5.0 ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑
4.571 ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑
4.0 X ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ X
3.636 ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑
3.333 ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑
3.2 ‑ ‑ X ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑
2.857 ‑ ‑ ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑
2.666 ‑ X ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑
2.5 ‑ ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑
2.285 ‑ ‑ ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑
2.0 X ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
1.6 ‑ ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
1.333 ‑ X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
1.0 X ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑ ‑
Note
Restriction for the Chassis format
If edge modulation and wobbling are activated simultaneously with p1802 ≥ 7 and p1810.2 =
1 respectively, the quantity structure for vector control is halved. Then a maximum of three axes
at a current controller sampling time of 500 µs, two axes at 400 µs or one axis at 250 µs are
permitted.
Cycle times for U/f control
The following table shows the number of axes which can be operated with a Control Unit in U/
f control. The number of axes depends on the current controller sampling time.
Table 14-17 Sampling time setting for U/f control
Cycle times [µs] Number Motor / direct TM / TB
Current con‐ Speed controller Drives Infeed measuring sys‐
troller tems
500 2000 12 1 [250 μs] -/- 3 [2000 μs]
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Mixed operation of servo control and U/f control
In mixed operation with servo control and U/f control, one axis in servo control at 125 µs uses
exactly as much computing power as 2 axes in U/f control at 500 µs. A maximum of 11 axes are
permitted in conjunction with the servo control, where 1 axis can be operated in servo control
and 10 axes in U/f control.
Table 14-18 Number of axes for mixed servo control operation
Number of axes in servo control Number of axes in U/f control
6 125 µs 3 62.5 µs 0 ‑
5 125 µs ‑ ‑ 2 500 µs
4 125 µs 2 62.5 µs 4 500 µs
3 125 µs ‑ ‑ 6 500 µs
2 125 µs 1 62.5 µs 8 500 µs
1 125 µs ‑ ‑ 10 500 µs
0 ‑ 0 ‑ 12 500 µs
Mixed operation of vector control and U/f control
In mixed operation with vector control and U/f control, one axis in vector control at 250 µs uses
exactly as much computing power as two axes in U/f control at 500 µs. A maximum of 11 axes
are permitted in conjunction with the vector control, where 1 axis can be operated in vector
control and 10 axes in U/f control.
Table 14-19 Number of axes for mixed vector control operation
Number of axes in vector control Number of axes in U/f control
6 500 µs 3 250 µs 0 ‑
5 500 µs ‑ ‑ 2 500 µs
4 500 µs 2 250 µs 4 500 µs
3 500 µs ‑ ‑ 6 500 µs
2 500 µs 1 250 µs 8 500 µs
1 500 µs ‑ ‑ 10 500 µs
0 ‑ 0 ‑ 12 500 µs
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Cycle times of CU310-2 for servo control
Table 14-20 Setting the sampling times for servo control
Cycle times [µs] Number Via DQ2) Snapped-on TM1) / TB
Current con‐ Speed controller Axes Infeed Motor Module Power Module
troller
125 125 1 ‑ ‑ 1 3 [2000 μs]
62.5 62.5 1 ‑ ‑ 1 3 [2000 μs]
1)
Valid for TM15, TM17 or TM41; for TM54F, TM31, TM120, TM150 - restrictions are possible dependent on the set sampling
time.
2)
DQ = DRIVE-CLiQ
If the CU 310-2 is snapped onto a Power Module PM340 or a PM240-2 FS A-C, a minimum current
controller sampling time of 62.5 µs is possible. For PM240-2 FS D-F, the minimum current
controller sampling time is 125 µs.
Use of DCC
The available remaining computation time can be used for DCC. In this case, the following
supplementary conditions apply:
• Max. 75 DCC blocks for 2 ms time slice can be configured for each omitted axis in servo
control with 125 μs (≙ 2 U/f axes with 500 μs).
• 50 DCC blocks for a 2 ms time slice correspond to 1.5 U/f axes with 500 μs.
Detailed information about handling and using DCC standard blocks is provided in the
"SINAMICS/SIMOTION Editor Description DCC" manual.
Use of EPOS
The following table shows the number of axes that can be operated with a SINAMICS S120 when
using a "basic positioner" (EPOS) function module. The number of axes depends on the current
controller sampling time.
Table 14-21 Sampling times when using EPOS
Cycle times [µs] Cycle times [ms] Number
Current controller Speed controller Position control‐ Positioner Axes Infeed
ler
250 250 2 8 6 1 [250 μs]
250 250 1 4 5 1 [250 μs]
125 125 1 4 4 1 [250 μs]
The computational effort required for the EPOS function module (with 1 ms position
controller / 4 ms positioner) corresponds to the same computational effort of 0.5 U/f axes with
500 μs.
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Use of the SINAMICS Web server
The available computation time can be used for the SINAMICS Web server. The following
boundary condition applies here:
• The utilization of the system (r9976) must be less than 90%.
• A maximum of five users can access data on the same drive via the SINAMICS Web server.
Use of CUA31 / CUA32
The following table shows the number of axes which can be operated when using the
Control Unit Adapter CUA31 or CUA32. The number of axes is dependent upon the following
conditions:
Table 14-22 Number of axes when using the CUA31 / CUA32
Condition Number of axes
The CUA31 or CUA32 is the first component in the topology. 5
The CUA31 or CUA32 is not the first component in the topology. 6
Current controller sampling time = 62.5 µs 1
14.11.6.2 Cycle mix for servo control and vector control
Supplementary conditions
The rules for setting the sampling time (see Section Rules when setting the sampling times
(Page 895)) and the rules on isochronous mode (see Section Rules for isochronous mode
(Page 898)) apply.
These rules mean that the smallest common multiple of the current controller sampling times
of all axes operated on the isochronous PROFIBUS and 125 µs is used to set Ti, To and Tdp.
Current controller sampling times for cycle mix
Consequently the smallest common multiple of the current and speed controller sampling times
of all axes operated on the isochronous PROFIBUS is used to set the base cycle for Ti, To and Tdp.
For a cycle mix, a compromise must be sought between the base cycle to set Ti, To and Tdp, and
the required pulse frequency.
Table 14-23 Examples of cycle mixes for servo control
Cycle mix: Current controller sampling Base cycle for Ti, To [µs] Base cycle for Tdp,
times [µs] Tmapc[µs]
250.00 +125.00 250 250
187.50 +125.00 375 750
150.00 +125.00 750 750
125.00 +125.00 125 250
100.00 +125.00 500 500
93.75 +125.00 375 750
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Cycle mix: Current controller sampling Base cycle for Ti, To [µs] Base cycle for Tdp,
times [µs] Tmapc[µs]
75.00 +125.00 375 750
62.50 +125.00 125 250
50.00 +125.00 250 250
37.50 +125.00 750 750
31.25 +125.00 125 250
Base cycles for the isochronous PROFIBUS for a cycle mix with 125 μs
Table 14-24 Examples for cycle mixes for vector control
Cycle mix: Current controller Base cycle for Ti, To Base cycle for Tdp Base cycle for Tmapc
sampling times [µs] [µs] [µs] [µs]
500.00 +250.00 500 500 2000
375.00 +250.00 750 750 3000
312.50 +250.00 1250 1250 5000
250.00 +250.00 250 250 1000
218.75 +250.00 1750 1750 7000
200.00 +250.00 1000 1000 4000
187.50 +250.00 750 750 3000
175.00 +250.00 1750 1750 7000
156.25 +250.00 1250 1250 5000
150.00 +250.00 750 750 3000
137.50 +250.00 2750 2750 11000
125.00 +250.00 250 250 1000
Base cycles for the isochronous PROFIBUS for a cycle mix with 250 μs
Note
When the current controller sampling time is set, the speed controller sampling time is
automatically preset:
• Servo control: Speed controller sampling time = current controller sampling time
• Vector control: Speed controller sampling time = current controller sampling time x 4
The preassignment of the speed controller sampling time can be changed to influence Tmapc. For
example, the current controller sampling time can be increased from 800 µs to 1000 µs so that
Tmapc can be set to be a multiple of 1000 µs.
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Asynchronous node on the isochronous PROFIBUS
For cycle mix, lengthened base cycles with the following effects often result on the isochronous
PROFIBUS:
• Because the isochronous PROFIBUS can no longer be operated with the default setting,
adaptations must be made to the hardware configuration.
• The increased setting values for Ti, To and Tdp have disadvantageous effects on the dynamics
of the position control loop.
Despite a cycle mix, the parameter p2049 can be used to operate the axis with the different
current controller sampling time asynchronously on the isochronous PROFIBUS. This allows the
default setting of the hardware configuration to be retained.
This, however, causes the advantages of the isochronous operation for the asynchronous axis to
be lost:
• The setpoints act at times that differ from To, i.e. an interpolating position-controlled
operation with other axes is not possible.
• The actual values are read at times that differ from Ti, i.e. the actual values must not be used
to control other axes.
A critical application would be, for example, a spindle that cuts a thread with the
programmed thread pitch together with a position-controlled Z-axis by the controller
adjusting the plunging depth of the Z-axis depending on the spindle position.
Drive functions
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Basic information about the drive system
14.11 System rules, sampling times and DRIVE-CLiQ wiring
Drive functions
934 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Appendix A
A.1 List of abbreviations
Note
The following list of abbreviations includes all abbreviations and their meanings used in the
entire SINAMICS family of drives.
Abbreviation Derivation of abbreviation Meaning
A… Alarm Warning
AC Alternating Current Alternating current
ADC Analog Digital Converter Analog digital converter
AI Analog Input Analog input
AIM Active Interface Module Active Interface Module
ALM Active Line Module Active Line Module
AO Analog Output Analog output
AOP Advanced Operator Panel Advanced Operator Panel
APC Advanced Positioning Control Advanced Positioning Control
AR Automatic Restart Automatic restart
ASC Armature Short-Circuit Armature short-circuit
ASCII American Standard Code for Information American coding standard for the exchange of infor‐
Interchange mation
AS-i AS-Interface (Actuator Sensor Interface) AS-Interface (open bus system in automation tech‐
nology)
ASM Asynchronmotor Induction motor
AVS Active Vibration Suppression Active load vibration damping
AWG American Wire Gauge American Wire Gauge (Standard for cross-sections of
cables)
Abbreviation Derivation of abbreviation Meaning
BB Betriebsbedingung Operation condition
BERO - Contactless proximity switch
BI Binector Input Binector input
BIA Berufsgenossenschaftliches Institut für BG Institute for Occupational Safety and Health
Arbeitssicherheit
BICO Binector Connector Technology Binector connector technology
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
BLM Basic Line Module Basic Line Module
BO Binector Output Binector output
BOP Basic Operator Panel Basic operator panel
Abbreviation Derivation of abbreviation Meaning
C Capacitance Capacitance
C… - Safety message
CAN Controller Area Network Serial bus system
CBC Communication Board CAN Communication Board CAN
CBE Communication Board Ethernet PROFINET communication module (Ethernet)
CD Compact Disc Compact disc
CDS Command Data Set Command data set
CF Card CompactFlash Card CompactFlash card
CI Connector Input Connector input
CLC Clearance Control Clearance control
CNC Computerized Numerical Control Computer-supported numerical control
CO Connector Output Connector output
CO/BO Connector Output/Binector Output Connector/binector output
COB-ID CAN Object-Identification CAN Object Identification
CoL Certificate of License Certificate of License
COM Common contact of a change-over relay Center contact of a change-over contact
COMM Commissioning Commissioning
CP Communication Processor Communications processor
CPU Central Processing Unit Central processing unit
CRC Cyclic Redundancy Check Cyclic redundancy check
CSM Control Supply Module Control Supply Module
CU Control Unit Control Unit
CUA Control Unit Adapter Control Unit Adapter
CUD Control Unit DC Control Unit DC
Abbreviation Derivation of abbreviation Meaning
DAC Digital Analog Converter Digital analog converter
DC Direct Current Direct current
DCB Drive Control Block Drive Control Block
DCBRK DC Brake DC braking
DCC Drive Control Chart Drive Control Chart
DCN Direct Current Negative Direct current negative
DCP Direct Current Positive Direct current positive
Drive functions
936 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
DDC Dynamic Drive Control Dynamic Drive Control
DDS Drive Data Set Drive Data Set
DHCP Dynamic Host Configuration Protocol Dynamic Host Configuration Protocol (Communica‐
tion protocol)
DI Digital Input Digital input
DI/DO Digital Input/Digital Output Digital input/output, bidirectional
DIN Deutsches Institut für Normung Deutsches Institut für Normung (German Institute
for Standardization)
DMC DRIVE-CLiQ Hub Module Cabinet DRIVE-CLiQ Hub Module Cabinet
DME DRIVE-CLiQ Hub Module External DRIVE-CLiQ Hub Module External
DMM Double Motor Module Double Motor Module
DO Digital Output Digital output
DO Drive Object Drive object
DP Decentralized Peripherals Distributed I/O
DPRAM Dual Ported Random Access Memory Dual-Port Random Access Memory
DQ DRIVE-CLiQ DRIVE-CLiQ
DRAM Dynamic Random Access Memory Dynamic Random Access Memory
DRIVE-CLiQ Drive Component Link with IQ Drive Component Link with IQ
DSC Dynamic Servo Control Dynamic Servo Control
DSM Doppelsubmodul Double submodule
DTC Digital Time Clock Timer
Abbreviation Derivation of abbreviation Meaning
EASC External Armature Short-Circuit External armature short-circuit
EDS Encoder Data Set Encoder data set
EEPROM Electrically Erasable Programmable Read‑Only Electrically Erasable Programmable Read-Only Mem‐
Memory ory
EGB Elektrostatisch gefährdete Baugruppen Electrostatic sensitive devices
EIP EtherNet/IP EtherNet Industrial Protocol (real-time Ethernet)
ELCB Earth Leakage Circuit Breaker Residual current operated circuit breaker
ELP Earth Leakage Protection Ground-fault monitoring
EMC Electromagnetic Compatibility Electromagnetic compatibility
EMF Electromotive Force Electromotive force
EMK Elektromotorische Kraft Electromotive force
EMV Elektromagnetische Verträglichkeit Electromagnetic compatibility
EN Europäische Norm European standard
EnDat Encoder-Data-Interface Encoder interface
EP Enable Pulses Pulse enable
EPOS Einfachpositionierer Basic positioner
ES Engineering System Engineering system
ESB Ersatzschaltbild Equivalent circuit diagram
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
ESD Electrostatic Sensitive Devices Electrostatic sensitive devices
ESM Essential Service Mode Essential service mode
ESR Extended Stop and Retract Extended stop and retract
Abbreviation Derivation of abbreviation Meaning
F… Fault Fault
FAQ Frequently Asked Questions Frequently Asked Questions
FBLOCKS Free Blocks Free function blocks
FCC Function Control Chart Function control chart
FCC Flux Current Control Flux current control
FD Function Diagram Function diagram
F-DI Failsafe Digital Input Fail-safe digital input
F-DO Failsafe Digital Output Fail-safe digital output
FEPROM Flash-EPROM Non-volatile write and read memory
FG Function Generator Function generator
FI - Fault current
FOC Fiber-Optic Cable Fiber-optic cable
FP Funktionsplan Function diagram
FPGA Field Programmable Gate Array Field Programmable Gate Array
F-PLC Fail-safe PLC Fail-safe PLC
FW Firmware Firmware
Abbreviation Derivation of abbreviation Meaning
GB Gigabyte Gigabyte
GC Global Control Global control telegram (broadcast telegram)
GND Ground Reference potential for all signal and operating vol‐
tages, usually defined as 0 V (also referred to as M)
GSD Gerätestammdaten Device master data: Describe the features of a PRO‐
FIBUS slave
GSV Gate Supply Voltage Gate supply voltage
GUID Globally Unique Identifier Globally Unique Identifier
Abbreviation Derivation of abbreviation Meaning
HF High frequency High frequency
HFD Hochfrequenzdrossel Radio frequency reactor
HLA Hydraulic Linear Actuator Hydraulic linear actuator
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
HLG Hochlaufgeber Ramp-function generator
HM Hydraulic Module Hydraulic Module
HMI Human Machine Interface Human Machine Interface
HTL High-Threshold Logic Logic with high interference threshold
HTTP Hypertext Transfer Protocol Hypertext Transfer Protocol (communication proto‐
col)
HTTP Hypertext Transfer Protocol Secure Hypertext Transfer Protocol Secure (communication
protocol)
HW Hardware Hardware
Abbreviation Derivation of abbreviation Meaning
i. V. In Vorbereitung Under development: This property is currently not
available
I/O Input/Output Input/output
I2C Inter-Integrated Circuit Internal serial data bus
IASC Internal Armature Short-Circuit Internal armature short-circuit
IBN Inbetriebnahme Commissioning
ID Identifier Identification
IE Industrial Ethernet Industrial Ethernet
IEC International Electrotechnical Commission International Electrotechnical Commission
IF Interface Interface
IGBT Insulated Gate Bipolar Transistor Insulated gate bipolar transistor
IGCT Integrated Gate-Controlled Thyristor Semiconductor power switch with integrated con‐
trol electrode
IL Impulslöschung Pulse suppression
IP Internet Protocol Internet Protocol
IPO Interpolator Interpolator
ISO Internationale Organisation für Normung International Standards Organization
IT Isolé Terre Non-grounded three-phase line supply
IVP Internal Voltage Protection Internal voltage protection
Abbreviation Derivation of abbreviation Meaning
JOG Jogging Jogging
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
KDV Kreuzweiser Datenvergleich Data cross-check
KHP Know-how protection Know-how protection
KIP Kinetische Pufferung Kinetic buffering
Kp - Proportional gain
KTY84-130 - Temperature sensor
Abbreviation Derivation of abbreviation Meaning
L
L - Symbol for inductance
LED Light Emitting Diode Light emitting diode
LIN Linearmotor Linear motor
LR Lageregler Position controller
LSB Least Significant Bit Least significant bit
LSC Line-Side Converter Line-side converter
LSS Line-Side Switch Line-side switch
LU Length Unit Length unit
LWL Lichtwellenleiter Fiber-optic cable
Abbreviation Derivation of abbreviation Meaning
M - Symbol for torque
M Masse Reference potential for all signal and operating vol‐
tages, usually defined as 0 V (also referred to as GND)
MB Megabyte Megabyte
MCC Motion Control Chart Motion Control Chart
MDI Manual Data Input Manual data input
MDS Motor Data Set Motor data set
MLFB Maschinenlesbare Fabrikatebezeichnung Machine-readable product code
MM Motor Module Motor Module
MMC Man-Machine Communication Man-machine communication
MMC Micro Memory Card Micro memory card
MRCD Modular Residual Current protection Device Modular Residual Current protection Device
MSB Most Significant Bit Most significant bit
MSC Motor-Side Converter Motor-side converter
MSCY_C1 Master Slave Cycle Class 1 Cyclic communication between master (class 1) and
slave
MSR Motorstromrichter Motor-side converter
MT Messtaster Probe
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
N. C. Not Connected Not connected
N… No Report No report or internal message
NAMUR Interessengemeinschaft Automatisierungstechnik User association of automation technology in the
der Prozessindustrie process industry
NC Normally Closed (contact) NC contact
NC Numerical Control Numerical control
NEMA National Electrical Manufacturers Association Standardization association in USA (United States of
America)
NM Nullmarke Zero mark
NO Normally Open (contact) NO contact
NSR Netzstromrichter Line-side converter
NTP Network Time Protocol Standard for synchronization of the time of day
NVRAM Non-Volatile Random Access Memory Non-volatile read/write memory
Abbreviation Derivation of abbreviation Meaning
OA Open Architecture Software component which provides additional
functions for the SINAMICS drive system
OAIF Open Architecture Interface Version of the SINAMICS firmware as of which the OA
application can be used
OASP Open Architecture Support Package Expands the commissioning tool by the correspond‐
ing OA application
OC Operating Condition Operation condition
OCC One Cable Connection One-cable technology
OEM Original Equipment Manufacturer Original equipment manufacturer
OLP Optical Link Plug Bus connector for fiber-optic cable
OMI Option Module Interface Option Module Interface
Abbreviation Derivation of abbreviation Meaning
p… - Adjustable parameters
P1 Processor 1 CPU 1
P2 Processor 2 CPU 2
PB PROFIBUS PROFIBUS
PcCtrl PC Control Master control
PD PROFIdrive PROFIdrive
PDC Precision Drive Control Precision Drive Control
PDS Power unit Data Set Power unit data set
PDS Power Drive System Drive system
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
PE Protective Earth Protective ground
PELV Protective Extra Low Voltage Safety extra-low voltage
PFH Probability of dangerous failure per hour Probability of dangerous failure per hour
PG Programmiergerät Programming device
PI Proportional Integral Proportional integral
PID Proportional Integral Differential Proportional integral differential
PLC Programmable Logical Controller Programmable logic controller
PLL Phase-Locked Loop Phase-locked loop
PM Power Module Power Module
PMI Power Module Interface Power Module Interface
PMSM Permanent-magnet synchronous motor Permanent-magnet synchronous motor
PN PROFINET PROFINET
PNO PROFIBUS Nutzerorganisation PROFIBUS user organization
PPI Point to Point Interface Point-to-point interface
PRBS Pseudo Random Binary Signal White noise
PROFIBUS Process Field Bus Serial data bus
PS Power Supply Power supply
PSA Power Stack Adapter Power Stack Adapter
PT1000 - Temperature sensor
PTC Positive Temperature Coefficient Positive temperature coefficient
PTP Point To Point Point-to-point
PWM Pulse Width Modulation Pulse width modulation
PZD Prozessdaten Process data
Abbreviation Derivation of abbreviation Meaning
No entries
Abbreviation Derivation of abbreviation Meaning
r… - Display parameters (read-only)
RAM Random Access Memory Memory for reading and writing
RCCB Residual Current Circuit Breaker Residual current operated circuit breaker
RCD Residual Current Device Residual current device
RCM Residual Current Monitor Residual current monitor
REL Reluctance motor textile Reluctance motor textile
RESM Reluctance synchronous motor Synchronous reluctance motor
RFG Ramp-Function Generator Ramp-function generator
Drive functions
942 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
RJ45 Registered Jack 45 Term for an 8-pin socket system for data transmis‐
sion with shielded or non-shielded multi-wire cop‐
per cables
RKA Rückkühlanlage Cooling unit
RLM Renewable Line Module Renewable Line Module
RO Read Only Read only
ROM Read-Only Memory Read-only memory
RPDO Receive Process Data Object Receive Process Data Object
RS232 Recommended Standard 232 Interface standard for cable-connected serial data
transmission between a sender and receiver (also
known as EIA232)
RS485 Recommended Standard 485 Interface standard for a cable-connected differen‐
tial, parallel, and/or serial bus system (data transmis‐
sion between a number of senders and receivers,
also known as EIA485)
RTC Real Time Clock Real-time clock
RZA Raumzeigerapproximation Space-vector approximation
Abbreviation Derivation of abbreviation Meaning
S1 - Continuous operation
S3 - Intermittent duty
SAM Safe Acceleration Monitor Safe acceleration monitoring
SBC Safe Brake Control Safe brake control
SBH Sicherer Betriebshalt Safe operating stop
SBR Safe Brake Ramp Safe brake ramp monitoring
SBT Safe Brake Test Safe brake test
SCA Safe Cam Safe cam
SCC Safety Control Channel Safety Control Channel
SCSE Single Channel Safety Encoder Single-channel safety encoder
SD Card SecureDigital Card Secure digital memory card
SDC Standard Drive Control Standard Drive Control
SDI Safe Direction Safe motion direction
SE Sicherer Software-Endschalter Safe software limit switch
SESM Separately-excited synchronous motor Separately excited synchronous motor
SG Sicher reduzierte Geschwindigkeit Safely limited speed
SGA Sicherheitsgerichteter Ausgang Safety-related output
SGE Sicherheitsgerichteter Eingang Safety-related input
SH Sicherer Halt Safe stop
SI Safety Integrated Safety Integrated
SIC Safety Info Channel Safety Info Channel
SIL Safety Integrity Level Safety Integrity Level
SITOP - Siemens power supply system
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
SLA Safely-Limited Acceleration Safely limited acceleration
SLM Smart Line Module Smart Line Module
SLP Safely-Limited Position Safely Limited Position
SLS Safely-Limited Speed Safely limited speed
SLVC Sensorless Vector Control Sensorless vector control
SM Sensor Module Sensor Module
SMC Sensor Module Cabinet Sensor Module Cabinet
SME Sensor Module External Sensor Module External
SMI SINAMICS Sensor Module Integrated SINAMICS Sensor Module Integrated
SMM Single Motor Module Single Motor Module
SN Sicherer Software-Nocken Safe software cam
SOS Safe Operating Stop Safe operating stop
SP Service Pack Service pack
SP Safe Position Safe position
SPC Setpoint Channel Setpoint channel
SPI Serial Peripheral Interface Serial peripheral interface
SPS Speicherprogrammierbare Steuerung Programmable logic controller
SS1 Safe Stop 1 Safe Stop 1 (time-monitored, ramp-monitored)
SS1E Safe Stop 1 External Safe Stop 1 with external stop
SS2 Safe Stop 2 Safe Stop 2
SS2E Safe Stop 2 External Safe Stop 2 with external stop
SSI Synchronous Serial Interface Synchronous serial interface
SSL Secure Sockets Layer Encryption protocol for secure data transfer (new
TLS)
SSM Safe Speed Monitor Safe feedback from speed monitor
SSP SINAMICS Support Package SINAMICS support package
STO Safe Torque Off Safe torque off
STW Steuerwort Control word
Abbreviation Derivation of abbreviation Meaning
TB Terminal Board Terminal Board
TEC Technology Extension Software component which is installed as an addi‐
tional technology package and which expands the
functionality of SINAMICS (previously OA applica‐
tion)
TIA Totally Integrated Automation Totally Integrated Automation
TLS Transport Layer Security Encryption protocol for secure data transfer (previ‐
ously SSL)
TM Terminal Module Terminal Module
TN Terre Neutre Grounded three-phase line supply
Tn - Integral time
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
TPDO Transmit Process Data Object Transmit Process Data Object
TSN Time-Sensitive Networking Time-Sensitive Networking
TT Terre Terre Grounded three-phase line supply
TTL Transistor-Transistor-Logic Transistor-transistor logic
Tv - Rate time
Abbreviation Derivation of abbreviation Meaning
UL Underwriters Laboratories Inc. Underwriters Laboratories Inc.
UPS Uninterruptible Power Supply Uninterruptible power supply
USV Unterbrechungsfreie Stromversorgung Uninterruptible power supply
UTC Universal Time Coordinated Universal time coordinated
Abbreviation Derivation of abbreviation Meaning
VC Vector Control Vector control
Vdc - DC link voltage
VdcN - Partial DC link voltage negative
VdcP - Partial DC link voltage positive
VDE Verband der Elektrotechnik, Elektronik und Informa‐ Association of Electrical Engineering, Electronics
tionstechnik and Information Technology
VDI Verein Deutscher Ingenieure Verein Deutscher Ingenieure [Association of German
Engineers]
VPM Voltage Protection Module Voltage Protection Module
Vpp Volt peak to peak Volt peak to peak
VSM Voltage Sensing Module Voltage Sensing Module
Abbreviation Derivation of abbreviation Meaning
WEA Wiedereinschaltautomatik Automatic restart
WZM Werkzeugmaschine Machine tool
Abbreviation Derivation of abbreviation Meaning
XML Extensible Markup Language Extensible markup language (standard language for
Web publishing and document management)
Drive functions
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Appendix
A.1 List of abbreviations
Abbreviation Derivation of abbreviation Meaning
No entries
Abbreviation Derivation of abbreviation Meaning
ZK Zwischenkreis DC link
ZM Zero Mark Zero mark
ZSW Zustandswort Status word
Drive functions
946 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Appendix
A.2 Documentation overview
A.2 Documentation overview
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Drive functions
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Appendix
A.3 Supported sample topologies
A.3 Supported sample topologies
Example topologies: Drives in vector control
The following topology examples demonstrate configurations with Motor Modules in Booksize
and Chassis design in vector control.
3 Motor Modules with identical pulse frequencies
A drive line-up with 3 Motor Modules in Booksize or Chassis format with identical pulse
frequencies in vector control. The Motor Modules can be connected to a DRIVE-CLiQ interface of
the Control Unit.
In the following diagram, three Motor Modules are connected to the DRIVE-CLiQ socket X101.
Note
The offline topology generated automatically in the Startdrive engineering tool must be
changed manually if this topology has been wired.
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Figure A-1 Motor Modules in Chassis format with identical pulse frequencies
4 Motor Modules with different pulse frequencies
A drive line-up with 4 Motor Modules in Chassis format with different pulse frequencies in vector
control. Motor Modules with different pulse frequencies should preferably be connected to
different DRIVE-CLiQ sockets of the Control Unit. The Motor Modules may also be connected to
the same DRIVE-CLiQ line.
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Appendix
A.3 Supported sample topologies
In the following diagram, two Motor Modules (400 V, output ≤ 250 kW, pulse frequency 2 kHz)
are connected to interface X101 and two Motor Modules (400 V, output > 250 kW, pulse
frequency 1.25 kHz) are connected to interface X102.
Note
The offline topology automatically generated in the Startdrive commissioning tool must be
manually modified, if this topology was wired.
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Figure A-2 Motor Modules in Chassis format with different pulse frequencies
Topology example: Line Modules and Motor Modules connected in parallel
Line Modules in Chassis format and Motor Modules in Chassis format of the same type and
connected in parallel can be connected to one DRIVE-CLiQ socket of the Control Unit respectively
in vector control.
In the following diagram, two Active Line Modules and two Motor Modules are connected to the
X100 or X101 socket.
Note
The offline topology generated automatically in the Startdrive engineering tool must be
changed manually if this topology has been wired.
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Appendix
A.3 Supported sample topologies
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Further information
Further information can be obtained in the Chapter "Parallel connection of power units
(Page 546)".
Example topologies: Power Modules
The following topology examples demonstrate configurations with Power Modules in Blocksize
and Chassis format.
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Appendix
A.3 Supported sample topologies
Power modules of the Blocksize format
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Appendix
A.3 Supported sample topologies
Power Modules in Chassis format
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Example topologies: Drives in servo control
The following topology examples demonstrate configurations with Line Modules, Motor
Modules and additional components in servo control.
Sampling time 125 µs
The maximum number of controllable drives in servo control with additional components is
shown in the following figure. The sampling times of individual system components are:
• Active Line Module: p0115[0] = 250 µs
• Motor Modules: p0115[0] = 125 µs
• Terminal Module / Terminal Board p4099 = 1 ms
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A.3 Supported sample topologies
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Figure A-6 Topology example of a servo drive line-up
Sampling time 62.5 µs
Examples, CU320-2 with 62.5 µs sampling time:
• Topology 1:
1 ALM (250 μs) + 2 servo (62.5 μs) + 2 servo (125 μs) + 3 TM15 Base (p4099[0] = 2000 µs)
+ TM54F + 4 Safety Integrated Extended Functions with encoder SI motion monitoring clock
cycle (p9500) = 12 ms + SI Motion actual value sensing clock cycle (p9511) = 4 ms + 4 dir.
measuring systems.
• Topology 2:
1 ALM (250 μs) + 2 servo (62.5 μs) + 2 U/f (500 μs) + 3 TM15 Base (p4099[0] = 2000 µs) +
2 Safety Integrated Extended Functions with encoder SI motion monitoring clock cycle
(p9500) = 12 ms + SI Motion actual value sensing clock cycle (p9511) = 4 ms + 2 Safety
Integrated Extended Functions sensorless + 2 dir. measuring systems.
• Topology 3:
1 servo (62.5 μs) + 4 U/f is not possible in conjunction with Safety Integrated.
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Appendix
A.3 Supported sample topologies
Sampling time 31.25 µs
Examples, CU320-2 with 31.25 µs sampling time:
• Topology 1:
1 ALM (250 μs) on a line, 1 servo (31.25 μs) on a line, 3 TM15 Base (p4099[0] = 2000 µs) on
a line and in series.
• Topology 2:
1 ALM (250 μs) on a line, 1 servo (31.25 μs) on a line, 1 direct measuring system on a line.
Topology example: Drives in U/f control (vector)
The following diagram shows the maximum number of controllable vector U/f drives with
additional components. The sampling times of individual system components are:
• Active Line Module: p0115[0] = 250 µs
• Motor Modules: p0115[0] = 500 µs
• Terminal Module/Terminal Board p4099 = 2 ms
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Appendix
A.4 Parameterization using the BOP20
A.4 Parameterization using the BOP20
A.4.1 Introduction
Description
The Basic Operator Panel 20 (BOP20) has six keys and a two-line display unit with background
lighting. The BOP20 can be plugged onto the SINAMICS Control Unit and operated.
Figure A-8 BOP20
The BOP20 supports the following functions:
• Input and changing parameters
• Display of operating modes, parameters and alarms
• Display and acknowledgment of faults
• Powering-up/powering-down while commissioning
• Simulation of a motorized potentiometer
A.4.2 General information on BOP20
The BOP20 can be used to switch on and switch off drives during the commissioning phase as
well as to display and modify parameters. Faults can be diagnosed as well as acknowledged.
The BOP20 is connected to the Control Unit. To do this, the blanking cover must be removed (for
additional information on mounting, please refer to the SINAMICS S120 Manual Control Units
and Supplementary System Components).
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Appendix
A.4 Parameterization using the BOP20
Displays and keys
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Figure A-9 Overview of displays and keys
Information on the displays
Table A-1 Displays
Display Meaning
top left (2 positions) The active drive object of the BOP is displayed here.
The displays and key operations always refer to this drive object.
RUN Lit if at least one drive in the drive line-up is in the RUN state (in operation).
RUN is also displayed via bit r0899.2 of the drive.
top right (2 positions) The following is displayed in this field:
• More than 6 digits: characters that still exist but are not visible
(e.g. "r2" → 2 characters to the right are invisible,"L1" → 1 character to the left is invisible)
• Faults: Selects/displays other drives with faults
• Designation of BICO inputs (bi, ci)
• Designation of BICO outputs (bo, co)
• Source object of a BICO interconnection to a drive object different than the active one.
S Is (bright) if at least one parameter was changed and the value was not transferred into the non-
volatile memory.
P Is lit (bright) if, for a parameter, the value only becomes effective after pressing the P key.
C Is light (bright) if at least one parameter was changed and the calculation for consistent data man‐
agement has still not been initiated.
below (6 digit) Displays, e.g. parameters, indices, faults and alarms.
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Appendix
A.4 Parameterization using the BOP20
Information on the keys
Table A-2 Keys
Key Name Meaning
ON Powering up the drives for which the command "ON/OFF1" should come from the BOP.
Binector output r0019.0 is set using this key.
OFF Powering down the drives for which the commands "ON/OFF1", "OFF2" or "OFF3" should come from
the BOP.
The binector outputs r0019.0, .1 and .2 are simultaneously reset when this key is pressed. After the
key has been released, binector outputs r0019.1 and .2 are again set to a "1" signal.
Note:
The effectiveness of these keys can be defined by appropriately parameterizing the BICO (e.g. using
these keys it is possible to simultaneously control all of the existing drives).
Functions The significance of this key depends on the actual display.
Note:
The effectiveness of this key to acknowledge faults can be defined using the appropriate BICO pa‐
rameterization.
Parameter The significance of this key depends on the actual display.
If this key is pressed for 3 s, the "Copy RAM to ROM" function is executed. The "S" displayed on the BOP
disappears.
Raise The significance of these keys is dependent on the actual display and is used to increase or decrease
values.
Lower
BOP20 functions
Table A-3 Functions
Name Description
Backlighting The backlighting can be set using p0007 in such a way that it switches itself off automatically after
the set time if no actions are carried out.
Changeover active drive From the BOP perspective the active drive is defined using p0008 or using the keys "FN" and "Arrow
up".
Units The units are not displayed on the BOP.
Access level The access level for the BOP is defined using p0003.
The higher the access level, the more parameters can be selected using the BOP.
Parameter filter Using the parameter filter in p0004, the available parameters can be filtered corresponding to
their particular function.
Selecting the operating dis‐ Actual values and setpoints are displayed on the operating display.
play The operating display can be set using p0006.
User parameter list Using the user parameter list in p0013, parameters can be selected for access.
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Appendix
A.4 Parameterization using the BOP20
Name Description
Unplug while voltage is The BOP can be withdrawn and inserted under voltage.
present • The ON key and OFF key have a function.
When withdrawing, the drives are stopped.
After inserting, the drives must be switched on again.
• The ON key and OFF key have no function.
Withdrawing and inserting has no effect on the drives.
Actuating keys The following applies to the "P" and "FN" keys:
• When used in a combination with another key, "P" or "FN" must be pressed first.
Overview of important parameters (see SINAMICS S120/S150 List Manual)
All drive objects
• p0005[0...1] BOP status display selection
• p0006 BOP status display mode
• p0013[0...49] BOP user-defined list
• p0971 Save drive object parameters
Drive object, Control Unit
• r0002 Control Unit status display
• p0003 BOP access level
• p0004 BOP display filter
• p0007 BOP backlighting
• p0008 BOP drive object after powering up
• p0009 Device commissioning parameter filter
• p0011 BOP password input (p0013)
• p0012 BOP password confirmation (p0013)
• r0019.0...14 CO/BO: Control word, BOP
• p0977 Save all parameters
Other drive objects (e.g. Servo, Vector, X_INF, TM41 etc.)
• p0010 Drive, commissioning parameter filter
A.4.3 Displays and using the BOP20
Features
• Status indicator
• Changing the active drive object
• Displaying/changing parameters
• Displaying/acknowledging faults and alarms
• Controlling the drive using the BOP20
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Appendix
A.4 Parameterization using the BOP20
Status indicator
The operating display for each drive object can be set using p0005 and p0006. Using the
operating display, you can change into the parameter display or to another drive object. The
following functions are possible:
• Changing the active drive object
– Press key “FN” and "Arrow up" → The drive object number at the top left flashes.
– Select the required drive object using the arrow keys.
– Confirm with the "P" key.
• Parameter display
– Press the "P" key.
– The required parameter can be selected using the arrow keys.
– Press the “FN” key → "r00000" is displayed.
– Press the “P” key → Changes back to the operating display.
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Appendix
A.4 Parameterization using the BOP20
Parameter display
The parameters are selected in the BOP20 using the number. The parameter display is reached
from the operating display by pressing the "P" key. Parameters can be searched for using the
arrow keys. The parameter value is displayed by pressing the "P" key again. You can toggle
between the drive objects by simultaneously pressing the "FN" key and an arrow key. You can
toggle between "r00000" and the parameter that was last displayed by pressing the "FN" key in
the parameter display.
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Appendix
A.4 Parameterization using the BOP20
Value display
To switch from the parameter display to the value display, press the "P" key. In the value display,
the values of the adjustable parameters can be increased and decreased using the arrow. The
cursor can be selected using the "FN" key.
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Appendix
A.4 Parameterization using the BOP20
Example: Change a parameter
Requirement: The appropriate access level is set (for this particular example, p0003 = 3).
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Example: Changing parameters for the binector and connector input
For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control
Unit (drive object 1) is interconnected.
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Figure A-13 Example: Changing indexed binector parameters
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Appendix
A.4 Parameterization using the BOP20
A.4.4 Fault and alarm displays
Fault display
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Appendix
A.4 Parameterization using the BOP20
A.4.5 Controlling the drive using the BOP20
When commissioning the drive, it can be controlled via the BOP20. A control word is available
on the Control Unit drive object (r0019) for this purpose, which can be interconnected with the
appropriate binector inputs of e.g. the drive.
The interconnections do not function if a standard PROFIdrive telegram was selected as its
interconnection cannot be disconnected.
Table A-4 BOP20 control word
Bit (r0019) Name Example, interconnection parame‐
ters
0 ON / OFF (OFF1) p0840
1 No coast down/coast down (OFF2) p0844
2 No fast stop/fast stop (OFF3) p0848
7 Acknowledge fault (0 -> 1) p2102
13 Motorized potentiometer, raise p1035
14 Motorized potentiometer, lower p1036
Note
For simple commissioning, only bit 0 should be interconnected. When interconnecting bits 0 ...
2, then the system is powered-down according to the following priority: OFF2, OFF3, OFF1.
A.4.6 Important functions via BOP20
Description
The BOP20 can be used to execute the following functions (via parameters) that help you handle
your project:
• Restoring the factory settings.
• Copying from RAM to ROM.
• Identification via LED
• Acknowledging faults.
Restoring the factory settings
The factory setting of the complete device can be restored in the Control Unit drive object.
• p0009 = 30
• p0976 = 1
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Appendix
A.4 Parameterization using the BOP20
Copy RAM to ROM
You can initiate the saving of all parameters to the non-volatile memory (memory card) in the
drive object Control Unit:
• Press the P key for 3 seconds.
OR
• p0009 = 0
• p0977 = 1
Note
This parameter is not accepted if an identification run (e.g. motor data identification) has
been selected on a drive.
Identification via LED
The main component of a drive object (e.g. Motor Module) can be identified using the index of
p0124. The "Ready" LED on the component starts to flash. The index matches the index in
p0107. The drive object type can be identified via this parameter.
On the drive objects, the components can also be identified via the following parameters:
• p0124 Power unit detection via LED
• p0144 Voltage Sensing Module detection via LED
• p0144 Sensor Module detection via LED
Acknowledging faults
To acknowledge all the faults that have been rectified, press the “FN” key.
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Appendix
A.5 Replacing an encoder for SIMOTICS motors
A.5 Replacing an encoder for SIMOTICS motors
For 1FK7 G2, 1FG1 and 1FT7 motors you can replace a defective encoder by an encoder of the
same type. The encoder can be replaced without special tools simply by adjusting the coupling
element opposite the motor shaft. You can recognize the motors mentioned as a result of the
round, raised encoder mounting at the end of the motor enclosure and from the rating plate.
How do you replace an encoder?
An overview of the possible encoder replacement versions is provided below.
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Note
Recommendation:
1. Always replace the encoder as a complete component (including the Sensor Module).
2. Use replacement version 1.
Advantage: You order a replacement encoder with a custom-programmed electronic type
plate from your Siemens service organization.
The encoder contains all of the motor data loaded in the factory. You only have to
mechanically replace the encoder, and your system is ready to operate again.
How do you determine the replacement encoder you require?
To replace an existing encoder, you need its article number. You have several options of
obtaining this article number:
• Read off the article number at the encoder
• Determine the article number through Spares on Web (https://www.sow.siemens.com/)
• Determine the article number using assignment tables (see the service instructions)
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Appendix
A.5 Replacing an encoder for SIMOTICS motors
Additional information
Do you have any other open questions?
• How do you order a replacement encoder?
• How you replace a defective encoder?
• How do you program an encoder that has not been loaded with data?
• How do you backup the data of the electronic type plate?
• Where do you find the electronic type plate data in the Internet?
Detailed information related to these questions and on the complete encoder replacement
process is provided in service instructions "SIMOTICS S-1FK7 G2, S-1FG1 and S-1FT7", which you
can download through the SIOS portal at no charge.
See: SIMOTICS servomotors (https://support.industry.siemens.com/cs/ww/en/ps/13348/man)
Drive functions
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Appendix
A.6 Availability of hardware components
A.6 Availability of hardware components
Table A-5 Hardware components available as of 03.2006
No. Hardware component Article number Version Revisions
1 AC Drive (CU320, PM340) refer to the Catalog New
2 SMC30 6SL3055-0AA00-5CA1 With SSI support
3 DMC20 6SL3055-0AA00-6AA. New
4 TM41 6SL3055-0AA00-3PA. New
5 SME120 6SL3055-0AA00-5JA. New
SME125 6SL3055-0AA00-5KA.
6 BOP20 6SL3055-0AA00-4BA. New
7 CUA31 6SL3040-0PA00-0AA. New
Table A-6 Hardware components available as of 08.2007
No. Hardware component Article number Version Revisions
1 TM54F 6SL3055-0AA00-3BA. New
2 Active Interface Module (book‐ 6SL3100-0BE..-.AB. New
size)
3 Basic Line Module (booksize) 6SL3130-1TE..-0AA. New
4 DRIVE-CLiQ encoder 6FX2001-5.D..-0AA. New
5 CUA31 6SL3040-0PA00-0AA1 New
Suitable for Safety Extended Func‐
tions via PROFIsafe and TM54
6 CUA32 6SL3040-0PA01-0AA. New
7 SMC30 (30 mm wide) 6SL3055-0AA00-5CA2 New
Table A-7 Hardware components available as of 10.2008
No. Hardware component Article number Version Revisions
1 TM31 6SL3055-0AA00-3AA1 New
2 TM41 6SL3055-0AA00-3PA1 New
3 DME20 6SL3055-0AA00-6AB. New
4 SMC20 (30 mm wide) 6SL3055-0AA00-5BA2 New
5 Active Interface Module booksize 6SL3100-0BE21-6AB. New
16 kW
6 Active Interface Module booksize 6SL3100-0BE23-6AB. New
36 kW
7 Smart Line Modules booksize 6SL3430-6TE21-6AA. New
compact
Drive functions
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Appendix
A.6 Availability of hardware components
No. Hardware component Article number Version Revisions
8 Motor Modules booksize compact 6SL3420-1TE13-0AA. New
6SL3420-1TE15-0AA.
6SL3420-1TE21-0AA.
6SL3420-1TE21-8AA.
6SL3420-2TE11-0AA.
6SL3420-2TE13-0AA.
6SL3420-2TE15-0AA.
9 Power Modules blocksize liquid 6SL3215-1SE23-0AA. New
cooled 6SL3215-1SE26-0AA.
6SL3215-1SE27-5UA.
6SL3215-1SE31-0UA.
6SL3215-1SE31-1UA.
6SL3215-1SE31-8UA.
10 Reinforced DC link busbars for 50 6SL3162-2DB00-0AA. New
mm components
11 Reinforced DC link busbars for 6SL3162-2DD00-0AA. New
100 mm components
Table A-8 Hardware components available as of 11.2009
No. Hardware component Article number Version Revisions
1 Control Unit 320-2DP 6SL3040-1MA00-0AA1 4.3 New
Actual 2014: 6SL3040-1MA00-0AA0
2 TM120 6SL3055-0AA00-3KA0 4.3 New
3 SMC10 (30 mm wide) 6SL3055-0AA00-5AA3 4.3 New
Table A-9 Hardware components available as of 01.2011
No. Hardware component Article number Version Revisions
1 Control Unit 320-2PN 6SL3040-1MA01-0AA1 4.4 New
Actual 2014: 6SL3040-1MA01-0AA0
2 Braking Module booksize com‐ 6SL3100-1AE23-5AA0 4.4 New
pact
3 SLM 55kW booksize 6SL3130-6TE25-5AA. 4.4 New
4 TM120 evaluation of up to four 6SL3055-0AA00-3KA. 4.4 New
motor temperature sensors
Table A-10 Hardware components available as of 04.2011
No. Hardware component Article number Version Revisions
1 S120 Combi three axes 6SL3111-3VE21-6FA0 4.4 New
Power Module 6SL3111-3VE21-6EA0
6SL3111-3VE22-0HA0
2 S120 Combi four axes 6SL3111-4VE21-6FA0 4.4 New
Power Module 6SL3111-4VE21-6EA0
6SL3111-4VE22-0HA0
Drive functions
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Appendix
A.6 Availability of hardware components
No. Hardware component Article number Version Revisions
3 S120 Booksize Compact power 6SL3420-1TE13-0AA0 4.4 New
units 6SL3420-1TE15-0AA0
Single Motor Module 6SL3420-1TE21-0AA0
6SL3420-1TE21-8AA0
4 S120 Booksize Compact power 6SL3420-2TE11-7AA0 4.4 New
units 6SL3420-2TE13-0AA0
Double Motor Module 6SL3420-2TE15-0AA0
5 Braking Module booksize 6SL3100-1AE31-0AB0 4.4 New
Table A-11 Hardware components available as of 01.2012
No. Hardware component Article number Version Revisions
1 TM150 evaluation of up to 12 6SL3055- 0AA0-3LA0 4.5 New
temperature sensors
2 CU310-2 PN 6SL3040-1LA01-0AA0 4.5 New
3 CU310-2 DP 6SL3040-1LA00-0AA0 4.5 New
Table A-12 Hardware components available as of Q4 2012
No. Hardware component Article number Version Revisions
1 Adapter Module 600 6SL3555-2BC10-0AA0 4.5 New
Table A-13 Hardware components available as of 01.2013
No. Hardware component Article number Version Revisions
1 300% overload, booksize up to 6SL312.-.....-...4 4.6 New
18 A for Motor Modules with 50 mm and:
3 A, 5 A, 9 A, 18 A, 2x3 A, 2x5 A, 2x9 A
2 SINAMICS S120M 6SL3532-6DF71-0R.. 4.6 New
6SL3540-6DF71-0R..
6SL3542-6DF71-0R..
6SL3562-6DF71-0R..
6SL3563-6DF71-0R..
Table A-14 Hardware components available as of 04.2014
No. Hardware component Article number Version Revisions
1 S120 Combi: 6SL3111-4VE21-0EA 4.7 New
New power unit Four axis Power Modules with high am‐
perage:
24 A, 12 A, 12 A, 12 A
2 PM240-2 Power Module 6SL321.-.P..-.... 4.7 New
FSA, FSB and FSC for 200 V and 400 V
Drive functions
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Appendix
A.6 Availability of hardware components
Table A-15 Hardware components available as of 04.2015
No. Hardware component Article number Version Revisions
1 TM31 Terminal Module 6SL3055-0AA00-3AA1 4.7 SP2 Revised
2 TM41 Terminal Module 6SL3055-0AA00-3PA1 4.7 SP2 Revised
3 DRIVE-CLiQ Hub Module DMC20 6SL3055-0AA00-6AA1 4.7 SP2 Revised
Table A-16 Hardware components available as of 10.2015
No. Hardware component Article number Version Revisions
1 Motor Module with up to 2x over‐ 6SL3120-1TE21-8AC. (18 A) ‑ New
load (Booksize redesign) 6SL3120-1TE23-0AC. (30 A)
6SL3120-2TE21-8AC. (2 x 18 A)
2 Motor Module with up to 3x over‐ 6SL3120-1TE13-0AD. (3 A) ‑ New
load (Booksize redesign) 6SL3120-1TE15-0AD. (5 A)
6SL3120-1TE21-0AD. (9 A)
6SL3120-1TE21-8AD. (18 A)
6SL3120-1TE23-0AD. (30 A)
6SL3120-2TE13-0AD. (2 x 3 A)
6SL3120-2TE15-0AD. (2 x 5 A)
6SL3120-2TE21-0AD. (2 x 9 A)
6SL3120-2TE21-8AD. (2 x 18 A)
3 Motor plug connector with push- 6SL3162-2MB00-0AC0 ‑ New
in connection
4 Motor plug connector with screw- 6SL3162-2MA00-0AC0 ‑ New
type connection
Table A-17 Hardware components available as of 07.2016
No. Hardware component Article number Version Revisions
1 PM240-2 Power Module 6SL321.-.P..-.... 4.8 New
FSD, FSE and FSF for 200 V, 400 V and
690 V
2 TM31 Terminal Module 6SL3055-0AA00-3AA1 4.8 Revised
3 TM41 Terminal Module 6SL3055-0AA00-3PA1 4.8 Revised
4 TM54F Terminal Module 6SL3055-0AA00-3BA. 4.8 Revised
5 DRIVE-CLiQ Hub Module DMC20 6SL3055-0AA00-6AA1 4.8 Revised
Drive functions
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Appendix
A.6 Availability of hardware components
No. Hardware component Article number Version Revisions
6 VSM10 Voltage Sensing Module 6SL3053-0AA00-3AA1 4.8 Revised
7 Temperature sensor PT1000 PT1000 is supported by modules with 4.7 HF17 New
the following article numbers:
6SL312x-xTExx-xAA3
6SL312x-xTExx-xAA4
6SL3120-xTExx-xAC0
6SL3120-xTExx-xAD0
6SL3055-0AA00-5AA3
6SL3055-0AA00-5BA3
6SL3055-0AA00-5CA2
6SL3055-0AA00-5EA3
6SL3055-0AA00-5JA3
6SL3055-0AA00-5KA3
6SL3055-0AA00-3AA1
6SL3055-0AA00-3KA0
6SL3055-0AA00-3LA0
6SL3053-0AA00-3AA1
Table A-18 Hardware components available from January 2017 or November 2017
No. Hardware component Article number Version Revisions
1 Absolute encoder with DRIVE- 5.1 Revised
CLiQ 6FX2001-5FD13-1AA0
Singleturn, synchronous flange 6FX2001-5QD13-1AA0
VW 6 mm
6FX2001-5VD13-1AA0
Singleturn, clamping flange VW
6FX2001-5WD13-1AA0
10 mm
6FX2001-5FD25-1AA0
Singleturn, hollow shaft 10 mm
6FX2001-5QD25-1AA0
Singleturn, hollow shaft 12 mm
6FX2001-5VD25-1AA0
Multiturn, synchronous flange
VW 6 mm 6FX2001-5WD25-1AA0
Multiturn, clamping flange VW 10
mm
Multiturn, hollow shaft 10 mm
Multiturn, hollow shaft 12 mm
2 Active Interface Modules 5.1 Revised
16 kW 6SL3100-0BE21-6AB.
36 kW 6SL3100-0BE23-6AB.
55 kW 6SL3100-0BE25-5AB.
80 kW 6SL3100-0BE28-0AB.
120 kW 6SL3100-0BE31-2AB.
Drive functions
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Appendix
A.6 Availability of hardware components
No. Hardware component Article number Version Revisions
3 Power Modules PM240-2 5.1 New
Push Through for FSD-FSF
200 V FSD 6SL3211-1PC26-8UL0
200 V FSE 6SL3211-1PC31-1UL0
200 V FSF 6SL3211-1PC31-8UL0
400 V FSD 6SL3211-1PE27-5UL0,
400 V FSE 6SL3211-1PE27-5AL0
400 V FSF 6SL3211-1PE31-1UL0,
690 V FSD 6SL3211-1PE31-1AL0
690 V FSE 6SL3211-1PE32-5UL0,
6SL3211-1PE32-5AL0
690 V FSF
6SL3211-1PH24-2UL0,
6SL3211-1PH24-2AL0
6SL3211-1PH26-2UL0,
6SL3211-1PH26-2AL0
6SL3211-1PH31-4UL0,
6SL3211-1PH31-4AL0
4 Mounting frames for 5.1 New
PM240-2 Power Modules
FSD 6SL3200-0SM17-0AA0
FSE 6SL3200-0SM18-0AA0
FSF 6SL3200-0SM20-0AA0
5 C/D type Motor Modules 5.1 New
24 A C type 6SL3120-1TE22-4AC0
24 A D type 6SL3120-1TE22-4AD0
45 A C type 6SL3120-1TE24-5AC0
60 A C type 6SL3120-1TE26-0AC0
6 Shield connection plate 100 mm 6SL3162-1AD00-0AA0 5.1 New
Table A-19 Hardware components available from February 2018
No. Hardware component Article number Version Revisions
1 PM240-2 Power Modules 5.1 SP1 New
400 V FSG (with internal C2 line 6SL3210-1PE33-0AL0
filter) 6SL3210-1PE33-7AL0
6SL3210-1PE34-8AL0
6SL3210-1PE33-0CL0
400 V FSG (with internal C3 line 6SL3210-1PE33-7CL0
filter)
6SL3210-1PE34-8CL0
6SL3210- 1PH31-7CL0
6SL3210- 1PH32-1CL0
690 V FSG (with internal C3 line
6SL3210- 1PH32-5CL0
filter)
Drive functions
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Appendix
A.6 Availability of hardware components
Table A-20 Hardware components available from December 2018
No. Hardware component Article number Version Revisions
Booksize format
1 Line reactor for 16 kW Smart Line 6SL3100-0EE21-6AA0 5.2
Modules (previously: 6SL3000-0CE21-6AA0)
Chassis format
2 Power Module Liquid Cooled 6SL3315-1TE36-1AA7 5.2 New
6SL3315-1TE37-5AA7
6SL3315-1TG35-8AA7
Chassis-2 format
3 Motor Modules 6SL3321-1TE36-6AA0 5.2 New
6SL3321-1TE37-4AA0
6SL3321-1TE38-1AA0
6SL3321-1TE38-8AA0
6SL3321-1TE41-0AA0
6SL3321-1TE41-1AA0
6SL3321-1TE41-2AA0
6SL3321-1TE41-4AA0
6SL3321-1TE41-5AA0
4 Active Interface Modules (AIM) 6SL3301-7TE36-4AA0
6SL3301-7TE41-0AA0
6SL3301-7TE41-4AA0
5 Active Line Modules (ALM) 6SL3331-7TE35-6AA0 5.2 New
6SL3331-7TE36-4AA0
6SL3331-7TE37-5AA0
6SL3331-7TE38-4AA0
6SL3331-7TE38-8AA0
6SL3331-7TE41-0AA0
6SL3331-7TE41-2AA0
6SL3331-7TE41-3AA0
6SL3331-7TE41-4AA0
Table A-21 Hardware components available from May 2019
No. Hardware component Article number Version Revisions
1 SINAMICS S120 Combi Frame 6SL3111-4VE21-6EC1 5.1 SP1 New
Type B01
SINAMICS S120 Combi Frame 6SL3111-4VE21-6ED1
Type B02
Drive functions
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Appendix
A.6 Availability of hardware components
Table A-22 Hardware components available from June 2020
No. Hardware component Article number Version Revisions
1 AM22DQC 5.2 SP3
2 SINAMICS S120 Combi Frame 6SL3111-3VE21-6FA2 5.2 SP3 Revised
Type A01 (previously:
SINAMICS S120 Combi Frame 6SL3111-3VE21-6FA0/-6FA1)
Type A04 6SL3111-4VE21-6FA2
(previously:
6SL3111-4VE21-6FA0/-6FA1)
Drive functions
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Appendix
A.7 Availability of SW functions
A.7 Availability of SW functions
Table A-23 New functions, firmware 2.2
No. SW function Servo Vector Hardware compo‐
nent
1 Technology controller x x -
2 Two command data sets - x -
3 Extended brake control x x -
4 Automatic restart for vector and Smart Line Modules 5/10 kW - x -
5 The ability to mix servo and vector U/f control modes on one CU x x -
6 Regulated Vdc up to 480 V input voltage can be parameterized for x x -
Active Line Modules
7 Smart Mode for Active Line Modules Booksize format x x -
8 Extended setpoint channel can be activated x - -
9 Evaluation, linear measuring systems x - -
10 Synchronous motors 1FT6/1FK6/1FK7 with DRIVE-CLiQ resolver x - -
Table A-24 New functions, firmware 2.3
No. SW function Servo Vector Hardware compo‐
nent
1 Motor data set changeover (eight motor data sets) x x -
2 Buffer for faults/alarms x x -
3 Rotor/pole position identification x x -
4 Booting with partial topology, parking axis/encoder, deactivating/ x x -
activating components
5 Friction characteristic with ten interpolation points, automatic char‐ x x -
acteristic plot
6 Utilization display x x -
7 Evaluation of distance-coded zero marks for higher-level controllers x - -
8 Vertical axes / electronic weight equalization for higher-level con‐ x - -
trollers
9 SIMATIC S7 OPs can be directly coupled x x -
10 PROFIBUS NAMUR standard telegrams - x -
11 Parallel connection - x For Chassis drive units
12 Edge modulation x x For Chassis drive units
13 Servo control type x - Also Chassis drive
units
14 Terminal Module TM15 (DI/DO functionality) x x -
15 1FN1, 1FN3 linear motors x - -
16 1FW6 torque motors x - -
17 1FE1 synchronous built-in motors x - -
18 2SP1 synchronous spindles x - -
19 1FU8 SIMOSYN motors x - -
Drive functions
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Appendix
A.7 Availability of SW functions
No. SW function Servo Vector Hardware compo‐
nent
20 1FS6 explosion-protected motors x - -
21 SME20/25 external Sensor Modules for incremental and absolute x x -
encoder evaluation
Table A-25 New functions, firmware 2.4 or 2.4 SP1
No. SW function Servo Vector Hardware compo‐
nent
1 SINAMICS S120 functionality for AC DRIVE (CU310 DP/PN) x x -
2 Basic positioning x x -
3 Encoder data set changeover (three EDS encoder data sets per drive x x -
data set)
4 Two command data sets (CDS) x x -
5 Units changeover SI / US / % x x -
6 Motor data identification servo x As of -
FW2.1
7 Increased torque accuracy for synchronous motors (kt estimator) x - -
8 Hub functionality (hot-plugging, distributed encoder, star structure x x -
via DMC20)
9 Basic Operator Panel BOP20 x x -
10 Evaluation of SSI encoder (SMC30) x x 6SL3055–0AA00–
5CA1
11 Pulse encoder emulation TM41 x x -
12 Automatic restart with Active Line Module x x -
13 PROFIBUS extensions: -
– Slave-to-slave communication x x
– Y-Link x x
– Telegram 1 also for servo x As of
– Telegram 2, 3, 4 also for vector As of FW2.1
FW2.1 x
14 Safety Integrated Stop category 1 (SS1) with safety-related time x x -
15 Measuring gearbox x x -
16 Setting the pulse frequency grid in fine steps x x -
17 Controller cycles that can be set x x -
18 Possibility of mixing cycles on a DRIVE-CLiQ line x x -
19 Clockwise/counter-clockwise bit (the same as changing the rotating x x -
field)
20 Sensor Module for 1FN, 1FW6 with protective separation x - -
(SME120/125)
21 Real-time stamps for alarms x x CU320, 6SL3040– ... –
0AA1 and Version C or
higher (currently
2014: 6SL3040– ... –
0AA0)
22 Encoderless closed-loop speed control for torque motors - x -
Drive functions
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Appendix
A.7 Availability of SW functions
No. SW function Servo Vector Hardware compo‐
nent
23 Separately excited synchronous motors with encoder - x -
24 Drive converter/drive converter, drive converter/line supply (bypass) x x For Chassis drive units
synchronizing
25 Voltage Sensing Module (VSM) for Active Line Module including Booksize
units
26 Armature short-circuit braking, synchronous motors x - -
27 CANopen extensions (vector, free process data access, profile DS301) x x -
28 PROFINET IO communication with Option Module CBE20 x x -
29 New hardware components are supported (AC DRIVE, SME120/125, x x -
BOP20, DMC20, TM41)
30 Position tracking for torque motors (not for EPOS) x x CU320, 6SL3040– ... –
0AA1 and Version C or
higher (currently
2014: 6SL3040– ... –
0AA0)
31 1FW3 torque motors x - -
Drive functions
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Appendix
A.7 Availability of SW functions
Table A-26 New functions, firmware 2.5 or 2.5 SP1
No. SW function Servo Vector Hardware compo‐
nent
1 DCC (Drive Control Chart) with graphical interconnection editor x x -
(DCC-Editor):
• Graphically configurable modules (logic, calculation and control
functions)
• Module types that can be freely instantiated (flexible number of
components/devices)
• Can be run on SIMOTION and SINAMICS controllers (DCC SINAM‐
ICS, DCC SIMOTION)
2 Safety Integrated Extended Functions: x x Safety Integrated Ex‐
• Safety functionality integrated in the drive, controllable via PRO‐ tended Functions on‐
ly for:
FIsafe (PROFIBUS) or secure terminal module TM54F
• Motor Modules
• STO Safe Torque Off (previously Safe Standstill (SH)
(6SL3...– ... –
• SBC Safe Brake Control 0AA3)
• SS1 Safe Stop 1, STO after a delay time has expired, standstill • CUA31
without torque (6SL3040-0PA00-
• SOS Safe Operating Stop, safe standstill with full torque 0AA1)
• SS2 Safe Stop 2; SOS after a delay time has expired, standstill with
full torque
• SLS Safely-Limited Speed
• SSM Safe Speed Monitor, safe speed monitor feedback (n < nx) on
a secure output
Note:
The Safety Integrated Basic Functions STO and SBC have been imple‐
mented as of V2.1 and SS1 as of V2.4 (control via onboard terminals).
3 EPOS function extensions: x x -
• Traversing blocks / new task: "Travel to fixed stop"
• Traversing blocks / new continuation conditions: "External block
relaying"
• Completion of position tracking for absolute encoder (load gear)
• Jerk limitation
• "Set reference point" also with intermediate stop (Traversing
blocks and MDI)
• Reversing cam functionality also with reference run without ref‐
erence cam
4 Support of new motor series/types: x 1PL6 only -
• 1FT7 (synchronous servo motor)
• 1FN3 continuous load (linear motor for continuous load)
• 1PL6 (functionality released since V2.1, now available as list mo‐
tor)
Drive functions
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Appendix
A.7 Availability of SW functions
No. SW function Servo Vector Hardware compo‐
nent
5 Support of new components x x -
• Basic Line Module (BLM) in Booksize format
6 Support of new components x x -
• Active Interface Module (AIM), Booksize format
• TM54F (Terminal Module Failsafe)
• CUA32 (Control Unit Adapter for PM340)
• DRIVE-CLiQ encoder (machine encoder)
7 Save data (motor and encoder data) from the Sensor Module on x x -
motor with DRIVE-CLiQ to memory card and load to "empty" Sensor
Module
8 Evaluation of SSI encoders on AC Drive Controller CU310 (onboard x x only for CU310
interface) (6SL3040-0LA00-0AA
1) (currently 2014:
discontinued)
9 Edge modulation (higher output voltages) in the vector control - x only for Motor Mod‐
mode, also with Booksize devices ules (6SL3...– ... –
0AA3)
10 DC braking x x -
11 Armature short-circuit: Internal x x -
12 Armature short-circuit: Intermittent voltage protection x - only for Motor Mod‐
ules (6SL3...– ... –
0AA3)
13 Automatic firmware update for DRIVE-CLiQ components x x -
14 Save STARTER project directly to memory card x x -
15 The terminal area for Booksize infeeds (BLM, SLM, ALM) can be par‐ x x Only for infeeds in the
ameterized to 230 V 3 AC Booksize format
(6SL3...-... -0AA3)
16 Automatic speed controller setting x As of -
FW2.1
17 Technological pump functions - x -
18 Simultaneous cyclical operation of PROFIBUS and PROFINET on x x -
CU320
19 Automatic restart also with servo x As of -
FW2.2
20 Operates at 500 μs PROFINET IO x - -
21 Absolute position information (X_IST2) with resolver x x -
22 DC link voltage monitoring depending on the line voltage x x -
23 Automatic line frequency detection x x -
24 Acceleration signal at the ramp-function generator output x x -
25 Reset the drive device via parameter (p0972) x x -
26 Alteration of the basic sampling time during the automatic readjust‐ - x -
ment of the sampling times depending on the number of drives on
CU320 with vector (from 400 µs to 500 µs)
27 Dynamic energy management, extension of the Vdc_min, Vdc_max x x -
control
28 Endless trace x x -
Drive functions
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Appendix
A.7 Availability of SW functions
No. SW function Servo Vector Hardware compo‐
nent
29 Extended PROFIBUS monitoring with timer and binector x x -
30 Indexed actual value acquisition x x -
Simultaneous evaluation of multiple encoders
Table A-27 New functions, firmware 2.6
No. SW function Servo Vector Hardware compo‐
nent
1 Offset pulsing in the synchronous drive line-up x x -
2 Safety Integrated Extended Functions: x x Safety Integrated Ex‐
Internal armature short-circuit and integrated voltage protection tended Functions on‐
ly for:
• Motor Modules
(6SL3...– ... –...3)
• CUA31
(6SL3040-0PA00-
0AA1)
3 PROFIsafe via PROFINET x x -
4 Pulse frequency wobbling - x Motor Modules Chas‐
sis (6SL3...– ... –...3)
5 Position control load gear with multiple drive data sets (DDS) x x -
6 Sensorless vector control (SLVC), new closed-loop control for passive - x -
loads
7 Variable signaling function x - -
8 Quick magnetization for induction motors x -
9 Flux reduction for induction motors x - -
10 Component status display x x -
11 Downgrade lock x x -
12 Parallel connection of motors x x -
13 Parallel connection of Motor Modules - x -
14 Parallel connection of power units x x -
15 Master/slave function for Active Infeed x x -
16 Thermal motor monitoring x - -
I2t model for synchronous motors
17 New PROFIdrive telegrams 116, 118, 220, 371 x x -
18 New RT classes for PROFINET IO x x -
19 Use of bidirectional inputs/outputs on the CU x x -
20 Autonomous operating mode for DRIVE-CLiQ components x x -
21 Central signal for "ready for switching on" state on drive object x x -
22 Support of new motor series/types: x - -
1FN6 continuous load (linear motor for continuous load)
Drive functions
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Appendix
A.7 Availability of SW functions
Table A-28 New functions, firmware 4.3
No. SW function Servo Vector Hardware compo‐
nent
1 The 1FN6 motor series is supported x - -
-2 DRIVE-CLiQ motors with star-delta changeover are supported x - -
3 Referencing with several zero marks per revolution via the encoder x - -
interface
4 Permanent-magnet synchronous motors can be controlled down to - x -
zero speed without having to use an encoder
5 "SINAMICS Link": Direct communication between several SINAMICS x x -
S120
6 Safety Integrated: x x -
• Control of the Basic Functions via PROFIsafe
• SLS without encoder for induction motors
• SBR without encoder for induction motors
• Own threshold value parameters for SBR:
Up until now, SSM used parameter p9546
7 Drive object encoder: - x -
An encoder can now be directly read-in via the encoder drive object
and can then be evaluated by SIMOTION using the TO external en‐
coder.
8 Support of new components x x -
• CU320-2
• TM120
9 GSDML file expanded for Profisafe x x -
10 USS protocol at interface X140 x x -
11 U/f diagnostics (p1317) permitted as regular operating mode x - -
12 Setpoint-based utilization display, instead of the previous actual val‐ x x -
ue-based utilization display
13 A performance license is now required from the 4th axis (for servo/ x x -
vector) or from the 7th U/f axis, instead of from a utilization of 50%
and higher - which was the case up until now.
14 Tolerant encoder monitoring, 2nd part: x x -
• Monitoring, tolerance band, pulse number
• Switchable edge evaluation for square-wave encoders
• Setting the zero speed measuring time for pulse encoder signal
evaluation
• Changeover measuring procedure, actual value acquisition for
square-wave encoder
• "LED check" encoder monitoring
Drive functions
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Appendix
A.7 Availability of SW functions
Table A-29 New functions, firmware 4.4
No. SW function Servo Vector Hardware compo‐
nent
1 Safety Integrated Functions x x -
• SDI (Safe Direction) for induction motors (with and without en‐
coder), for synchronous motors with encoder.
• Supplementary condition for Safety without encoder (for induc‐
tion motors): Only possible with devices in booksize and block‐
size format. Not for devices in chassis format.
2 Communication x x -
• PROFINET address can be written via parameter (e.g. when com‐
pletely generating the project offline)
• Shared device for SINAMICS S PROFINET modules: CU320‑2 PN,
CU310-2 PN
3 Emergency retraction (ESR = Extended Stop and Retract) x x -
4 TM41: Rounding for pulse encoder emulation (gear ratio; also re‐ x x -
solver as encoder)
5 Further pulse frequencies for servo control and isochronous opera‐ x - -
tion (3.2 / 5.33 / 6.4 kHz)
6 Chassis format: Current controller in 125 µs for servo control for x - -
higher speeds (up to approx. 700 Hz output frequency)
7 Propagation of faults x x -
Table A-30 New functions, firmware 4.5
No. SW function Servo Vector Hardware compo‐
nent
1 Support for new components, CU310-2 x x Refer to Appendix A1
2 Support for new components, TM150 x x -
3 Support for high-frequency spindles with pulse frequencies up to 32 x - -
kHz (a current controller cycle of 31.25 µs)
4 PROFINET: Support for the PROFIenergy profile x x -
5 PROFINET: Improved usability for Shared Device x x -
6 PROFINET: Smallest selectable send cycle 250 µs x x -
7 PROFINET: Bumpless media redundancy with CU310-2 PN, x x -
CU320‑2 PN and CU320‑2 with CBE20
8 Ethernet/IP communication extension via CBE20 x x -
9 SINAMICS Link: Smallest adjustable send clock 0.5 ms x x -
10 Parameterization of SINAMICS Link connections without POWER ON x x -
11 Write protection x x -
12 Know-how protection x x -
13 PMSM (old: PEM) encoderless up to n = 0 rpm x x -
Drive functions
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Appendix
A.7 Availability of SW functions
No. SW function Servo Vector Hardware compo‐
nent
14 Decoupling of the pulse frequency from the current controller cycle, ‑ x -
valid only for power units in the chassis format
15 Expansion of the number of process data words for infeeds up to 10 x x -
words for the send and receive directions
Safety Integrated Functions
16 CU310-2 safety functionality via terminals and PROFIsafe x x -
17 Permanent activation of the speed limit and the safe direction of x x -
rotation without PROFIsafe or TM54F
18 Safely Limited Position (SLP) x x -
19 Transfer of the Safely Limited Position via PROFIsafe x x -
20 Variably adjustable SLS limit x x -
21 New PROFIsafe telegrams 31, 901, 902 x x -
Table A-31 New functions, firmware 4.6
No. SW function Servo Vector HW component
1 Integrated Web server for SINAMICS x x –
Project and firmware update on the memory card via Ethernet
Protection against power failure while updating via the Web server
2 Replacing a part with know-how protection: Encrypted loading into x x –
the file system
3 Parameterizable bandstop filters for Active Infeed control, chassis x x –
format
4 Current setpoint filter x – –
5 Shortened rotating measurement – x –
6 Redundant data backup on memory card x x –
7 Multiple trace x x –
8 Brake control adaptation x x –
9 Fast flying restart – x –
10 Diagnostic alarms for PROFIBUS x x –
11 DCC SINAMICS: x x –
DCB libraries generated from the SINAMICS DCB Studio are supported
12 SMC40 (EnDat 2.2) x x –
13 CANopen expansions x x –
14 Support of new components S120M x – –
Safety Integrated Functions
15 Safety Integrated Extended Functions with 2 TTL/HTL encoders x x –
16 Safety: Safe Brake Test x x –
17 Safety Info Channel x x –
Drive functions
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Appendix
A.7 Availability of SW functions
Table A-32 New functions, firmware 4.7
No. SW function Servo Vector HW component
1 Separately excited synchronous machine: New operating mode, only – x –
with HTL encoder and VSM
2 S120 Combi support x – New power unit:
6SL3111–4VE21–0EA
3 Support, identification & maintenance data sets (I&M 0...4) x x –
4 Isochronous reduction ratio for IRT – devices – x –
5 Dynamic IP address assignment (DHCP) and temporary device names x x –
for PROFINET
6 Fast flying restart with voltage measurement x x –
7 One button tuning x – –
8 Online tuning x – –
9 Adaptive current setpoint filter for online tuning x – –
10 Independent setting of the pulse frequency and PROFIBUS and PRO‐ x x –
FINET clock cycle
11 PROFIenergy for SINAMICS S120 x x –
12 Activation of grid functionality for booksize modules for renewable x x –
energy projects
13 New mode for ramp-function generator tracking in operation oper‐ – x –
ation with torque/power/current limit
Safety Integrated Functions
14 Parameterizable line contactor activation for STO x x –
15 Extension of the safe gearbox switchover x x –
16 Execute test stop automatically during ramp-up x x –
17 Safety Integrated Extended Functions with 2 TTL/HTL encoders for x x –
booksize and blocksize
18 Uniform behavior for component replacement x x –
19 SINAMICS S120 hydraulic drive with Safety Integrated x – –
Table A-33 New functions, firmware 4.8
No. SW function Servo Vector HW component
1 Synchronous reluctance motors – x –
2 Moment of inertia precontrol of the moment of inertia estimator – x –
3 Expansion of the thermal motor models x x –
4 Communication via MODBUS TCP x x –
5 PROFINET system redundancy x x
6 Expanded SINAMICS Link functionality x x –
7 Optimization of the web server functionality x x –
8 Cogging torque compensation (under license) x – –
9 Advanced Position Control (APC) (under license) x – –
Safety Integrated Functions
10 SBR can now also be selected for SS1/SS2 with encoder x x –
Drive functions
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Appendix
A.7 Availability of SW functions
No. SW function Servo Vector HW component
11 Basic Functions controllable via TM54F x x –
12 Safe Stop 2 with external stop (SS2E) x x –
Table A-34 New functions, firmware 5.1
No. SW function Servo Vector HW component
1 Support of 1PH1 spindle motors x x –
2 Voltage precontrol for servo control x – –
3 One Button Tuning extension x – –
4 Efficiency optimization extension (additional method) – x –
5 Essential service mode for CU310-2 on blocksize power units – x –
6 Time-of-day synchronization via NTP and SNTP x x –
7 Licensing (better overview and introduction of a Trial License Mode) x x –
8 Encoderless control of reluctance motors up to standstill and during – x –
standstill
License: Advanced synchronous reluctance control
9 Active Vibration Suppression (AVS) x x –
License: Active Vibration Suppression (APC/AVS)
Safety Integrated Functions
10 Safe Cam (SCA) x x –
11 Safely-Limited Acceleration (SLA) x x –
12 Introduction of a new license "Safety Advanced" x x –
Table A-35 New functions, firmware 5.1 SP1
No. SW function Servo Vector HW component
1 EtherNET/IP (EIP) via the onboard PROFINET interface X150 at x x –
CU320–2 PN and CU310–2 PN Control Units
2 If a license requirement does not exist, then the Trial License Mode x x –
activation is locked, and the hours counter of an already activated
Trial License Period held.
• For additional information on this topic, see "Licensing
(Page 835)".
3 S7 protocol for CU320–2 PN for X150 can be deactivated x x –
Drive functions
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Appendix
A.7 Availability of SW functions
Table A-36 New functions, firmware 5.2
No. SW function Servo Vector HW component
1 Web server S120 x x –
• Expanded features: 6 standard languages, backup & restore, in‐
tegrated error and alarm descriptions, integrated telegram diag‐
nostics for PROFINET and PROFIBUS
• Switchover of the user interface design according to S210
2 2x parallel connection of Active Line Modules in the booksize format x x –
in the 55 kW, 80 kW or 120 kW power versions
3 Basic positioner (EPOS) x x –
• Expansions in the control panel
4 One Button Tuning (OBT) in the Startdrive engineering tool x – –
Safety Integrated Functions
5 Commissioning and acceptance test wizard in Startdrive x x –
6 Safe Stop 2 Extended Stop and Retract (SS2ESR) x x –
Table A-37 New functions, firmware 5.2 SP3
No. SW function Servo Vector HW component
1 DRIVE-CLiQ encoder telegram extension for transferring dynamic x – –
supplementary data
2 Controller parameter adaptation (requires a license; Article No.: x – –
6SL3074-0AA17-0AH0)
3 Remaining time calculation for thermal overload (r5386) x x –
4 Motor replacement detection for cogging torque compensation (dis‐ x – –
played using Alarm A07356)
5 Undertemperature monitoring for motor temperature sensor x x –
(p4622)
6 SINAMICS S120 Combi for SINUMERIK control systems x – All S120 Combi types
• Can be operated with the following SINUMERIK control systems
with external CU320-2:
– SINUMERIK MCU1720
– SINUMERIK 828D
– SINUMERIK 840D sl
– SINUMERIK ONE
Drive functions
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Appendix
A.8 Functions of SINAMICS S120 Combi
A.8 Functions of SINAMICS S120 Combi
Description
SINAMICS S120 Combi supports the following functions, which are described in this Function
Manual (and in the Safety Integrated Function Manual). Any function not shown in this list is not
available for SINAMICS S120 Combi.
Table A-38 Functional scope, SINAMICS S120 Combi
SW function
Infeed
Smart Infeed
Line contactor control
Servo control
Speed controller
Speed setpoint filter
Speed controller adaptation
Torque-controlled operation
Torque setpoint limitation
Current controller
Current setpoint filter
Note about the electronic motor model
U/f control for diagnostics
Optimization of current and speed controller
Encoderless operation
Motor data identification (stationary/rotating measurement)
Pole position identification
Vdc control
Dynamic Servo Control (DSC)
Travel to fixed stop
Vertical axis
Basic functions
Reference parameters/scaling
OFF3 torque limits
Simple brake control
Runtime (operating hours counter)
Component status display
Parking axis and parking encoder
Update of the firmware: Upgrade of firmware and project in STARTER, retro‐
grade lock
Safety Integrated Basic Functions
Safety Integrated Extended and Advanced Functions (see SINAMICS S120 Safety Integrated Function
Manual)
Drive functions
988 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Appendix
A.8 Functions of SINAMICS S120 Combi
DRIVE-CLiQ topology
If the S120 Combi is operated in conjunction with the SINUMERIK 828D, then fixed DRIVE-CLiQ
topology rules apply. These rules are applicable for the S120 Combi and all additional DRIVE-
CLiQ components, and must be strictly complied with. If violated, then a corresponding alarm
is displayed.
Additional information about DRIVE-CLiQ topology rules is provided in the
SINAMICS S120 Combi Equipment Manual.
System clocks
The sampling times are permanently set to 125 μs for the following functions:
• Current controller
• Speed controller and
• Flux controller
The pulse frequency is permanently set to 4 kHz. This means that a maximum spindle speed of
24000 rpm can be reached.
Available motors
• Synchronous motors: 1FE1, 1FT6, 1FT7, 1FK7, 1FW6, 1FK2
• Induction motors: 1PH7, 1PH4, 1PL6, 1PH8, 1PH3
Drive functions
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Appendix
A.8 Functions of SINAMICS S120 Combi
Drive functions
990 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Index
Advanced Position Control, 583
APC, 583
APC applied to master-slave axes, 614
APC to reduce machining-related oscillation, 595
APC with acceleration feedback, 603
APC with encoder combination and differential
position feedback:, 598
2 APC with load velocity control, 609
2-channel brake control, 692 Application SINUMERIK, 615
Dependency on the parameter set, 613
Measuring frequency responses, 615
A Measuring functions, 617
Preassigning parameters, 588
Absolute encoder
Setting the activation parameter, 612
Adjusting, 504
Using the APC filter, 613
Linear absolute encoder, 506
Advanced Positioning Control
Rotary absolute encoder, 506
Activating the function module in
Absolute encoder adjustment, 477
SINUMERIK, 587
Offset acceptance, 506
Activating the function module in Startdrive, 587
Acceptance test, (See acceptance test)
Licensing, 588
Authorized person, 721
ALM, 31
Preparation, 725
Analog inputs
Record, 720
CU310-2, 865
Requirements, 720, 721
Properties, 865
Access levels
Signal processing, 865
Parameter, 832
Analog outputs
Access rights
Properties, 866
Web server, 753
Signal processing, 866
Activate write protection
Analog setpoint
Online mode, 869
Communication, 543
Active Infeed
APC, 583
Band-stop filters, 42
Activating the function module in
Master/Slave, 542
SINUMERIK, 587
Active Infeed Control, 32
Activating the function module in Startdrive, 587
Active Line Module, 31
Application STARTER, 615
Active Mode, 33
Licensing, 588
Active Vibration Suppression, 589
Assigning a new administrator password
Activating the function module in
Web server, 816
SINUMERIK, 587
Assigning the SINAMICS password
Activating the function module in Startdrive, 587
Web server, 815
APC without sensor on the load side, 589
Asynchronous pulse frequency, 317
AVS, 589
Automatic logout
Actual value acquisition
Web server, 764
Indexed, 477
Automatic restart
Actual values
Vector control, 356
Parallel encoders, 477
Autotuning
Additional closed-loop controls, 42, 582
Current setpoint filter adaptation, 134
Adjustable hardware filter, 398
One button tuning, 122
Adjusting
Online tuning, 128
Absolute encoder, 504
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 991
Index
AVS, 589
AVS/APC-ECO
Activating the function module in C
SINUMERIK, 587
Cam controllers, 487
Activating the function module in Startdrive, 587
Changing
Axis
Password, 678
Suspended, 208
Changing the administrator password
Web server, 814
Changing the SINAMICS password
B Web server, 815
Backing up a license key Changing to a secured HTTPS connection
Memory card, 840 Web server, 820
Band-stop filters Chassis Motor Module
Active Infeed, 42 Pulse frequency wobbling, 353
Basic Functions Chassis power units
SBC, 691 Derating function, 445
SS1, 688 Closed-loop position control, 473
STO, 684 Cogging torque compensation, 620
Basic Infeed open-loop control, 47 Activating, 623
Basic Line Module, 31 Application examples, 621
Vdc_max controller, 48, 268, 333, 552 Filling compensation tables, 623
Basic Line Modules Periodic position errors, 626
Parallel connection, 551 Combi, 988
Basic parameter assignment Commissioning
Function modules (servo), 449 Parallel connection of power units, 560
Basic positioner, 491 Communication
Basic positioning Diagnostics, 804
Referencing, 503 Compensating periodic position errors, 626
BICO technology Component number
Binector Connector Technology, 848 Topology tree, 880
Converter, 851 Version overview, 880
Fixed values, 852 Component replacement
Interconnecting signals, 849 Examples, 880
Bidirectional I/Os Configuration
Resource sharing, 863 Web server, 752
Binector, 848 Configuring the IP connection
Bit pattern test, 704 Web server, 820
BLM, 31 Connector, 848
BOP20 Controller setting, automatic
Control word, drive, 964 Servo control, 149
Important functions, 955, 964 Cooling unit, 468
Brake control Creating a license key
Extended, 458 SINAMICS/SINUMERIK Web License Manager, 840
Simple, 384 Creating a parameter list
Braking resistors Web server, 806
Braking resistor connection, 373 CUA31 / CUA32
Bypass System sampling times, 931
Vector control, 307 Current controller (vector)
Bypass contactor Current controller adaptation, 272
Chassis, 61 Current distribution factor, 544
Current setpoint, 544
Drive functions
992 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Index
Current setpoint filter, 270 DDS changeover, 857
Servo, 114 With load gear position tracking, 482, 483
Current setpoint filter adaptation Defective partition on memory card, 885
Activating, 134 Deleting the SINAMICS password
Adaptation with variable resonant Web server, 815
frequencies, 138 Derating function
Configuring, 134 Ambient temperature:, 445
Deactivating, 134 Chassis power units, 445
Internal activation threshold, 137 Operating temperature, 445
Online tuning active, 134 Determining the optimum flux characteristic
Range of movement of the filter, 138 Induction motor, 166
Remedy for insufficient adaptation, 139 Overload range, 166
Stability of the speed control loop, 138 Diagnostic function
Start value of the adaptation, 138 U/f control for servo control, 145
Upper and lower limit frequencies, 139 Diagnostics
Cycle times Calling up messages, 800
Servo control, 930 Communication, 804
Displaying device information, 797
DRIVE-CLiQ, 888
D Filter events, 803
Filtering messages, 801
Damping
Digital inputs
Machining-related oscillation, 595
Bidirectional, 862
Data backup
Properties, 860
Backing up parameters externally, 811
Signal processing, 860
Minimum requirements for a redundant data
Digital outputs
backup, 885
Bidirectional, 862
NVRAM, 883
Properties, 862
Restoring the factory setting, 813
Signal processing, 862
Restoring the parameter data, 812
Direct setpoint specification (MDI), 531
Retentive, 885
Direction reversal, 355
Data cross-check, 673
Directives, 671
Data matrix code, 19
Display/enter license key
Data reconstruction, 885
Startdrive, 843
Data set switchover, 857
DME20, 746
Data sets
Downgrade lock
Command data set (CDS), 854
Firmware update, 436
Drive data set (DDS), 855
Drive object, 834
Encoder data set (EDS), 856
Drive Object, 834
Motor data set (MDS), 857
Drive parameters
Data transfer
Types, 829
Web server, 752
DRIVE-CLiQ
Datalogger, 392
Autonomous emergency operation, 889
DC brake
Diagnostics, 888
Induction motors, 366
Electronic rating plate, 888
DC braking
Wiring rules, 903
Activate via OFF1 or OFF3, 368
DRIVE-CLiQ encoder
Activating, 367
Multiturn, 507
Activation via fault response, 368
Referencing, 507
Deactivating, 367
Singleturn, 507
DC breaker, 541
DRIVE-CLiQ Hub
DCC
DMC20, 746
System sampling times, 930
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 993
Index
Droop, 257 Telegram extensions, 570
DSC Unsuitable motors, 569
Wind-up effect, 202 Essential service mode
du/dt filter compact plus Voltage Peak Limiter Commissioning, 441
Vector control, 351 CU310-2, 438
du/dt filter plus Voltage Peak Limiter ESM, 438
Vector control, 349 Essential service mode, 438
Dynamic Servo Control (DSC) Expansion of the encoder evaluation, 403
External encoders, 201 Extended setpoint channel
Dynamic setpoint limiting, 199 Activation for servo control, 64
Servo control, 63
Vector control, 63
E Extended Smart Mode, 55
Extended stopping and retraction (ESR), 564
Early encoder failure detection, 393
Extended torque control, 470
Edge evaluation of the zero mark, 399
External armature short-circuit braking
EDS switchover, 857
Activating, 361
Efficiency optimization
Braking resistors calculate, 362
Induction motor, 287
Example, 363
Reluctance motor, 289
Setting, 361
Vector control, 287
External braking resistors
Electronic rating plate
Example, 362
DRIVE-CLiQ, 888
External encoders
Encoder diagnostics
Dynamic Servo Control (DSC), 201
Early encoder failure detection, 393
Encoder dirty signal, 393
Encoder evaluation, 395
Encoder range, 415
F
Encoder track monitoring, 396 F01611
EPOS, 491 Fault value 1000, 703
Direct setpoint specification (MDI), 531 Faults and alarms
Flying referencing, 512 Forwarding, 853
Flying referencing using Safety Integrated Propagation, 853
functions, 521 Filter
Intermediate stop, 524, 532 On/off test, 704
Jog, 533 Filter events
Limits, 496 Diagnostics, 803
Mechanical system, 495 Filtering messages
Reject traversing task, 524, 532 Diagnostics, 801
Safe referencing, 519 Firmware update
System sampling times, 930 Downgrade lock, 436
Traversing blocks, 521 Fixed setpoints, 68
ESM Fixed speed setpoints, 68
Commissioning, 441 Flux reduction
Essential service mode, 438 Induction motor, 168
ESR Underload range, 168
Communication failure for Safety, 569 Flying referencing
Generator operation, 568 EPOS, 512
Initiating ESR, 565 Flying restart, 295
Overview, 564 Fast flying restart with voltage measurement, 298
Retraction, 567 Fast flying restart without voltage
Several axes, 569 measurement, 297
Stopping, 566
Drive functions
994 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Index
For long cables, 297
Synchronous reluctance motor, 299
Following error monitoring I
Dynamic, 487
I/f-controlled operation, 151
Forced checking procedure (test stop)
IEC61000-2-4 standard, 34
Automatically when powering up, 681
Increased stall power, 142
Basic Functions, 680
Induction motor
Initiated by the application, 681
Determining the optimum flux characteristic, 166
Freezing the speed raw value, 398
Flux reduction, 168
Frequency setpoint
Induction motors
SMC30, 443
DC brake, 366
Friction characteristic
Infeed
Technology function, 382
12-pulse, 550
Function module
6-pulse, 550
Additional closed-loop controls, 42, 582
Basic Infeed, 47
Basic positioner, 491
Pre-charging, 550
Braking Module external, 464
Infeed concepts, 549
Closed-loop position control, 473
Infeed units, 31
Cogging torque compensation, 620
Inputs/outputs
Cooling unit, 468
Overview, 860
Extended brake control, 458
Insufficient licensing
Extended monitoring functions, 456
System responses, 821
Extended stopping and retraction (ESR), 564
Interconnecting signals using BICO technology, 849
Extended torque control, 470
Interconnection using BICO technology, 849
Master/Slave, 537
Intermediate stop
Moment of inertia estimator, 572
EPOS, 524, 532
Parallel connection, 546
Internal armature short-circuit, 687
Function modules
Internal armature short-circuit braking
Servo, 449
Activating, 360
Functions
Setting, 360
Fixed speed setpoints, 68
Internal voltage protection
Jog, 70
Activating, 365
Motorized potentiometer, 66
Deactivating, 365
Travel to fixed stop, 204
Internet Explorer 11
U/f control for servo control, 145
Secure HTTPS connection, 774
G J
Google Chrome
Jerk limitation
Secure HTTPS connection, 781
Limits, 500
Ground fault test, 341
Jog, 70
EPOS, 533
JOG
H Jog, 70
Hardware limit switches (STOP cams)
Limit traversing range, 497
Hot-plugging K
DRIVE-CLiQ, 747
Kinetic buffering, 53, 266, 330
HTTPS connection
Vdc control, 194
SSL/TLS certificate, 769
Know-how protection
Basic copy protection, 869
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 995
Index
Executable functions, 873
Extended copy protection, 869
Locked functions, 873 M
Online mode, 873
Machine manufacturer, 721
Optionally executable functions, 873
Main/supplementary setpoint, 69
Parameters that can be changed, 872
Master/Slave for Active Infeed
Readable parameters, 872
Activation of the function, 542
Without copy protection, 869
Current distribution factor, 544
kT estimator
Description of the function module, 537
Servo, 470
Function diagram, 544
Operating principle, 537
Topology, 540
L VDC-link control band, 544
Layout Maximum acceleration
License overview page, 838 Limits, 496
LED Maximum deceleration
COM, 826, 827 Limits, 496
RDY, 826, 827 Maximum velocity
License key Limits, 496
Create, 840 Measuring gearbox, 416
Display, 821, 840 Measuring time to evaluate zero speed, 404
Enter, 821 Memory card, 885
License overview page Backing up a license key, 840
Layout, 838 Minimum requirements for a redundant data
Licensing backup, 885
Certificates of License, 835 Microsoft Edge
SINAMICS/SINUMERIK Web License Manager, 835 Secure HTTPS connection, 781
Z options, 835 Minimum speed, 76
Limit traversing range Modular machine concept, 342
Hardware limit switches (STOP cams), 497 Moment of inertia estimator
Software limit switch, 497 Accelerated estimation, 580
Limits Commissioning, 577
EPOS, 496 Function module, 572
Jerk limitation, 500 Load torque, 574
Maximum acceleration, 496 Moment of inertia, 574
Maximum deceleration, 496 Moment of inertia precontrol, 578
Maximum velocity, 496 Speed controller adaptation, 580
Speed controller, 99 Moment of inertia precontrol
Starting against a closed brake, 501 Vector control, 578
Torque setpoint, 108 Monitoring cycle, 673
Line contactor control, 59 Monitoring functions
Line Module types Extended, 456
Parallel connection, 546 Monitoring, tolerance band, pulse number, 402
Line Modules, 31 Motor
Line supply and DC link identification, 541 Single-winding system, 560
Load gear, 482, 483 Temperature monitoring, 635
Login Two-winding system, 558
Web server, 763 Motor changeover, 741
Logout Motor data identification, 274
Web server, 764 Determining the optimum flux characteristic, 166
LU, (Example) Flux reduction, 168
Length Unit, 473
Drive functions
996 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Index
Motor Modules Line Module types, 546
Derating, 445 Line Modules, 546
Motor reactor Motor Modules, 546
Vector control, 347 Not released, 547
Motorized potentiometer, 66 Requirements, 546
Mozilla Firefox Parallel connection of power units
Secure HTTPS connection, 789 Commissioning, 560
Multiturn encoder, 415 Parameter
Access levels, 832
Categories, 830
N Reset to factory setting, 832
Save retentively, 831
Non-volatile memory, 883
Parameterizing with BOP, 955
Number of controllable drives
Password
Notes, 924
Changing, 678
Number of current controller cycles to generate the
Pole position adaptation, 400
average value of the speed actual value, 404
Pole position identification
NVRAM, 883
Servo, 174
Vector, 282
With encoder for vector control, 283
O Without encoder for vector control, 282
OFF3 Position controller, 485
Torque limits, 381 Monitoring functions, 487
On/off test, 704 Position tracking, 416, 482, 483
One button tuning Load gear, 478
Configuring, 122 Measuring gearbox, 415
Online mode Positioning monitoring, 487
Activate write protection, 869 Power Modules
Know-how protection, 873 Derating, 445
Online tuning Pre-charging contactor
Activating, 128 Chassis, 61
Configuring, 128 Precontrol
Deactivating, 128 Speed, 253
Open actual speed value, 259 Probe evaluation, 211
Operating hours counter, 387 Example, 216
Operation without an encoder Handshake, 211
Servo control, 151 More than two edges, 213
Output current servo control Time-critical data transfer, 212
Derating, 445 With handshake, 212
Overload range Without handshake, 213
Determining the optimum flux characteristic, 166 PROFIBUS
Overload responses Slave-to-slave communication, 543
Chip temperature, 445 Protection against power failure
Heat-sink temperature, 445 Siemens memory card, 436
Power unit, 445 Pulse frequency
Overview of licenses Derating, 445
Web server, 838 Setting, 901
Pulse frequency wobbling
Chassis Motor Module, 353
P Vector control, 353
Pulse number correction for faults, 401
Parallel connection
Pulse/direction interface, 443
Basic Line Modules, 551
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 997
Index
Safe Stop 1
Basic Functions, 688
R SS1, 688
Time-controlled, 688
Ramp-down generator
With OFF3 (Basic Functions), 688
Scaling, 80
Safe Torque Off
Ramp-function generator
Basic Functions, 684
Scaling, 80
STO, 684
Ramp-function generator, extended, 78
Safety Integrated, 676
Ramp-up with partial topology, 342, 922
Safety Integrated Basic Functions
Rating plate
Stop responses, 718
Control Unit, 886
Safety Integrated password, 677
Ratio between the rated motor current and the rated
Safety logbook, 724
Motor Module current
Sampling times, 891
Servo control, 93, 235
Setting, 902
U/f control, 319
Save retentively
Vector control, 93, 235
Parameter, 831
Redundancy
Saving changes protected against power failure
Chassis power units, 306
Web server, 768
Chassis-2 power units, 306
SBA, 693
Redundancy mode
SBC
Replacing the power unit, 306
Basic Functions, 691
Reference model, 253
Safe Brake Control, 691
Reference variables
Secure HTTPS connection
Disabling, 337
Google Chrome, 781
Protecting, 337
Internet Explorer 11, 774
Referencing
Microsoft Edge, 781
Basic positioning, 503
Mozilla Firefox, 789
Replacing an encoder, 966
Servo
Reset to factory setting
Current setpoint filter, 114
Parameter, 832
Servo control
RESM, 244
Activating the extended setpoint channel function
Close-loop-controlled operation, 245
module, 64
Response times, 695
Automatic controller setting for the speed
Basic Functions via PROFIsafe (CU310‑2 and
controller, 149
CU320‑2), 697
Comparison with vector control, 90, 232
Basic Functions via terminals on the Control Unit
Current controller, 120
and the Motor Module, 696
Cycle times, 930
Basic Functions via TM54F, 698
Encoderless operation, 151
Rotating measurement (shortened) for vector
Functions, 89
control, 279
Properties, 90, 232
Rotating measurement for vector control, 277
Speed controller, 99
Torque setpoint limitation, 108
Torque-controlled operation, 102
S Travel to fixed stop, 204
S120 Combi, 988 Tuning, 149
Safe Brake Adapter U/f control, 145
Chassis format, 693 Vdc control, 194
Safe Brake Control Voltage precontrol, 220
Chassis format, 693 Servo current controller
SBC, 691 Current and torque limitation, 120
Drive functions
998 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Index
Current control, 120 Speed limitation
Current controller adaptation, 120 Droop, 257
Setpoint addition Speed raw value
Servo control, 95 Freezing, 398
Setpoint channel Speed setpoint filter
Direction of rotation limiting, 74 Servo, 97
Direction reversal, 74 SS1
Fixed speed setpoints, 68 Basic Functions, 688
Jog, 70 Safe Stop 1, 688
Main/supplementary setpoint, 69 Safe Stop 1 (Basic Functions), 688
Motorized potentiometer, 66 With external stop (Basic Functions), 690
Ramp-function generator, extended, 78 With OFF3 (Basic Functions), 688
Setpoint limitation, 76 SS1E, 690
Setpoint modification, 69 SS1 with external stop (Basic Functions), 690
Skip frequency bands, 76 SSL/TLS certificate
Setpoint modification, 69 HTTPS connection, 769
Setpoint sources, 64 Stall power limit, 142
Setting the fault response Stall power limiting, 142
Encoder error, 365, 370 Stall torque correction factor, 142
Faults, 365, 370 Standards, 671
Short-circuit test, 341 Standstill measurement
Siemens Industry Online Support Motor data identification, 274
App, 19 Startdrive
Siemens memory card Accepting the settings in the drive, 712
Protection against power failure, 436 Basic functions, 713
SINAMICS S120 Combi, 988 STO, SS1 and SBC, 713
SINAMICS/SINUMERIK Web License Manager Starting against a closed brake
Creating a license key, 840 Limits, 501
Sine-wave filter STO
Vector control, 345 Basic Functions, 684
Singleturn encoder, 415 Safe Torque Off (Basic Functions), 684
Slip compensation, 328 STOP A, 718
SLM, 31 STOP F, 718
Smart Infeed closed-loop control, 53 Stop response
Smart Line Module, 31 STOP A, 718
Smart Mode, 33 STOP F, 718
SMC30 Supported Internet browsers
Frequency setpoint, 443 Web server, 754
Software limit switch Switching operation
Limit traversing range, 497 Basic Functions, 703
Speed actual value Timing, 703
Open, 259 Switchover
Speed actual value filter, 271 Fixed speed setpoints, 68
Speed controller, 248 Synchronization (vector control), 301
Free Kp_n/Tn_n adaptation, 250 Synchronous motor
Limits, 99 Synchronous reluctance motor, 245
Properties, 99 Synchronous reluctance motor
Reference model, 253 Close-loop-controlled operation, 245
Speed controller adaptation, 100 Flying restart, 299
Speed controller precontrol, 253 Synchronous motor, 245
Speed setpoint filter, 97 System responses
Speed-dependent Kp_n/Tn_n adaptation, 250 Insufficient licensing, 821
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 999
Index
System runtime, 387 Three-winding transformer, 541
System sampling times, 891 TM150
CUA31 / CUA32, 931 Forming groups, 655
DCC, 930 Sensor failure, 656
EPOS, 930 TM41, 423
Mixed operation, 929 Referencing modes, 426
Servo control, 924 SIMOTION mode, 423
U/f control, 928 SINAMICS mode, 424
Vector control, 926 Zero mark emulation, 426
Tolerant encoder monitoring, 395
Topology, parallel connection with an auxiliary
T drive, 561
Torque control, 261
Technological application
Extended, 470
Servo, 94
Torque limitation, 264
Vector, 236, 323
Torque limits
Technology controller, 451
OFF3, 381
Technology function
Torque setpoint
Friction characteristic, 382
Limits, 108
Temperature monitoring
Torque-controlled operation
CU310-2 DP/PN, 659
Servo control, 102
CUA31/32, 658
Travel to fixed stop, 204
DRIVE-CLiQ motors, 660
Traversing blocks, 521
Motor, 635
Traversing task
Motor Modules, 657
Rejecting, 523, 532
Power Modules, 658
Trial License mode
Sensor evaluation, 660
Applications, 843
Sensor Module, 644
Short-circuit, 661
SMC, 644
SMC10, 644
U
SMC20, 644 U/f control, 319
SMC30, 644 Servo control, 145
SMC40, 644 Slip compensation, 328
SME120/125, 645 U/f control output frequency
Temperature sensor, 636 Derating, 445
Terminal Modules, 647 Underload range
Thermal motor model 1, 636 Flux reduction, 168
Thermal motor model 2, 638 Unit changeover, 335
Thermal motor model 3, 639 Update of the backup copy, 885
TM120, 650
TM150, 652
TM31, 648 V
Wire break, 661
Vdc control
Terminal Module 41
Servo control, 194
Commissioning, 432
U/f control, 330
Example, 431
Vector n/m control, 266
Limit frequencies, 430
Vdc_max control
SIMOTION mode, 423
Vector n/m control, 268
SINAMICS mode, 424
Vdc_min control
Zero mark synchronization, 429
Servo, 195
Test of switch-off signal paths, 680
Test pulse evaluation, 341
Drive functions
1000 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Index
Vector n/m control, 267 Data transfer, 752
Vector U/f control, 331 Deleting the SINAMICS password, 815
Vector Initial login, 761
Pole position identification, 282 Login, 763
Vector control Logout, 764
Automatic restart, 356 Overview of licenses, 838
Bypass, 307 Restoring the data backup, 812
Comparison with servo control, 90, 232 Restoring the factory setting, 813
Current setpoint filter, 270 Saving changes protected against power
du/dt filter compact plus Voltage Peak Limiter, 351 failure, 768
du/dt filter plus Voltage Peak Limiter, 349 Support information, 767
Functions, 231 Supported Internet browsers, 754
Motor data identification, 273, 274 User roles, 757
Motor reactor, 347 Websites of third-party companies, 20
Properties, 90, 232 Wind-up effect
Pulse frequency wobbling, 353 DSC, 202
Rotating measurement, 273, 277 Wiring rules
Shortened rotating measurement, 279 DRIVE-CLiQ, 903
Sine-wave filter, 345
Speed actual value filter, 271
Torque control, 261 Z
Torque setpoint, 238
Zero mark tolerance, 397
With encoder, 247
Without speed encoder, 237
Vector drives
Voltage Sensing Module, 303
Voltage boost
Servo, 146
Vector, 324
Voltage precontrol, 220
Voltage Sensing Module, 34
VSM
Commissioning, 304
Identification via LED, 304
Vector drives, 303
VSM10, 34
W
Web server
Access rights, 753, 757
Assigning a new administrator password, 816
Assigning the SINAMICS password, 815
Automatic logout, 764
Changing the administrator password, 814
Changing the SINAMICS password, 815
Changing to a secured HTTPS connection, 820
Configuration, 752
Configuring the IP connection, 820
Configuring user accounts, 814
Creating a parameter list, 806
Data backup, 811
Drive functions
Function Manual, 06/2020, 6SL3097-5AB00-0BP3 1001
Index
Drive functions
1002 Function Manual, 06/2020, 6SL3097-5AB00-0BP3
Additional information
Siemens:
www.siemens.com
Industry Online Support (service and support):
www.siemens.com/online-support
IndustryMall:
www.siemens.com/industrymall
Siemens AG
Digital Industries
Motion Control
P.O. Box 3180
D-91050 Erlangen
Germany
Scan the QR-Code
for product
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