SINAMICS S110 Function Manual · 06/2012 SINAMICS s
Function Manual ___________________ Preface General information for 1 ___________________ commissioning SINAMICS S110 Function Manual Commissioning preparations ___________________ 2 for PROFIBUS Commissioning with 3 ___________________ PROFIBUS Commissioning with ___________________ 4 CANopen ___________________ 5 Diagnostics Function Manual Parameterization using the ___________________ 6 Basic Operator Panel 20 ___________________ 7 Drive functions ___________________ 8 Safety Integrated Functio
Legal information 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.
Preface SINAMICS Documentation The SINAMICS documentation is organized in the following categories: ● General documentation / catalogs ● User documentation ● Manufacturer/Service documentation More information Using the following link, you can find information on the topics: ● Ordering documentation/overview of documentation ● Additional links to download documents ● Using documentation online (find and search in manuals/information) http://www.siemens.
Preface SINAMICS You can find information on SINAMICS at: http://www.siemens.com/sinamics.
Preface Standard scope The scope of the functionality described in this document can differ from the scope of the functionality 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. This does not, however, represent an obligation to supply such functions with a new control or when servicing.
Preface Note The Equipment Manual describes a desired state which, if maintained, ensures the required level of operational reliability and compliance with EMC limit values. Should there be any deviation from the requirements in the Equipment Manual, appropriate actions (e.g. measurements) must be taken to check/prove that the required level of operational reliability and compliance with EMC limit values are ensured. Spare parts You can find spare parts on the Internet at: http://support.automation.
Preface ESD information CAUTION Electrostatic sensitive devices (ESD) are single components, integrated circuits or devices that can be damaged by electrostatic fields or electrostatic discharges. Regulations for handling ESD components: When handling components, make sure that personnel, workplaces, and packaging are well grounded.
Preface General safety guidelines DANGER Commissioning is absolutely prohibited until it has been completely ensured that the machine in which the components described here are to be installed is in full compliance with the provisions of the EC Machinery Directive. Only appropriately qualified personnel may install, commission, and maintain SINAMICS S devices.
Preface DANGER Using protection against direct contact via DVC A (PELV) is only permissible in areas with equipotential bonding and in dry rooms indoors. If these conditions are not met, other protective measures with regard to electric shock must be taken, e.g. touch protection. DANGER As part of routine tests, SINAMICS S components will undergo a voltage test in accordance with EN 61800-5-1. Before the voltage test is performed on the electrical equipment of machines acc. to EN 60204-1, Section 18.
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Table of contents Preface ...................................................................................................................................................... 3 1 2 3 4 General information for commissioning.................................................................................................... 21 1.1 Explanations regarding the STARTER user interface .................................................................21 1.2 BICO interconnection procedure in STARTER..........
Table of contents 5 6 7 4.1.4 4.1.5 4.1.6 CAN bus interface X126.............................................................................................................. 68 CANopen functionality CU305 CAN............................................................................................ 69 Diagnostics LED "COM".............................................................................................................. 70 4.2 4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 4.2.6 4.2.7 4.2.
Table of contents 7.1.4 7.1.5 7.1.6 7.1.7 7.1.7.1 7.1.8 7.1.9 7.1.10 7.1.11 7.1.12 7.1.12.1 7.1.12.2 7.1.13 7.1.14 7.1.15 7.1.16 7.1.17 7.1.18 7.1.19 7.1.19.1 Torque-controlled operation.......................................................................................................127 Torque setpoint limitation...........................................................................................................129 Current controller .............................................................
Table of contents 7.3.5.6 7.3.6 7.3.6.1 7.3.6.2 7.3.6.3 7.3.6.4 7.3.6.5 7.3.6.6 7.3.6.7 7.3.6.8 7.3.6.9 7.3.7 7.3.7.1 7.3.7.2 7.3.7.3 7.3.7.4 7.3.7.5 7.3.7.6 7.3.7.7 7.3.7.8 7.3.7.9 7.3.8 7.3.8.1 7.3.8.2 7.3.8.3 7.3.8.4 7.3.8.5 7.3.8.6 7.3.8.7 7.3.8.8 7.3.8.9 7.3.8.10 7.3.8.11 7.3.8.12 7.3.8.13 7.3.8.14 7.3.8.15 7.3.8.16 7.3.8.17 7.3.8.18 7.3.8.19 7.3.8.20 7.3.8.21 7.3.8.22 7.3.8.23 7.3.8.24 7.3.8.25 8 Function diagrams and parameters .......................................................................
Table of contents 8.1.1.2 8.1.2 8.1.2.1 8.1.2.2 8.1.2.3 8.1.2.4 8.1.2.5 8.1.2.6 8.1.2.7 8.1.2.8 8.1.2.9 8.1.3 8.1.3.1 8.1.3.2 8.1.3.3 8.1.3.4 8.1.4 8.1.5 8.1.6 8.1.6.1 8.1.6.2 Functional safety ........................................................................................................................318 Safety of machinery in Europe...................................................................................................318 Machinery Directive ........................................
Table of contents 8.5.6.1 8.5.6.2 8.5.6.3 8.5.6.4 8.5.7 8.5.7.1 8.5.7.2 8.5.7.3 8.5.7.4 8.5.8 8.5.9 8.5.10 8.5.10.1 8.5.10.2 8.5.10.3 8.5.10.4 8.5.11 8.5.11.1 8.5.11.2 8.5.11.3 8.5.12 8.5.13 8.5.13.1 8.5.13.2 8.5.14 8.5.15 Safely Limited Speed (SLS) ...................................................................................................... 378 Safely Limited Speed without encoder......................................................................................
Table of contents 9 8.7.6 Information pertaining to component replacements...................................................................454 8.8 8.8.1 Application examples .................................................................................................................455 Input/output interconnections for a safety switching device with CU305...................................455 8.9 8.9.1 8.9.2 8.9.2.1 8.9.2.2 8.9.2.3 8.9.3 8.9.4 8.9.4.1 8.9.4.2 8.9.5 8.9.5.1 8.9.5.2 8.9.5.3 8.9.5.
Table of contents 10 9.3.4.3 9.3.4.4 9.3.4.5 Activating/parameterizing slave-to-slave communication ......................................................... 641 Commissioning of the PROFIBUS slave-to-slave communication ........................................... 642 Diagnosing the PROFIBUS slave-to-slave communication in STARTER ................................ 653 9.4 9.4.1 9.4.1.1 9.4.1.2 9.4.1.3 9.4.1.4 9.4.1.5 9.4.2 9.4.2.1 9.4.3 9.4.4 9.4.5 9.4.6 9.4.7 9.4.7.1 9.4.7.2 9.4.7.
Table of contents 11 10.4.5 10.4.6 10.4.7 Sample interconnections............................................................................................................712 BICO technology:.......................................................................................................................713 Scaling .......................................................................................................................................714 10.5 10.5.1 10.5.2 10.5.2.1 10.5.2.2 10.5.2.
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General information for commissioning 1.1 1 Explanations regarding the STARTER user interface Use STARTER to create your sample project. The different areas of the user interface are used for different configuration tasks (refer to diagram below): ● Project navigator (area ①): this area displays the elements and objects that can be added to your project.
General information for commissioning 1.2 BICO interconnection procedure in STARTER 1.2 BICO interconnection procedure in STARTER Introduction Parameterization can be carried out via the following means: ● Expert list ● Graphical screen interface The steps described below explain the general BICO interconnection procedure in STARTER.
General information for commissioning 1.2 BICO interconnection procedure in STARTER 2. Search for parameter p0840. Figure 1-2 Interconnect 1 3. Click the button to interconnect with an r parameter (see ①). 4. A selection list from which you can select the available r parameters is now displayed.
General information for commissioning 1.2 BICO interconnection procedure in STARTER 5. Search for parameter r2090.
General information for commissioning 1.2 BICO interconnection procedure in STARTER 6. Click the "+" sign to open the 16 bits of r parameter r2090.
General information for commissioning 1.2 BICO interconnection procedure in STARTER 7. Double-click r2090: Bit0. 8. In the expert list, you can now see that p0840 has been interconnected with r parameter r2090[0].
General information for commissioning 1.2 BICO interconnection procedure in STARTER Graphical screen interface When carrying out BICO interconnection via the graphical screen interface, proceed as follows: If for the setpoint speed, for example, you want to interconnect p parameter p1155[0] for "speed setpoint 1" with r parameter r2060[1], proceed as follows: Figure 1-6 Interconnection via graphical screen interface 1 1.
General information for commissioning 1.2 BICO interconnection procedure in STARTER Figure 1-7 Interconnection via graphical screen interface 2 2. Click the blue field to the left of the field for Speed setpoint 1 and then click the selection Further interconnections, which is now displayed. 3. A selection list from which you can select the available r parameters is now displayed.
General information for commissioning 1.2 BICO interconnection procedure in STARTER 4. Search for parameter r2060. Figure 1-8 Interconnection via graphical screen interface 3 5. Click the "+" sign to open the 15 indices of r parameter r2060.
General information for commissioning 1.2 BICO interconnection procedure in STARTER 6. Double-click r2060[1]. Figure 1-9 Interconnection via graphical screen interface 5 7. In the graphical screen interface, you can now see that p1155 has been interconnected with r parameter r2060[1].
General information for commissioning 1.3 DRIVE-CLiQ interface for CU305 1.3 DRIVE-CLiQ interface for CU305 The CU305 has a DRIVE-CLiQ interface. You may connect exactly one of the following components to this interface: ● SMI motor ● 1 encoder of type SMC10, SMC20, SMC30, SME20 or SME25 Further components or connections to the DRIVE-CLiQ interface are not permitted and lead to errors in the drive system.
General information for commissioning 1.4 Notes on the commissioning of a 2-pole resolver as absolute encoder 1.4 Notes on the commissioning of a 2-pole resolver as absolute encoder Description You can use 2-pole (1 pole pair) resolvers as singleturn absolute encoders. The absolute encoder position actual value is provided in Gn_XIST2 (r0483[x]). Actual position value format The factory setting for the fine resolution of Gn_XIST1 differs from the fine resolution in Gn_XIST2 (p0418 = 11, p0419 = 9).
General information for commissioning 1.5 Temperature sensors for SINAMICS components 1.5 Temperature sensors for SINAMICS components The following table provides an overview of the components which are available in SINAMICS S110 with temperature sensor connections. DANGER Safe electrical isolation of temperature sensors Only temperature sensors that meet the safety isolation specifications contained in EN 61800-5-1 may be connected to terminals "+Temp" and "-Temp".
General information for commissioning 1.5 Temperature sensors for SINAMICS components With the default setting (p0600 = 1 "Temperature via encoder 1" and p0601 = 2 "KTY") the temperature is evaluated via the first temperature channel. The temperature sensor is connected to terminal X531 on the SMC30. The temperature is shown via r0035. Note If you use an SMC30 with the default settings, then the temperature channel is evaluated at terminal X531 (pins 3 and 4).
General information for commissioning 1.5 Temperature sensors for SINAMICS components Function diagrams (see SINAMICS S110 List Manual) ● 8016 Signals and monitoring - Thermal monitoring of motor Overview of important parameters (see SINAMICS S110 List Manual) ● r0035 Motor temperature ● p0600[0..n] Motor temperature sensor for monitoring ● p0601[0..n] Motor temperature sensor type ● p0604[0...n] Motor overtemperature alarm threshold ● p0605[0...n] Motor overtemperature fault threshold ● p0606[0...
General information for commissioning 1.
Commissioning preparations for PROFIBUS 2 Before you start commissioning, you will need to carry out the preparations described in this chapter: ● Requirements for commissioning ● PROFIBUS components 2.
Commissioning preparations for PROFIBUS 2.1 Requirements for commissioning Check list for commissioning blocksize power units The following checklist must be carefully observed. The safety information in the Manuals must be read and understood before starting work. Table 2- 1 Check list for commissioning blocksize Check O. K.
Commissioning preparations for PROFIBUS 2.2 PROFIBUS components 2.2 PROFIBUS components For communication via PROFIBUS, components with a PROFIBUS interface are required. ● A communication module for programming device/PC connection via the PROFIBUS interface: ● PROFIBUS connection to a programming device/PC via USB port (USB V2.0), e.g. with the PROFIBUS adapter CP5711. Structure: USB port (USB V2.0) + adapter with 9-pin SUB-D socket connector to connect to PROFIBUS.
Commissioning preparations for PROFIBUS 2.3 Connection via serial interface 2.3 Connection via serial interface Prerequisite There must be a serial interface (COM) on the PC from which the connection is to be made. Settings 1. In STARTER, go to Project > Set PG/PC interface and select the Serial cable (PPI) interface. If this interface is not in the selection list, you will have to add it via Select before proceeding any further.
Commissioning preparations for PROFIBUS 2.3 Connection via serial interface 3. The Control Unit's PPI address is pre-set to "3" in the factory. 4. You should also set the bus address to "3" during setup, or under "Properties" in the drive unit's shortcut menu. Figure 2-3 Setting the bus address 5. You must use a null modem cable to connect the PC (COM interface) to the Control Unit. This interface must not be switched.
Commissioning preparations for PROFIBUS 2.4 Powering-up/powering-down the drive system 2.
Commissioning preparations for PROFIBUS 2.4 Powering-up/powering-down the drive system Off responses ● OFF1 – n_set = 0 is input immediately to brake the drive along the deceleration ramp (p1121). – When zero speed is detected, the motor holding brake (if parameterized) is closed (p1215). The pulses are suppressed when the brake application time (p1217) expires.
Commissioning preparations for PROFIBUS 2.4 Powering-up/powering-down the drive system Control and status messages Table 2- 3 Power-on/power-off control Signal name Internal control word Binector input PROFdrive/Siemens telegram 1 ... 111 0 = OFF1 STWA.00 STWAE.00 p0840 ON/OFF1 STW1.0 0 = OFF2 STWA.01 STWAE.01 p0844 1. OFF2 p0845 2. OFF2 STW1.1 0 = OFF3 STWA.02 p0848 1. OFF3 p0849 2. OFF3 STW1.2 Enable operation STWA.03 STWAE.03 p0852 Enable operation STW1.
3 Commissioning with PROFIBUS 3.1 Sequence of operations during commissioning Once the basic requirements have been met, you may proceed as follows to commission the drive: Table 3- 1 Commissioning Step Activity 1 Create project with STARTER. 2 Configure the drive unit in STARTER. 3 Save the project in STARTER. 4 Go online with the target device in STARTER. 5 Load the project to the target device. 6 The motor starts to run.
Commissioning with PROFIBUS 3.2 STARTER commissioning tool 3.1.1 Safety guidelines DANGER A hazardous voltage will be present in all components for a further five minutes after the system has been shutdown. Note the information on the component! CAUTION A project with Safety Integrated must only be created online. Note Please observe the installation guidelines and safety instructions in the SINAMICS S110 Equipment Manual.
Commissioning with PROFIBUS 3.2 STARTER commissioning tool 3.2.1 Important STARTER functions Description STARTER supports the following tools for managing the project: ● Copy RAM to ROM ● Download to target device ● Load to PG/PC ● Restoring the factory settings ● Commissioning wizard ● Displaying toolbars Copy RAM to ROM You can use this function to save volatile Control Unit data to the non-volatile memory.
Commissioning with PROFIBUS 3.2 STARTER commissioning tool Load to PG/PC You can use this function to load the current Control Unit project to STARTER.
Commissioning with PROFIBUS 3.2 STARTER commissioning tool Upgrade the project 1. Is the project in STARTER? Yes: continue with 3. 2. Use STARTER to download project to PG: – Connect with target system (go online) – Downloading the project into the PG 3. Install the latest firmware version for the project. – In the project navigator, right-click Drive unit → Target device → Device version. – For example, select version "SINAMICS S110 V4.3x" -> Change version.
Commissioning with PROFIBUS 3.2 STARTER commissioning tool STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP) 3* 3& 67$57(5 352),%86 DGDSWHU 352),%86 352),%86 LQWHUIDFH $GGUHVV Figure 3-1 M $GGUHVV $GGUHVV M STARTER via PROFIBUS (example with 2 CU305 and a CU310 DP) Settings in STARTER for direct online connection via PROFIBUS The following settings are required in STARTER for communication via PROFIBUS: ● Tools → Set PG/PC interface...
Commissioning with PROFIBUS 3.3 Basic Operator Panel 20 (BOP20) ● Tools → Set PG/PC interface... → Properties Activate/deactivate "PG/PC is the only master on the bus". Note • Baud rate Switching STARTER to a working PROFIBUS: STARTER automatically detects the baud rate used by SINAMICS for the PROFIBUS. Switching the STARTER for commissioning: The Control Unit automatically detects the baud rate set in STARTER.
Commissioning with PROFIBUS 3.3 Basic Operator Panel 20 (BOP20) 3.3.1 Important functions via BOP20 Description Using the BOP20, the following functions can be executed via parameters that support you when handling projects: ● Restoring the factory settings ● Copy RAM to ROM ● Acknowledge error Restoring the factory settings The factory setting of the complete device can be established in the drive object CU.
Commissioning with PROFIBUS 3.4 Creating a project in STARTER 3.4 Creating a project in STARTER 3.4.1 Creating a project offline To create a project offline, you need the PROFIBUS address, the device type (e.g. SINAMICS S110), and the device version (e.g. FW 4.1). Table 3- 2 Sequence for creating a project in STARTER (example) What to do? 1. Create a new project How to do it? • Operator action: – • Menu "Project" → New ...
Commissioning with PROFIBUS 3.4 Creating a project in STARTER What to do? 2. Add individual drive How to do it? Remark Information about the bus address: Operator action: → Double-click "Add individual drive unit". Device type: SINAMICS S110 CU305 DP (can be selected) Device version: 4.1x (can be selected) Address type: PROFIBUS/USS/PPI (can be selected) Bus address: 37 (can be selected) 3. Configure the drive unit.
Commissioning with PROFIBUS 3.4 Creating a project in STARTER 3.4.2 Searching for a drive unit online To search for a drive unit online, the drive unit and the PG/PC must be connected via PROFIBUS. Table 3- 3 Sequence for searching for a drive unit in STARTER (example) What to do? 1. Create a new project How to do it? Operator action: Menu: "Project" → New with Wizard Click "Find drive unit online". 1.1 Enter the project data.
Commissioning with PROFIBUS 3.4 Creating a project in STARTER What to do? How to do it? 2. Set up the PG/PC interface Here, you can set up the PG/PC interface by clicking "Change and test". 3. Insert drives Here, you can search for nodes that have been accessed.
Commissioning with PROFIBUS 3.5 Example of first commissioning with STARTER What to do? 4. Summary How to do it? You have now created the project. → Click "Complete". 5. Configure the drive Once you have created the project, you have to configure the drive unit. The "Example of first unit. commissioning using STARTER" chapter contains an example scenario. 3.4.3 Searching for nodes that can be accessed To search for a drive unit online, the drive unit and the PG/PC must be connected via PROFIBUS.
Commissioning with PROFIBUS 3.5 Example of first commissioning with STARTER 3.5.1 Task 1. Commission a drive system with the following components: Table 3- 4 Component overview Designation Component Order number Closed-loop control and infeed Control Unit Control Unit 305 Drive 1 Sensor Module SMC20 6SL3055-0AA00-5BAx Motor Synchronous motor 1FK7061-7AF7x-xxxx Motor encoder Incremental encoder sin/cos C/D 1 Vpp 2048 p/r 1FK7xxx-xxxxx-xAxx 2. The drive is to be enabled via PROFIBUS.
Commissioning with PROFIBUS 3.5 Example of first commissioning with STARTER What to do? 3.3 Motor How to do it? The name of the motor (e.g. tooling labeling) can be entered. Select standard motor from list: Yes Select the motor type (see type plate). Remark You can select a standard motor from the motor list or you can enter the motor data manually. You can then select the motor type. 3.4 Motor brakes Here, you can configure the brake and activate the "Extended brake control" function module.
Commissioning with PROFIBUS 3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example 3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example The example provided in this section explains all the configuration and parameter settings that are required for first commissioning. Commissioning is performed using the BOP20. Commissioning requirement ● The check list for commissioning (Table 1-1 or 1-2 from Section 1.1) has been filled out and the points complied with. 3.6.
Commissioning with PROFIBUS 3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example 3.6.2 Component wiring (example) The following diagram shows a possible component configuration and wiring option. / / / '5,9( &/L4 ; &RQWURO 8QLW ; 3RZHU 0RGXOH /LQH UHDFWRU /LQH ILOWHUV 0RWRU FDEOH Figure 3-2 Component wiring with integrated Sensor Module (example) For more information on wiring and connecting the encoder system, see the Equipment Manual.
Commissioning with PROFIBUS 3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example 3.6.3 Quick commissioning using the BOP (example) Table 3- 7 Quick commissioning for a motor with a DRIVE-CLiQ interface Procedure Description Factory setting Note: The drive must be set to the factory settings before first commissioning is carried out. 1. p0009 = 1 Device commissioning parameter filter * 1 0 Ready 1 Device configuration 30 Parameter reset 2.
Commissioning with PROFIBUS 3.6 Initial commissioning using servo AC DRIVE with BOP20 as an example Procedure 9. Description Factory setting Switching the drive on with the ON pushbutton Binector output r0019.0 is set using this pushbutton. * These parameters offer more setting options than the ones described here. For more possible settings, see the SINAMICS S110 List Manual. [CDS] Parameter depends on command data sets (CDS). Data set 0 is preset. [DDS] Parameter depends on drive data sets (DDS).
Commissioning with PROFIBUS 3.
Commissioning with CANopen 4.1 4 Requirements for commissioning Section content This section describes the commissioning prerequisites: ● CU305 CAN with connection to PG/PC ● STARTER commissioning tool on PG/PC You can find a detailed description of the CANopen interface on the CU305 CAN in the SINAMICS S110 Equipment Manual. The "STARTER commissioning tool" chapter of this manual contains an introduction to the STARTER commissioning tool. 4.1.
Commissioning with CANopen 4.1 Requirements for commissioning 4.1.2 Prerequisites for commissioning CU305 with CANopen To commission a CAN bus in a SINAMICS drive line-up, the following hardware and software components are required: ● CU305 CAN with firmware in the non-volatile memory. ● Link between the CANopen Control Unit and a PG/PC with an RS232 connection. ● STARTER commissioning tool on the PG/PC.
Commissioning with CANopen 4.1 Requirements for commissioning 4.1.3 CAN bus on the CU305 The integrated CAN interface is used to connect drives in the SINAMICS S110 drive system to higher-level automation systems with a CAN bus.
Commissioning with CANopen 4.1 Requirements for commissioning The CU305 CAN uses 9-pin Sub D X126 connectors for the connection to the CAN bus system. WARNING Do NOT connect a PROFIBUS cable Connecting a PROFIBUS cable to CAN connector X126 is highly likely to damage the CANopen interface of the CU305 beyond repair. You can use the connectors as inputs or outputs. Unused pins are plated through. The following baud rates (among others) are supported: 10, 20, 50, 125, 250, 500, 800 kBaud, and 1 Mbaud.
Commissioning with CANopen 4.1 Requirements for commissioning 4.1.5 CANopen functionality CU305 CAN Introduction The CU305 CAN supports the CANopen transfer types with SDOs (service data objects) and PDOs (process data objects). The CU305 CAN also supports free PDO mapping. The CU305 CAN supports CANopen communication profile DS 301 version 4.0, device profile DSP 402 (drives and motion control) version 2.0, and indicator profile DR303-3 version 1.0.
Commissioning with CANopen 4.2 Commissioning 4.1.6 Diagnostics LED "COM" COM diagnostics LED → red Table 4- 2 COM diagnostics LED → red (CANopen error LED) ERROR LED flashing frequency Status Meaning Off No error Ready Single flash Warning limit reached At least one of the CAN controller error counters has reached the "Error Passive" warning threshold. (too many telegrams with errors). Double flash Error control event A guard event has occurred.
Commissioning with CANopen 4.2 Commissioning Prerequisite Before following the commissioning steps described in this chapter, please ensure the points referred to in the "Requirements for commissioning" chapter have been addressed. 4.2.2 CANopen object directory CANopen object directory When the drive objects are initialized, the CANopen objects are initialized in the object directory for the SINAMICS drive line-up (CANopen slave software).
Commissioning with CANopen 4.2 Commissioning 4.2.3 Commissioning options Prerequisites You can find explanations of the CANopen terminology and other important technical principles in the Introduction chapter in the CANopen Manual. Commissioning This section describes the commissioning prerequisites: ● SINAMICS S110: CU305 CAN ● STARTER commissioning tool Note All CANopen parameters, errors and warnings are described in the List Manual.
Commissioning with CANopen 4.2 Commissioning 4.2.4 Configuring the drive unit with STARTER (overview) Initial commissioning: procedure In the table below, the current commissioning step is highlighted in bold: Table 4- 4 CANopen initial commissioning Step Procedure 1 Hardware settings on the CU305 2 Configure the drive unit using the STARTER commissioning tool in ONLINE mode. 3 Configure the COB IDs and process data objects for the receive and transmit message frames.
Commissioning with CANopen 4.2 Commissioning 4.2.5 Searching for the drive unit ONLINE Introduction The SINAMICS firmware is able to detect the connected drives automatically, as well as set and save the corresponding parameters. Steps To ensure that the drive unit configuration is identified automatically, open a new project in STARTER: Proceed as follows: 1.
Commissioning with CANopen 4.2 Commissioning 4. The Project Wizard searches for the drive unit ONLINE and inserts it in the project. Click Continue >. The Wizard displays a summary of the project. 5. Choose Complete. The new project and drive unit are displayed in STARTER. Note STARTER searches for drive units (in this case, Control Units). This means more than one drive unit will be found if there is more than one Control Unit in the system. The peripherals associated with a drive unit (Control Unit, etc.
Commissioning with CANopen 4.2 Commissioning 2. During first commissioning, double-click Configure drive unit in the project navigator (see the example screen below). Once first commissioning is complete, you will find the CANopen interface configuration under Control Unit → Configuration → Wizard button.
Commissioning with CANopen 4.2 Commissioning 3. Enter the transmission rate and the CAN bus address (node ID) in the Configuration - CAN interface dialog box. Figure 4-4 CAN interface 4. You can select a transmission rate of 1 MBit/s for commissioning, for example. The factory setting is 20 kBit/s. Note If, during commissioning, you power down/power up the control or carry out a RESET, the factory settings will be restored.
Commissioning with CANopen 4.2 Commissioning 5. There are two possible ways of setting the bus address/node ID: – In this dialog box, you can set a value between 1 and 126 if the address switch on the Control Unit (labeled "DP address") is set to 0 or 127. Note If the address switch is set to between 1 and 126, values that were entered here in OFFLINE mode will not be downloaded. – Directly using the address switch on the Control Unit. The following diagram shows an example for address 5.
Commissioning with CANopen 4.2 Commissioning 7. On the dialog screen which appears when you select this command path ("SINAMICS_S110_CU305_CAN configuration - Control structure"), you can define whether the drive object (function module) is to operate with/without an extended setpoint channel. The commissioning procedure described here is carried out without an extended setpoint channel (ramp-function generator). The field for the extended setpoint channel must be clicked-out.
Commissioning with CANopen 4.2 Commissioning 9. Choose the motor type and the motor according to the type (order no.) (see the rating plate). 10.Click Continue > until you reach the point at which you configure the encoder. 11.Select the motor encoder and click Next > to run the wizard through to the dialog containing the summary. 12.Click Complete. This completes the OFFLINE configuration of the drive unit. 4.2.
Commissioning with CANopen 4.2 Commissioning The CANopen interface is now parameterized. To load the project to the target system in ONLINE mode, carry out the following steps. Note Parameter p8609 determines how the drive or CAN node will respond in the event of a CAN communication or device error. Factory setting: p8609 = 1, => no change Parameter p8609 Sets the behavior of the CAN node referred to the communications error or equipment fault.
Commissioning with CANopen 4.2 Commissioning Figure 4-7 ONLINE/OFFLINE comparison (example) 2. You changed the data OFFLINE and now have to load it to the target system. Carry out the following: – <== Download to target device in the "ONLINE/OFFLINE comparison" dialog box – When the system asks "Are you sure?", click Yes. The system now starts loading the data. – When the system informs you that the data was successfully loaded to the target system, click OK. – Click OK for "Load from RAM to ROM". 3.
Commissioning with CANopen 4.3 Configuring COB-IDs and process data objects 4.3 Configuring COB-IDs and process data objects 4.3.1 Configuring COB-IDs and process data Configuring COB-IDs and process data For more information about this subject please see the CANopen Commissioning Manual (COB-IDS and process data objects associated with receive and transmit telegrams). 4.4 Interconnecting process data 4.4.
Commissioning with CANopen 4.5 Loading and managing projects ONLINE 4.5 Loading and managing projects ONLINE 4.5.1 In ONLINE mode, load the projects from the drive unit to the PC/PG and save. Prerequisite You are in ONLINE mode in STARTER and have completed the initial commissioning procedure. Steps To save the data configured ONLINE in STARTER on the PG/PC, proceed as follows: 1. Select the drive unit in the project navigator.
5 Diagnostics This chapter describes the following diagnostic features of the SINAMICS S drive system: ● Diagnostics via LEDs ● Diagnostics via STARTER ● Diagnostic buffer ● Fault and alarm messages 5.1 Diagnostics via LEDs 5.1.1 LEDs when the Control Unit boots The individual statuses during the booting procedure are indicated by means of the LEDs on the Control Unit. ● The duration of the individual statuses varies.
Diagnostics 5.1 Diagnostics via LEDs Control Unit 305 - behavior of the LEDs during booting Table 5- 1 LEDs during power up LED Status Remark RDY COM OUT>5 MOD Orange Orange Off Red Reset – Red Red Off Off BIOS loaded – Red 2 Hz Red Off Off BIOS error – Red Off Off Off Firmware loaded – Red 2 Hz Red 2 Hz Off Off File error problem with file system Off Red Off Off Firmware checked no CRC errors Red 0.5 Hz Red 0.
Diagnostics 5.1 Diagnostics via LEDs 5.1.2 LEDs after the Control Unit has booted Table 5- 2 Control Unit CU305 – description of the LEDs after booting LED RDY (READY) COM PROFIdrive cyclic operation/ CU305 DP Color Status Description, cause Remedy - off Electronics power supply is missing or outside permissible tolerance range. - Green Continuous The component is ready and cyclic DRIVE-CLiQ communication takes place or the Control Unit waits for initial commissioning.
Diagnostics 5.1 Diagnostics via LEDs LED COM/ CU305 CAN Color - Status off Description, cause Cyclic communication has not (yet) taken place. Remedy - Note: The CAN is ready to communicate when the Control Unit is ready to operate (see LED RDY). Green Continuous Cyclic communication is taking place. - Flashing 0.5 Hz Cyclic communication is not yet running fully. Possible reasons: - • The controller is not transferring any setpoints.
Diagnostics 5.1 Diagnostics via LEDs 5.1.3 LEDs on the Sensor Module Cabinet SMC10 / SMC20 Table 5- 3 Sensor Module Cabinet 10 / 20 (SMC10 / SMC20) – description of the LEDs LED RDY READY Color Status Description, cause Remedy - off Electronics power supply is missing or outside permissible tolerance range. – Green Continuous light The component is ready for operation and cyclic DRIVECLiQ communication is taking place.
Diagnostics 5.1 Diagnostics via LEDs 5.1.4 Table 5- 4 LEDs on the Sensor Module Cabinet-Mounted SMC30 Meaning of LEDs on the Sensor Module Cabinet SMC30 LED RDY READY Color Status Remedy - Off Electronics power supply is missing or outside permissible – tolerance range. Green Continuous light The component is ready for operation and cyclic DRIVECLiQ communication is taking place. – Orange Continuous light DRIVE-CLiQ communication is being established.
Diagnostics 5.2 Diagnostics via STARTER 5.2 Diagnostics via STARTER The diagnostic functions support commissioning and service personnel during commissioning, troubleshooting, diagnostics and service activities. Prerequisite ● Online operation of STARTER.
Diagnostics 5.2 Diagnostics via STARTER Parameterizing and operating the ramp-function generator Use the STARTER commissioning tool to parameterize and operate the function generator. Figure 5-1 "Ramp-function generator" initial screen Note Please see the online help for more information on parameterization and operation. Properties ● Concurrent injection to several drives possible.
Diagnostics 5.2 Diagnostics via STARTER ● Restriction of the output signal to the minimum and maximum value settable.
Diagnostics 5.2 Diagnostics via STARTER Starting/stopping the ramp-function generator Note If you parameterize the function generator in a certain way (e.g. offset), the motor will be able to "drift" and travel to the end stop. The movement of the drive is not monitored while the ramp-function generator is active. To start the ramp-function generator: 1.
Diagnostics 5.2 Diagnostics via STARTER 5.2.2 Trace function Description You can use the trace function to record measured values over a defined period, depending on trigger conditions. Call to the trace function The "Trace" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool.
Diagnostics 5.2 Diagnostics via STARTER The unit cycle time display flashes 3 times at around 1 Hz when the time slice is changed from < 4 ms to ≥ 4 ms (see description under "Properties"). Note Please see the online help for more information about parameterizing and operation. Properties ● Up to 4 recording channels per trace. ● Device cycle for individual trace: 0.25 ms ● Two independent trace recorders per Control Unit – Endless trace: Activate Ring buffer to define the recording length more precisely.
Diagnostics 5.2 Diagnostics via STARTER 5.2.3 Measuring function Description The measuring function is used for optimizing the drive controller. By parameterizing the measuring function, the impact of superimposed control loops can be suppressed selectively and the dynamic response of the individual drives analyzed. The ramp-function generator and trace function are linked for this purpose. The control loop is supplied with the rampfunction generator signal at a given point (e.g.
Diagnostics 5.
Diagnostics 5.2 Diagnostics via STARTER Parameterization The "Measurement function" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool. Figure 5-8 5.2.4 STARTER icon for "Measuring function" Measuring sockets Description The measuring sockets are used to output analog signals. Any interconnectable signal can be output to any measuring socket on the Control Unit. CAUTION The measuring sockets should be used for commissioning and servicing purposes only.
Diagnostics 5.2 Diagnostics via STARTER Parameterizing and using the measuring sockets The measuring sockets are parameterized and operated via the STARTER commissioning tool. Figure 5-10 "Measuring sockets" initial screen In the STARTER commissioning tool, select the parameter screen "Measuring sockets" in the project tree under the CU in the entry inputs/outputs in the tab Measuring sockets. Note Please see the online help for more information about parameterizing and operation.
Diagnostics 5.2 Diagnostics via STARTER Properties • Resolution 8-bit • Voltage range 0 V to +4.98 V • Measuring cycle Depends on the measuring signal (e.g.
Diagnostics 5.2 Diagnostics via STARTER Scaling Scaling specifies how the measuring signal is processed. A straight line with 2 points must be defined for this purpose. Example: x1 / y1 = 0.0% / 2.49 V x2 / y2 = 100.0% / 4.98 V (default setting) – 0.0% is mapped onto 2.49 V – 100.0% is mapped onto 0.00 V Offset The offset is applied additively to the signal to be output. The signal to be output can thus be displayed within the measuring range.
Diagnostics 5.3 Fault and alarm messages Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p0771[0...1] CI: Measuring sockets signal source ● p0777[0...1] Measuring sockets characteristic value x1 ● P0778[0...1] Measuring sockets characteristic value y1 ● p0779[0...1] Measuring sockets characteristic value x2 ● p0780[0...1] Measuring sockets characteristic value y2 ● p0783[0...1] Measuring sockets offset ● p0784[0...
Diagnostics 5.3 Fault and alarm messages Properties of faults and alarms ● Faults – Are identified by Fxxxxx. – Can lead to a fault reaction. – Must be acknowledged once the cause has been remedied. – Status via Control Unit and LED RDY. – Status via PROFIBUS status signal ZSW1.3 (fault active). – Entry in the fault buffer. ● Alarms – Are identified by Axxxxx. – Have no further effect on the drive. – The alarms are automatically reset once the cause has been remedied. No acknowledgment is required.
Diagnostics 5.3 Fault and alarm messages Acknowledgment of faults The list of faults and alarms specifies how each fault is acknowledged after the cause has been remedied. 1. Acknowledgment of faults by "POWER ON" – Switch the drive on/off (POWER ON) 2. Acknowledgment of faults by "IMMEDIATE" – Via PROFIBUS control signal STW1.7 (reset fault memory): 0/1 edge Set STW1.
Diagnostics 5.3 Fault and alarm messages 5.3.2 Buffer for faults and alarms Note The contents of the fault buffer are saved to non-volatile memory when the Control Unit is powered down, i.e. the fault buffer history is still available when the unit is powered up again. NOTICE The entry in the fault/alarm buffer is made after a delay. For this reason, the fault/alarm buffer should not be read until a change in the buffer is also recognized (r0944, r2121) after "Fault active"/"Alarm active" is output.
Diagnostics 5.3 Fault and alarm messages Properties of the fault buffer: ● A new fault incident encompasses one or more faults and is entered in "Current fault incident". ● The entries appear in the buffer according to the time at which they occurred. ● If a new fault incident occurs, the fault buffer is reorganized. The history is recorded in "Acknowledged fault incident" 1 to 7. ● If the cause of at least one fault in "Current fault incident" is remedied and acknowledged, the fault buffer is reorganized.
Diagnostics 5.3 Fault and alarm messages Alarm buffer, alarm history The alarm buffer comprises the alarm code, the alarm value and the alarm time (received, resolved). The alarm history occupies the last indices ([8...63]) of the parameter.
Diagnostics 5.3 Fault and alarm messages Properties of the alarm buffer/alarm history: ● The arrangement in the alarm buffer is made after the time that they occurred from 7 to 0. In the alarm history, this is from 8 to 63. ● If 8 alarms have been entered into the alarm buffer, and a new alarm is received, then the alarms that have been resolved are transferred into the alarm history. ● r2121 is incremented each time the alarm buffer changes. ● An alarm value (r2124) can be output for an alarm.
Diagnostics 5.3 Fault and alarm messages Note Only those messages which are listed in the indexed parameters can be changed as desired. All other message settings retain their factory settings or are reset to the factory settings. Examples: • In the case of messages listed via p2128[0...19], the message type can be changed. The factory setting is set for all other messages. • The fault response of fault F12345 has been changed via p2100[n]. The factory settings are to be restored.
Diagnostics 5.3 Fault and alarm messages Triggering messages externally If the appropriate binector input is interconnected with an input signal, fault 1, 2 or 3 or alarm 1, 2 or 3 can be triggered via an external input signal. Once an external fault (1 to 3) has been triggered on the Control Unit drive object, this fault is also present on all associated drive objects. If one of these external faults is triggered on a different drive object, it is only present on that particular drive object.
Diagnostics 5.3 Fault and alarm messages Overview of important parameters (see SINAMICS S110 List Manual) ● r0944 Counter for fault buffer changes ... ● p0952 Fault counter ● p2100[0...19] Fault code for fault reaction selection ... ● r2139 Status word for faults ● r3120[0...63] Component number fault ● r3121[0...63] Component number alarm ● r3122[0...63] Diagnostics attribute fault ● r3123[0...63] Diagnostics attribute alarm 5.3.
Diagnostics 5.3 Fault and alarm messages Fault and alarm classes There are differentiated alarm messages in the cyclic telegrams between the former alarm classes "Alarm" and "Fault". Therefore there are 3 additional levels of alarm between the "pure" alarm and the fault. The function permits a higher-level control (SIMATIC, SIMOTION, SINUMERIK, etc.) to have different control reactions to alarm messages from the drive.
Diagnostics 5.3 Fault and alarm messages Explanations of the alarm classes ● W_NCA: Drive operation currently not limited – e.g. alarm when measurement systems inactive – no limitation on current movement – Prevent possible switching to the defective measuring system ● W_NCB: Time-limited operation – e.g.
Parameterization using the Basic Operator Panel 20 6.1 6 General information about the BOP20 With the Basic Operator Panel 20 (BOP20), drives can be powered up and powered down during the commissioning phase and parameters can be displayed and modified. Faults can be diagnosed as well as acknowledged. The BOP20 is snapped onto the Control Unit; to do this the dummy cover must be removed (for additional information on mounting, please refer to the Equipment Manual).
Parameterization using the Basic Operator Panel 20 6.1 General information about the BOP20 Information on the displays Table 6- 1 LED Display Meaning top left 2 positions The active drive object of the BOP is displayed here. RUN Is lit (bright) if the drive is in the RUN state (operation). The displays and key operations always refer to this drive object. RUN is also displayed via bit r0899.2 of the drive.
Parameterization using the Basic Operator Panel 20 6.2 Displays and using the BOP20 BOP20 functions Table 6- 3 Functions Name Description 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. Unplug while voltage is present The BOP can be withdrawn and inserted under voltage. • The ON and OFF keys have a function. When withdrawing, the drive is stopped.
Parameterization using the Basic Operator Panel 20 6.2 Displays and 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 keys "FN" and the arrow keys.
Parameterization using the Basic Operator Panel 20 6.2 Displays and 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.
Parameterization using the Basic Operator Panel 20 6.2 Displays and using the BOP20 Example: Changing binector and connector input parameters For the binector input p0840[0] (OFF1) of drive object 2 binector output r0019.0 of the Control Unit (drive object 1) is interconnected.
Parameterization using the Basic Operator Panel 20 6.3 Fault and alarm displays 6.
Parameterization using the Basic Operator Panel 20 6.4 Controlling the drive using the BOP20 6.4 Controlling the drive using the BOP20 Description 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.
7 Drive functions 7.1 Servo control This type of closed-loop control enables operation with a high dynamic response and precision for a motor with a motor encoder. 7.1.1 Speed controller The speed controller controls the motor speed using the actual values from the encoder (operation with encoder) or the calculated actual speed value from the electric motor model (operation without encoder).
Drive functions 7.1 Servo control 7.1.2 Speed setpoint filter The speed setpoint filter can be used as follows: ● Bandstop ● Low-pass 1st order (PT1) or ● Low-pass 2nd order (PT2) The filter is activated via parameter p1414. The filter elements are selected via parameter p1415.
Drive functions 7.1 Servo control Parameterization The "speed setpoint filter" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 7-3 7.1.3 STARTER icon for "speed setpoint filter" Speed controller adaptation Description Two adaptation methods are available, namely free Kp_n adaptation and speed-dependent Kp_n/Tn_n adaptation.
Drive functions 7.1 Servo control Parameterization The "speed controller" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: Figure 7-5 STARTER icon for "speed controller" Function diagrams (see SINAMICS S110 List Manual) ● 5050 Kp_n and Tn_n adaptation Overview of important parameters (see SINAMICS S110 List Manual) Free Kp_n adaptation ● p1455[0...n] CI: Speed controller P gain adaptation signal ● p1456[0...
Drive functions 7.1 Servo control 7.1.4 Torque-controlled operation Description An operating mode switchover (p1300) or binector input (p1501) can be used to switch from speed control to torque control mode. All torque setpoints from the speed control system are rendered inactive. The setpoints for torque control mode are selected by parameterization.
Drive functions 7.1 Servo control OFF responses ● OFF1 and p1300 = 23 – Reaction as for OFF2 ● OFF1, p1501 = "1" signal and p1300 ≠ 23 – No separate braking response; the braking response takes place by a drive that specifies the torque. – The pulses are suppressed when the brake application time (p1217) expires. Zero speed is detected when the actual speed drops below the speed threshold (p1226) or once the monitoring time (p1227) started when speed setpoint ≤ speed threshold (p1226) has expired.
Drive functions 7.
Drive functions 7.
Drive functions 7.1 Servo control ● Offset of the setting values also possible (see "Example: Torque limits with or without offset"). ● 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 Fixed and variable torque limit settings Table 7- 1 Fixed and variable torque limit settings Selection Torque limitation mode Mode Maximum upper or lower torque limits p1400.
Drive functions 7.1 Servo control 4. A torque offset can be parameterized. 5. In addition, the power limits can be parameterized separately for motor and regenerative mode. NOTICE Negative values at r1534 or positive values at r1535 represent a minimum torque for the other torque directions and can cause the drive to rotate if no load torque is generated to counteract this (see function diagram 5630 in the SINAMICS S110 List Manual).
Drive functions 7.
Drive functions 7.1 Servo control 7.1.6 Current controller Properties ● PI controller for current control ● Two identical current setpoint filters ● Current and torque limitation ● Current controller adaptation ● Flux control Closed-loop current control No settings are required for operating the current controller. Optimization measures can be taken in certain circumstances.
Drive functions 7.
Drive functions 7.
Drive functions 7.1 Servo control Transfer function: + V V ˭ I1 ' 1 V ˭ I 1 Denominator natural frequency fN Denominator damping DN Table 7- 2 Example of a PT2 filter STARTER filter parameters Amplitude log frequency curve Characteristic frequency fN 500 Hz Damping DN 0.
Drive functions 7.1 Servo control Band-stop with defined notch depth Table 7- 4 Example of band-stop with defined notch depth STARTER filter parameters Amplitude log frequency curve Blocking frequency fSp = 500 Hz Bandwidth fBB = 500 Hz Notch depth K = -20 dB Reduction Abs = 0 dB Phase frequency curve . G% 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.
Drive functions 7.1 Servo control Band-stop with defined reduction Table 7- 5 Example of band-stop STARTER filter parameters Amplitude log frequency curve Blocking frequency fSP = 500 Hz Bandwidth fBB = 500 Hz Notch depth K = -∞ dB Reduction ABS = -10 dB Phase frequency curve $EV G% General conversion to parameters for general order filters: ● Numerator natural frequency: I= = ω= = I6S 2π ● Numerator damping: '= .
Drive functions 7.1 Servo control General low-pass with reduction Table 7- 6 Example of general low-pass with reduction STARTER filter parameters Amplitude log frequency curve Characteristic frequency fAbs = 500 Hz Damping D = 0.
Drive functions 7.1 Servo control Transfer function general 2nd order filter +V V ˭ I= V ˭I1 ' = V ˭ I= '1 V ˭I1 Numerator natural frequency fZ Numerator damping DZ Denominator natural frequency fN Denominator damping DN Table 7- 7 Example of general 2nd order filter STARTER filter parameters Numerator frequency fZ = 500 Hz Numerator damping DZ = 0.02 dB Denominator frequency fN = 900 Hz Denominator damping DN = 0.
Drive functions 7.1 Servo control 7.1.7.
Drive functions 7.1 Servo control 7.1.9 V/f control for diagnostics Description With V/f control, the motor is operated with an open control loop and does require speed control or actual current sensing, for example. Operation is possible with a small amount of motor data.
Drive functions 7.1 Servo control 2. First commissioning has not been carried out: The following relevant motor data must be checked and, where necessary, corrected: – r0313 Motor pole pair number, actual (or calculated) – p0314 Motor pole pair number – p0341 Motor moment of inertia – p0342 Ratio between the total moment of inertia and that of the motor – p0640 Current limit – p1498[0...n] Load moment of inertia – p1520[0...n] CO: Torque limit, upper/motoring – p1521[0...
Drive functions 7.1 Servo control Commissioning V/f control 1. Verify the preconditions for V/f control mode. 2. Set p0311 → Rated motor speed 3. Set p1317 = 1 → activates the function 4. Activate the enable signals for operation 5. Specify the speed setpoint V/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).
Drive functions 7.1 Servo control ● p0640 Current limit ● p1082 Maximum speed ● p1317 V/f control activation ● p1318 V/f control ramp-up/ramp-down time ● p1319 V/f control voltage at zero frequency ● p1326 V/f control programmable characteristic frequency 4 ● p1327 V/f control programmable characteristic voltage 4 ● p1338[0...n] V/f control mode resonance damping gain ● p1339[0...n] V/f control mode resonance damping filter time constant ● p1345[0...n] DC brake proportional gain ● p1346[0...
Drive functions 7.1 Servo control Optimizing the 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.
Drive functions 7.1 Servo control Example of 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. .SBQ LV RSWLPXP .SBQ LV WRR KLJK RYHUVKRRWV .SBQ LV WRR ORZ GDPSHQHG WUDQVLHQW UHVSRQVH ൺ 2. ൺ 1RW 2. ൺ 2.
Drive functions 7.1 Servo control Description This allows operation without an encoder and mixed operation (with/without encoder). Encoderless operation with the motor model allows a higher dynamic response and greater stability than a standard drive with V/f control. Compared with a drive with an encoder, however, speed accuracy is lower and the dynamic response and smooth running features deteriorate.
Drive functions 7.1 Servo control Behavior once pulses have been canceled 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.
Drive functions 7.
Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) ● p0341 Motor moment of inertia ● p0342 Ratio between the total moment of inertia and that of the motor ● p0353 Motor series inductance ● p0600 Motor temperature sensor for monitoring ● p0640 Current limit ● p0642 Encoderless current reduction ● p1300 Open-loop/closed-loop control operating mode ● p1400.
Drive functions 7.1 Servo control ● For synchronous motors: Carry out an angular commutation calibration (p1990) and if required, fine synchronization (refer to r1992) ● Carry out a rotating measurement (p1960) Before starting the rotating measurement, the speed controller setting should be checked and optimized (p1460, p1462 and p1470, p1472). It is preferable if the rotating MotID is carried out with the motor de-coupled from the mechanical system.
Drive functions 7.1 Servo control DANGER The stationary MotID can result in slight movement of up to 210 degrees electrical. For the rotating motor data identification routine, motor motion is initiated capable of reaching the maximum speed (p1082) and the motor torque corresponding to the maximum current (p0640).
Drive functions 7.
Drive functions 7.1 Servo control 7.1.12.1 Motor data identification - induction motor Induction motor The data are identified in the gamma equivalent circuit diagram and displayed in r19xx. The motor parameters p0350, p0354, p0356, p0358 and p0360 taken from the MotID refer to the T equivalent circuit diagram of the induction machine and cannot be directly compared.
Drive functions 7.1 Servo control Table 7- 12 Data determined using p1960 for induction motors (rotating measurement) Determined data (gamma) r1934 q Inductance identified Data that are accepted (p1960 = 1) - r1935 q Inductance identification current Note: The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation (p0391, p0392 and p0393).
Drive functions 7.1 Servo control 7.1.12.
Drive functions 7.1 Servo control Table 7- 14 Data determined using p1960 for synchronous motors (rotating measurement) Determined data Data that are accepted (p1960 = 1) r1934 q inductance identified - r1935 q inductance identification current - Note: The q inductance characteristic can be used as basis to manually determine the data for the current controller adaptation (p0391, p0392 and p0393).
Drive functions 7.
Drive functions 7.1 Servo control 7.1.13 Pole position identification Description For synchronous motors, the pole position identification determines its electrical pole position, that is required for the field-oriented control. Generally, the electrical pole position is provided from a mechanically adjusted encoder with absolute information. In this case, pole position identification is not required.
Drive functions 7.1 Servo control ● For motors without iron, the pole position cannot be identified using the saturation-based technique. ● With 1FK7 motors, two-stage procedures must not be used (p1980 = 4). The value in p0329, which is set automatically, must not be reduced.
Drive functions 7.
Drive functions 7.1 Servo control Angular commutation offset commissioning support (p1990) The function for determining the commutation angle offset is activated via p1990=1. The commutation angle offset is entered in p0431. This function can be used in the following cases: ● Single calibration of the pole position for encoders with absolute information (exception: The Hall sensor must always be mechanically adjusted.
Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) ● p0325[0...n] Motor pole position identification current 1st phase ● p0329[0...n] Motor pole position identification current ● p0404.15 Commutation with zero mark ● p0431 Angular commutation offset ● p1980[0...n] Pole position identification procedure ● p1981[0...n] Pole position identification maximum movement ● p1982[0...
Drive functions 7.1 Servo control An application for the Vdc controller is, for example, as a safety measure in the event of a power failure (Vdc_min and Vdc_max controller). The voltage limit values for Vdc control also have an impact on V/f control, although the dynamic response of Vdc control is slower in this case.
Drive functions 7.1 Servo control Description of Vdc_max control (p1240 = 1, 3) >9@ 9 S ZLWKRXW 9GFBPD[ FRQWURO IDXOW ) 9GFBPD[ 9GFBWKUHVKROG XSSHU 8 9'& OLQN _Q_ QDFW QVHW W ,TVHW $ ,TVHW ZLWKRXW 9GFBPD[ FRQWURO Figure 7-23 Switching-in/switching-out the Vdc_max control In the event of a power failure, the voltage can increase until it reaches the shutdown threshold when the drive is decelerated.
Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameters ● p1240 Vdc controller or Vdc monitoring configuration ● p1244 DC link voltage threshold, upper ● p1248 DC link voltage threshold, lower ● p1250 Vdc controller proportional gain Display parameters ● r0056.14 Vdc_max controller active ● r0056.15 Vdc_min controller active 7.1.
Drive functions 7.
Drive functions 7.
Drive functions 7.1 Servo control Commissioning for PROFIdrive telegrams 2 to 4 1. Activate travel to fixed stop. Set p1545 = "1". 2. Set the required torque limit. Example: p1400.4 = "0" → upper or lower torque limit p1520 = 100 Nm → effective in upper positive torque direction p1521 = –1500 Nm –→ effective in lower negative torque direction 3. Run motor to fixed stop.
Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) ● p1400[0...n] Speed control configuration ● r1407.7 BO: 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 Torque limit, upper/motoring without offset ● r1527 Torque limit, lower/regenerative without offset ● p1532[0...
Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) ● r0031 Actual torque smoothed ● p1513 CI: Supplementary torque 2 ● p1520 CO: Torque limit, upper/motoring ● p1521 CO: Torque limit, lower/regenerative ● p1532 CO: Torque limit, offset 7.1.17 Variable signaling function The variable signaling function can be used to monitor BICO sources and parameters (with the attribute traceable) for violation of an upper or lower threshold (p3295).
Drive functions 7.
Drive functions 7.1 Servo control 7.1.18 Central probe evaluation Description 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. In this case, it may be necessary to evaluate several probes or save the position actual values of several axes, triggered by a probe event.
Drive functions 7.1 Servo control Central measuring with handshake ● Evaluation technique with handshake, as long as p0684 = 0. ● Transfer, control word probe (BICO p0682 to PZD3) at the instant To in the MAP cycle. ● A measurement is activated with a 0/1 transition of the control bit for falling or rising edge in the probe control word. ● If a measurement is activated, a check is made in the DP cycle as to whether a measured value is present.
Drive functions 7.1 Servo control Function diagrams (see SINAMICS S110 List Manual) ● 4740 Encoder evaluation - measurement probe evaluation Overview of important parameters (see SINAMICS S110 List Manual) ● p0680[0...
Drive functions 7.1 Servo control 7.1.19 Pulse/direction interface Thanks to the pulse/direction interface, SINAMICS S110 can be used for simple positioning tasks on a controller. The controller is connected to SINAMICS S110 via the encoder interface (connector X23) of the CU305.
Drive functions 7.1 Servo control 7.1.19.1 Commissioning the pulse/direction interface Wiring input signals The input signals for the pulse/direction interface are wired via connector X23: Table 7- 18 Setpoint value specification with HTL level Pin Signal name Technical specifications 1 ... 6 Not relevant – 7 M Ground 8 ...
Drive functions 7.1 Servo control Wiring control signals Control signals are created at terminals X132 and X133: Table 7- 20 Wiring control signals Pin Signal name Inputs X133.1 (DI 0) Off 1 X133.2 (DI 1) Fault acknowledgment X133.3 (DI 3) Position reset (only applies to position control) X133.5 Ground Outputs X132.1 (D0 8) Ready X132.2 (D0 9) Fault active X132.3 (D0 10) Drive is stationary (only applies to position control) X132.
Drive functions 7.1 Servo control Settings in the configuration wizard Make the settings for the pulse/direction interface via the Process data exchange dialog in the STARTER configuration wizard: Figure 7-28 Configuring the pulse/direction interface in STARTER Make the following settings: ● Control type: Speed control or Position control ● Encoder channel The pulse/direction interface is assigned an encoder channel. If you are using a motor encoder, it is always assigned encoder channel 1.
Drive functions 7.1 Servo control ● The pulse number is calculated from the maximum 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.
Drive functions 7.1 Servo control Overview of important parameters (see SINAMICS S110 List Manual) ● p0010 Drive commissioning parameter filter ● p0141 Encoder interface (Sensor Module) component number ● p0184 Encoder interface with WSG ● p0400[0...n] Encoder type selection ● p0404[0...n] Encoder configuration active ● p0405[0...n] Rectangular signal encoder track A/B ● p0408[0...
Drive functions 7.2 Basic functions 7.2 Basic functions 7.2.1 Changing over units 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 (%)).
Drive functions 7.2 Basic functions 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 for each parameter are listed in the parameter list in the SINAMICS S110 List Manual.
Drive functions 7.2 Basic functions 7.2.2 Reference parameters/normalizations Description Reference values equivalent to 100% are required in order to express units in percentage terms. These reference values are entered in parameters p2000 to p2007. They are computed during the calculation via p0340 = 1 or in STARTER during drive configuration. After calculation in the drive, these parameters are automatically protected via p0573 = 1 against overwriting through a new calculation (p0340).
Drive functions 7.
Drive functions 7.2 Basic functions 7.2.3 Automatic restart Description The "automatic restart" function is used to restart the drive automatically once the power has been restored following 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.
Drive functions 7.2 Basic functions Mode Meaning 4 p1210 Automatic restart after line supply failure, no additional start attempts If p1210 = 4, an automatic restart will only be performed if fault F30003 also occurs on the Power Module or there is a HIGH signal at binector input p1208[1]. If additional faults are present, then these faults are also acknowledged and when successfully acknowledged, the starting attempt is continued.
Drive functions 7.2 Basic functions 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 restarted once the monitoring time has expired (motor magnetization must have been completed: r0056.4 = 1), fault F07320 is output. The monitoring is deactivated with p1213 = 0.
Drive functions 7.2 Basic functions 7.2.4 Armature short-circuit brake, DC brake Features ● For permanent-magnet synchronous motors: – Controlling an external armature short-circuit configuration ● For induction motors: – Activation of DC brake ● Assignment as fault response Description Armature short-circuit braking is only supported for permanent-magnet synchronous motors.
Drive functions 7.2 Basic functions For the function with contactor feedback signal, you will need to wire the feedback inputs of both command data sets (CDS = 2) p1235[0..1]. The external armature short-circuit is only supported for rotary-type permanent-magnet synchronous motors (p0300 = 2xx). DC brake (induction motors) The DC brake is activated by setting parameter p1231 = 4 (internal armature short-circuit/DC brake).
Drive functions 7.2 Basic functions Note • During parameterization, a check is made to determine whether the following conditions have been met (if not, fault message F7906 is generated): – Suitable type of motor for function – Function-specific: Sensible assignment of parameters p1232 ... p1237. • The internal armature short-circuit (p1231 = 4 for synchronous motor) and internal voltage protection (p1231 = 3) functions are not supported for the SINAMICS S110 system.
Drive functions 7.2 Basic functions 7.2.5 OFF3 torque limits Description If the torque limits are externally specified (e.g. tension controller), then the drive can only be stopped with a reduced torque. In order to avoid this, 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.
Drive functions 7.2 Basic functions 7.2.6 Simple brake control Features ● Automatic activation by means of sequence control ● Standstill (zero-speed) monitoring ● Forced brake release (p0855, p1215) ● Application of brake for a 1 signal "unconditionally close holding brake" (p0858) ● Application of brake after "Enable speed controller" signal has been canceled (p0856) Description The "Simple brake control" is used exclusively for the control of holding brakes.
Drive functions 7.2 Basic functions The start of the closing time for the brake depends on the expiration of the shorter of the two times p1227 (Pulse suppression, delay time) and p1228 (Zero speed detection monitoring time) WARNING The holding brake must not be used as a service brake. When holding brakes are used, the special technological and machine-specific conditions and standards for ensuring personnel and machine safety must be observed.
Drive functions 7.2 Basic functions Overview of important parameters (see SINAMICS S110 List Manual) ● r0056.4 Magnetizing complete ● r0060 CO: Speed setpoint before the setpoint filter ● r0063 CO: Actual speed smoothed (servo) ● r0108.14 Extended brake control ● p0855[C] BI: Unconditionally release holding brake ● p0856 BI: Speed controller enabled ● p0858 BI: Unconditionally close holding brake ● r0899.12 BO: Holding brake open ● r0899.
Drive functions 7.2 Basic functions Parking an axis When the axis is parked, the power unit and all the encoders assigned to "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). ● A measuring system that is not assigned to the "motor control" (e.g.
Drive functions 7.2 Basic functions 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.
Drive functions 7.2 Basic functions Overview of important parameters (see SINAMICS S110 List Manual) ● p0145 Activate/deactivate encoder interface ● r0146 Encoder interface active/inactive ● p0895 BI: Activate/deactivate power unit component ● r0896.
Drive functions 7.2 Basic functions 7.2.8 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. At power-off the counter value is saved. After the drive unit is powered-up, the counter continues to run with the value that was saved the last time that the drive unit was powered-down.
Drive functions 7.2 Basic functions 7.2.9 Changing the direction of rotation without changing the setpoint Features ● Not 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 CAUTION If a change of rotational direction is configured in the data set configurations (e.g.
Drive functions 7.3 Function modules 7.3 Function modules 7.3.1 Function modules - Definition and commissioning A function module is a functional expansion of a drive project that can be activated during commissioning. Examples of function modules: ● Technology controller ● Setpoint channel ● Extended brake control A function module generally has separate parameters and, in some cases, separate faults and alarms too. These parameters and messages are only displayed when the function module is active.
Drive functions 7.3 Function modules 7.3.2 Technology controller 7.3.2.1 Features Simple control functions can be implemented with the technology controller, e.g.
Drive functions 7.3 Function modules Technology controller Two scalable setpoints (p2255/ p2256) can be specified via two connector inputs (p2253/ p2254). A ramp-function generator in the setpoint channel can be used to define a ramp by means of the ramp-up and ramp-down times (p2257/p2258). Both the setpoint and actual value channels have access to a filter element with configurable time constants (p2261 and p2265).
Drive functions 7.3 Function modules Figure 7-36 Technology controller structure with parallel components where Other controller variants are also possible: ● PI controller by switching out the derivative component (rate time TV: p2274 = 0) ● PD controller by switching out the integral component (integral time TN: p2285 = 0) ● Proportional controller by switching-out the integral and derivative components (p2274 = 0; p2285 = 0) Note: In the factory setting (p2252.
Drive functions 7.3 Function modules 7.3.2.3 Function diagrams and parameters The technology controller function is integrated in the system as follows. Function diagrams (see SINAMICS S110 List Manual) ● 7950 Fixed values (r0108.16 = 1) ● 7954 Motorized potentiometer (r0108.16 = 1) ● 7958 Closed-loop control (r0108.16 = 1) Overview of important parameters (see SINAMICS S110 List Manual) Fixed setpoints ● p2201[0...n] CO: Technology controller, fixed value 1 ● ... ● p2215[0...
Drive functions 7.3 Function modules Closed-loop control ● p2200 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 ● p2261 Technology controller setpoint filter time constant ● p2263 Technology controller type ● p2264[0...
Drive functions 7.3 Function modules 7.3.3 Extended monitoring functions When the extension is activated, the monitoring functions are extended as follows: ● Speed setpoint monitoring: |n_setp| ≤ p2161 ● Speed setpoint monitoring: n_set > 0 ● Load monitoring Description of load monitoring This function monitors power transmission between the motor and the working machine.
Drive functions 7.3 Function modules Commissioning The extended monitoring functions are activated while the commissioning wizard is running. Parameter r0108.17 indicates whether it has been activated.
Drive functions 7.3 Function modules 7.3.4 Extended brake control 7.3.4.1 Features The "extended brake control function" has the following features: ● Forced brake release (p0855, p1215) ● Application of brake for a 1 signal "unconditionally close holding brake" (p0858) ● Binector inputs for releasing/applying the brake (p1218, p1219) ● Connector input for threshold value for releasing/applying the brake (p1220) ● OR/AND block, each with two inputs (p1279, r1229.10, r1229.
Drive functions 7.3 Function modules Release and apply the brake ● p0855 BI: Unconditionally release holding brake ● p0858 BI: Unconditionally close holding brake ● p1216 Holding brake release time ● p1217 Holding brake application time ● p1218[0...1] BI: Open motor holding brake ● p1219[0...
Drive functions 7.3 Function modules Table 7- 25 Status message: Extended brake control Signal name Parameter Brake status word Command, open brake (continuous signal) r1229.1 B_ZSW.1 Pulse enable, extended brake control r1229.3 B_ZSW.3 Brake does not open r1229.4 B_ZSW.4 Brake does not close r1229.5 B_ZSW.5 Brake threshold exceeded r1229.6 B_ZSW.6 Value below brake threshold r1229.7 B_ZSW.7 Brake monitoring time expired r1229.8 B_ZSW.
Drive functions 7.3 Function modules 7.3.4.4 Examples Starting against applied brake When the device is switched on, the setpoint is enabled immediately (if other enable signals are issued), even if the brake has not yet been released (p1152 = 1). The factory setting p1152 = r0899.15 must be disconnected here. The drive first generates torque against the applied brake. The brake is not released until the motor torque or motor current (p1220) has exceeded braking threshold 1 (p1221).
Drive functions 7.3 Function modules >[[[[@ IXQFWLRQ GLDJUDP QXPEHU p1275.02 (1) > @ %UDNH WR VWRS 0 p1224[0] 1 <1> 1 > @ 3XOVH HQDEOH H[WHQGHG EUDNH FRQWURO [2501 ] 25 ORJLF RSHUDWLRQ p1279[0] r1229.3 p1279[1] 1 %UDNH 25 ORJLF RSHUDWLRQ UHVXOW (QDEOH VSHHG FRQWUROOHU p0856 r1229.10 <1> [ ] QBVHW HQDEOH p1142[C] <1> 6HWSRLQW HQDEOH (QDEOH VSHHG VHWSRLQW & p1152 (r0899.15) Figure 7-38 r0898.
Drive functions 7.3 Function modules 7.3.5 Closed-loop position control 7.3.5.
Drive functions 7.
Drive functions 7.3 Function modules For linear encoders, 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).
Drive functions 7.3 Function modules Load gear position tracking Terminology ● Encoder range The encoder range is the position area that can itself represent the absolute encoder. ● Singleturn encoder A singleturn encoder is a rotating absolute encoder, which provides an absolute image of the position inside an encoder rotation. ● Multiturn encoder A multiturn encoder is an absolute encoder that provides an absolute image of several encoder revolutions (e.g. 4096 revolutions).
Drive functions 7.3 Function modules 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 Prerequisite ● Absolute encoder Description Position tracking enables reproduction of the position of the load when gears are used. It can also be used to extend the position area. Position tracking is activated via parameter p2720.0 = 1.
Drive functions 7.3 Function modules Example of position area extension With absolute encoders without position tracking, it must be ensured that the traversing range is 0 smaller 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 8 encoder revolutions (p0421 = 8).
Drive functions 7.3 Function modules Configuration of the load gear (p2720). The following points can be set by configuring this parameter: ● p2720.0: Activation of position tracking ● p2720.1: Setting the axis type (linear 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 (p2721)). ● p2720.
Drive functions 7.3 Function modules Virtual multiturn encoder (p2721) The virtual multiturn resolution is used to set the number of resolvable motor 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), p2721 can be used to enter a virtual multiturn resolution. Note If the gear factor is not equal to 1, then p2721 always refers to the load side.
Drive functions 7.3 Function modules The tolerance window is preset to quarter of the encoder range and can be changed. CAUTION 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).
Drive functions 7.3 Function modules 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.
Drive functions 7.3 Function modules Function diagrams and parameters Function diagrams (see SINAMICS S110 List Manual) ● 4010 Position actual value conditioning ● 4704 Position and temperature sensing, encoders 1...2 ● 4710 Actual speed value and rotor pos. meas., motor enc. (encoder 1) Overview of important parameters (see SINAMICS S110 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...
Drive functions 7.3 Function modules 7.3.5.3 Position controller Features ● Symmetrization (p2535, p2536) ● Limiting (p2540, p2541) ● Pre-control (p2534) ● Adaptation (p2537, p2538) Note We only recommend that experts use the position controller functions without using the basic positioner. 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).
Drive functions 7.3 Function modules 7.3.5.4 Monitoring functions Features ● Standstill monitoring (p2542, p2543) ● Positioning monitoring (p2544, p2545) ● Dynamic following error monitoring (p2546, r2563) ● Cam controllers (p2547, p2548, p2683.8, p2683.
Drive functions 7.3 Function modules 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. &DP VZLWFKLQJ VLJQDO U &DP VZLWFKLQJ SRVLWLRQ S &DP VZLWFKLQJ VLJQDO U Figure 7-46 V V &DP VZLWFKLQJ SRVLWLRQ S Cam controllers The position controller has two cam controllers.
Drive functions 7.3 Function modules 7.3.5.5 Measuring probe evaluation and reference mark search Description The "Reference mark search" and "Measuring probe evaluation" functions can be initiated and carried-out via binector input p2508 (activate reference mark search) and p2509 (activate measuring probe evaluation). Binector inputs p2510 (measurement probe selection) and p2511 (measurement probe edge evaluation) define the mode for measurement probe evaluation.
Drive functions 7.3 Function modules Function diagrams (see SINAMICS S110 List Manual) ● 4010 Position actual value conditioning ● 4720 Encoder interface, receive signals, encoder 1 ... 2 ● 4730 Encoder interface, send signals, encoder 1 ...
Drive functions 7.3 Function modules 7.3.6 Basic Positioner General description The basic positioner 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). User-friendly configuration, commissioning, and diagnostic functions are also available in STARTER for the basic positioner functionality (graphic navigation).
Drive functions 7.
Drive functions 7.3 Function modules 7.3.6.1 Mechanical system Features ● Backlash compensation (p2583) ● Modulo offset (p2577) Description %DFNODVK S Figure 7-47 Backlash compensation 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.
Drive functions 7.3 Function modules Table 7- 26 The compensation value is switched in as a function of p2604 p2604 0 1 Traversing direction Switch in compensation value positive none negative immediately positive immediately negative none 0RGXOR UDQJH S GHDFWLYDWHG 0RGXOR FRUUHFWLRQ DFWLYDWLRQ 3RVLWLRQ VHWSRLQW U S Figure 7-48 Modulo offset A modulo axis has an unrestricted traversing range.
Drive functions 7.3 Function modules Function diagrams (see SINAMICS S110 List Manual) ● 3635 Interpolator ● 4010 Position actual value conditioning Overview of important parameters (see SINAMICS S110 List Manual) ● p2576 EPOS modulo offset, modulo range ● p2577 BI: EPOS modulo offset activation ● p2583 EPOS backlash compensation ● r2684 CO/BO: EPOS status word 2 ● r2685 CO: EPOS correction value Commissioning with STARTER In STARTER, the mechanical system screen form can be found under position control.
Drive functions 7.3 Function modules Maximum velocity 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.
Drive functions 7.3 Function modules Software limit switches The connector inputs p2578 (software limit switch minus) and p2579 (software limit switch plus) limit the position setpoint if the following prerequisites are fulfilled: ● The software limit switches are activated (p2582 = "1") ● The reference point is set (r2684.
Drive functions 7.3 Function modules Jerk limitation 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 diagram shows that 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.
Drive functions 7.3 Function modules Limitation is effective: ● In jog mode ● When traversing blocks are processed ● When setpoints are defined directly/MDI for positioning and setup ● during referencing ● During stop responses due to alarms Jerk limitation is not active when messages are generated with stop responses OFF1 / OFF2 / OFF3.
Drive functions 7.3 Function modules 7.3.6.3 Referencing 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) ● Selecting the referencing type (p2597) ● Absolute encoder adjustment (p2507) NOTICE Referencing distance-coded zero marks is not supported.
Drive functions 7.3 Function modules Set reference point 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 in conjunction with an intermediate stop. The current actual position of the drive is set here as the reference point using the coordinates specified by connector input p2598 (reference point coordinates).
Drive functions 7.3 Function modules Reference point approach for incremental measurement systems When the reference point approach (in the case of an incremental measuring system), the drive is moved to its reference point. In so doing, the drive itself controls and monitors the complete referencing cycle. Incremental measuring systems require that after the machine has been powered-up, the absolute dimension reference is established to the machine zero point.
Drive functions 7.3 Function modules Search for reference, step 1: travel to reference cam If there is no reference cam present (p2607 = 0), go to step 2. 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 (search for reference start direction).
Drive functions 7.3 Function modules If the axis is already located at the cam, when referencing is started, then traversing to the reference cam is not executed, but synchronization to the reference zero mark is immediately started (refer to 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 delivery both a rising and a falling edge.
Drive functions 7.3 Function modules The drive synchronizes to the first zero mark and then starts to travel towards the reference point (see 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 present (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.
Drive functions 7.3 Function modules Flying referencing The mode "flying referencing" (also known as post-referencing, positioning monitoring), which is selected using a "1" signal at binector input p2597 (select referencing type), can be used in every mode (jog, traversing block and direct setpoint input for positioning/setting-up) and is superimposed on the currently active mode. Flying referencing can be selected both with incremental and absolute measuring systems.
Drive functions 7.3 Function modules ● If the drive has already been homed and the position difference is more than the outer window (p2602), warning 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.
Drive functions 7.3 Function modules Overview of important parameters (see SINAMICS S110 List Manual) ● p0494[0...
Drive functions 7.3 Function modules Preconditions ● 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.
Drive functions 7.3 Function modules Referencing then proceeds as follows: ● Via the PROFIdrive encoder interface, SINAMICS S receives the request for a reference mark search. ● Using the parameterization, SINAMICS S determines the zero mark depending on the BERO signal. ● SINAMICS S provides the (possibly corrected) zero mark position as reference mark via the PROFIdrive encoder interface.
Drive functions 7.3 Function modules 7.3.6.5 Traversing blocks Description Up to 16 different traversing blocks can be saved. The maximum number is set using parameter p2615 (maximum number of traversing tasks). All parameters which describe a traversing order are effective during a block change, i.e. 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 p2531 (activate traversing task).
Drive functions 7.3 Function modules ● Task mode (p2623[0...63]) The execution of a traversing task can be influenced by parameter p2623 (task mode). This is automatically written by programming the traversing blocks in STARTER. 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.
Drive functions 7.3 Function modules – cccc: positioning mode With 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.
Drive functions 7.3 Function modules 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] Acceleration override ● p2623[x] Task mode The task is executed until the target position is reached.
Drive functions 7.3 Function modules 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).
Drive functions 7.3 Function modules WAITING The WAIT order can be used to set a waiting period, which should expire before the following order 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 clock cycle p0112[5].
Drive functions 7.3 Function modules SET_O, RESET_O 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.
Drive functions 7.3 Function modules 7.3.6.6 Travel to fixed stop 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 travek to fixed stop prevents the drive from traveling beyond the window if the fixed stop should break away.
Drive functions 7.3 Function modules When the fixed stop is acknowledged (p2637), the "Speed setpoint total" (p2562) is frozen, 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.
Drive functions 7.3 Function modules 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.
Drive functions 7.
Drive functions 7.3 Function modules Description The direct setpoint input function allows for positioning (absolute, relative) and setup (endless position-controlled) by means of direct setpoint input (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.
Drive functions 7.
Drive functions 7.
Drive functions 7.
Drive functions 7.3 Function modules 7.3.6.9 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.
Drive functions 7.3 Function modules 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.
Drive functions 7.3 Function modules 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).
Drive functions 7.3 Function modules 7.3.7.2 Description In the extended setpoint channel, setpoints from the setpoint source are conditioned for motor control. The setpoint for motor control can also originate from the technology controller (see "Technology controller").
Drive functions 7.3 Function modules Setpoint sources The closed-loop control setpoint can be interconnected from various sources using BICO technology (e.g. to p1070 CI: main setpoint (see function diagram 3030)). There are various options for setpoint input: ● Fixed speed setpoints ● Motorized potentiometer ● Jog ● Field bus – Setpoint via PROFIBUS, for example ● About the analog input AI of the CU 305 7.3.7.3 Jog Description This function can be selected via digital inputs or via a field bus (e.g.
Drive functions 7.3 Function modules -RJ S 'LJLWDO ,QSXW )LHOGEXV W -RJ S W Q S S Figure 7-57 S S S S S S W Function chart: jog 1 and jog 2 Jog properties ● If both jog signals are issued at the same time, the current speed is maintained (constant velocity phase). ● Jog setpoints are approached and exited via the ramp-function generator.
Drive functions 7.
Drive functions 7.3 Function modules Control and status messages Table 7- 27 Jog control Signal name Internal control word Binector input PROFIdrive/Siemens telegram 1 ... 111 0 = OFF1 STWA.0 p0840 ON/OFF1 STW1.0 0 = OFF2 STWA.1 p0844 1. OFF2 p0845 2. OFF2 STW1.1 0 = OFF3 STWA.2 p0848 1. OFF3 p0849 2. OFF3 STW1.2 Enable operation STWA.3 p0852 Enable operation STW1.3 Jog 1 STWA.8 p1055 Jog bit 0 STW1.8 Jog 2 STWA.9 p1056 Jog bit 1 STW1.
Drive functions 7.3 Function modules 7.3.7.4 Fixed speed setpoints Description This function can be used to specify preset speed setpoints. The fixed setpoints are defined in 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).
Drive functions 7.3 Function modules 7.3.7.5 Motorized potentiometer Description This 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.
Drive functions 7.
Drive functions 7.3 Function modules 7.3.7.6 Main/supplementary setpoint and setpoint modification 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 simultaneously via two separate or one setpoint source and added in the setpoint channel.
Drive functions 7.3 Function modules Parameterization with STARTER The "speed setpoint" parameter screen is selected via the following icon in the toolbar of the STARTER commissioning tool: 7.3.7.7 Direction limitation and setpoint inversion Description A reverse operation involves a direction reversal. Selecting setpoint inversion p1113[C] can reverse the direction in the setpoint channel.
Drive functions 7.
Drive functions 7.3 Function modules 7.3.7.8 Suppression bandwidths and setpoint limits Description In the range 0 U/min to setpoint speed, a drive train (e.g. motor, coupling, shaft, machine) can have one or more points of resonance, which can result in vibrations. The suppression bandwidths can be used to prevent operation in the resonance frequency range. The limit speeds can be set via p1080[D] and p1082[D]. These limits can also be changed during operation with the connectors p1085[C] and p1088[C].
Drive functions 7.
Drive functions 7.3 Function modules There are two types of ramp-function generator: ● Basic ramp-function generator with – Acceleration and deceleration ramps – Ramp for quick stop (OFF3) – Tracking configurable via parameter p1145 – Setting values for the ramp-function generator ● The extended ramp-function generator also has – Initial and final rounding off Note The ramp-function generator cannot be frozen (via p1141) in jog mode (r0046.31 = 1).
Drive functions 7.
Drive functions 7.3 Function modules Ramp-function generator tracking If the drive is in the area of the torque limits, the actual speed value is removed from the speed setpoint. The ramp-function generator tracking updates the speed setpoint in line with the actual speed value and so levels the ramp. p1145 can be used to deactivate rampfunction generator tracking (p1145 = 0) or set the permissible following error (p1145 > 1).
Drive functions 7.3 Function modules Signal overview (see SINAMICS S110 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.
Drive functions 7.3 Function modules Display parameters ● r1119 CO: Ramp-function generator setpoint at the input ● p1149 Ramp-function generator acceleration ● r1150 CO: Ramp-function generator speed setpoint at the output 7.3.8 Free function blocks 7.3.8.1 Overview Application, properties A logic operation, which connects several states (e.g. access control, plant status) to a control signal (e.g. ON command), is required for controlling the drive system in a wide variety of applications.
Drive functions 7.3 Function modules Runtime group, sampling time, and run sequence Runtime groups Runtime groups are groups of free function blocks within the system that are computed in the same sampling time and at a specific time. A total of 10+1 "runtime groups" (runtime group 0 to 9 and runtime group 9999 (= runtime group is not computed)) are available for which the sampling time can be set in specific intervals. Each function block is assigned one runtime group via a parameter.
Drive functions 7.3 Function modules In the factory setting, none of the runtime groups is called (p20000[x] = 0). Note The assignment of a runtime group can only be changed if closed loop control is disabled. When changing, the runtime group involved is first logged off from the sampling time management and then logged on again with the new assignment. The runtime group is not calculated during this operation. Logon and logoff are performed in a background process of the drive unit.
Drive functions 7.3 Function modules Sampling times Two types of sampling times are available for runtime groups: ● Sampling times generated in the hardware: Every integer multiple of the basic sampling time (r20002) can be generated as a sampling time in p20000[0...9] in the range from 1 x r20002 to 256 x r20002, subject to the following limits: – Min. sampling time = 1 ms – Max. sampling time = r20003 Sampling times of 1 ms ... r20003 - r20002 are generated in the hardware from these.
Drive functions 7.
Drive functions 7.3 Function modules Run sequence In the factory setting, each free function block is assigned a default setting for the run sequence. The run sequence of consecutive free function blocks within a runtime group can be optimized by changing these values accordingly. A run sequence value can be used on a drive object once only. If the same run sequence value is assigned twice in online mode for a drive object, the second value is rejected and the first value retained.
Drive functions 7.3 Function modules Range of blocks The table below shows the range of free function blocks available. For details of individual function blocks, see the "Description of function blocks" chapter. For information on the special technical properties of the individual function blocks, see the function diagrams in the SINAMICS S110 List Manual.
Drive functions 7.3 Function modules Connection to the drive Connector inputs (CI) and connector outputs (CO) on the free function blocks (p20094 ... p20286) have the properties of per unit variables. This means that calculations in the free function blocks are only carried out with per unit signal values (1.0 = 100%). Conversion to the connectors of the drive with units is performed automatically.
Drive functions 7.3 Function modules Example 2: Interconnecting the output value The per unit output value of the free function block LIM 0 (function diagram 7260) is to be switched in as additional torque M_additional 2 (function diagram 5060) in SERVO control mode. p1513[0] is set to 20231 for this purpose. Function block LIM 0 is to be called cyclically and is, therefore, assigned to runtime group 8. p20234 is set to 8. The runtime group number is chosen here at random.
Drive functions 7.3 Function modules Example 3: Interconnecting the PROFIBUS receive word (WORD) The PZD receive word 2 (CO: r2050[1], function diagram 2460) is to be interconnected with the free function block ADD 0 (function diagram 7220).
Drive functions 7.3 Function modules Example 4: Interconnecting the PROFIBUS send word (DWORD) The output of the free function block LIM 1 (CO: r20234, function diagram 7260) is to be interconnected with a PZD send word (function diagram 2470) of data type DWORD. The input of the free function block LIM 1 is supplied with a fixed speed setpoint (p1002, function diagram 3010). LIM 1 Runtime group p20242 = 0 LIM 1 Upper limit value LU p20237 = 2.0 Fixed speed setpoint 2 p1002 [D] = 5400 .
Drive functions 7.3 Function modules 7.3.8.2 Commissioning Activating the "free function blocks" function module STARTER commissioning software Activation with the STARTER commissioning software is only possible offline and is performed via the "Properties" dialog box for the drive objects. The "free function blocks" can be selected on the "Function modules" tab. Open the relevant project with STARTER and left-click the plus sign in the project navigator once to open the sub-elements.
Drive functions 7.3 Function modules Calculation time load for firmware version 4.1 Processing of free function blocks requires calculation time. If calculation time is becoming short, you will need to check whether all the activated function modules are required and whether all the function blocks used need to be calculated within the same sampling time.
Drive functions 7.3 Function modules The utilization is calculated on the Control Unit, i.e. the utilization values are displayed in STARTER/SCOUT in online mode only.
Drive functions 7.3 Function modules Hardware sampling times, number, and assignment During configuration, note that the number of hardware sampling times (1 ms ≤ time period T_sampling < r20003 - r20002) used by the basic SINAMICS system and "free function blocks" is restricted as follows: ● SINAMICS S110 → no. of hardware sampling times = 11 The assignment of the available hardware sampling times is displayed in r20008[0...12] as follows (STARTER/SCOUT: in online mode only): ● Value = 0.
Drive functions 7.3 Function modules Project download, fault message, and procedure If too many different hardware sampling times are configured offline, a fault message is not output until the project is downloaded. In this case, proceed as follows: 1. When the project is in offline mode, switch the free runtime groups assigned hardware sampling times to software sampling times.
Drive functions 7.3 Function modules 7.3.8.4 OR Brief description BOOL-type OR function block with four inputs Mode of operation This function block links the binary variables at inputs I to a logic OR (disjunction) and outputs the result to its digital output Q. Q = I0 v I1 v I2 v I3 Output Q = 0 when the value 0 is present at every input from I0 to I3. In all other cases, output Q = 1. 7.3.8.
Drive functions 7.3 Function modules 7.3.8.7 ADD (adder) Brief description REAL-type adder with four inputs Mode of operation This function block adds (in accordance with the sign) the values entered at inputs X0 to X3. The result is limited to a range of -3.4E38 to +3.4E38 and output at output Y. Y = X0 + X1 + X2 +X3 7.3.8.
Drive functions 7.3 Function modules 7.3.8.10 DIV (divider) Brief description REAL-type divider with two inputs Mode of operation This function block divides the value entered at input X0 by the value entered at input X1. The result is output at the outputs as follows: ● Y output: Quotient with places before and after the decimal point ● YIN output: Integer quotient ● MOD output: Division remainder (absolute remainder value, MOD = (Y - YIN) × X0) The Y output is limited to a range of approx. -3.
Drive functions 7.3 Function modules 7.3.8.12 MFP (pulse generator) Brief description ● Timer for generating a pulse with a fixed duration ● Used as a pulse-contracting or pulse-stretching monoflop Mode of operation The rising edge of a pulse at input I sets output Q to 1 for pulse duration T. The pulse generator cannot be retriggered. Time flow chart Output pulse Q as a function of pulse duration T and input pulse I. I Q 1 0 T T 1 0 Figure 7-72 7.3.8.
Drive functions 7.3 Function modules 7.3.8.14 PDE (ON delay) Brief description BOOL-type timer with ON delay Mode of operation The rising edge of a pulse at input I sets output Q to 1 after pulse delay time T. Output Q become 0 when I is 0. If the duration of input pulse I is less than pulse delay time T, Q remains 0. If time T is so long that the maximum value that can be displayed internally (T/ta as 32 bit value, where ta = sampling time) is exceeded, the maximum value is set (e.g.
Drive functions 7.3 Function modules 7.3.8.15 PDF (OFF delay) Brief description Timer with OFF delay Mode of operation The falling edge of a pulse at input I resets output Q to 0 after OFF delay time T. Output Q becomes 1 when I is 1. Output Q becomes 0 when input pulse I is 0 and OFF delay time T has expired. If input I is reset to 1 before time T has expired, output Q remains 1. Time flow chart Output pulse Q as a function of pulse duration T and input pulse I.
Drive functions 7.3 Function modules 7.3.8.16 PST (pulse stretcher) Brief description Timer for generating a pulse with a minimum duration and an additional reset input Mode of operation The rising edge of a pulse at input I sets output Q to 1. Output Q does not return to 1 until input pulse I is 0 and pulse duration T has expired. Output Q can be set to zero at any time via reset input R with R = 1. Time flow chart Output pulse Q as a function of pulse duration T and input pulse I (when R = 0).
Drive functions 7.3 Function modules 7.3.8.17 RSR (RS flip-flop, reset dominant) Brief description Reset dominant RS flip-flop for use as a static binary value memory Mode of operation With logical 1 at input S, output Q is set to logical 1. If input R is set to logical 1, output Q is set to logical 0. If both inputs are logical 0, Q does not change. If both inputs are logical 1, however, Q is logical 0 because the reset input dominates. Output QN always has the opposite value to Q. 7.3.8.
Drive functions 7.3 Function modules 7.3.8.19 BSW (binary change-over switch) Brief description This function block switches one of two binary input variables (BOOL type) to the output. Mode of operation If input I = 0, I0 is switched to output Q. If input I = 1, I1 is switched to output Q. 7.3.8.20 NSW (numeric change-over switch) Brief description This function block switches one of two numeric input variables (REAL type) to the output. Mode of operation If input I = 0, X0 is switched to output Y.
Drive functions 7.3 Function modules 7.3.8.21 LIM (limiter) Brief description ● Function block for limiting ● Adjustable upper and lower limit ● Indication when set limits are reached Mode of operation This function block transfers input variable X to its output Y. The input variable is limited depending on LU and LL. If the input variable reaches the upper limit LU, output QU is set to 1. If the input variable reaches the lower limit LL, output QL is set to 1.
Drive functions 7.3 Function modules 7.3.8.22 PT1 (smoothing element) Brief description ● First-order delay element with setting function ● Used as smoothing element Mode of operation Setting function not active (S = 0) Input variable X, dynamically delayed by smoothing time constant T, is switched to output Y. T determines the steepness of the rise of the output variable. It specifies the time at which the transfer function has risen to 63% of its full-scale value.
Drive functions 7.3 Function modules 7.3.8.23 INT (integrator) Brief description ● Function block with integrating action ● Integrator functions: – Set initial value. – Adjustable integral time constant – Adjustable limits – For normal integrator operation, a positive limit value must be specified for LU and a negative limit value for LL. Mode of operation The change in output variable Y is proportional to input variable X and inversely proportional to the integral time constant TI.
Drive functions 7.3 Function modules 7.3.8.24 DIF (derivative action element) Brief description Function block with derivative action behavior Mode of operation Output variable Y is proportional to the rate of change of input variable X multiplied by derivative time constant TD.
Drive functions 7.3 Function modules 7.3.8.25 LVM (double-sided limit monitor with hysteresis) Brief description ● This BOOL-type function block monitors an input variable by comparing it with selectable reference variables. ● Application: – Monitoring setpoints, actual, and measured values – Suppressing frequent switching (jitter) ● This function block provides a window discriminator function.
Safety Integrated Functions 8.1 Standards and regulations 8.1.1 General information 8.1.1.1 Aims 8 Manufacturers and operating companies of equipment, machines, and products are responsible for ensuring the required level of safety. This means that plants, machines, and other equipment must be designed to be as safe as possible in accordance with the current state of the art.
Safety Integrated Functions 8.1 Standards and regulations 8.1.1.2 Functional safety Safety, from the perspective of the object to be protected, cannot be split-up. The causes of hazards and, in turn, the technical measures to avoid them can vary significantly. This is why a differentiation is made between different types of safety (e.g. by specifying the cause of possible hazards). "Functional safety" is involved if safety depends on the correct function.
Safety Integrated Functions 8.1 Standards and regulations 8.1.2.1 Machinery Directive The basic safety and health requirements specified in Annex I of the Directive must be fulfilled for the safety of machines. The protective goals must be implemented responsibly to ensure compliance with the Directive. Manufacturers of a machine must verify that their machine complies with the basic requirements. This verification is facilitated by means of harmonized standards. 8.1.2.
Safety Integrated Functions 8.1 Standards and regulations Type B standards/group standards B standards cover all safety-related standards for various different machine types. B standards are aimed primarily at the bodies responsible for setting C standards. They can also be useful for manufacturers during the machine design and construction phases, however, if no applicable C standards have been defined.
Safety Integrated Functions 8.1 Standards and regulations 8.1.2.3 Standards for implementing safety-related controllers If the functional safety of a machine depends on various control functions, the controller must be implemented in such a way that the probability of the safety functions failing is sufficiently minimized.
Safety Integrated Functions 8.1 Standards and regulations Systems for executing safety-related control functions EN ISO 13849-1 EN 62061 A Non-electrical (e.g. hydraulic, pneumatic) X Not covered B Electromechanical (e.g. relay and/or basic electronics) Restricted to the designated architectures (see comment 1) and max. up to PL = e All architectures and max. up to SIL 3 C Complex electronics (e.g. programmable electronics) Restricted to the designated architectures (see comment 1) and max.
Safety Integrated Functions 8.1 Standards and regulations 8.1.2.4 EN ISO 13849-1 (previously EN 954-1) A qualitative analysis (to EN 954-1) is not sufficient for modern controllers due to their technology. Among other things, EN 954-1 does not take into account time behavior (e.g. test interval and/or cyclic test, lifetime). This results in the probabilistic basis in EN ISO 13849-1 (probability of failure per unit time). EN ISO 13849-1 is based on the known categories of EN 954-1.
Safety Integrated Functions 8.1 Standards and regulations 8.1.2.5 EN 62061 EN 62061 (identical to IEC 62061) is a sector-specific standard subordinate to IEC/EN 61508. It describes the implementation of safety-related electrical machine control systems and looks at the complete lifecycle, from the conceptual phase to decommissioning.
Safety Integrated Functions 8.1 Standards and regulations Parameters for the sub-system, which comprises sub-system elements, that must be defined during the design phase: ● T2: Diagnostic test interval ● β: Susceptibility to common cause failure ● DC: Diagnostic coverage The PFHD value of the safety-related controller is determined by adding the individual PFHD values for subsystems.
Safety Integrated Functions 8.1 Standards and regulations 8.1.2.6 Series of standards EN 61508 (VDE 0803) This series of standards describes the current state of the art. EN 61508 is not harmonized in line with any EU directives, which means that an automatic presumption of conformity for fulfilling the protective requirements of a directive is not implied.
Safety Integrated Functions 8.1 Standards and regulations 8.1.2.7 Risk analysis/assessment Risks are intrinsic in machines due to their design and functionality. For this reason, the Machinery Directive requires that a risk assessment be performed for each machine and, if necessary, the level of risk reduced until the residual risk is less than the tolerable risk.
Safety Integrated Functions 8.
Safety Integrated Functions 8.1 Standards and regulations 8.1.2.8 Risk reduction Risk reduction measures for a machine can be implemented by means of safety-related control functions in addition to structural measures. To implement these control functions, special requirements must be taken into account, graded according to the magnitude of the risk. These are described in EN ISO 13849-1 or, in the case of electrical controllers (particularly programmable electronics), in EN 61508 or EN 62061.
Safety Integrated Functions 8.1 Standards and regulations 8.1.3.1 Minimum requirements of the OSHA The Occupational Safety and Health Act (OSHA) from 1970 regulates the requirement that employers must offer a safe place of work. The core requirements of OSHA are specified in Section 5 "Duties". The requirements of the OSH Act are managed by the "Occupational Safety and Health Administration" (also known as OSHA).
Safety Integrated Functions 8.1 Standards and regulations 8.1.3.3 NFPA 79 Standard NFPA 79 (Electrical Standard for Industrial Machinery) applies to electrical equipment on industrial machines with rated voltages of less than 600 V. A group of machines that operate together in a coordinated fashion is also considered to be one machine.
Safety Integrated Functions 8.1 Standards and regulations 8.1.3.4 ANSI B11 ANSI B11 standards are joint standards developed by associations such as the Association for Manufacturing Technology (AMT) and the Robotic Industries Association (RIA). The hazards of a machine are evaluated by means of a risk analysis/assessment. The risk analysis is an important requirement in accordance with NFPA 79, ANSI/RIA 15.06, ANSI B11.TR-3 and SEMI S10 (semiconductors).
Safety Integrated Functions 8.1 Standards and regulations 8.1.6 Other safety-related issues 8.1.6.1 Information sheets issued by the Employer's Liability Insurance Association Safety-related measures to be implemented cannot always be derived from directives, standards, or regulations. In this case, supplementary information and explanations are required. Some regulatory bodies issue publications on an extremely wide range of subjects.
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated 8.2 General information about SINAMICS Safety Integrated 8.2.1 Supported functions This chapter covers all the Safety Integrated functions available for SINAMICS S110. A distinction is made between Safety Integrated Basic Functions and Safety Integrated Extended Functions.
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated ● Safety Integrated Extended Functions These functions require an additional Safety license. Extended Functions with encoder require an encoder with Safety capability (see section "Reliable actual value acquisition with the encoder system"). – Safe Torque Off (STO) Safe Torque Off is a safety function that prevents the drive from restarting unexpectedly in accordance with EN- 60204-1, Section 5.4.
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated Prerequisites for the Extended Functions ● Safety Integrated Extended Functions can only be operated with the relevant license. The associated license key is entered in parameter p9920 in ASCII code. The license key can be activated via parameter p9921 = 1. Alternatively, you can enter the license key via the STARTER button "License Key".
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated 8.2.3 Drive monitoring with or without encoder If motors without a (safety-capable) encoder are being used, not all Safety Integrated functions can be used. Note When "without encoder" is used in this manual, then this always means that either no encoder or no safety-capable encoder is being used. In operation without encoder the speed actual values are calculated from the measured electrical actual values.
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated Monitoring with an encoder The Safety Integrated functions with encoder are configured using p9506 = p9306 = 0 in the expert list (factory setting) or by selecting "with encoder" in the Safety screen form. The Safe Acceleration Monitor (SAM) recognizes if the drive accelerates beyond the tolerance defined in p9348/p9548 during the ramp down phase, and generates a STOP A.
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated 8.2.4 Parameter, Checksum, Version, Password Properties of Safety Integrated parameters The following applies to Safety Integrated parameters: ● The Safety parameters 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.
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated 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.
Safety Integrated Functions 8.2 General information about SINAMICS Safety Integrated Password The Safety password protects the Safety parameters against unintentional or unauthorized access. 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 drive.
Safety Integrated Functions 8.3 System features 8.3 System features 8.3.1 Latest information Important note for maintaining the operational safety of your system: WARNING Systems with safety-related characteristics are subject to special operational safety requirements on the part of the operating company. The supplier is also obliged to comply with special product monitoring measures.
Safety Integrated Functions 8.3 System features 7. Open the subject area "Safety Engineering - Safety Integrated". 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 box. If you require more detailed information on the newsletters then please click on these. A small supplementary window is opened from where you can take the appropriate information. 8.
Safety Integrated Functions 8.3 System features 8.3.3 Safety instructions Note Additional safety information and residual risks not specified in this section are included in the relevant sections of this Function Manual. DANGER Safety Integrated can be used to minimize the level of risk associated with machines and plants.
Safety Integrated Functions 8.3 System features WARNING EN 60204-1 The Emergency Stop function must bring the machine to a standstill in accordance with stop category 0 or 1 (STO or SS1). The machine must not restart automatically after EMERGENCY STOP. When the safety functions (Extended functions) are deactivated, an automatic restart is permitted under certain circumstances depending on the risk analysis (except when EMERGENCY STOP is reset).
Safety Integrated Functions 8.3 System features WARNING • Encoder faults within a single-encoder system are detected by means of various HW and SW monitoring functions. It is not allowed to disable these monitoring functions and they must be parameterized carefully. Depending on the fault type and responding monitoring function, stop function category 0 or 1 in accordance with EN 60204-1 (fault response functions STOP A or STOP B in accordance with Safety Integrated) is selected.
Safety Integrated Functions 8.3 System features 8.3.4 Probability of failure for safety functions The probabilities of safety function failure must be specified in the form of a PHF value (Probability of Failure per Hour) to IEC 61508, IEC 62061 and ISO 13849-1. The PFH value of a safety function depends on the safety concept of the drive unit and its hardware configuration, as well as on the PFH values of other components used for this safety function.
Safety Integrated Functions 8.3 System features Control of Basic Functions via PROFIsafe The following table lists the response times from receiving the PROFIsafe telegram at the Control Unit up to initiating the particular response.
Safety Integrated Functions 8.3 System features Control of Extended Functions with encoder via terminals The table below shows the response times after the appearance of a signal at the terminals. Table 8- 6 Response times when controlling the Extended Functions with encoder via safe on-board terminals Function Typical1) Worst case1) STO 2.5 x p9500 + r9780 + p10017 + 1.5 ms 3 x p9500 + 6 x r9780 + p10017 SBC 2.
Safety Integrated Functions 8.3 System features CAUTION If the safety functions SLS without encoder or SDI without encoder are already selected when the gating pulses for the Power Module are enabled, then during the starting phase, it is absolutely imperative that you take into account the response times when limit values are violated and for system errors in order to extend the time value set in parameters p9586 and p93865) with respect to the standard values (see the table above).
Safety Integrated Functions 8.3 System features CAUTION If the safety functions SLS without encoder or SDI without encoder are already selected when the gating pulses for the Power Module are enabled, then during the starting phase, it is absolutely imperative that you take into account the response times when limit values are violated and for system errors in order to extend the time value set in parameters p9586 and p93865) with respect to the standard values (see the table above).
Safety Integrated Functions 8.3 System features Overview of important parameters (see SINAMICS S110 List Manual) ● p0799[0...2] CU inputs/outputs sampling time ● p9500 SI Motion monitoring clock cycle (processor 1) ● p9511 SI Motion actual value sensing clock cycle (processor 1) ● p9586 SI Motion delay time of the evaluation, encoderless (CU) ● p9651 SI STO/SBC/SS1 debounce time (processor 1) ● p9652 SI Safe Stop 1 delay time (processor 1) ● r9780 SI monitoring clock cycle (Control Unit) 8.3.
Safety Integrated Functions 8.3 System features WARNING • Violation of limits may briefly lead to a speed higher than the speed setpoint, or the axis may pass the defined position to a certain extent, depending on the dynamic response of the drive and on parameter settings.
Safety Integrated Functions 8.4 Safety Integrated Basic Functions 8.4 Safety Integrated Basic Functions Note You can ask your local sales office regarding the PFH values of the individual safety components of the SINAMICS S110 (also refer to the Section "Probability of failure of safety functions"). 8.4.1 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 motor power supply.
Safety Integrated Functions 8.4 Safety Integrated Basic Functions ● The input terminals can be debounced to prevent signal faults triggering other faults. Parameters p9651 and p9851 are used to set filter times. WARNING Appropriate measures must be taken to ensure that the motor does not move once the motor power supply has been disconnected ("coast down") (e.g. enable the "Safe Brake Control" function with a vertical axis).
Safety Integrated Functions 8.4 Safety Integrated Basic Functions 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). If "Safe Torque Off" is deselected, this is treated as an internal safe acknowledgment.
Safety Integrated Functions 8.4 Safety Integrated Basic Functions Overview of important parameters (see SINAMICS S110 List Manual) ● p9601 SI enable, functions integrated in the drive (CPU 1) ● r9772 CO/BO: SI status (CPU 1) ● r9773 CO/BO: SI status (CPU 1 + CPU 2) ● r9780 SI monitoring clock cycle (CPU 1) ● p9801 SI enable, functions integrated in the drive (CPU 2) ● r9872 CO/BO: SI status (CPU 2) ● r9880 SI monitoring clock cycle (CPU 2) 8.4.
Safety Integrated Functions 8.4 Safety Integrated Basic Functions Functional features of "Safe Stop 1" SS1 is enabled when p9652 and p9852 (delay time) are not equal to "0". ● The precondition is the Basic Functions or STO are enabled via terminals and/or PROFIsafe: – p9601.0/p9801.0 = 1 (enable via terminals) – p9601.3/p9801.
Safety Integrated Functions 8.4 Safety Integrated Basic Functions Prerequisite STO via terminals (p9601.0 = p9801.0 =1) or Basic Functions via PROFIsafe (p9601.2 = p9801.2 = 0 and p9601.3 = p9801.3 = 1) must be configured. In order that the drive can brake down to a standstill even when selected through one channel, the time in p9652/p9852 must be shorter than the sum of the parameters for the data cross-check (p9650/p9850 and p9658/p9858).
Safety Integrated Functions 8.4 Safety Integrated Basic Functions Brake activation via the brake connection on the Safe Brake Relay is carried out using a safe, two-channel method. Note To ensure that this function can be used for Blocksize Power Modules, a Safe Brake Relay must be used (for more information, see the Equipment Manual SINAMICS S110). When the Power Module is configured automatically, the Safe Brake Relay is detected and the motor holding brake type is defaulted (p1278 = 0).
Safety Integrated Functions 8.4 Safety Integrated Basic Functions Two-channel brake control The function "Safe Brake Control" is carried out using a two-channel method, in which both the plus-potential (24 V) leading and the ground-potential leading brake connection are connected to the Safe Brake Relay. The brake diagnosis can only reliably detect a malfunction in either of the switches in the Safe Brake Relay when the status changes (when the brake is released or applied).
Safety Integrated Functions 8.4 Safety Integrated Basic Functions Table 8- 9 Stop responses to Safety Integrated Basic Functions Stop response Triggered ... STOP A cannot be For all nonacknowledged acknowledgeable safety faults with pulse suppression. STOP A For all acknowledgeable safety faults with pulse suppression. Action Effect Trigger safe pulse The motor coasts to a suppression via the standstill or is braked by the switch-off signal path for holding brake. the relevant monitoring channel.
Safety Integrated Functions 8.4 Safety Integrated Basic Functions Acknowledging the safety faults Faults associated with Safety Integrated Basic Functions must be acknowledged as follows: 1. Remove the cause of the fault. 2. Deselect "Safe Torque Off" (STO). 3. Acknowledge the fault. If safety commissioning mode is exited when the safety functions are switched off (p0010 ≠ 95 when p9601 = p9801 = 0), all the safety faults can be acknowledged.
Safety Integrated Functions 8.4 Safety Integrated Basic Functions A timer ensures that forced dormant error detection is carried out as quickly as possible. ● p9659 SI timer for the forced dormant error detection. Forced dormant error detection must be carried out at least once during the time set in this parameter. Once this time has elapsed, an alarm is output and remains present until forced dormant error detection is carried out.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5 Safety Integrated Extended Functions Note You can ask your local sales office regarding the PFH values of the individual safety components of the SINAMICS S110 (also refer to the Section "Probability of failure of safety functions"). 8.5.
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Safety Integrated Functions 8.5 Safety Integrated Extended Functions Examples: 1. For the hoisting gear of a crane, the suspended load can accelerate the motor as soon as the motor is switched off. In this case, the safety functions "without encoder" are not permitted. Even if the mechanical brake of the hoisting gear is generally applied after the motor has been switched off, the use of safety functions "without encoder" in this application is still prohibited. 2.
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Safety Integrated Functions 8.5 Safety Integrated Extended Functions Commissioning Note When "Safe Stop 1" (SS1) is installed, the function "Safe Acceleration Monitor" (SAM) is active. For parameterizing the "Safe Acceleration Monitor" (SAM) function → see section "Safe Acceleration Monitor (SAM)". The delay time (SS1 time) is set using parameters p9356 and p9556. The wait time until the pulses are suppressed can be shortened by defining a shutdown speed in p9360 and p9560.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.3.2 Safe Stop 1 without encoder (speed controlled) Two encoderless Safe Stop 1 (SS1) monitoring functions can be set with parameters p9506/p9306: ● p9506/p9306 = 3: Safe monitoring of acceleration (SAM) / delay time The function is identical to "Safe Stop 1" with encoder, which was described in the previous section.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Brake ramp monitoring 9HORFLW\ The motor is immediately decelerated along the OFF3 ramp as soon as SS1 is triggered. Monitoring is activated once the delay time in p9582/p9382 has elapsed. The drive is monitored during braking to ensure the set brake ramp is adhered to. As soon as the speed drops below the shutdown speed (p9560/p9360), safe monitoring of the brake ramp is deactivated and safe pulse suppression (STO) is activated.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Parameterization of the brake ramp "without encoder" p9581/p9381 and p9583/p9383 are used to set the steepness of the brake ramp (SBR). Parameters p9581/p9381 determine the reference speed; parameters p9583/p9383 define the ramp-down time from the reference speed to the value 0. Parameters p9582/p9382 are used to set the time between the triggering of Safe Stop 1 and the start of brake ramp monitoring. 8.5.3.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.4 Safe Stop 2 (SS2) The "Safe Stop 2" (SS2) safety function is used to brake the motor safely on the OFF3 ramp down (p1135) with subsequent transition to the SOS state (see the "Safe Operating Stop" chapter) after the delay time expires (p9352/p9552). The delay time set must allow the drive to decelerate to a standstill within this time. The standstill tolerance (p9330/p9530) may not be violated after this time.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Responses Speed limit violated (SAM): ● STOP A ● Safety message C01706/C30706 Standstill tolerance violated in p9330/p9530 (SOS): ● STOP B with subsequent STOP A ● Safety message C01707/C30707 System errors: ● STOP F with subsequent STOP A ● Safety message C01711/C30711 Overview of important parameters (see SINAMICS S110 List Manual) ● p1135[0...
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.4.1 EPOS and Safe Stop 2 Since the function SS2 – with its setpoint-independent braking – is not suitable for use with EPOS, the Safe Operating Stop (SOS) function can be used with delay. On selection of SOS, the EPOS function "intermediate stop" (p2640 = 0) ensures that EPOS is able to stop the drive in its tracks and then keep it under control in this state before the SOS becomes active.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions ● After SOS has been selected and after the delay time set in p9351/p9551 has expired. The drive must be braked to standstill within this delay time (e.g. by the controller).
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Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.6.1 Safely Limited Speed (SLS) Features ● After switching to a lower Safely Limited Speed limit value (p9331/p9531), the actual speed of the drive must have dropped below the new Safely Limited Speed limit within the delay time (p9351/p9551). The existing Safely Limited Speed limit remains active during the delay time. The lower Safely Limited Speed limit becomes active after the delay time has elapsed.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Changeover of SLS limit values The changeover is executed binary-coded via two F-DIs or two PROFIsafe control bits. The speed selection status can be checked using the r9720.9/r9720.10 parameters. Parameters r9722.9 and r9722.10 indicate the actual speed limit, bit r9722.4 must carry a "1" signal. Table 8- 10 Changeover of speed limits: F-DI for bit 1 (r9720.10) F-DI for bit 0 (r9720.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.6.2 Safely Limited Speed without encoder Functions Two different encoderless Safely Limited Speed monitoring functions can be set with the parameters p9506/9306: ● p9506/9306 = 3: Safe monitoring of acceleration (SAM) / delay time The function is identical to "Safely Limited Speed with encoder", which was described in the previous section.
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Safety Integrated Functions 8.5 Safety Integrated Extended Functions Restart after OFF2 If the drive has been switched off via OFF2/STO, the following steps need to be carried out before a restart can be performed: 1st scenario: ● State after power-on: SLS selected, STO selected, OFF2 active ● Deselect STO. ● The drive enable must be given within 5 seconds via a positive edge at OFF1, otherwise STO is reactivated.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.6.3 Safely Limited Speed - Parameter Overview of important parameters (see SINAMICS S110 List Manual) ● p9301.0 SI Motion enable safety functions (CPU 2) ● p9306 SI Motion function specification (CPU 2) ● p9331[0...
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.6.4 EPOS and Safely-Limited Speed If safe speed monitoring (SLS) is also to be used at the same time as the EPOS positioning function , EPOS must be informed of the activated speed monitoring limit. Otherwise the speed monitoring limit can be violated by the EPOS setpoint input. Through the SLS monitoring, this violation leads to the drive being stopped and so abandoning the planned movement sequences.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.7 Safe Speed Monitor (SSM) The "Safe Speed Monitor" (SSM) function provides a reliable method for detecting when a speed limit has been undershot (p9346/p9546) in both directions of rotation, e.g. for zero speed detection. A fail-safe output signal is available for further processing. The function is activated automatically as soon as the Safety Integrated Extended Functions are enabled with parameters p9301.0 = p9501.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Features ● Safe monitoring of the speed limit specified in p9346 and p9546 ● Parameterizable hysteresis via p9347 and p9547 ● Variable PT1 filter via p9345 and p9545 ● Safe output signal ● No stop response 8.5.7.1 Safe Speed Monitor with encoder Functional features of "Safe Speed Monitor" with encoder The parameter p9346/p9546 "SI Motion SSM (SGA n < nx) speed limit n_x" is used to set the speed limit.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions The following diagram shows the characteristic of the safe output signal SSM when the hysteresis is active: Q Q [ S +\VWHUHVLV S W Q [ S +\VWHUHVLV S 660 RXWSXW VLJQDO Figure 8-9 W Safe output signal for SSM with hysteresis Note When "hysteresis and filtering" is activated with output signal SSM, a time-delayed SSM feedback signal occurs for the axes. This is a characteristic of the filter. 8.5.7.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Differences between Safe Speed Monitor with and without encoder ● For Safe Speed Monitor without encoder, after pulse suppression the drive is unable to determine the current speed. Two responses can be selected for this operating state with parameters p9309.0/p9509.0: – p9309.0 = p9509.0 = 1 The status signal (SSM feedback signal) shows "0" (factory setting). – p9309.0 = p9509.0 = 0 The status signal (SSM feedback signal) is frozen.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 2)) $XWRPDWLF 6HOHFW 672 PLQ (QDEOH SXOVHV 6HOHFW 672 'HVHOHFW 672 0RQLWRULQJ S S 6, 660 VSHHG OLPLW 5RWRU VSHHG =HUR VSHHG GHWHFWLRQ WLPH 352),VDIH 7LPHU VHF U 660 IHHGEDFN VLJQDO VDIH RXWSXW VLJQDO 3RZHU UHPRYHG 672 Figure 8-10 Safe Speed Monitor without encoder (p9309.0 = p9509.0 = 0) If p9309.0 = p9509.0 = 1, the SSM monitoring is ended after the pulse suppression. The feedback signal p9722.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 2. scenario ● Situation: – SSM active – Motor turning – OFF1 triggered, pulses are suppressed ● Select STO ● Deselect STO. STO activated internally via pulse suppression: This activation must be undone by selection/deselection. ● A drive enable via a positive edge at OFF1 must occur within 5 seconds after deselection of the STO, otherwise the drive will drop back into the STO state. 8.5.7.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.8 Safe Acceleration Monitor (SAM) Safe Acceleration Monitor with encoder The "Safe Acceleration Monitor" (SAM) function is used for safe monitoring of drive acceleration. It is part of the Safety Integrated Extended functions SS1 and SS2 (or STOP B and STOP C). Note For reasons of clarity, the abbreviation for this function has been changed from "SBR" to "SAM" This change has no impact on the functionality.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Calculating SAM tolerance of the actual speed ● The following rules are valid for the parameterization of the SAM tolerance: – The maximum speed increase after SS1 / SS2 is triggered is derived from the effective acceleration (a) and the duration of the acceleration phase.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.9 Safe Brake Ramp (SBR) The Safe Brake Ramp (SBR) function provides a safe method for monitoring the brake ramp. The Safe Brake Ramp function is used to monitor braking when using the "SS1 without encoder" and "SLS without encoder" functions. Features The motor is immediately decelerated along the OFF3 ramp as soon as SS1 or SLS is triggered (if setpoint speed limitation is used).
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Safety Integrated Functions 8.5 Safety Integrated Extended Functions Responses to brake ramp violations (SBR) ● Safety messages C01706 and C30706 (SI Motion: SAM/SBR limit exceeded) ● Drive stopped with STOP A Features ● Part of the "SS1 without encoder" and "SLS without encoder" functions.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Functional features ● Parameters r9720.12/r9720.13 display whether the SDI function is selected. ● Parameters rr9722.12/r9722.13 display whether the SDI function is active. ● Parameters p9364/p9564 are used to set the tolerance within which a movement in a non-enabled (non-safe) direction is tolerated. ● Parameters p9366/p9566 define the stop response in the case of a fault.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Enabling the Safe Direction function The "Safe Direction" function is enabled via the following parameters: ● p9501.17 = 1, p9301.17 = 1 8.5.10.2 Safe Direction without encoder Function Set p9306 = p9506 = 1 or p9506 = p9306 = 3 (factory setting = 0) to activate Safety Integrated functions without encoder. You can also make this setting by selecting "Without encoder" on the STARTER safety screen.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.10.3 SDI restart Restart after pulse suppression If the drive has been switched off via OFF2/STO, the following steps need to be carried out before a restart can be performed: 1st scenario: ● State after power-on: SDI selected, STO selected, OFF2 active ● Deselect STO. ● The drive enable must be given within 5 seconds via a positive edge at OFF1, otherwise STO is reactivated.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.10.4 Overview of parameters and function diagrams Function diagrams (see SINAMICS S110 List Manual) ● 2840 – Extended Functions, control word and status word ● 2855 – Extended Functions, control interface ● 2856 – Extended Functions, safe state selection ● 2857 – Extended Functions, assignment (F-DO 0) Overview of important parameters (see SINAMICS S110 List Manual) ● p1821[0...n] Direction of rotation ● p9301.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.11 Safety faults 8.5.11.1 Stop responses Faults with Safety Integrated Extended Functions and violation of limits can trigger the following stop response: Table 8- 11 Stop response overview Stop response Triggered ... Action Effect STOP A For all acknowledgeable safety faults with pulse suppression.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Note A delay time between STOP F and STOP B should only be set if an additional response is initiated during this time when the "Internal Event" (r9722.7) message signal is evaluated. A monitoring function should also always be active even in automatic mode (e.g. SLS with a high limit speed) when the delay time is used. An activated hysteresis for SSM should be regarded as an activated monitoring function.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Priorities of stop responses and Extended Functions Table 8- 13 Priorities of stop responses and Extended Functions Stop response / Extended Function Highest priority ... ... ... ... Lowest priority STOP A STOP B STOP C STOP D STOP E STOP F Highest priority STO STOP A / STO STO STO STO STO STO ..... SS1 STOP A STOP B / SS1 SS1 SS1 SS1 SS1 ... SS2 STOP A STOP B STOP C / SS2 SS2 SS2 SS2 / STOP B2) ..
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Examples for illustrating the information in the table: 1. Safety function SS1 has just been selected. STOP A remains active; a STOP B operation that is currently in progress is not interrupted by this. The remaining STOP functions (STOPs C to F) are replaced by SS1. 2. The SLS safety function is selected. This selection does not modify the function of STOP A-D. STOP F now triggers a STOP B because a safety function has been activated. 3.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.12 Message buffer In addition to the fault buffer for F... faults and the alarm buffer for A... alarms, a special message buffer for C... safety messages is available for Safety Extended Functions. The fault messages for the Safety Basic Functions are stored in the standard fault buffer (see "Buffer for faults and alarms").
Safety Integrated Functions 8.5 Safety Integrated Extended Functions When a safety message is present, bit r2139.5 is set to 1 ("safety message active"). The entry in the message buffer is delayed. For this reason, the message buffer should not be read until a change in the buffer (r9744) has been detected after "Safety message present" is output. The messages must be acknowledged via the failsafe inputs F-DI or via PROFIsafe.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.13 Safe actual value acquisition 8.5.13.1 Reliable actual value acquisition with the encoder system Supported encoder systems The Safety Functions used to monitor motion (e.g. SS1, SS2, SOS, SLS and SSM) require reliable actual value acquisition. For safe speed/position sensing for SINAMICS S110, only a single-encoder system may be used.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Encoder types for a single-encoder system In systems with encoders with SINAMICS Safety Integrated, for safe actual value acquisition only encoders with sin/cos 1 Vpp signals are permitted at the SINAMICS Sensor Modules SME20/25 and SMC20, which fulfill the following conditions: 1. The encoders must contain purely analog signal processing and creation.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions Overview of important parameters (see SINAMICS S110 List Manual) ● p9301.3 SI Motion enable safety functions (CPU 2), enable actual value synchronization ● p9501.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.13.2 Safe current actual value acquisition without encoder Several parameters are available in order to guarantee safe motion monitoring for Safety Extended functions without encoder depending on the situation in your particular application. You define these parameters in the following STARTER dialog box: Figure 8-16 Configuration, actual value acquisition without encoder In most cases, you can work with the default values.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.14 Forced dormant error detection Forced dormant error detection and function test through test stop The functions and switch-off signal paths must be tested at least once within a defined period to establish whether they are working properly in order to meet the requirements of EN ISO 13849-1 and IEC 61508 in terms of timely error detection.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions F-DI/F-DO forced dormant error detection For forced dormant error detection of the F-DI, the level of the F-DI must be inverted, e.g. by activating the appropriate switch or triggering the appropriate function in the connected safety control. The correct reaction to the level change on the F-DI must be observed by the person carrying out the operation.
Safety Integrated Functions 8.5 Safety Integrated Extended Functions 8.5.15 Safety Info Channel The Safety Info Channel (SIC) enables Safety Integrated functionality status information of the drive to be transmitted to the higher-level control.
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Safety Integrated Functions 8.6 Controlling the safety functions 8.6 Controlling the safety functions Safety Integrated functions can be controlled via on-board terminals or via a PROFIsafe telegram using PROFIBUS or PROFINET. The Extended Functions can be controlled via onboard terminals or PROFIsafe, control of the Basic Functions can be selected via on-board terminals (F-DI 0) or PROFIsafe and on-board terminals (F-DI 0).
Safety Integrated Functions 8.6 Controlling the safety functions 8.6.1 Control of the Basic Functions via a safe input terminal pair Features ● Only for the STO, SS1 (time-controlled), and SBC functions ● Dual-channel structure via two input terminals as a safe input terminal pair ● A debounce function can be applied to the terminals of the Control Unit and the Power Module to prevent incorrect trips due to signal disturbances or asymmetrical test signals.
Safety Integrated Functions 8.6 Controlling the safety functions 8.6.2 Control of the Extended Functions using safe input terminals General information Control Unit CU305 has 6 digital inputs, which can be used as 3 safe input terminal pairs (FDI) for controlling the Extended Functions. Furthermore, a single digital output on the CU305 can be extended as a safe output terminal pair (F-DO) and used for the Extended Functions.
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Safety Integrated Functions 8.6 Controlling the safety functions Description Failsafe digital inputs (F-DI) consist of two digital inputs. The cathode of the optocoupler is routed to the second digital input in order to allow the connection of an M-switching F-DO output (the anode must be connected to 24 V DC). Parameters p10040/p10140 are 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 r0722.
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Safety Integrated Functions 8.6 Controlling the safety functions 8.6.3 Note on F-DIs Note For enabled Extended Functions, you cannot use F-DIs which are not used for Extended Functions, for other functions. Although you can connect the F-DIs, Safety Integrated returns a discrepancy error message as soon as they are activated. This is because these F-DIs are monitored for discrepancy even when no Safety functions are assigned to them.
Safety Integrated Functions 8.6 Controlling the safety functions 8.6.4 Overview of the F-DOs Description The failsafe digital output (F-DO) consists of two digital outputs. At the first digital output DO16+ the 24 V potential connected to the terminal 24V1 is switched, and at the second terminal the ground potential connected to terminal M1 is switched (see diagram below "Overview F-DO").
Safety Integrated Functions 8.6 Controlling the safety functions The following signals can be called via p10039/p10139 to create the Safe State signal. ● Power_removed ● SS1_active ● SS2_active ● SOS_active ● SLS_active ● SDI_pos_active ● SDI_neg_active Figure 8-20 Safe state selection The different signals selected through p10039/p10139 are logically linked by means of OR operation. Result of these logic operations is the "Safe State".
Safety Integrated Functions 8.6 Controlling the safety functions 8.6.5 Control by way of PROFIsafe Safety Integrated functions Safety Integrated functions can also be controlled via PROFIsafe, as opposed to control via terminals. PROFIsafe telegram 30 is used for communication using PROFIBUS or PROFINET. Control via PROFIsafe is available for both Safety Integrated Basic Functions and Safety Integrated Extended Functions.
Safety Integrated Functions 8.6 Controlling the safety functions Safety Integrated functions via PROFIsafe and terminals The control of Safety Integrated functions via terminals (parameter p9601.0 = p9801.0 = 1) may also be enabled. This means the STO and SS1 (time controlled) functions can be selected in parallel via both PROFIsafe telegram 30 and the on-board terminal F-DI 0. STO takes priority over SS1, i.e. STO is executed if SS1 and STO are triggered at the same time. 8.6.5.
Safety Integrated Functions 8.6 Controlling the safety functions PROFIsafe status word (ZSW) S_ZSW1, PZD1 in telegram 30, input signals See function diagram [2840].
Safety Integrated Functions 8.6 Controlling the safety functions Structure of telegram 30 (Extended Functions) PROFIsafe control word (STW) S_STW1, PZD1 in telegram 30, output signals See function diagram [2840].
Safety Integrated Functions 8.6 Controlling the safety functions PROFIsafe status word (ZSW) S_ZSW1, PZD1 in telegram 30, input signals See function diagram [2840].
Safety Integrated Functions 8.7 Commissioning 8.7 Commissioning 8.7.1 Safety Integrated firmware versions General information The Safety firmware on the CU305 Control Unit may have a different version number to the overall firmware version. The parameters listed below can be used to read the version IDs from the relevant hardware components.
Safety Integrated Functions 8.7 Commissioning Procedure for checking the Safety firmware version combinations The document in the link provided contains tables listing the permissible Safety firmware version combinations for the different Safety function classes (SINAMICS Basic Functions, SINAMICS Extended Functions, SINUMERIK Safety Integrated). The Safety firmware version relevant for the Safety function can be read from the Control Unit.
Safety Integrated Functions 8.7 Commissioning Calling Safety Integrated in STARTER ● The STARTER screen form for "Safety Integrated" is called under Drives/Functions with a double-click and can look like this (tree-type view depends on the specific project): Figure 8-21 STARTER tree to call Safety Integrated The password "0" is set by default. ● To use the full functionality of STARTER screens, there must be an online connection between the drives, the control, and STARTER.
Safety Integrated Functions 8.7 Commissioning Note For the encoder parameters (p9515 to p9529), which are used for safe motion monitoring, then the following behavior applies when copying: • The following applies to safety-related functions that have not been enabled (p9501 = 0): – When powering up, the parameters are automatically set analog to the corresponding encoder parameters (e.g. p0410, p0474, ...).
Safety Integrated Functions 8.7 Commissioning 8.7.2.3 Default settings for commissioning Safety Integrated functions without encoder Additional default settings are required before commissioning Safety functions without an encoder. Follow the steps below to start the ramp-function generator: 1. Activating the ramp-function generator: When offline, call the "Drive Navigator" in the completed project, select the device configuration, and click "Perform drive configuration".
Safety Integrated Functions 8.7 Commissioning 3. Click the button with the ramp to open the following window: Figure 8-23 Drive-ramp 4. Enter data to define the drive-ramp in this window. 5. Then you must carry out the motor measurements: Start with static measurements and then take rotating measurements. Note These measurements are no longer possible once you have activated the Safety Integrated Extended Functions! Activating Safety Integrated 1.
Safety Integrated Functions 8.7 Commissioning 6. Call Safely Limited Speed, change all stop responses to "[0]STOP A" or "[1]STOP B", and close the window. 7. You will now be able to make user-specific safety settings. 8. Click "Copy parameters" and execute the command "Copy RAM to ROM". 9. Switch the drive off/on to accept the changes. Note If, during acceleration or deceleration, the drive outputs the message C01711/C30711 (message value 1041 to1043), this indicates problems, e.g.
Safety Integrated Functions 8.7 Commissioning 8.7.2.5 Setting the sampling times Terminology The software functions installed in the system are executed cyclically at different sampling times. Safety functions are executed within the monitoring clock cycle (p9300/p9500). The clock cycle is displayed in r9780/r9880 for the Basic Functions. Communication on PROFIBUS is handled cyclically by means of the communication clock cycle.
Safety Integrated Functions 8.7 Commissioning 8.7.3 Commissioning the safety terminals by means of STARTER/SCOUT 8.7.3.
Safety Integrated Functions 8.7 Commissioning 8.7.3.2 Configuration start screen Description The start screen helps you to start configuring the Safety Integrated functions. Depending on whether you are using Basic Functions, Extended Functions with encoder or Extended Functions without encoder, the setup options on this screen have different scopes.
Safety Integrated Functions 8.7 Commissioning ● Change/activate settings – Change settings You can select this button and enter the password in order to edit the configuration data. The button function changes to "Activate settings". – Activate settings This function accepts your parameter settings, calculates the actual CRC, and transfers this to the target CRC. The parameters are only activated after a restart.
Safety Integrated Functions 8.7 Commissioning 8.7.3.3 Configuration of the Safety terminals (Extended Functions) Configuration screen of the terminals for Safety Integrated Figure 8-25 Configuring safety terminals You can find this screen underSafety inputs/outputs > Configuration. Functions of this screen: ● F-DI discrepancy time (p10002) The signal states at the two terminals of an F-DI are monitored in order to determine whether these have assumed the same logical state within the discrepancy time.
Safety Integrated Functions 8.7 Commissioning ● Signal source forced dormant error detection (p10007) Selection of an input terminal for the start of the test stop: The test stop is initiated by a 0/1 signal from the input terminal and can only be performed when the drive is not in commissioning mode. ● F-DO dynamization test cycle (p10003) Failsafe I/O must be tested at defined intervals in order to validate their failsafe state (test stop or forced dormant error detection).
Safety Integrated Functions 8.7 Commissioning Carrying out a test stop: Proceed as follows to parameterize the test stop: 1. Determine the appropriate test stop mode for the circuits used in your application (see diagrams in the following sections). 2. Set the test stop mode which is to be used via parameter p10047. 3. Use parameter p10046 to define whether the digital output F-DO 0 is to be tested. 4. Set the debounce time for the digital inputs using parameter p10017. 5.
Safety Integrated Functions 8.7 Commissioning Test stop mode 1 9 H[W &8 '2 $FWXDWRU '2 ',$* '2 '2 0 Figure 8-26 F-DO circuit, test stop mode 1 Test step1) DO+ DO- DIAG signal expectation 0 ... 3 – – Synchronization 4 OFF OFF LOW 6 ON ON LOW 8 OFF ON LOW 10 ON OFF HIGH 12 OFF OFF LOW Test sequence for test stop mode 1 1) You can find a complete list of the steps in the SINAMICS S110 List Manual under message F01773.
Safety Integrated Functions 8.7 Commissioning Test stop mode 2 9 H[W &8 '2 '2 ', ', '2 '2 0 Figure 8-27 F-DO circuit, test stop mode 2 Test step1) DO+ DO- DIAG signal expectation 0 ... 3 – – Synchronization 4 OFF OFF HIGH 6 ON ON LOW 8 OFF ON LOW 10 ON OFF LOW 12 OFF OFF HIGH Test sequence for test stop mode 2 1) You can find a complete list of the steps in the SINAMICS S110 List Manual under message F01773.
Safety Integrated Functions 8.7 Commissioning Test stop mode 3 9 H[W &8 '2 '2 ', ', '2 '2 0 Figure 8-28 F-DO circuit, test stop mode 3 Test step1) DO+ DO- DIAG signal expectation 0 ... 3 – – Synchronization 4 OFF OFF HIGH 6 ON ON LOW 8 OFF ON HIGH 10 ON OFF HIGH 12 OFF OFF HIGH Test sequence for test stop mode 3 1) You can find a complete list of the steps in the SINAMICS S110 List Manual under message F01773.
Safety Integrated Functions 8.7 Commissioning 8.7.3.5 F-DI/F-DO configuration Inputs screen F-DI Figure 8-29 Inputs screen ● NC/NO contact (p10040) Terminal property F-DI 0-2 (p10040.0 = F-DI 0, ... p10040.2 = F-DI 2): Configure only the property of the second (lower) digital input. Always connect an NC contact to digital input 1 (upper). Digital input 2 can be configured as NO contact.
Safety Integrated Functions 8.7 Commissioning F-DO output screen Figure 8-30 Output screen ● Signal source for F-DO (p10042) A six-way AND is connected downstream of the output terminal pair of the F-DO; the signal sources for the inputs of the AND can be selected: – No function (input set to logical HIGH; default) If a signal source is not connected to an input, then the input is set to HIGH (default), exception: If a signal source is not connected at any input, then the output signal = 0.
Safety Integrated Functions 8.7 Commissioning ● Waiting time for test Enter a test time. The test time specifies the maximum waiting time for the transient condition of an external actuator. ● LED symbol in the F-DO output screen The LED symbol downstream of the AND element indicates the logical state (inactive: gray, active: green). 8.7.3.
Safety Integrated Functions 8.7 Commissioning Functions of this screen: ● Selection of an F-DI for the STO, SS1, SS2, SOS and SLS functions and for SLS speed limits (bit coded) (p10022 to p10028) and SDI. An F-DI can be assigned several functions.
Safety Integrated Functions 8.7 Commissioning Acceptance test An acceptance test needs to be carried out once configuration and commissioning are complete (see relevant chapter). Note If F parameters of the SINAMICS drive are changed in HW Config, the global signature of the safety program in the SIMATIC F-CPU changes. This means the global signature can be used to identify whether safety-related settings have changed in the F-CPU (F parameters of the SINAMICS slave).
Safety Integrated Functions 8.7 Commissioning Topology (network view of the project) Components participating in F communication via PROFIBUS are basically wired as follows: 352),%86 0DVWHU &38 ZLWK 6DIHW\ IXQFWLRQV ) +RVW 352),VDIH 352),%86 6ODYH 6,1$0,&6 &8 'ULYH REMHFW ) 6ODYH 0 Figure 8-32 Example of a PROFIsafe topology Configuring PROFIsafe communication The next sections describe the configuration of PROFIsafe communication between a SIMATIC F-CPU and a drive unit.
Safety Integrated Functions 8.7 Commissioning 3. The telegram configuration for F communication is displayed in the DP slave properties (SINAMICS S110), "Configuration" tab. Figure 8-33 Example: PROFIsafe configuration (HW Config) 4. Double-click the icon of the SINAMICS drive unit and select the "Details" tab in the "Configuration" tab. 5. Click "PROFIsafe…" and then define the F parameters which are important to F communication.
Safety Integrated Functions 8.7 Commissioning Setting F parameters: Figure 8-34 PROFIsafe properties (HW Config) The top five failsafe parameters in this list are configured by default and cannot be edited. The following range of values is valid for the two remaining parameters: F_Dest_Add: 1-65534 F_Dest_Add determines the PROFIsafe destination address of the drive object.
Safety Integrated Functions 8.7 Commissioning Figure 8-35 STARTER: Configuration "Motion Monitoring via PROFIsafe" F_WD_Time: 10- 65535 A valid current safety message frame must be received from the F-CPU within the monitoring time. The drive will otherwise go into safe state. Select a monitoring time of sufficient length to let the communication functions tolerate telegram delays, however, make allowances for appropriate short fault reaction times (e.g. to interruption of communications).
Safety Integrated Functions 8.7 Commissioning 8.7.6 Information pertaining to component replacements Replacing a component from the perspective of Safety Integrated Note When replacing certain components (Sensor Modules or motors with DRIVE-CLiQ interface), this process must be acknowledged to safeguard the communication connections to be renewed within the device. When replacing other components, no acknowledgment is required since the communication connections to be renewed are saved automatically.
Safety Integrated Functions 8.8 Application examples WARNING Before re-entering the danger area and before resuming operation, a (partial) acceptance test must be carried out for all the drives affected by the component exchange (see the "Acceptance test" chapter). 8.8 Application examples 8.8.
Safety Integrated Functions 8.8 Application examples Interconnecting an F-DI with a plus-minus switching output on a safety device WARNING In contrast to mechanical switching contacts (e.g. Emergency Stop switches), leakage currents can still flow in semiconductor switches such as those usually used at digital outputs even when they have been switched off. This can lead to false switching states if digital inputs are not connected correctly.
Safety Integrated Functions 8.8 Application examples ([W 9 ;< 0 &8 ', ', ) ', ', 0 6DIH RXWSXW Figure 8-37 /RDG UHVLVWRUV RSWLRQDO F-DI at plus-minus switching safe output on safety device XY (e.g. safety PLC) Interconnecting an F-DI with a plus-plus switching output on a safety device ([W 9 ;< 0 &8 ', ', ) ', ', 0 6DIH RXWSXW Figure 8-38 /DVWZLGHUVW¦QGH RSWLRQDO F-DI at plus-plus switching safe output on safety device XY (e.g.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Dimensioning of load resistors - example 1: According to manufacturer documentation, the leakage current of an F-DO on a safety PLC is 1 mA for the P and F channel; in other words, it is 0.5 mA higher than is permissible for the F-DI. The necessary load resistance is therefore R = 5 V/0.5 mA = 10 kΩ. At maximum supply voltage, the power loss for this resistor is: P = (28.8 V)²/R = 83 mW.
Safety Integrated Functions 8.9 Acceptance test and acceptance report The acceptance test for systems with Safety Integrated functions (SI functions) is focused on validating the functionality of Safety Integrated monitoring and stop functions implemented in the drive system.
Safety Integrated Functions 8.9 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. 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.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 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.
Safety Integrated Functions 8.9 Acceptance test and acceptance report B) Functional testing of safety functions Detailed function test and evaluation of SI functions used. For some functions this contains trace recordings of individual parameters. The procedure is described in detail in section Acceptance tests. 1.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 6. Test of the SI function "Safely Limited Speed" (SLS) – Only required when used in Extended Functions – Trace recordings are required for each SLS limit 7. Test of the SI function "Safe Direction" (SDI) – Only required when used in Extended Functions – Trace recordings are required for each stop response used 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.2.2 Content of the partial acceptance test A) Documentation Documentation of the machine and of safety functions 1. Extending/changing the hardware data 2. Extending/changing the software data (specify version) 3. Extending/changing the configuration diagram 4.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 3. Test of the SI function "Safe Brake Control (SBC)" – Required when using Basic and/or Extended Functions – You do not need to prepare trace recording for this test. 4. Test of the SI function "Safe Stop 2" (SS2) – Only required when used in Extended Functions – This test is also required if you are not explicitly using SS2 but just one function for which STOP C occurs as an error response.
Safety Integrated Functions 8.9 Acceptance test and acceptance report D) Functional testing of actual value acquisition 1. General testing of actual value acquisition – After exchanging a hardware component, initial activation and brief operation in both directions. WARNING During this process, all personnel must keep out of the danger area. 2. Test of failsafe actual value acquisition – Only necessary if Extended Functions are used – If the motion monitoring functions are activated (e.g.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.2.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.3 Safety logbook The "Safety Logbook" function is used to detect changes to safety parameters that affect the associated CRC sums. CRCs are only generated when p9601/p9801 (SI enable driveintegrated functions CPU 1/2) is > 0. Data changes are detected when the CRCs of the SI parameters change.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.4 Acceptance reports 8.9.4.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.4.2 Description of safety functions - Documentation Part 2 Introduction Note This description of a system is for illustration purposes only. In each case, the actual settings for the system concerned will need to be modified as required.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Drive-specific Safety parameters Table 8- 26 Drive-specific data SI function Parameter processor 2 / processor 1 Value CPU 2 ≙ CPU 1 Enable safety functions p9301 / p9501 0000 bin Axis type p9302 / p9502 0 Function specification p9306 / p9506 0 Function configuration p9307 / p9507 0000 bin Behavior during pulse cancellation p9309 / p9509 0 Actual value acquisition clock cycle p9311 / p9511 0.
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SI function Parameter processor 2 / processor 1 Value CPU 2 ≙ CPU 1 SDI delay time p9365 / p9565 10.00 μs SDI stop response p9366 / p9566 1 SAM speed limit p9368 / p9568 0.0 mm/min Forced dormant error detection timer p9559 8.00 h Brakeramp reference value p9381 / p9581 1500 rpm Brake ramp delay time p9382 / p9582 250 ms Brake ramp monitoring time p9383 / p9583 10.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Safety equipment Protective door The protective door is unlocked by means of single-channel request key Protective door switch The protective door is equipped with a safety door switch. The safety door switch returns the dualchannel signal "Door closed and locked". Changeover and selection of safety functions in accordance with the table shown above.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.5 Acceptance tests 8.9.5.1 Notes about the acceptance tests Note 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 If Basic Functions and Extended Functions are combined, the acceptance test for both types must be carried out for the functions used.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.5.2 Acceptance tests – Basic Functions Acceptance test Safe Torque Off (Basic Functions) Table 8- 28 "Safe Torque Off" acceptance test No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals and/or via PROFIsafe. 1. 2.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 3. 4. Description Status Deselect STO and check the following: • No Safety faults and alarms (r0945[0..7], r2122[0..7]) • r9772.17 = r9872.17 = 0 (STO deselection via terminals - DI CU / EP terminal Motor Module); only relevant for STO via terminal • r9772.20 = r9872.20 = 0 (STO deselection via PROFIsafe); only relevant for STO via PROFIsafe • r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1) • r9872.0 = r9872.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Stop 1 (Basic Functions) Table 8- 29 "Safe Stop 1" function No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals and/or via PROFIsafe. 1. 2. Initial state • Drive in the "Ready" state (p0010 = 0) • STO function enabled (on-board terminals / PROFIsafe p9601.0 = 1 or p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. Description Status STO is initiated after the SS1 delay time expires (p9652, p9852). 3. 4. • No Safety faults and alarms (r0945[0...7], r2122[0...7]) • r9772.0 = r9772.1 = 1 (STO selected and active – P1) • r9772.5 = r9772.6 = 1 (SS1 selected and active – P1) • r9872.0 = r9872.1 = 1 (STO selected and active – P2) • r9872.5 = r9872.6 = 1 (SS1 selected and active – P2) • r9773.0 = r9773.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Brake Control (Basic Functions) Table 8- 30 "Safe Brake Control" function No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals and/or via PROFIsafe. 1. 2. Initial state • Drive in the "Ready" state (p0010 = 0) • STO function enabled (on-board terminals / PROFIsafe p9601.0 = 1 or p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.5.3 Acceptance tests for Extended Functions (with encoder) Acceptance test Safe Torque Off with encoder (Extended Functions) Table 8- 31 "Safe Torque Off" function No. Description Status Notes: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. 1. 2.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 3. 4. Description Status Deselect STO and check the following: • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]) • r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring) • r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1) • r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2) • r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2) • r9720.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Stop 1 with encoder (Extended Functions) Table 8- 32 "Safe Stop 1" function No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. 1. 2. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.2 = 1) • Safety functions enabled (p9501.
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Brake Control with encoder (Extended Functions) Table 8- 33 "Safe Brake Control" function No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. 1. 2. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Stop 2 (Extended Functions) Table 8- 34 "Safe Stop 2" function No. Description Status Note: The acceptance test must be individually performed for each configured control. Control may be via terminals or PROFIsafe. 1. 2. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.2 = 1) • Safety functions enabled (p9501.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 6. Description Status Deselect SS2 • Check whether the drive is operating with the setpoint again • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SS2 function is selected (time axis 0 ms; see bit "deselection SS2") ● Response bit "SS2 active" is set (time axis approx 20 ms) ● The drive decelerates along the configured OFF3 ramp (p1135) ● Recording r9714[0] indicates whether the OFF3 ramp is active ● SOS is activated (time axis approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Operating Stop (SOS) Table 8- 35 "Safe Operating Stop" function No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. 1. 2. 3. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.2 = 1) • Safety functions enabled (p9501.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • As soon as r9713[0] leaves the tolerance window, a Safety message becomes active (r9722.7 = 0) • As a consequence, the drive is brought to a standstill with STOP B and STOP A 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6. Deselect SOS and acknowledge Safety messages • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SOS function is activated (see bits "deselect SOS" and "SOS active") ● The drive starts moving (time axis approx -100 ms) ● Exiting the SOS tolerance window is recognized (time axis approx 0 ms) ● Safety fault is initiated (time axis approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance tests for Safely Limited Speed with encoder (Extended Functions) SLS with encoder with stop response "STOP A" Table 8- 36 Function "Safely Limited Speed with encoder" with STOP A No. Description Status Note: The acceptance test must be carried out separately for each configured control and each SLS speed limit used. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes active • STOP A is initiated as a consequence 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6. Deselect SLS and acknowledge Safety messages • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]) • r0046.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0", "selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level bit 1") ● Drive is accelerated beyond the SLS limit (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SLS with encoder with stop response "STOP B" Table 8- 37 Function "Safely Limited Speed with encoder" with STOP B No. Description Status Note: The acceptance test must be carried out separately for each configured control and each SLS speed limit used. Control may be via terminals or PROFIsafe. 1. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes active • A STOP B is initiated as a consequence (with subsequent stop STOP A) 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6. Deselect SLS and acknowledge Safety messages • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]) • r0046.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SLS function with SLS level 2 is active (see bits "deselection SLS", "selection SLS bit 0", "selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level bit 1") ● Drive is accelerated beyond the SLS limit (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SLS with encoder with stop response "STOP C" Table 8- 38 Function "Safely Limited Speed with encoder" with STOP C No. Description Status Note: The acceptance test must be carried out separately for each configured control and each SLS speed limit used. Control may be via terminals or PROFIsafe. 1. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes active • STOP C is initiated as a consequence 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6. Deselect SLS and acknowledge Safety messages • Check whether the drive is operating with the setpoint again • No Safety faults and alarms (r0945[0...7], r2122[0...
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0", "selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level bit 1") ● Drive is accelerated beyond the SLS limit (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SLS with encoder with stop response "STOP D" Table 8- 39 Function "Safely Limited Speed with encoder" with STOP D No. Description Status Note: The acceptance test must be carried out separately for each configured control and each SLS speed limit used. Control may be via terminals or PROFIsafe. 1. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes active • STOP D is initiated as a consequence. • As a consequence of STOP D (selection SOS) the above-described responses will be triggered if the drive is not stopped by the higher-level control on activation of STOP D 5.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SLS function with SLS level 2 is active (see bits "deselection SLS", "selection SLS bit 0", "selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level bit 1") ● Drive is accelerated beyond the SLS limit (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SLS with encoder with stop response "STOP E" Table 8- 40 Function "Safely-Limited Speed with encoder" with STOP E No. Description Status Note: The acceptance test must be carried out separately for each configured control and each SLS speed limit used. Control may be via terminals or PROFIsafe. 1. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • If r9714[0] (unit [µm/min] or [m°/min]) exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes active • STOP E is initiated as a consequence. • As a consequence of STOP E (selection SOS) the above-described responses will be triggered if the drive is not stopped by the higher-level control on activation of STOP E 5.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SLS function with SLS level 2 is active (see bits "deselection SLS", "selection SLS bit 0", "selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level bit 1") ● Drive is accelerated beyond the SLS limit (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Speed Monitor with encoder (Extended Functions) Table 8- 41 "Safe Speed Monitor" function No. 1. 2. Description Status Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.2 = 1) • Safety functions enabled (p9501.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Example trace: SSM (with encoder) with hysteresis 'ULYHB U > @ 6, 0RWLRQ GLDJQRVWLFV VSHHG DFWXDO ORDG VLGH VSHHG YDOXH RQ &RQWURO 8QLW %LW WUDFNV 660 VSHHG EHORZ OLPLW YDOXH Figure 8-47 Example trace: SSM (with encoder) with hysteresis Trace evaluation: ● Drive is accelerated (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Direction with encoder SDI positive/negative with encoder with stop response "STOP A" Table 8- 42 "Safe Direction positive/negative with encoder" function with STOP A No. Description Status Note: The acceptance test must be individually performed for each configured control and for both directions of rotation. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. Description • 4. Status C01700, C30700 (STOP A initiated) Analyze trace: • As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes active (r9722.7 = 0). • As consequence, STOP A is initiated and the pulses are canceled (p9721.2 = 1). 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6.
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SDI positive/negative with encoder and stop response "STOP B" Table 8- 43 "Safe Direction positive/negative with encoder" function and STOP B No. Description Status Note: The acceptance test must be individually performed for each configured control and for both directions of rotation. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. Description • 4. Status C01700, C30700 (STOP A initiated) Analyze trace: • As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes active (r9722.7 = 0). • STOP B is initiated as a consequence (with subsequent stop STOP A) 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6.
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SDI positive/negative with encoder and stop response "STOP C" Table 8- 44 "Safe Direction positive/negative with encoder" function and STOP C No. Description Status Note: The acceptance test must be individually performed for each configured control and for both directions of rotation. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes active (r9722.7 = 0). • STOP C is initiated as a consequence. 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6. Deselect SDI and safely acknowledge Safety messages 7.
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SDI positive/negative with encoder and stop response "STOP D" Table 8- 45 "Safe Direction positive/negative with encoder" function and STOP D No. Description Status Note: The acceptance test must be individually performed for each configured control and for both directions of rotation. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4.
Safety Integrated Functions 8.
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SDI positive/negative with encoder and stop response "STOP E" Table 8- 46 "Safe Direction positive/negative with encoder" function and STOP E No. Description Status Note: The acceptance test must be individually performed for each configured control and for both directions of rotation. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4.
Safety Integrated Functions 8.
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.5.4 Acceptance tests for Extended Functions (without encoder) Acceptance test Safe Torque Off without encoder (Extended Functions) Table 8- 47 Function "Safe Torque Off without encoder" No. Description Status Notes: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. 1. 2.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 3. 4. Description Status Deselect STO and check the following: • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]) • r9772.18 = r9872.18 = 0 (STO deselected via Safe Motion Monitoring) • r9772.0 = r9772.1 = 0 (STO deselected and inactive – P1) • r9872.0 = r9872.1 = 0 (STO deselected and inactive – P2) • r9773.0 = r9773.1 = 0 (STO deselected and inactive – P1 + P2) • r9720.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Stop 1 without encoder (Extended Functions) Table 8- 48 Function "Safe Stop 1 without encoder" No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. 1. 2. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 6. Description Status Canceling SS1 • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SS1 function is selected (time axis 0 ms; see bit "deselection SS1") ● Response bit "SS1 active" is set (time axis approx 20 ms) ● The drive decelerates along the configured OFF3 ramp (p1135) ● Recording r9714[0] indicates whether the OFF3 ramp is active ● STO is activated (time axis approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Brake Control without encoder (Extended Functions) Table 8- 49 Acceptance test "Safe Brake Control without encoder" No. Description Status Note: The acceptance test must be individually conducted for each configured control. The control can be realized via terminals or via PROFIsafe. 1. 2. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Acknowledge switch-on inhibit and run the drive. Check whether the correct drive is operational.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safely Limited Speed without encoder (Extended Functions) SLS without encoder with stop response "STOP A" Table 8- 50 Function "Safely Limited Speed without encoder" with "STOP A" No. Description Status Note: The acceptance test must be carried out separately for each configured control and each SLS speed limit used. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description Status Analyze trace: • If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes active • STOP A is initiated as a consequence 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6. Deselect SLS and acknowledge Safety messages. • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]) • r0046.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0", "selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level bit 1") ● Drive is accelerated beyond the SLS limit (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SLS without encoder with stop response "STOP B" Table 8- 51 Function "Safely Limited Speed without encoder" with "STOP B" No. Description Status Note: The acceptance test must be carried out separately for each configured control and each SLS speed limit used. Control may be via terminals or PROFIsafe. 1. 2. 3. Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. Description • If r9714[0] exceeds the active SLS limit, a Safety message (r9722.7 = 0) becomes active • A STOP B is initiated as a consequence (with subsequent stop STOP A) 5. Save/print the trace and add it to the acceptance report (refer to the example below) 6. Deselect SLS and acknowledge Safety messages • No Safety faults and alarms (r0945[0...7], r2122[0...7], r9747[0...7]) • r0046.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Trace evaluation: ● SLS function with SLS level 1 is active (see bits "deselection SLS", "selection SLS bit 0", "selection SLS bit 1" and "SLS active", "active SLS level bit 0" and "active SLS level bit 1") ● Drive is accelerated beyond the SLS limit (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Speed Monitor without encoder (Extended Functions) Table 8- 52 "Safe Speed Monitor without encoder" function No. 1. 2. Description Status Initial state • Drive in the "Ready" state (p0010 = 0) • Safety Integrated Extended Functions enabled (p9601.2 = 1) • Safety functions enabled (p9501.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Example trace: SSM (without encoder) with hysteresis 'ULYHB U > @ 6, PRWLRQ GLDJQRVWLFV YHORFLW\ ORDG VLGH YHORFLW\ DFWXDO YDOXH DW WKH &RQWURO 8QLW %LW WUDFNV 660 VSHHG EHORZ OLPLW YDOXH Figure 8-56 Example trace: SSM (without encoder) with hysteresis Trace evaluation: ● Drive is accelerated (time axis from approx.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Acceptance test for Safe Direction without encoder SDI positive/negative without encoder with stop response "STOP A" Table 8- 53 "Safe Direction positive/negative without encoder" function with STOP A No. Description Status Note: The acceptance test must be individually performed for each configured control and for both directions of rotation. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. Description Status Check whether the following Safety messages are pending: 4. • C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction • C01700, C30700 (STOP A initiated) Analyze trace: • As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes active (r9722.7 = 0).
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report SDI positive/negative without encoder and stop response "STOP B" Table 8- 54 "Safe Direction positive/negative without encoder" function and STOP B No. Description Status Note: The acceptance test must be individually performed for each configured control and for both directions of rotation. Control may be via terminals or PROFIsafe. 1. 2. 3.
Safety Integrated Functions 8.9 Acceptance test and acceptance report No. 4. Description • C01716 (0), C30716 (0); tolerance for SDI exceeded in positive direction or C01716 (1), C30716 (1); tolerance for SDI exceeded in negative direction • C01701, C30701 (STOP B initiated) • C01700, C30700 (STOP A initiated) Status Analyze trace: • As soon as r9713[0] leaves the SDI tolerance window, a Safety message becomes active (r9722.7 = 0).
Safety Integrated Functions 8.
Safety Integrated Functions 8.9 Acceptance test and acceptance report 8.9.
Safety Integrated Functions 8.9 Acceptance test and acceptance report Countersignatures Commissioning engineer This confirms that the tests and checks have been carried out properly. Date Name Company/dept. Signature Machine manufacturer This confirms that the parameters recorded above are correct. Date Name Company/dept.
Communication 9.1 9 Fieldbus configuration Fieldbus configuration As an alternative, you can switch the fieldbus interface to communication via PROFIBUS or USS protocol. Note The PROFIdrive configuration is not active if you have set USS. Configuration in STARTER To configure the fieldbus interface in STARTER, proceed as follows: 1. Select STARTER → Communication → Fieldbus.
Communication 9.2 Communication according to PROFIdrive 2. Select one of the following options from this dialog: – No protocol – USS Then define the basic settings for the USS interface in this dialog. Next, select STARTER → → Communication to define the data for the send/receive directions, etc. (see "Communication using USS" (Page 676)). – PROFIBUS Click Telegram configuration to define the length of the PZD telegram and specify additional data for send/receive directions, etc.
Communication 9.
Communication 9.2 Communication according to PROFIdrive 9.2.2 Application classes Description There are different application classes for PROFIdrive, depending on the scope and type of the application processes. There are a total of 6 application classes in PROFIdrive, of which 4 are discussed here. Application class 1 (standard drive) In the most basic case, the drive is controlled via a speed setpoint by means of PROFIBUS. In this case, speed control is fully handled in the drive controller.
Communication 9.2 Communication according to PROFIdrive Application class 2 (standard drive with technology function) The total process is subdivided into a number of small subprocesses and distributed among the drives. This means that the automation functions no longer reside exclusively in the central automation device but are also distributed in the drive controllers. Of course, this distribution assumes that communication is possible in every direction, i.e.
Communication 9.2 Communication according to PROFIdrive Application class 3 (positioning drive) In addition to the drive control, the drive also includes a positioning control, so that the drive operates as an autonomous basic positioning drive, while the higher-level technological processes are executed on the controller. Positioning requests are transmitted to the drive controller via PROFIBUS and launched. Positioning drives have a very wide range of applications, e.g.
Communication 9.2 Communication according to PROFIdrive Application class 4 (central motion control) This application class defines a speed setpoint interface with execution of the speed control on the drive and of the positioning control in the controller, such as is required for robotics and machine tool applications with coordinated motions on multiple drives. Motion control is primarily implemented by means of a central numerical controller (CNC). The position control loop is closed via the bus.
Communication 9.
Communication 9.2 Communication according to PROFIdrive 9.2.3 Cyclic communication Cyclic communication is used to exchange time-critical process data. 9.2.3.1 Telegrams and process data General information The selection of a telegram via p0922 determines which data on the drive unit side (Control Unit) will be transferred. From the perspective of the drive unit, the received process data comprises the receive words and the process data to be sent the send words.
Communication 9.2 Communication according to PROFIdrive 2. Manufacturer-specific telegrams The manufacturer-specific telegrams are structured in accordance with internal company specifications. The internal process data links are set up automatically in accordance with the telegram number setting.
Communication 9.2 Communication according to PROFIdrive Telegram interconnections When you change p0922 = 999 (factory setting) to p0922 ≠ 999, the telegrams are interconnected and blocked automatically. Note Telegram 111 is the exception: Here, PZD12 in the transmit telegram or PZD12 in the receive telegram can be interconnected as required. When you change p0922 ≠ 999 to p0922 = 999, the previous telegram interconnection is retained and can be changed.
Communication 9.2 Communication according to PROFIdrive The telegram structure The parameter p0978 contains the sequence of DOs that use a cyclic PZD exchange. A zero delimits the DOs that do not exchange any PZDs. If the value 255 is written to p0978, the drive unit emulates an empty drive object that is visible to the PROFIdrive Master. This permits cyclic communication of a PROFIdrive Master ● with unchanged configuration to drive units that have a different number of drive objects.
Communication 9.2 Communication according to PROFIdrive Interface Mode Interface Mode is used for adjusting the assignment of the control and status words in line with other drive systems and standardized interfaces. The mode can be set as follows: Value Interface Mode p2038 = 0 SINAMICS (factory setting) p2038 = 1 SIMODRIVE 611 universal Procedure: 1. Set p0922 ≠ 999. 2. p2038 = set required interface mode.
Communication 9.2 Communication according to PROFIdrive Overview of control words and setpoints Table 9- 3 Overview of control words and setpoints, profile-specific Abbreviation Name Signal Signal number Data type 1) Interconnection parameters STW1 Control word 1 1 U16 (bit-serial)2) STW2 Control word 2 3 U16 (bit-serial)2) NSOLL_A Speed setpoint A (16-bit) 5 I16 p1155 p1070(ext.setp.) NSOLL_B Speed setpoint B (32-bit) 7 I32 p1155 p1070(ext.setp.
Communication 9.2 Communication according to PROFIdrive STW1 (control word 1) See function diagram [2442] Table 9- 5 Description of STW1 (control word 1) Bit 0 1 Meaning ON/OFF1 OFF2 Remarks 0/1 ON Pulse enable possible 0 OFF1 Braking with the ramp-function generator, then pulse suppression and switching on inhibited.
Communication 9.2 Communication according to PROFIdrive Bit 10 Meaning Master control by PLC Remarks 1 Master control by PLC Parameter BI: p0854 This signal must be set so that the process data transferred via PROFIdrive are accepted and become effective. 0 PLC has no master control Process data transferred via PROFIdrive are rejected - i.e. assumed to be zero. Note: This bit should not be set to "1" until the PROFIdrive has returned an appropriate status via ZSW1.9 = "1".
Communication 9.2 Communication according to PROFIdrive Bit 2 Meaning OFF3 Remarks 1 No OFF3 Enable possible 0 Quick stop (OFF3) Braking with OFF3 ramp p1135, then pulse suppression and "switching-on inhibited" Parameter BI: p0848 Note: Control signal OFF3 is generated by ANDing BI: p0848 and BI: p0849.
Communication 9.2 Communication according to PROFIdrive STW2 (control word 2) See function diagram [2444] Table 9- 7 Description of STW2 (control word 2) Bit 0 1...6 7 8 Meaning Parameter Drive data set selection DDS bit 0 - Drive data set selection (5 bit counter) BI: p0820[0] Reserved - - - Parking axis 1 Request parking axis (handshake with ZSW2 bit 7) BI: p0897 0 No request 1 Select "Travel to fixed stop" The signal must be set before the fixed stop is reached.
Communication 9.2 Communication according to PROFIdrive NSET_B (speed setpoint B (32-bit)) ● Speed setpoint with a 32-bit resolution with sign bit. ● Bit 31 determines the sign of the setpoint: – Bit = 0 → Positive setpoint – Bit = 1 → Negative setpoint ● The speed is normalized via p2000.
Communication 9.2 Communication according to PROFIdrive MOMRED (torque reduction) This setpoint can be used to reduce the torque limit currently active on the drive. When you use manufacturer-specific PROFIdrive telegrams with the MOMRED control word, the signal flow is automatically interconnected up to the point where the torque limit is scaled.
Communication 9.2 Communication according to PROFIdrive POS_STW (positioning mode, p0108.4 =1) See function diagram [2462]. Table 9- 9 Description of POS_STW (positioning mode, p0108.
Communication 9.2 Communication according to PROFIdrive Bit Meaning 9 EPOS direct setpoint input/MDI, positive direction selection 10 EPOS direct setpoint input/MDI, negative direction selection Remarks 0/0 1/0 0/1 1/1 During "set-up": If both directions (p2651, p2652) are selected or deselected, the axis remains stationary. During "positioning": BI: p2651 / BI: p2652 Position absolutely via shortest route. Position absolutely in the positive direction.
Communication 9.2 Communication according to PROFIdrive POS_STW2 (control word 2, positioning mode, p0108.4 =1) See function diagram [2464]. Table 9- 11 Description of POS_STW2 (control word 2, positioning mode, p0108.4 = 1) Bit 0 Meaning Tracking mode 1 Set reference point 2 Reference cam 3..
Communication 9.2 Communication according to PROFIdrive OVERRIDE (Pos Velocity Override) This process data defines the percentage for the velocity override. Normalization: 4000 hex (16384 dec) = 100 % Range of values: 0 ... 7FFF hex Values outside this range are interpreted as 0%. MDI_TARPOS (MDI position) This process data defines the position for MDI sets. Normalization: 1 corresponds to 1 LU MDI_VELOCITY (MDI velocity) This process data defines the velocity for MDI sets.
Communication 9.2 Communication according to PROFIdrive MDI_MOD For a detailed table see function diagram [2480]. Table 9- 12 Bit 0 Signal targets for MDI_MOD (positioning mode, r0108.4 = 1) Meaning Interconnection parameter 0 = Relative positioning is selected p2648 = r2094.0 1 = Absolute positioning is selected 1 0 = Absolute positioning through the shortest distance p2651 = r2094.1 2 1 = Absolute positioning in the positive direction p2652 = r2094.
Communication 9.
Communication 9.2 Communication according to PROFIdrive ZSW1 (status word 1) See function diagram [2452] Table 9- 15 Description of ZSW1 (status word 1) Bit 0 1 2 3 4 5 6 7 Meaning Ready for switching on Ready for operation Operation enabled Fault active Coasting down active (OFF2) Quick stop active (OFF3) Switching on inhibited Alarm active Remarks 1 Ready for switching on Power supply on, electronics initialized, line contactor released if necessary, pulses inhibited.
Communication 9.2 Communication according to PROFIdrive Bit 8 9 10 Meaning Speed setpoint-actual value deviation within the tolerance bandwidth Control request to PLC f or n comparison value reached or exceeded Remarks 1 Parameter Setpoint/actual value monitoring within tolerance band BO: r2197.7 Actual value within a tolerance band; dynamic overshoot or undershoot for t < tmax permissible, e.g. n = nset± f = fset±, etc.
Communication 9.2 Communication according to PROFIdrive ZSW1 (status word 1, positioning mode, r0108.4 = 1) See function diagram [2479] *Valid for p0922 = 111 (telegram 111). For p0922 = 110 (telegram 110): Bits 14 and 15 reserved.
Communication 9.2 Communication according to PROFIdrive Bit 8 Meaning Remarks Following error within the tolerance 1 range Parameter Setpoint/actual value monitoring within tolerance band BO: r2684.8 Actual value within a tolerance bandwidth; The tolerance bandwidth can be parameterized. 9 Control request to PLC 10 Target position reached 11 Reference point set 12 0 Setpoint/actual value monitoring not within tolerance band 1 Control requested The PLC is requested to assume control.
Communication 9.2 Communication according to PROFIdrive ZSW2 (status word 2) See function diagram [2454] Table 9- 17 Description of ZSW2 (status word 2) Bit Meaning Remarks Drive data set effective (2-bit counter) Parameter 0 DDS eff., bit 0 – 1 DDS eff.
Communication 9.2 Communication according to PROFIdrive E_DIGITAL MT_ZSW MTn_ZS_F/MTn_ZS_S CU_ZSW1 These process data are part of the central process data. MELDW (message word) See function diagram [2456] Table 9- 18 Description of MELDW (message word) Bit Meaning 0 Ramp-up/ramp-down completed/ramp-function generator active Remarks 1 • 1/0 Parameter Ramp-up/ramp-down completed. BO: r2199.5 The ramp-up procedure is completed once the speed setpoint has been changed. Ramp-up starts.
Communication 9.2 Communication according to PROFIdrive Bit 1 Meaning Torque utilization < p2194 Remarks 1 0 Torque utilization < p2194 • The current torque utilization is less than the set torque utilization threshold (p2194), or • Ramp-up is not yet complete. Parameter BO: r2199.11 Torque utilization > p2194 • The current torque utilization is greater than the set torque utilization threshold (p2194).
Communication 9.2 Communication according to PROFIdrive Bit 6 Meaning Remarks No motor overtemperature alarm Parameter 1 No motor overtemperature alarm The temperature of the motor is within the permissible range. 0 Alarm, motor overtemperature The temperature of the motor is greater than the set motor temperature threshold (p0604). BO: r2135.14 Note: • When the motor temperature threshold is exceeded, only an alarm is output initially to warn you of this.
Communication 9.2 Communication according to PROFIdrive AKTSATZ See function diagram [3650]. Table 9- 19 Description of AKTSATZ (active traversing block/MDI active) Bit Meaning Remarks Parameter 0 Active traversing block, bit 0 – 1 Active traversing block, bit 1 – BO: r2670.1 2 Active traversing block, bit 2 – BO: r2670.2 3 Active traversing block, bit 3 – BO: r2670.3 4 Active traversing block, bit 4 – BO: r2670.4 5 Active traversing block, bit 5 – BO: r2670.
Communication 9.2 Communication according to PROFIdrive Bit 10 11 12 Meaning Remarks Parameter Direct output 1 via the traversing block 1 Direct output 1 active BO: r2683.10 0 Direct output 1 not active Direct output 2 via the traversing block 1 Direct output 1 active 0 Direct output 1 not active Fixed stop reached 1 Fixed stop reached 0 Fixed stop is not reached Fixed stop clamping torque reached BO: r2683.11 BO: r2683.
Communication 9.
Communication 9.2 Communication according to PROFIdrive S_V_LIMIT_B SLS speed limit with a 32-bit resolution with sign bit. ● The SLS speed limit is available in r9733[2]. ● Bit 31 determines the sign of the value: – Bit = 0 → positive value – Bit = 1 → negative value ● The SLS speed limit is standardized via p2000. S_V_LIMIT_B = 4000 0000 hex ≐ speed in p2000 WARN_CODE Display of the alarm code (see function diagram 8065). FAULT_CODE Display of the fault code (see function diagram 8060).
Communication 9.
Communication 9.2 Communication according to PROFIdrive Example of encoder interface * B67: * B67: 352),%86 0DVWHU 6ODYH * B=6: * B=6: Figure 9-8 * B;,67 * B;,67 * B;,67 Example of encoder interface (encoder-1: two actual values, encoder -2: one actual value) Encoder n control word (Gn_STW, n = 1, 2) The encoder control word controls the encoder functions.
Communication 9.2 Communication according to PROFIdrive Bit Name Signal status, description Command 4 Bit 6, 5, 4 Meaning 5 000 6 001 Activate function x 010 Read value x 011 Terminate function – (x: function selected via bit 0-3) 7 8...12 13 Mode 1 Flying measurement (fine resolution via p0418) 0 Find reference mark (fine resolution via p0418) Reserved – Request cyclic absolute value 1 Request cyclic transmission of the absolute position actual value in Gn_XIST2. Used for (e.g.
Communication 9.
Communication 9.
Communication 9.2 Communication according to PROFIdrive Encoder n status word (Gn_ZSW, n = 1, 2) The encoder status word is used to display states, errors and acknowledgements.
Communication 9.2 Communication according to PROFIdrive Bit Name Signal status, description 12 Reserved - 13 Transmit absolute value cyclically 1 Acknowledgement for Gn_STW.13 (request absolute value cyclically) Note: Cyclic transmission of the absolute value can be interrupted by a function with higher priority. • 0 14 15 Parking encoder Encoder fault See Gn_XIST2 No acknowledgement 1 Parking encoder active (i.e.
Communication 9.2 Communication according to PROFIdrive Encoder 1 actual position value 2 (G1_XIST2) Different values are entered in Gx_XIST2 depending on the function.
Communication 9.2 Communication according to PROFIdrive ● Resolution: Encoder pulses ∙ 2n n: fine resolution, no.
Communication 9.2 Communication according to PROFIdrive Error code in Gn_XIST2 Table 9- 26 n_XIST2 Error code in Gn_XIST2 Meaning Possible causes / description 1 Encoder error One or more existing encoder faults. Detailed information in accordance with drive messages. 2 Zero marker monitoring – 3 Abort parking sensor • Parking drive object already selected. 4 Abort find reference mark • A fault exists (Gn_ZSW.
Communication 9.2 Communication according to PROFIdrive Function diagrams (see SINAMICS S110 List Manual) ● 4720 Encoder interface, receive signals, encoders n ● 4730 Encoder interface, send signals, encoders n ● 4735 Find reference mark with equivalent zero mark, encoders n ● 4740 Measuring probe evaluation, measured value memory, encoders n Overview of important parameters (see SINAMICS S110 List Manual) Adjustable parameter drive, CU_S parameter is marked ● p0418[0...
Communication 9.2 Communication according to PROFIdrive 9.2.3.5 Central control and status words Description The central process data exists for different telegrams. For example, telegram 391 is used for transferring measuring times and digital inputs/outputs.
Communication 9.2 Communication according to PROFIdrive CU_STW1 (control word for Control Unit, CU) See function diagram [2495]. Table 9- 27 Description of CU_STW1 (control word for Control Unit) Bit Meaning Remarks Parameter 0 Synchronization flag – This signal is used to synchronize the joint system time between the controller and drive unit. BI: p0681[0] 1 RTC PING – This signal is used to set the UTC time using the PING event. BI: p3104 2...
Communication 9.2 Communication according to PROFIdrive A_DIGITAL (digital outputs) This process data can be used to control the Control Unit outputs. See function diagram [2497] Table 9- 28 Bit Description of A_DIGITAL (digital outputs) Meaning Remarks Parameter 0 Digital input/output 8 (DI/DO 8) – DI/DO 8 on the Control Unit must be parameterized as an output (p0728.8 = 1). BI: p0738 1 Digital input/output 9 (DI/DO 9) – DI/DO 9 on the Control Unit must be parameterized as an output (p0728.
Communication 9.2 Communication according to PROFIdrive MT_STW Control word for the "central probe" function. Display via r0685. Table 9- 29 Description of MT_STW (control word for Control Unit) Bit Meaning 0 Falling edge probe 1 – 1 Falling edge probe 2 – 2 Falling edge probe 3 – 3 Falling edge probe 4 – 4 Falling edge probe 5 – 5 Falling edge probe 6 – 6...
Communication 9.2 Communication according to PROFIdrive CU_ZSW1 (status word of the DO1 telegram (telegrams 39x)) See function diagram [2496]. Table 9- 30 Description of CU_ZSW1 (status word of the CU) Bit 0...3 3 Meaning Remarks Parameter Reserved – – – Fault active 1 Fault active. BO: r2139.3 The active faults are stored in the fault buffer. 0 No fault active. There is no active fault in the fault buffer. 4...5 Reserved – – – 6 Reserved 0 – – 7 Alarm active 1 Alarm active.
Communication 9.2 Communication according to PROFIdrive E_DIGITAL (digital inputs) See function diagram [2498]. Table 9- 31 Description of E_DIGITAL (digital inputs) Bit Meaning Remarks Parameter 0 Digital input/output 8 (DI/DO = 8) – DI/DO 8 on the Control Unit must be parameterized as an input (p0728.8 = 0). BO: p0722.8 1 Digital input/output 9 (DI/DO = 9) – DI/DO 9 on the Control Unit must be parameterized as an input (p0728.9 = 0). BO: p0722.
Communication 9.2 Communication according to PROFIdrive MT_ZSW Status word for the "central probe" function. Table 9- 32 Description of MT_ZSW (status word for the "central probe" function) Bit Meaning Remarks 0 Digital input probe 1 – 1 Digital input probe 2 – 2 Digital input probe 3 – 3 Digital input probe 4 – 4 Digital input probe 5 – 5 Digital input probe 6 – 6...7 Reserved – – Sub-sampling probe 1 – Not yet carried out.
Communication 9.2 Communication according to PROFIdrive Example: central probe Assumptions for the example: ● Determination of the time stamp MT1_ZS_S by evaluating the rising edge of probe 1 ● Determination of the time stamp MT2_ZS_S and MT2_ZS_F by evaluating the rising and falling edge of probe 2 ● Probe 1 on DI/DO 9 of the Control Unit (p0680[0] = 1) ● Probe 2 on DI/DO 10 of the Control Unit (p0680[1] = 2) ● Manufacturer-specific telegram p0922 = 391 is set.
Communication 9.2 Communication according to PROFIdrive Properties ● No additional parameters need to be entered in addition to the bus configuration in order to activate this function, the master and slave must only be preset for this function (PROFIBUS). ● The master-side default setting is made via the hardware configuration, e.g. B. HWConfig with SIMATIC S7. The slave-side default setting is made via the parameterization telegram when the bus is ramping up.
Communication 9.2 Communication according to PROFIdrive Overview of closed-loop control ● Sensing of the actual position value on the slave can be performed using: – Indirect measuring system (motor encoder) – Additional direct measuring system ● The encoder interface must be configured in the process data. ● The control loop is closed via the PROFIBUS. ● The position controller is located on the master.
Communication 9.2 Communication according to PROFIdrive Structure of the data cycle The data cycle comprises the following elements: 1. Global Control telegram (PROFIBUS only) 2. Cyclic part – Setpoints and actual values 3. Acyclic part – Parameters and diagnostic data 4. Reserve (PROFIBUS only) – Token passing (Token Holding Time, TTH).
Communication 9.2 Communication according to PROFIdrive 9.2.4 Acyclic communication 9.2.4.1 General information about acyclic communication Description With acyclic communication, as opposed to cyclic communication, data transfer takes place only when an explicit request is made (e.g. in order to read and write parameters). The read data set/write data set services are available for acyclic communication.
Communication 9.2 Communication according to PROFIdrive Characteristics of the parameter channel ● One 16-bit address each for parameter number and subindex. ● Concurrent access by several PROFIBUS masters (master class 2). ● Transfer of different parameters in one access (multiple parameter request). ● Transfer of complete arrays or part of an array possible. ● Only one parameter request is processed at a time (no pipelining). ● A parameter request/response must fit into a data set (max. 240 bytes).
Communication 9.2 Communication according to PROFIdrive Parameter response Values for read access only Offset Response header Error values for negative response only 1. parameter value(s) Request reference mirrored Response ID 0 Axis mirrored No. of parameters 2 Format No. of values 4 Values or error values 6 ... ... nth parameter value(s) Format No. of values Values or error values ...
Communication 9.2 Communication according to PROFIdrive Field No. of elements Data type Unsigned8 Values Remark 0x00 0x01 ... 0x75 Special function No. 1 ... 117 Limited by DPV1 telegram length Number of array elements accessed. Parameter number Unsigned16 Subindex Unsigned16 0x0001 ... 0xFFFF No. 1 ... 65535 Addresses the parameter accessed. 0x0000 ... 0xFFFF No. 0 ... 65535 Addresses the first array element of the parameter to be accessed.
Communication 9.2 Communication according to PROFIdrive Error values in DPV1 parameter responses Table 9- 33 Error values in DPV1 parameter responses Error value Meaning Remark Additional info 0x00 Illegal parameter number Access to a parameter which does not exist. – 0x01 Parameter value cannot be changed Modification access to a parameter value which cannot be changed. Subindex 0x02 Lower or upper value limit exceeded Modification access with value outside value limits.
Communication 9.2 Communication according to PROFIdrive Error value Meaning Remark Additional info 0x6D Parameter %s [%s]: Write access only in the commissioning state, encoder (p0010 = 4). – – 0x6E Parameter %s [%s]: Write access only in the commissioning state, motor (p0010 = 3). – – 0x6F Parameter %s [%s]: Write access only in the commissioning state, power unit (p0010 = 2). – – 0x70 Parameter %s [%s]: Write access only in the quick commissioning mode (p0010 = 1).
Communication 9.2 Communication according to PROFIdrive Error value Meaning Remark Additional info 0x7C Parameter %s [%s]: Write access only in the commissioning state, device download (device: p0009 = 29). – – 0x7D Parameter %s [%s]: Write access only in the commissioning state, device parameter reset (device: p0009 = 30). – – 0x7E Parameter %s [%s]: Write access only in the commissioning state, device ready (device: p0009 = 0).
Communication 9.2 Communication according to PROFIdrive 9.2.4.3 Determining the drive object numbers Further information about the drive system (e.g. drive object numbers) can be determined as follows using parameters p0101 and r0102: 1. The value of parameter r0102 ("Number of drive objects") for drive object/axis 1 is read via a read request. Drive object 1 is the Control Unit (CU), which is a minimum requirement for each drive system. 2.
Communication 9.2 Communication according to PROFIdrive Activity 1. Create the request. Parameter request Request header parameter address Offset Request reference = 25 hex Request ID = 01 hex 0+1 Axis = 02 hex No. of parameters = 01 hex 2+3 Attribute = 10 hex No. of elements = 08 hex 4+5 Parameter no. = 945 dec 6 Subindex = 0 dec 8 Information about the parameter request: ● Request reference: The value is selected at random from the valid value range.
Communication 9.2 Communication according to PROFIdrive Parameter response Offset Response header Request reference mirrored = 25 hex Response ID = 01 hex 0+1 Parameter value Axis mirrored = 02 hex No. of parameters = 01 hex 2+3 Format = 06 hex No. of values = 08 hex 4+5 1. value = 1355 dec 6 2. value = 0 dec 8 ... ... 8. value = 0 dec 20 Information about the parameter response: ● Request reference mirrored: This response belongs to the request with request reference 25.
Communication 9.2 Communication according to PROFIdrive Task description Jog 1 and 2 are to be set up for drive 2 (also drive object number 2) via the input terminals of the Control Unit. A parameter request is to be used to write the corresponding parameters as follows: • BI: p1055 = r0722.3 Jog bit 0 • BI: p1056 = r0722.4 Jog bit 1 • p1058 = 300 1/min Jog 1 speed setpoint • p1059 = 600 1/min Jog 2 speed setpoint The request is to be handled using a request and response data block.
Communication 9.2 Communication according to PROFIdrive Activity 1. Create the request. Parameter request Request header 1st parameter address Offset Request reference = 40 hex Request ID = 02 hex 0+1 Axis = 02 hex No. of parameters = 04 hex 2+3 Attribute = 10 hex No. of elements = 01 hex 4+5 Parameter no. = 1055 dec 6 Subindex = 0 dec 2nd parameter address 3rd parameter address 4th parameter address 4th parameter address 4th parameter address Attribute = 10 hex 8 No.
Communication 9.2 Communication according to PROFIdrive Information about the parameter request: ● Request reference: The value is selected at random from the valid value range. The request reference establishes the relationship between request and response. ● Request ID: 02 hex → This identifier is required for a write request. ● Axis: 02 hex → The parameters are written to drive 2. ● No. of parameters 04 hex → The multi-parameter request comprises 4 individual parameter requests. 1st parameter address ..
Communication 9.3 Communication via PROFIBUS DP Information about the parameter response: ● Request reference mirrored: This response belongs to the request with request reference 40. ● Response ID: 02 hex → Write request positive ● Axis mirrored: 02 hex → The value matches the value from the request. ● No. of parameters: 04 hex → The value matches the value from the request. 9.3 Communication via PROFIBUS DP 9.3.
Communication 9.
Communication 9.3 Communication via PROFIBUS DP 9.3.2 Commissioning PROFIBUS 9.3.2.1 General information about commissioning Interfaces and diagnostic LED A PROFIBUS interface with LEDs and address switches is available on the Control Unit.
Communication 9.3 Communication via PROFIBUS DP ● PROFIBUS interface The PROFIBUS interface is described in the following documentation: References: SINAMICS S110 Equipment Manual ● PROFIBUS diagnostic LED Note A teleservice adapter can be connected to the PROFIBUS interface (X126) for remote diagnostics purposes. Setting the PROFIBUS address Two methods are available for setting the PROFIBUS address: 1.
Communication 9.3 Communication via PROFIBUS DP Note The factory settings are "ON" or "OFF" for all switches. With these two settings, the PROFIBUS address is set by parameterization. Parameter p0918 is unique to the Control Unit (see Control Unit). The factory setting is 126. Address 126 is used for commissioning. Permitted PROFIBUS addresses are 1 ... 126. If more than one CU is connected to a PROFIBUS line, the address settings must differ from the factory settings.
Communication 9.3 Communication via PROFIBUS DP Device master file A device master file provides a full and clear description of the features of a PROFIBUS slave. The GSD files can be found at the following locations: ● On the CD for the STARTER commissioning tool Order no. 6SL3072-0AA00-0AGx Figure 9-21 Hardware catalog of the generic station description file with slave-to-slave communication functionality The "SINAMICS S110 CU305 V4.
Communication 9.3 Communication via PROFIBUS DP Device identification An identification parameter for individual slaves facilitates diagnostics and provides an overview of the nodes on the PROFIBUS. The information for each slave is stored in the following CU-specific parameter: r0964[0...
Communication 9.3 Communication via PROFIBUS DP 3. Carry out the following in HWConfig: – Connect the drive to PROFIBUS and assign an address. – Set the telegram type. The same telegram type as on the slave should be set for every drive object exchanging process data via PROFIBUS. The master can send more process data than the slave uses. A telegram with a larger PZD number than is assigned for the drive object STARTER can be configured on the master.
Communication 9.3 Communication via PROFIBUS DP Table 9- 36 Tags: "General" tab Field Value Name Any Control Any Type Depending on the addressed parameter value, e.g.: INT: for integer 16 DINT: for integer 32 WORD: for unsigned 16 REAL: for float Area DB DB (data block number) Parameter number 1 ... 65535 DBB, DBW, DBD (data block offset) Drive object No. and sub-index bit 15 ... 10: Drive object No. 0 ... 63 bit 9 ... 0: Sub-index 0 ...
Communication 9.3 Communication via PROFIBUS DP 9.3.2.5 Monitoring: telegram failure Description When monitoring telegram failure, SINAMICS differentiates between two cases: 1. Telegram failure with a bus fault After a telegram failure and the additional monitoring time has elapsed (p2047), bit r2043.0 is set to "1" and alarm A01920 is output. Binector output r2043.0 can be used for an emergency stop, for example. Once the delay time (p2044) has elapsed, fault F01910 is output.
Communication 9.3 Communication via PROFIBUS DP 2. Telegram failure with a CPU stop After telegram failure, bit r2043.0 is set to "1". Binector output r2043.0 can be used for an emergency stop, for example. Once the delay time (p2044) has elapsed, fault F01910 is output. Fault F01910 triggers fault response OFF2 (pulse inhibit) for the infeed and OFF3 (emergency stop) for SERVO/VECTOR. If no OFF response is to be triggered, the fault response can be reparameterized accordingly.
Communication 9.3 Communication via PROFIBUS DP 9.3.
Communication 9.3 Communication via PROFIBUS DP Designations and descriptions for Motion Control Table 9- 37 Time settings and meanings Name Limit Description TBASE_DP 250 µs Time basis for TDP TDP TDP ≥ TDP_MIN DP cycle time TDP_MIN ≤ TDP ≤ TDP_MAX TDP = Dx + MSG + RES + GC TDP = multiple integer ∙ TBASE_DP TDP_MIN = 1 ms TDP_MAX =32 ms TMAPC Master application cycle time This is the time frame in which the master application generates new setpoints (e.g. in the position controller cycle).
Communication 9.3 Communication via PROFIBUS DP Setting criteria for times ● Cycle (TDP) – TDP must be set to the same value for all bus nodes. – TDP > TDX and TDP > TO TDP is thus large enough to enable communication with all bus nodes. NOTICE After TDP has been changed on the PROFIBUS master, the drive system must be switched on (POWER ON) or parameter p0972 = 1 (reset drive unit) must be set.
Communication 9.3 Communication via PROFIBUS DP User data integrity User data integrity is verified in both transfer directions (master ↔ slave) by a sign of life (4bit counter). The sign of life counters are incremented from 1 to 15 and then start again at 1. ● Master sign of life – STW2.12 ... STW2.15 are used for the master sign of life. – The master sign of life counter is incremented in each master application cycle (TMAPC). – The number of sign-of-life errors tolerated can be set via p0925.
Communication 9.3 Communication via PROFIBUS DP The following terms are used for the functions described here: ● Slave-to-slave communication ● Data Exchange Broadcast (DXB.
Communication 9.3 Communication via PROFIBUS DP Links and taps The links configured in the subscriber (connections to publisher) contain the following information: ● From which publisher is input data received? ● Which input data are there? ● Where are the additional setpoints received? Several taps are possible within a link. Several input data or input data areas, which are not associated with one another, can be used as setpoint via a tap.
Communication 9.3 Communication via PROFIBUS DP 9.3.4.2 Setpoint assignment in the subscriber Information about setpoints ● Number of setpoint When bus communication is being established, the master signals the slave the number of setpoints (process data) to be transferred using the configuring telegram (ChkCfg). ● Contents of the setpoints The structure and contents of the data are determined using the local process data configuration for the "SINAMICS slave".
Communication 9.3 Communication via PROFIBUS DP Parameterizing telegram (SetPrm) The filter table is transferred, as dedicated block from the master to the slave with the parameterizing telegram when a bus communication is established.
Communication 9.3 Communication via PROFIBUS DP Settings in HW Config The project below is used to describe the settings in HW Config, using the example "Standard telegrams".
Communication 9.3 Communication via PROFIBUS DP Procedure 1. Select a slave (e.g. SINAMICS S) and use its properties to configure the telegram for the connected drive object. 2. Select a SINAMICS S as a slave and use its properties dialog to configure the telegram portions for the individual drive objects.
Communication 9.3 Communication via PROFIBUS DP 3. Then go to the detail view. Slots 4/5 contain the actual values and setpoints for the first drive object, e.g. SERVO. Slots 7/8 are the telegram portion for the actual and setpoint values for the second drive object, e.g. CU. Figure 9-29 Detail view of slave configuration 4. The "Insert slot" button is used to create a new setpoint slot for the first drive object behind the existing setpoint slot. Figure 9-30 Insert new slot 5.
Communication 9.3 Communication via PROFIBUS DP 6. In the column, select the PROFIBUS DP address of the publisher. This displays all PROFIBUS DP slaves from which actual value data can be requested. It also provides the possibility of sharing data via slave-to-slave communication within the same drive device. 7. The "I/O address" column displays the start address for every drive object. Select the start address of the data of the drive object to be read. This is 268 in the example.
Communication 9.3 Communication via PROFIBUS DP 8. The "Data Exchange Broadcast - Overview" tab shows you the configured slave-to-slave communication relationships which correspond to the current status of the configuration in HW Config. Figure 9-32 Data Exchange Broadcast - Overview 9. After the slave-to-slave communication link has been created, instead of showing "Standard telegram 2" for the drive object, "User-defined" appears in the configuration overview.
Communication 9.3 Communication via PROFIBUS DP 10.The details after creation of the slave-to-slave communication link for a drive object of the SINAMICS S drive device are as follows: Figure 9-34 Details after the creation of the slave-to-slave communication link 11.You need to adjust the telegrams accordingly for each drive object of the selected drive device which is to actively participate in slave-to-slave communication.
Communication 9.3 Communication via PROFIBUS DP Commissioning in STARTER Slave-to-slave communication is configured in HWConfig and is simply an extension of an existing telegram. Telegrams can be extended in STARTER (p0922 = 999). Figure 9-35 Configuring the slave-to-slave communication links in STARTER To complete the configuration of slave-to-slave communication for the drive objects, the telegram portions of the drive objects in STARTER must be matched to those in the HW Config and extended.
Communication 9.3 Communication via PROFIBUS DP Procedure 1. In the overview for the PROFIBUS telegram, you can access the telegram portions of the drive objects, here SERVO_01. Select the telegram type "Free telegram configuration with BICO" for the configuration. 2. Enter the telegram lengths for the input data and output data according to the settings in HW Config.
Communication 9.3 Communication via PROFIBUS DP Figure 9-37 Configuring the PROFIBUS slave-to-slave communication in STARTER To connect the drive objects to the process data which is received via slave-to-slave communication, you also need to connect the appropriate connectors to the corresponding signal sinks. A list for the connector shows all signals that are available for interconnection.
Communication 9.
Communication 9.3 Communication via PROFIBUS DP 9.3.4.5 Diagnosing the PROFIBUS slave-to-slave communication in STARTER Since the PROFIBUS slave-to-slave communication is implemented on the basis of a broadcast telegram, only the subscriber can detect connection or data faults, e.g. via the Publisher data length (see "Configuration telegram"). The Publisher can only detect and report an interruption of the cyclic connection to the DP master (A01920, F01910).
Communication 9.4 Communication via PROFINET IO 9.4 Communication via PROFINET IO 9.4.1 General information about PROFINET IO 9.4.1.1 Real-time (RT) and isochronous real-time (IRT) communication Real-time communication When communication takes place via TCP/IP, the resultant transmission times may be too long and non-deterministic to meet production automation requirements. When communicating time-critical IO user data, PROFINET IO therefore uses its own real-time channel, rather than TCP/IP.
Communication 9.4 Communication via PROFINET IO H J PV F\FOH PLQLPXP ZLGWK 5HVHUYHG UDQJH &\FOLF VFKHGXOHG FRPPXQLFDWLRQ VSRQWDQHRXV FRPPXQLFDWLRQ 0RQLWRUHG OLPLW Figure 9-39 9.4.1.
Communication 9.4 Communication via PROFINET IO 9.4.1.3 General information about PROFINET IO for SINAMICS General information PROFINET IO is an open Industrial Ethernet standard for a wide range of production and process automation applications. PROFINET IO is based on Industrial Ethernet and observes TCP/IP and IT standards. Signal processing in real time and determinism is important in industrial networks. PROFINET IO satisfies these requirements.
Communication 9.4 Communication via PROFINET IO IO device: Drive units with PROFINET interface ● SINAMICS S120 with CU320-2 DP and inserted CBE20 ● SINAMICS S120 with CU320-2 PN ● SINAMICS S120 with CU310-2 PN Cycle communication using PROFINET IO with IRT or using RT is possible on all drive units equipped with a PROFINET interface. This means that problem-free communication using other standard protocols is guaranteed within the same network.
Communication 9.4 Communication via PROFINET IO IP address To allow a PROFINET device to be addressed as a node on Industrial Ethernet, this device also requires an IP address that is unique within the network. The IP address is made up of 4 decimal numbers with a range of values from 0 through 255. The decimal numbers are separated by a period.
Communication 9.4 Communication via PROFINET IO Replacing the Control Unit CU305-DP (IO device) If the IP address and device name are stored in non-volatile memory on a suitable memory card, this data is also forwarded with the Control Unit memory card. If a complete Control Unit needs to be replaced due to a device or module defect, the new Control Unit automatically parameterizes and configures using the data on the memory card. Following this, cyclic exchange of user data are restarted.
Communication 9.4 Communication via PROFINET IO 9.4.2 Hardware setup 9.4.2.1 Structuring CU305 with PROFINET PROFINET interface for CU305 PN A PROFINET interface with 2 ports is integrated in the CU305 PN module. Note The ports must not be interconnected in such a way that a ring topology is created. References ● The PROFINET interface on the CU305 PN unit is described in the document: SINAMICS S110 Manual.
Communication 9.4 Communication via PROFINET IO DCP flashing This function is used to check the correct assignment to a module and its interfaces. This function is supported by SINAMICS S110 with CU305 PN. 1. In HW Config or STEP7 Manager, select the menu item "Target system" > "Ethernet" > "Edit Ethernet node". 2. The "Edit Ethernet node" dialog box opens. 3. Click on the "Browse" button. 4. The "Browse Network" dialog box opens and displays the connected nodes. 5.
Communication 9.4 Communication via PROFINET IO 9.4.3 RT classes for PROFINET IO PROFINET IO is a scalable realtime communication system based on Ethernet technology. The scalable approach is expressed with three realtime classes. RT RT communication is based on standard Ethernet. The data are transferred via prioritized Ethernet telegrams.
Communication 9.4 Communication via PROFINET IO IRT "high performance" In addition to the bandwidth reservation, the telegram traffic can be further optimized by configuring the topology. This enhances the performance during data exchange and the deterministic behavior. The IRT time interval can thus be further optimized or minimized with respect to IRT "high flexibility".
Communication 9.4 Communication via PROFINET IO Set the RT class The RT class is set by means of the properties of the controller interface of the IO controller. If RT class IRT "high performance" is set, it is not possible to operate any IRT "high flexibility" devices on the IO controller and vice versa. IO devices with RT can always be operated, regardless of the IRT class setting. You can set the RT class in the HW Config for the associated PROFINET device. 1.
Communication 9.4 Communication via PROFINET IO Update cycles and send cycles for RT classes Definition of update time/send cycle: If we take a single IO device in the PROFINET IO system as an example, this device has been supplied with new data (outputs) by the IO controller and has transferred new data (inputs) to the IO controller within the update time. The send cycle is the shortest possible update cycle. All cyclic data are transferred within the send cycle.
Communication 9.4 Communication via PROFINET IO Explanations for the above table: 1) It is only possible to set send cycles from the "even" range when IO devices with RT class "RT" are assigned to a synchronization domain. Likewise, only the reduction ratios from the "even" range can be set for a send cycle setting from the "even" range.
Communication 9.4 Communication via PROFINET IO Device selection in HW Config Hardware catalog: The drive unit from the appropriate unit family entry in the hardware catalog must be configured. For the RT class IRT, these are all entries with the end identification ...PN-V2.2. GSD: The names of GSD files for devices which contain IRT end in …PN-V2.2. 9.4.4 Selection of the PROFINET variant SINAMICS S110 supports the PROFINET variant: ● PROFINET version 2.
Communication 9.4 Communication via PROFINET IO PROFINET GSD with subslot configuring PROFINET GSD with subslot configuring allows standard telegrams to be combined with a PROFIsafe telegram - and if required, a telegram extension. Each of the modules has four subslots: The Module Access Point (MAP), the PROFIsafe telegram, a PZD telegram to transfer process data and where relevant, a telegram for PZD extensions.
Communication 9.4 Communication via PROFINET IO 9.4.
Communication 9.4 Communication via PROFINET IO Designations and descriptions for motion control Table 9- 43 Time settings and meanings Name Limit value Description TDC_BASE - Time basis for cycle time TDC calculation: TDC_BASE =T_DC_BASE × 31.25 µs = 4 × 31.
Communication 9.4 Communication via PROFINET IO Setting criteria for times ● Cycle (TDC) – TDC must be set to the same value for all bus nodes. TDC is a multiple of SendClock. – TDC > TCA_Valid and TDC ≧ TIO_Output TDC is thus large enough to enable communication with all bus nodes. ● TIO_Input and TIO_Output – Setting the times in TIO_Input and TIO_Output to be as short as possible reduces the dead time in the position control loop.
Communication 9.4 Communication via PROFINET IO 9.4.7 PROFINET with 2 controllers 9.4.7.1 Settings for SINAMICS S SINAMICS S110 permits the simultaneous connection of an automation control (A-CPU) and a Safety control (F-CPU) to a Control Unit via PROFINET. For this communication, SINAMICS S only supports the standard telegram 30 of the Safety control. The following diagram shows the essential structure of this connection variant, using CU305PN as an example.
Communication 9.4 Communication via PROFINET IO Example The following diagram shows an example configuration of a SINAMICS S110 with 3 axes. The A-CPU sends the standard telegram 105 and the standard telegram 102. The F-CPU sends two PROFIsafe telegrams 30.
Communication 9.4 Communication via PROFINET IO ● Configure the PROFINET communication in HW Config (see section "Configuring the controls"). ● When the system is booting, because p8929 = 2, SINAMICS S recognizes that PROFINET telegrams from 2 controls are expected, and structures the communication according to the configuration in HW Config.
Communication 9.4 Communication via PROFINET IO Both controls in a common project ● Both controls are in a common project: Figure 9-45 Both CPUs in a STEP7 project ● Add the A-CPU to a SINAMICS PROFINET device with GSD. Configure the subslots according to the data to be transmitted. Note You yourself must ensure that the configuration of the A-CPU and the F-CPU is appropriate for the desired communication behavior. ● Copy the SINAMICS PROFINET device and add it to the F-CPU as a Shared Device.
Communication 9.5 Communication using USS 9.4.7.3 Overview of important parameters Overview of important parameters (see SINAMICS S110 List Manual) ● p8929 PN Number of remote controllers ● p9601 SI enable, functions integrated in the drive (CPU 1) ● p9801 SI enable, functions integrated in the drive (CPU 2) 9.5 Communication using USS 9.5.1 Configuring the USS interface After switching the fieldbus interface to "USS" in STARTER, configure the interface in the Communication → Fieldbus dialog.
Communication 9.
Communication 9.5 Communication using USS 9.5.2 Transferring PZD Prerequisite The communications interface must be set to USS protocol. Defining the process data to be transferred To define the process data (PZD) to be transferred, proceed as follows: 1. Select → Communication in STARTER. Figure 9-47 USS: Defining the PZD receive direction 2. Define the process data (PZD) you want to receive on the Receive direction tab. 3.
Communication 9.5 Communication using USS 9.5.3 General information about communication with USS over RS485 General information Communication using the USS protocol takes place over the RS485 interface with a maximum of 31 slaves. The following character frame applies for the USS telegram: %LW 6WDUW %LW %LW 3 HYHQ VWRS ELWV RI GDWD For information about connection, please refer to the Equipment Manual. 9.5.
Communication 9.5 Communication using USS Start delay The duration of the start delay must at least be as long as the time for two characters and depends on the baud rate. Table 9- 44 Duration of the start delay Baud rate in bits/s Transmission time per character (= 11 bits) Transmission time per bit Min. start delay 9600 1.146 ms 104.170 µs > 2.291 ms 19200 0.573 ms 52.084 µs > 1.146 ms 38400 0.286 ms 26.042 µs > 0.573 ms 57600 0.191 ms 17.361 µs > 0.382 ms 115200 0.059 ms 5.
Communication 9.5 Communication using USS ADR The ADR range is a single byte which contains the address of the slave node (e.g. inverter). The individual bits in the address byte are addressed as follows: 7 Special telegram 6 5 4 Broadcast Mirror bit telegram 3 2 1 0 5 Address bits ● Bit 5 is the broadcast bit. Note The Broadcast function is not supported in the current software version. ● Bit 6 = 1 indicates a mirror telegram.
Communication 9.5 Communication using USS Structure of the user data The user data range of the USS protocol is used to transmit application data. This comprises the parameter channel data and the process data (PZD). The user data occupy the bytes within the USS frame (STX, LGE, ADR, BCC). The size of the user data can be configured using parameters p2023 and p2022. The structure and sequence of the parameter channel and process data (PZD) are shown in the figure below. 3URWRFRO GDWD 3URWRFRO ZRUGV 3.
Communication 9.5 Communication using USS Parameter identifier (PKE), first word The parameter identifier (PKE) is always a 16-bit value. 3DUDPHWHU FKDQQHO 3.( VW ZRUG ,1' QG ZRUG 3:( UG DQG WK ZRUG 630 $. 318 Figure 9-50 PKE structure ● Bits 0 to 10 (PNU) contain the remainder of the parameter number (value range 1 to 61999). For parameter numbers ≥ 2000, an offset must be added that is defined using the upper bits of the IND byte.
Communication 9.
Communication 9.5 Communication using USS Parameter index (IND) second word The field subindex is simply referred to as "subindex" in the PROFIdrive profile. Data transfer structure 3DUDPHWHU FKDQQHO 3.( VW ZRUG ,1' QG ZRUG 3:( UG DQG WK ZRUG 3DJH LQGH[ Figure 9-51 6XELQGH[ ,1' IND structure ● The field subindex is an 8-bit value that is transferred in the low-value byte (bits 0 to 7) of the parameter index (IND).
Communication 9.5 Communication using USS Rules for the parameter range The bit for selecting the parameter page functions as follows: When it is set to 1, an offset of 2000 is applied in the inverter to the parameter number (PNU) in the parameter channel request before transfer.
Communication 9.5 Communication using USS Parameter value (PWE) With communication over USS, the number of PWEs can vary. One PWE is required for 16bit values. Two PWEs are required if 32-bit values are exchanged. Note U8 data types are transferred as U16 with the upper byte set to zero. U8 fields therefore require one PWE per index. A parameter channel of 3 words represents a typical data telegram for exchanging 16-bit data or alarms. The mode with a fixed word length of 3 is used when p2023 = 3.
Communication 9.5 Communication using USS 9.5.7 Time-out and other errors Telegram timeouts The character runtime is important for timeout monitoring: Table 9- 50 Character runtime Baud rate in bits/s Transmission time per character (= 11 bits) Transmission time per bit Character runtime 9600 1.146 ms 104.170 μs 1.146 ms 19200 0.573 ms 52.084 μs 0.573 ms 38400 0.286 ms 26.042 μs 0.286 ms 115200 0.059 ms 5.340 μs 0.
Communication 9.5 Communication using USS Character delay time Off time between characters; must be less than 2x character runtime, but can also be zero Start delay Off time between USS messages; must be > 2 * character runtime. Response delay Processing time of the slave; must be < 20 ms, but larger than the start delay. Residual runtime < 1.
Communication 9.5 Communication using USS 9.5.8 USS process data channel (PZD) Description In this area of the telegram, process data (PZD) is continuously exchanged between the master and slave. Depending on the direction of transmission, the process data channel contains either request data for the USS slave or response data for the USS master. The request contains control words and setpoints for the slaves and the response contains status words and actual values for the master.
10 Basic information about the drive system 10.1 Parameter Parameter types The following adjustable and display parameters are available: ● Adjustable parameters (write/read) These parameters have a direct impact on the behavior of a function. Example: Ramp-up and ramp-down time of a ramp-function generator ● Display parameters (read only) These parameters are used to display internal variables.
Basic information about the drive system 10.1 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 exist a multiple number of times for each drive object and can be addressed via the parameter index for reading and writing.
Basic information about the drive system 10.1 Parameter Saving parameters in a non-volatile memory The modified parameter values are stored in the volatile RAM. When the drive system is switched off, this data is lost. So that the changes can be restored, the data must be saved as follows in a non-volatile manner in the Control Unit.
Basic information about the drive system 10.2 Data sets 10.2 Data sets 10.2.1 CDS: Command Data Set CDS: Command Data Set The BICO parameters (binector and connector inputs) are grouped together in a command data set. 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.
Basic information about the drive system 10.2 Data sets 10.2.2 DDS: Drive Data Set DDS: Drive Data Set A drive data set contains various adjustable parameters that are relevant with respect to open and closed-loop drive control: ● Numbers of the assigned motor and encoder data sets: – p0186: Assigned motor data set (MDS) – p0187: Assigned encoder data set (EDS) – p0188: Assigned encoder data set (EDS; for the external encoder) ● Various control parameters, e.g.
Basic information about the drive system 10.2 Data sets 10.2.3 EDS: Encoder Data Set EDS: Encoder Data Set An encoder data set contains various adjustable parameters describing the connected encoder for the purpose of configuring the drive. ● Adjustable parameters, e.g.
Basic information about the drive system 10.2 Data sets 10.2.4 MDS: Motor Data Set MDS: Motor Data Set A motor data set contains various adjustable parameters describing a connected motor for the purpose of 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) – ...
Basic information about the drive system 10.2 Data sets 10.2.
Basic information about the drive system 10.2 Data sets 10.2.6 Using data sets Copying a command data set Set parameter p0809 as follows: 1. p0809[0] = number of the command data set to be copied (source) 2. p0809[1] = number of the command data to which the data is to be copied (target) 3. p0809[2] = 1 Start copying. Copying is finished when p0809[2] = 0. Note In STARTER, you can copy the command data sets (Drive → Configuration → "Command data sets" tab).
Basic information about the drive system 10.2 Data sets Copying the motor data set Set parameter p0139 as follows: 1. p0139[0] = Number of the motor data set that is to be copied (source) 2. p0139[1] = Number of the motor data set which should be copied into (target) 3. p0139[2] = 1 Start copying. Copying has been completed, if p0139[2] = 0. Note In STARTER, you can set the drive data sets via the drive configuration.
Basic information about the drive system 10.3 Working with the memory card 10.3 Working with the memory card This chapter describes the basic functions of the memory card for SINAMICS S110. CAUTION Switching on the CU305 with the memory card inserted Depending on the data on the inserted memory card and the CU305, SINAMICS S110 performs certain actions automatically when the system is switched on (see the descriptions below).
Basic information about the drive system 10.3 Working with the memory card 10.3.
Basic information about the drive system 10.3 Working with the memory card Alternatively, you can back up parameter sets without switching the CU305 off/on as follows: ● The system is switched on: – Insert a memory card into the CU305. – Execute command "RAM to ROM" (p0977 = 1). The up-to-date parameter data set is copied automatically, first to the "ROM" and then to the memory card (in the latter case as a data set with the index 0).
Basic information about the drive system 10.
Basic information about the drive system 10.3 Working with the memory card ● The system is switched on. The user starts data transmission from the memory card to the ROM with parameters p0802, p0803 and p0804: – p0802 = (0...100) as source (from the memory card), p0803 = (0/10/11/12) as target (to the "ROM"), and p0804 = 2. Note Saving/loading all parameters via p0976 and p0977: You can save or reload all parameters via parameters p0976 and p0977.
Basic information about the drive system 10.
Basic information about the drive system 10.3 Working with the memory card 10.3.3 Replacing the device A CU305 has failed. You want to replace the device but retain the firmware version. You receive a new CU305 with the firmware version currently on release at the time of delivery.
Basic information about the drive system 10.3 Working with the memory card 10.3.4 Removing the memory card safely CAUTION The file system on the memory card may be destroyed if the card is removed without requesting and confirming this action in advance via the "Safe removal" function. If this happens, the memory card no longer works and has to be repaired. If you want to remove the memory card from the device, proceed as follows: ● Set parameter p9400 = 2.
Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4 BICO technology: Interconnecting signals 10.4.1 Description 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.
Basic information about the drive system 10.4 BICO technology: Interconnecting signals 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).
Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.3 Interconnecting signals using BICO technology To interconnect two signals, a BICO input parameter (signal sink) must be assigned to the required BICO output parameter (signal source).
Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.4 Internal encoding of the binector/connector output parameters The internal codes are required for writing BICO input parameters via PROFIBUS, for example.
Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.6 BICO technology: 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...
Basic information about the drive system 10.4 BICO technology: Interconnecting signals 10.4.7 Scaling Signals for the analog outputs Table 10- 4 List of signals for analog outputs Signal Parameter Unit Normalization (100 % = ...
Basic information about the drive system 10.5 Inputs/outputs 10.5 Inputs/outputs 10.5.
Basic information about the drive system 10.5 Inputs/outputs 10.5.2 Digital inputs/outputs 10.5.2.1 Digital inputs Properties ● The digital inputs are "high active". ● An open input is interpreted as "low". ● Fixed debouncing setting Delay time = 1 to 2 current controller cycles (250 μs) ● 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.
Basic information about the drive system 10.5 Inputs/outputs 10.5.2.2 Digital outputs Properties ● Separate power supply of the digital output. ● 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 output can function, its own electronics power supply must be connected.
Basic information about the drive system 10.6 Replacing SMI or DQI components 10.5.3 Analog Input Properties ● Hardware input filter set permanently ● Simulation mode parameterizable ● Adjustable offset ● Signal can be inverted via binector input ● Adjustable absolute-value generation ● Noise suppression (p0768) ● Enabling of inputs via binector input ● Output signal available via connector output ● Scaling ● Smoothing NOTICE Scaling parameters p0757 to p0760 do not limit the voltage/current values.
Basic information about the drive system 10.7 System sampling times 10.7 System sampling times The software functions installed in the system are executed cyclically at different sampling times. The sampling times of the functions are pre-assigned automatically when the drive unit is configured.
Basic information about the drive system 10.8 Licensing 10.8 Licensing Description SINAMICS S110 requires that a license purchased specifically for this purpose is assigned to the hardware if the Extended Functions of Safety Integrated are to be used. In doing this you will receive a license key, which links the Extended Functions of Safety Integrated with the hardware electronically. In order to assign the license to the hardware, you must have a memory card (this also has to be purchased separately).
Basic information about the drive system 10.8 Licensing System response where license is insufficient for a function module An insufficient function module license is indicated via the following fault and LED on the Control Unit: ● F13010 Function module license, not licensed ● The OFF1 response brings the drive to a standstill. ● RDY LED permanently lit NOTICE The drive system cannot be operated if the license for a function module is insufficient.
Basic information about the drive system 10.8 Licensing Entering the license key Note You need to insert the memory card into the Control Unit before entering the license key. With the STARTER commissioning tool, the ASCII characters are not entered in code, but the letters and numbers in the license key can be input directly as they appear on the license certificate. In this case, the ASCII coding is processed by STARTER in the background.
Basic information about the drive system 10.
Basic information about the drive system 10.
11 Appendix 11.1 Availability of SW functions In conjunction with the Control Unit, SINAMICS S110 Version 4.1 supports the following functions: No.
Appendix 11.1 Availability of SW functions No. SW function 13 2 current setpoint filters 14 Extended brake control 15 Armature short-circuit brake 16 Speed controller optimization 17 Motor identification 18 Pole position identification In conjunction with the Control Unit, Version 4.3 SP1 of SINAMICS S110 supports the following new functions: No.
Appendix 11.2 Availability of hardware components In conjunction with the Control Unit, Version 4.4 of SINAMICS S110 supports the following new functions: No. 1 SW function Safety Integrated functions • 2 11.2 SDI (Safe Direction) for synchronous motors with encoder Communication • PROFINET address can be written via parameter (e.g.
Appendix 11.3 List of abbreviations 11.
Appendix 11.
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Appendix 11.
Appendix 11.
Appendix 11.
Appendix 11.
Appendix 11.
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Appendix Function Manual 738 Function Manual, 06/2012, 6SL3097-4AB10-0BP4
Index " "high-speed inputs", A Absolute encoder Adjustment, 242 Acceptance test, 449 SBC (Basic Function), 480 SBC without encoder, 533 SDI with encoder (STOP A), 511 SDI with encoder (STOP B), 514 SDI with encoder (STOP C), 517 SDI with encoder (STOP D), 520 SDI with encoder (STOP E), 524 SDI without encoder (STOP A), 543 SDI without encoder (STOP B), 546 SLS with encoder (STOP A), 494 SLS with encoder (STOP B), 497 SLS with encoder (STOP C), 500 SLS with encoder (STOP D), 503, 506 SLS without encoder (S
Index C Calling Safety Integrated, 430 Cam controllers, 228 CBC10, 67 Central probe Example, 606 Change password Safety Integrated, 438 Closed-loop position control, 216 Commissioning Checklist, 38 PROFIsafe with STARTER, 449 Safety terminals, 436 with STARTER, 46 Communication about PROFIdrive, 552 via PROFIBUS, 624 Communication Board, 67 Connector, 710 Control Unit LEDs during booting, 85 Controller setting, automatic Servo, 147 Copying parameter data sets from non-volatile memory to the memory card, 70
Index Acknowledgment, 105 configure, 109 Fault buffer, 106 Faults and alarms, 112 Alarm classes, 113 BICO interconnections, 112 FBLOCKS, 287 Find reference mark, 591 Firmware update/downgrade, 705 Fixed setpoints, 275 Fixed speed setpoints, 275 Flying measurement, 593 Flying referencing EPOS, 247 Following error monitoring Dynamic, 228 Forced dormant error detection, 363, 410 Foreword, 3 Free function blocks Activating the individual function blocks, 298 ADD, 304 AND, 302 Application examples, 287 AVA, 305
Index IRT, 662 J Jerk limitation, 239 Jog, 271 EPOS, 265 JOG Jog, 271 K Kinetic buffering, 165 L LEDs on CU305 CAN Control Unit, 87 on CU305 DP Control Unit, 87 SMC10, 89 SMC20, 89 SMC30, 90 License for Basic Functions, 423 License key, 721 Limit exceeded, 400 Limits Torque setpoint, 129 M Main/supplementary setpoint, 278 Manufacturer-specific telegrams, 560 Maximum acceleration, 237 Maximum deceleration, 237 Maximum speed, 719 Maximum velocity, 237 Measuring sockets, 99 Message buffer, 404 Messages, 1
Index MDI_ACC, 574 MDI_DEC, 574 MDI_MOD, 575 MDI_TARPOS, 574 MDI_VELOCITY, 574 MDIAcc, 564 MDIDec, 564 MDIMode, 564 MDIPos, 564 MDIVel, 564 MT_STW, 603 Over, 564 OVERRIDE, 574 POS_STW, 571 POS_STW1, 564 POS_STW2, 564 PosSTW, 564 SATZANW, 564, 570 SI STW (PROFIsafe STW), 424, 426 STW1, 558, 564, 565 STW1 (positioning mode), 566 STW2, 558, 564, 568 Process data, setpoints KPC, 558 MOMRED, 558, 564, 570 NSET_A, 568 NSET_B, 569 NSOLL_A, 558, 564 NSOLL_B, 558, 564 Process data, status words AKTSATZ, 576 CU_ZSW,
Index Safe actual value acquisition, 406 Safe Brake Control SBC, 360 Safe Brake Ramp SBR, 338, 393 Safe Brake Ramp without encoder SBR without encoder, 393 Safe Direction, 395 With encoder, 395 Safe direction of motion, 395 Safe Operating Stop SOS, 375, 376 Safe Speed Monitor SSM, 385 Safe Stop 1 SS1, 358 time controlled, 358 Safe Stop 2 SS2, 373 Safely Limited Speed with encoder SLS with encoder, 378 Safety Info Channel, 412 Safety Integrated Change password, 438 Commissioning, 430 Password, 341 Safe brak
Index Signal recording with the trace function, 91 SINAMICS drive unit, 450 Single-encoder system, 406 Singleturn absolute encoder, 32 Singleturn encoder, 219 Slave-to-slave communication PROFIBUS, 638 SLS speed limit values, 379 SLS with encoder (STOP C) Acceptance test, 500 SLS with encoder (STOP D) Acceptance test, 506 SLS without encoder (STOP A) Acceptance test, 535 SLS without encoder (STOP B), 538 SMI replacement DQI replacement, 718 Sockets for measurement, 99 Software limit switches, 238 SOS Accep
Index SINAMICS components, 33 Test of switch-off signal paths, 363 Test stop, 410 Test stop modes, 440 Timer for forced dormant error detection interval, 441 Tools STARTER, 46 Torque limits OFF3, 194 Torque setpoint, 129 Torque-controlled operation, 127 Trace, 95 Trace function, 95 Signal recording, 91 Travel to fixed stop, 168 Traversing blocks, 252 Traversing task Reject, 254, 264 U Unit changeover, 184 Update, 705 User interface, 21 V V/f control Servo control, 143 Vdc control Servo, 165 Vdc_min contr
Siemens AG Industry Sector Drive Technologies Motion Control Systems Postfach 3180 91050 ERLANGEN GERMANY Subject to change without prior notice © Siemens AG 2012 www.siemens.
