Preface SIMOTION D410 Commissioning Manual Valid for SIMOTION D410 DP and D410 PN 08/2008 Edition Description 1 Commissioning (hardware) 2 Configuring SIMOTION D410 3 Commissioning (software) 4 Maintenance and service 5 Diagnostics data 6 Standards and approvals A ESD guidelines B Appendix C
Safety Guidelines This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger. DANGER indicates that death or severe personal injury will result if proper precautions are not taken.
Preface Contents of the commissioning manual This manual is part of the SIMOTION D4xx documentation package, Edition 08/2008. This manual describes commissioning of the SIMOTION devices D410 DP and D410 PN. Information blocks in this manual The following information blocks describe the purpose and use of the commissioning manual. ● Description This section provides information pertaining to the SIMOTION system and its integration into the information landscape.
Preface The SIMOTION documentation consists of 9 documentation packages containing approximately 80 SIMOTION documents and documents on related systems (e.g. SINAMICS). The following documentation packages are available for SIMOTION V4.
Preface Note Country-specific telephone numbers for technical support are provided under the following Internet address: http://www.siemens.com/automation/service&support Calls are subject to charge, e.g. 0.14 €/min. on the German landline network. Tariffs of other phone companies may differ. Questions about this documentation If you have any questions (suggestions, corrections) regarding this documentation, please fax or e-mail us at: Fax +49 9131- 98 63315 E-mail mailto:docu.motioncontrol@siemens.
Preface Disposal and recycling SIMOTION D410 is an environmentally friendly product! It includes the following features: ● In spite of its excellent resistance to fire, the flame-resistant agent in the plastic used for the housing does not contain halogens. ● Identification of plastic materials in accordance with DIN 54840 ● Less material used because the unit is smaller and with fewer components thanks to integration in ASICs SIMOTION D410 can be recycled because it is made with low-polluting materials.
Table of contents Preface ...................................................................................................................................................... 3 1 2 3 4 Description............................................................................................................................................... 11 1.1 System overview ..........................................................................................................................11 1.
Table of contents 5 8 4.2.1 4.2.2 4.2.3 4.2.4 4.2.5 Overview ..................................................................................................................................... 62 Accessing the drive wizard.......................................................................................................... 63 Configuring the components ....................................................................................................... 64 Aligning HW Config .....................
Table of contents 6 A B C 5.3 Performing a software and firmware update..............................................................................126 5.4 5.4.1 5.4.2 5.4.3 5.4.4 SIMOTION CompactFlash Card ................................................................................................131 Replacing the CompactFlash Card............................................................................................131 Writing and deleting data on CompactFlash Cards .....................
Description 1.1 1 System overview Overview In SIMOTION D, the SIMOTION functionality is integrated directly in the closed-loop control module of the SINAMICS S120 drive system. SIMOTION D410 is a module drive system for single axes, which solves demanding drive tasks for a very wide range of industrial applications. SIMOTION D410 supplements D425, D435 and D445, the three power levels for multi-axis connections. SIMOTION D is an integral part of the Totally Integrated Automation (TIA) concept.
Description 1.1 System overview System integration SIMOTION provides an optimized system platform for automation and drive solutions where the main focus is on motion control applications and technology tasks. The SIMOTION system is made up of three components: ● SIMOTION SCOUT Engineering System ● Runtime Software ● Hardware platforms The innovative SIMOTION concept involves integrating pure automation and motion functions, which have been traditionally isolated in the past.
Description 1.1 System overview Combining the three control functions of motion control, PLC and technology functions has the following benefits: ● Lower engineering expenditure and higher machine performance. ● Interfaces between individual components requiring rapid response are no longer needed. ● Simple, standardized and transparent programming and diagnostics for the complete machine.
Description 1.2 System components 1.2 System components Overview SIMOTION D410 communicates with the components of the automation landscape via the following interfaces: ● PROFIBUS DP (SIMOTION D410 DP only) ● PROFINET (SIMOTION D410 PN only) ● DRIVE-CLiQ (DRIVE Component Link with IQ) ● Power Module Interface (PM-IF) ● SIMOTION D features a SINAMICS Integrated drive element. Communication with the SINAMICS Integrated (node 3) is via PROFIBUS mechanisms (DP integrated).
Description 1.2 System components PROFIBUS DP SIMOTION D410 DP can communicate via PROFIBUS DP interface to the following components: Table 1-2 Components on PROFIBUS DP Components Function PG/PC programming device ... configures, sets parameters, programs and tests using the SIMOTION SCOUT Engineering System (ES). SIMATIC HMI device ... is used for operator control and monitoring functions. It is not absolutely required to run SIMOTION D410. Drive units with PROFIBUS DP interface (e.g.
Description 1.2 System components Note Please note that not all modules for the I/O systems listed above are enabled for SIMOTION. Moreover, system-related functional differences can come into play when these I/O or I/O systems are used on SIMOTION vs. on SIMATIC. For example, special process-control functions (e.g., HART modules, etc.) are not supported by SIMOTION for the ET 200M distributed I/O system.
Description 1.2 System components PROFINET SIMOTION D410 PN can communicate via PROFINET interface to the following components: Table 1-3 Components on PROFINET Components Function The master computer (at company and production management level) ... communicates with other devices via Ethernet. PG/PC programming device ... communicates with the SIMOTION SCOUT Engineering Systems (ES), STEP 7 and HMI (Human Machine Interface). SIMATIC HMI device ...
Description 1.2 System components DRIVE-CLiQ SIMOTION D410 can communicate via DRIVE-CLiQ interface to the following components: Table 1-4 Components on DRIVE-CLiQ Components Function SINAMICS S120 AC DRIVE drive units (with CUA31/CUA32) ... convert speed setpoints into signals for controlling the motor and supply the power required to operate the motors. The AC DRIVE component PM340 is connected via CUA31/CUA32. No more than one PM340 can be connected.
Description 1.3 SIMOTION D410 DP display 1.3 SIMOTION D410 DP display View The following figure shows SIMOTION D410 DP with the interfaces and front elements.
Description 1.3 SIMOTION D410 DP display Interfaces The SIMOTION D410 DP interfaces are described in the following tables.
Description 1.3 SIMOTION D410 DP display Nameplates The following figure shows you all the information included on the nameplates located on the side of the unit.
Description 1.3 SIMOTION D410 DP display The following nameplate includes the SIMOTION D410 DP barcode numbers and is located on the front side of the module.
Description 1.4 SIMOTION D410 PN display 1.4 SIMOTION D410 PN display View The following figure shows SIMOTION D410 PN with the interfaces and front elements.
Description 1.4 SIMOTION D410 PN display Interfaces The SIMOTION D410 PN interfaces are described in the following tables.
Description 1.4 SIMOTION D410 PN display Nameplates The following figure shows you all the information included on the nameplates located on the side of the unit.
Description 1.4 SIMOTION D410 PN display The following nameplate includes the MAC address of the PROFINET interface (ports X200 and X201) and is located on the front side of the module.
Description 1.5 The CompactFlash card 1.5 The CompactFlash card CompactFlash card The following figure shows you all the information included on the nameplate of the CompactFlash card (CF card).
Description 1.6 Licensing Available Z options / licenses for SIMOTION D CF cards The following Z options are available for SIMOTION D410: TControl temperature control: ● Txx – TControl license and number (e.g.
Description 1.7 Safety information 1.7 Safety information Observe the following safety information when working with SIMOTION D410 and its components! CAUTION The CompactFlash card may only be unplugged and plugged in when SIMOTION D410 is switched off (zero current)! CAUTION The 50 mm clearances above and below the components must be observed. The ventilation openings may not be covered by connecting cables.
Commissioning (hardware) 2.1 2 Prerequisites for commissioning Prerequisites Prerequisites for commissioning the SIMOTION D410: ● You have completed installation and the wiring of your system with SIMOTION D410. ● A programming device / PC is available. Connecting a programming device / PC to SIMOTION D410 You can interconnect the programming device / PC: ● With the PROFIBUS interface of SIMOTION D410 DP (X21 connector) using a connecting cable.
Commissioning (hardware) 2.2 Inserting the Compact Flash card 2.2 Inserting the Compact Flash card Properties of the CF card The CF card is mandatory for operation of SIMOTION D410. The SIMOTION kernel and the drive control software (SINAMICS firmware) are installed on the CF card. The CompactFlash card must be inserted when you start up SIMOTION D410 in order to load the SIMOTION kernel.
Commissioning (hardware) 2.3 Switching on the power supply 2.3 Switching on the power supply Checking the system Check the system installation and wiring once again before you switch it on.
Commissioning (hardware) 2.4 RESET button 2.4 RESET button Arrangement The RESET button is located behind the blanking plate on the SIMOTION D410. Performing a reset operation A reset causes the entire system to be reset and requires the system to be ramped-up again. It is similar to a "Power On Reset" except that the 24 V power supply does not have to be switched off.
Commissioning (hardware) 2.5 User memory concept 2.5 User memory concept 2.5.1 SIMOTION D410 memory model The following figure provides an overview of the SIMOTION D410 memory model.
Commissioning (hardware) 2.5 User memory concept 2.5.2 Properties of the user memories Non-volatile data Non-volatile data is used with the objective of retaining user- and system-relevant data when SIMOTION D410 is in de-energized state. You will find information about the area that can be used for non-volatile data in the SIMOTION SCOUT Configuration Manual.
Commissioning (hardware) 2.5 User memory concept Volatile data Definition of the properties of volatile data: ● Volatile data resides in the RAM area of SIMOTION D410. ● The download data of SIMOTION SCOUT is written to this memory. ● These data is lost after the SIMOTION D410 is shut down.
Commissioning (hardware) 2.5 User memory concept CompactFlash Card The CompactFlash Card contains the following data: ● SIMOTION kernel ● Technology packages (TP) ● User data (units, configuration data, parameters, task configuration) ● IP parameters (IP address, subnet mask, router address) ● DP parameters (PROFIBUS DP address, baud rate) 2.5.
Commissioning (hardware) 2.5 User memory concept Startup of SIMOTION D410 The SIMOTION kernel is loaded from the CompactFlash Card to the "volatile data" area during the startup of SIMOTION D410. Volatile data is lost if you shut down the SIMOTION D410 module after the download.
Commissioning (hardware) 2.5 User memory concept Startup and non-volatile data The table below describes the startup situations which may develop in terms of the nonvolatile data and how to handle such situations. Table 2-3 Startup situations with non-volatile data Situa tion Initial condition Result 1 Valid contents of non-volatile data. Startup of SIMOTION D410 with the non-volatile data. The PROFIBUS address in non-volatile data is therefore valid, for example.
Commissioning (hardware) 2.5 User memory concept Refer to the SIMOTION SCOUT Configuration Manual for information about how to read out the contents of the diagnostic buffer. System variable "persistentMemoryPowerMonitoring.
Configuring SIMOTION D410 3.1 3 Software requirements SIMOTION SCOUT Engineering System The SIMOTION SCOUT Engineering System must be installed on your programming device / PC in order to commission the SIMOTION D410. Observe the information on the current "SIMOTION SCOUT" CD. For information on how to install SIMOTION SCOUT on your programming device / PC, refer to the SIMOTION SCOUT Configuration Manual. 3.
Configuring SIMOTION D410 3.2 Inserting SIMOTION D410 into a project Communication with the programming device / PC via PROFIBUS (only for D410 DP) 1. Select the PROFIBUS interface from the "Properties - PROFIBUS/MPI" dialog box and confirm your selection with "OK". 2. The connection to the programming device / PC is activated automatically and HW Config opens.
Configuring SIMOTION D410 3.2 Inserting SIMOTION D410 into a project Note The active state setting of the connection to the programming device / PC is only visualized in NetPro! Representation in HW Config SIMOTION D410 is represented in HW Config.
Configuring SIMOTION D410 3.3 Configuring the PROFIBUS DP interface (only D410 DP) 3.3 Configuring the PROFIBUS DP interface (only D410 DP) 3.3.1 General information about PROFIBUS DP communication Definition of PROFIBUS DP PROFIBUS DP is an international, open field bus standard specified in the European field bus Standard EN 50170 Part 2. PROFIBUS DP is optimized for high-speed, time-sensitive data transfer at field level.
Configuring SIMOTION D410 3.3 Configuring the PROFIBUS DP interface (only D410 DP) 3.3.2 Assignment of the PROFIBUS addresses in HW Config Assigning PROFIBUS addresses Assign a PROFIBUS address to all devices before you start networking these in order to enable intercommunication. Note All PROFIBUS addresses you assign must be unique on the PROFIBUS subnet. Information pertaining to the rules of communication on the PROFIBUS subnet is available in the SIMOTION D410 Manual.
Configuring SIMOTION D410 3.3 Configuring the PROFIBUS DP interface (only D410 DP) 3.3.3 Operating SIMOTION D410 on PROFIBUS DP. PROFIBUS DP interface (X21) SIMOTION D410 provides an interface for connecting to PROFIBUS DP. The interface supports transmission rates up to 12 Mbit/s.
Configuring SIMOTION D410 3.3 Configuring the PROFIBUS DP interface (only D410 DP) 3.3.5 Setting the DP cycle and system cycle clocks All system clocks for SIMOTION D410 DP are based on the DP cycle of SINAMICS Integrated, which must be set in HW Config. Double-click the SINAMICS block at the integrated PROFIBUS. The "DP Slave Properties" dialog box opens. You can synchronize the DP cycle of SINAMICS Integrated in the "Isochronous mode" tab.
Configuring SIMOTION D410 3.3 Configuring the PROFIBUS DP interface (only D410 DP) 3.3.6 Rules for SIMOTION D410 DP Rules for synchronizing the system clocks You must conform to the following rules when setting the DP cycle and SINAMICS clocks: 1. The DP cycle must be an integer multiple of the current controller cycle. Error A01902 (2) is reported in the drive if this rule is violated. 2.
Configuring SIMOTION D410 3.3 Configuring the PROFIBUS DP interface (only D410 DP) Rules for SIMOTION D410 DP The general rule for SIMOTION D410 specifies that the DP cycle (D410 DP) forms the basic clock of the cycle system. All cycles longer than this basic clock must be an integer multiple of the basic clock.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) 3.4 Configuring PROFINET (only for D410 PN) 3.4.1 General information about PROFINET communication Overview PROFINET is an open component-based industrial communication system using Ethernet (IEC 61158) for distributed automation systems. The PROFINET interface supports operation of SIMOTION D410 PN as IO controller and/or as intelligent device. PROFINET distinguishes between the controller and its assigned devices.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) 3.4.2 Operating SIMOTION D410 PN on PROFINET PROFINET interfaces (X200, X201) SIMOTION D410 PN provides a dual-port PROFINET interface (X200 and X201). The interface supports transmission rates as high as 100 Mbit/s. It can also be operated isochronous and equidistant. The autocrossing functionality means both crossed and uncrossed cables can be used A port has two integrated LEDs, a green LED and an orange LED.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) Initializing SIMOTION D410 SIMOTION D410 must be assigned an IP address and a device name in order to enable downloading of the project. This is performed online on the SIMOTION device using the socalled "node initialization". To perform the node initialization, the programming device / PC must be connected with the SIMOTION D410 PN. SIMOTION SCOUT must be open. 1. Click the "Reachable nodes" button on the SIMOTION SCOUT toolbar.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) Reading the IP address To fetch the IP address, the SIMOTION SCOUT must be in online mode. The IP address of SIMOTION D410 PN can be viewed in SIMOTION SCOUT as follows: 1. Establish an online connection to the SIMOTION D410. 2. Right-click the SIMOTION device in SIMOTION SCOUT. 3. Select the "Target device > Device Diagnostics" command from the shortcut menu.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) 6. Define your addresses in the "IP address" and "Subnet mask" fields of the "Properties Ethernet Interface" dialog box. Change to the "Network node" field and define whether you are going to use a router and, if yes, enter the router address. Confirm with "OK". 7. Close the "Properties" dialog by clicking "OK". 8. Save and compile the modified hardware configuration. 9.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) Setting the send cycle in HW Config The PROFINET send cycle always forms the basis of the SIMOTION cycles if RT class IRT is set and data is in actual fact transferred. Set the send cycle in the "Domain Management" dialog box of HW Config. Open this dialog by selecting the "Edit" > "PROFINET IO" > "Domain Management ..." command in HW Config.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) 3.4.4 Rules for SIMOTION D410 PN Rules for using the PROFINET send cycle If the PROFINET send cycle is the basis for the cycles, ensure that the DP cycle of the SINAMICS Integrated and the servo cycle are equal. The timebase for the system clocks are generated internally if the PROFINET interface is not operated with RT class IRT with high performance or IRT with high performance is set, but no data is being transferred.
Configuring SIMOTION D410 3.4 Configuring PROFINET (only for D410 PN) Rules for SIMOTION D410 PN The general rule for SIMOTION D410 specifies that the send cycle (D410 PN) forms the basic clock of the cycle system. All cycles longer than this basic clock must be an integer multiple of the basic clock.
Commissioning (software) 4.1 4 Overview of commissioning Prerequisites Prerequisites for commissioning the SIMOTION D410: ● The system has been connected and wired. ● The SIMOTION D410 is switched on and started up (STOP state). ● SIMOTION SCOUT (with integrated STARTER) has been installed and started on the programming device / PC. ● Communication between the SIMOTION D410 and the programming device / PC is configured. ● You have created a project and installed a SIMOTION D410 in the project.
Commissioning (software) 4.2 Configuring the system in offline mode 2. Creating an axis 3. Using the digital I/O 4. Optionally, use TMx, DMC20 or other encoders 5. Testing the configured drive 6. Testing the configured axis Observe the corresponding references. 4.2 Configuring the system in offline mode 4.2.1 Overview Prerequisites for offline configuration ● All components and their order number must be known for the offline configuration.
Commissioning (software) 4.2 Configuring the system in offline mode 4.2.2 Accessing the drive wizard Integrated drive SIMOTION D410 features an integrated SINAMICS S120 drive (control unit) which is automatically included when you insert the SIMOTION D410 in the Project Navigator. The integrated drive must be operated in equidistant, isochronous mode using PROFIdrivecompliant message frame types.
Commissioning (software) 4.2 Configuring the system in offline mode 4.2.3 Configuring the components Procedure 1. Enter a drive name in the "Drive Properties" dialog box and select the drive type (servo or vector). Figure 4-1 Drive properties 2. You can select the function modules and the control mode in the "Open-loop Control Structure" dialog box.
Commissioning (software) 4.2 Configuring the system in offline mode 3. Select your motor module by order number from the list shown in the "Power Unit" dialog box. Figure 4-3 Selecting a power unit 4. Select in the "Power unit supplementary data" dialog the component added to the power unit. The selection of the component depends on the construction type. – D410 DP with D410 PN: The SIMOTION D410 snapped directly onto the PM340 power module – CUA31 or CUA32: The CUA3x snapped directly onto the PM340.
Commissioning (software) 4.2 Configuring the system in offline mode Figure 4-4 Selecting an adapter module 5. Select the motor and possibly the motor type in the next dialog box. Figure 4-5 Selecting a motor 6. Select a motor holding brake (if installed).
Commissioning (software) 4.2 Configuring the system in offline mode Figure 4-6 Selecting a motor holding brake 7. Select the encoder order number in the "Encoder selection by motor order number" if using a motor that is not equipped with a DRIVE-CLiQ interface. Figure 4-7 Selecting the encoder order number 8. In the following dialog, select the PROFIBUS message frame.
Commissioning (software) 4.
Commissioning (software) 4.2 Configuring the system in offline mode Figure 4-9 Finishing the drive The configured drive is displayed in the Project Navigator. An overview of your configured SINAMICS components is available in the "SINAMICS_Integrated" > "Topology" dialog.
Commissioning (software) 4.2 Configuring the system in offline mode 4.2.4 Aligning HW Config After having completed the configuration of all SINAMICS components, align the data with HW Config. Proceed as follows: 1. Open the "Configuration" entry in the "SINAMICS_Integrated" tree in the Project Navigator. The "SINAMICS_Integrated - Configuration" dialog box opens with a list of configured drive objects.
Commissioning (software) 4.2 Configuring the system in offline mode Figure 4-11 Configuration after HW Config alignment Note Repeat the HW Config alignment if the message frames for SINAMICS Integrated were changed. The addresses are not updated automatically. 4.2.5 Downloading the project to SIMOTION D410 Procedure for downloading a project into the target system 1. Save and compile the project. 2. Go online to SIMOTION D410. 3.
Commissioning (software) 4.2 Configuring the system in offline mode Procedure for downloading a created project to the CF card You can use a card reader to also write the entire project to the CF Card in offline mode. In the SIMOTION SCOUT, you can call the "Download to the file system" function in the context menu of the SIMOTION device. 1. Save and compile the project. 2. Switch off the SIMOTION D410. 3. Remove the CF card and insert it in a card adapter.
Commissioning (software) 4.3 Configuring the system in online mode 4.3 Configuring the system in online mode 4.3.1 Overview Introduction You can configure the plant in online mode after having completed its wiring. You can upload the data of SINAMICS components connected via DRIVE-CLiQ to your programming device / PC using the "Automatic configuration" function. However, this functionality is only available within the initial commissioning phase.
Commissioning (software) 4.3 Configuring the system in online mode 4.3.2 Establishing the online connection The procedure for an initial commissioning follows. To perform an online configuration, you must establish an online connection to the SIMOTION D410. In this case, no connection can yet be established to SINAMICS Integrated. An appropriate message is output.
Commissioning (software) 4.3 Configuring the system in online mode 4.3.3 Starting automatic configuration Prerequisites ● You activated the online connection to SINAMICS Integrated. ● You have not yet configured any drive objects. ● The default settings of SINAMICS Integrated were activated. Right-click SINAMICS Integrated" and select the "Target device" > "Restore defaults" command from the shortcut menu in SIMOTION SCOUT in order to restore the factory settings. Procedure 1.
Commissioning (software) 4.3 Configuring the system in online mode 3. Select either a servo or a vector drive object. 4. Click "Close" to complete automatic configuration. The configuration data is uploaded (Upload to PG) automatically as soon as automatic commissioning is completed. Note If the firmware of the SINAMICS components differs from the firmware on the CF card, the firmware of the SINAMICS components will be upgraded automatically. 5. Click "Close" to exit automatic configuration.
Commissioning (software) 4.3 Configuring the system in online mode Figure 4-15 Project Navigator with the downloaded DRIVE-CLiQ components You must then define the axis message frame and possibly edit the SINAMICS components (e.g. components without DRIVE-CLiQ interface and an encoder connected to the onboard encoder interface). See also Editing SINAMICS components (Page 77) 4.3.4 Editing SINAMICS components Prerequisites ● You have uploaded all connected DRIVE-CLiQ components to the user project.
Commissioning (software) 4.3 Configuring the system in online mode Procedure Now go ahead and adapt your components to suit the application. Run the wizards for all DRIVE-CLiQ components to be customized and configure the motor, encoder, and process data message frames (PROFIBUS message frame type). This procedure corresponds with the description in chapter "Configuring the system in offline mode".
Commissioning (software) 4.4 Creating an axis 4.4 Creating an axis Overview The SIMOTION SCOUT Engineering System can be used to insert axes in your project. 1. Start a session of the Axis Wizard in order to configure the axes and interconnect these with the SINAMICS Integrated drive. 2. Insert your user programs into the project. 3. Compile the project and download it to SIMOTION D410. Note Note that only one real axis can be used on a SIMOTION D410.
Commissioning (software) 4.4 Creating an axis 5. Select the drive to be aligned (SINAMICS Integrated) in this dialog box and then click "Align". The addresses are assigned to the configured components and entered in HW Config. Note This device alignment is only necessary if not already done in the course of drive commissioning. This shows that no interconnectable drive of the SINAMICS Integrated type is displayed. Figure 4-17 Assigning a drive 6. Select a drive unit in the "Drive Assignment" dialog box.
Commissioning (software) 4.5 Integrating additional encoders (optional) 4.5 Integrating additional encoders (optional) 4.5.1 General information SIMOTION D410 provides the option of integrating and configuring further encoders in addition to the motor encoder.
Commissioning (software) 4.5 Integrating additional encoders (optional) 4.5.2 Configure the encoder interface on the drive side Prerequisite You configured the drive with an encoder in the Drive Wizard. Procedure 1. Open the "Configuration" entry of your drive by selecting the "SINAMICS_Integrated" > Drives" command in the Project Navigator. The "Configuration" dialog box opens. 2. Click "Configure DDS..." to open the Drive Wizard. 3.
Commissioning (software) 4.5 Integrating additional encoders (optional) 7. In the "Configuration - SINAMICS Integrated - PROFIBUS (drive) Process Data Exchange" dialog box, select a message frame that supports the transmission of two encoder values (e.g. SIEMENS message frame 106, PSD-11/15). 8. Click "Continue" to complete the Drive Wizard. 9. Click "Transfer to HW Config" in the "SINAMICS_Integrated - Configuration" dialog box in order to align HW Config.
Commissioning (software) 4.5 Integrating additional encoders (optional) 4.5.4 Configuring external encoders in SIMOTION Prerequisite Encoder using PROFIBUS/PROFINET You have used HW Config to configure an encoder on the PROFIBUS or PROFINET.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION 4.6 Using drive-related I/Os by SIMOTION 4.6.1 Onboard I/Os and terminal modules configuration overview Using SINAMICS I/Os by SIMOTION Digital inputs/outputs (I/Os) assigned to SINAMICS can be used completely or partially by SIMOTION. Examples here are the use of terminal modules (TMs) or onboard I/Os of the D410. To allow the I/Os to be used by SIMOTION, the input and output data must be transferred using message frames.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Configuration Description Applications Supported I/Os (drive objects) Expanding a message frame For the data transmission of the I/O data, existing message frames are extended with the process status data (PSD). These additional PSDs must then be interconnected using BICO. Preferred solution when I/Os are to be divided between SIMOTION and SINAMICS and, for example, an axis view is preferred.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION 4.6.2 Use of message frame 39x The following section describes the configuration of the onboard I/Os of a SIMOTION D410. The configuration of the onboard I/Os of a CU310 connected to a SIMOTION controller is performed similarly. With the exception of the "high-speed output cams / DOs", the same functionality is available for a CU310 as the D410.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Proceed as follows: 1. In the Project Navigator, double-click the "Configuration" entry under "SINAMICS Integrated". In the workarea, the "PROFIBUS message frame" tab is displayed in the "SINAMICS Integrated - Configuration" dialog box. 2. Select the message frame type (SIEMENS message frame 390, 391 or 392) for the control unit. 3. Click the "Transfer to HW Config" button to transfer the message frame data to hardware configuration.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Use of the onboard I/O by SIMOTION For DI/DO channels, the terminal status of the output can be fetched back using the input (DI). The 390 message frame transfers in PSD1 the control and status word of the control unit and in PSD2 the status of the onboard inputs/outputs. For the 391 and 392 message frames, additional control and status information for the global measuring inputs is transferred.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Configuring DI/DO as input or output When a DI/DO is to be used as digital input or digital output, interconnection screen forms can be used for configuring. Proceed as follows: 1. Double-click the "Inputs/outputs" entry below the SINAMICS_Integrated > Control Unit in the Project Navigator. 2. Click the "Bidirectional digital inputs/outputs" tab. 3. In this tab, configure the required inputs or outputs.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION 4.6.3 Free message frame configuring with P915/P916 (only TM15/TM17 High Feature) The TM15 and TM17 High Feature terminal modules are connected to the control unit using the DRIVE-CLiQ interface. This assigns the terminal modules to the SINAMICS. When a TM15 or TM17 High Feature is added to SIMOTION SCOUT, an automatic interconnection to a "free message frame with P915/P916" is made. Other interconnection possibilities exist.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION 4.6.4 Configuring free message frames by means of BICO Overview For the "free message frame configuring using BICO", dedicated message frames for the data transmission are assigned to the associated drive objects (e.g. terminal modules). Message frame type: Free message frame configuring using BICO (only slaves) To allow SIMOTION to access the SINAMICS drive signals, e.g.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Configuring user-specific message frames 1. Double-click the "Insert I/O component" entry in "SINAMICS_Integrated" in the Project Navigator and then select terminal module "TM31" from the "Operating type" field of the dialog box shown. 2. Enter a name for the module to be inserted and confirm your entry with OK. 3.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Note Before the matching, all drive objects without input/output addresses ("---..---") must be moved behind the objects with valid input/output addresses or those still to be matched ("???..???"). The icons in the status column show the following information: The message frame is configured differently in HW Config. You must match with HW Config. You use a predefined standard message frame or free BICO interconnection.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Interconnecting the message frame for TM31 The next section describes how you can transfer signals from TM31 to SIMOTION (PROFIBUS send direction). Note To perform interconnections in online mode, you must: • Prior to the interconnection, download the message frame configuration into the target device. Function: Download the CPU / drive device to the target unit.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Figure 4-25 Selecting a signal 6. Interconnect all signals you need. How to transfer a signal from SIMOTION to TM31 (PROFIBUS receive direction): 1. Double-click the "PROFIBUS" entry in the "Communication" dialog of the TM31 you created. The corresponding dialog box opens. 2. Click "Binector/connector converter" in the "PROFIBUS receive direction" tab. The "Connector/binector converter" tab opens 3. Interconnect all required signals.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION 4.6.5 Expanding a message frame The message frame extension extends existing standard message frames (e.g. axis message frames) with additional process status data (PSD). These additional PSDs are then interconnected using BICO (e.g. to an actual speed value or to the status of a digital input).
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Note Before the matching, all drive objects without input/output addresses ("---..---") must be moved behind the objects with valid input/output addresses or those still to be matched ("???..???"). The icons in the status column show the following information: The message frame is configured differently in HW Config. You must match with HW Config. You use a predefined standard message frame or free BICO interconnection.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Figure 4-27 Example: Interconnection of the onboard DI in the PROFIBUS send direction Note A warning message is not output if you interconnect more PSDs than were set in the additional PSDs. Note that a SERVO drive object supports a maximum of 16 PSD setpoints and 19 PSD actual values. Each VECTOR drive object supports a maximum of 32 PSD setpoints.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION 4.6.6 Using high-speed outputs for output cams on D410 Using high-speed outputs for output cams / DOs with D410 Output cams are defined as being the position-dependent output of switching signals. The TO output cams and TO output cam track technology objects control the output of output cams for SIMOTION. The integrated digital outputs of the SIMOTION D can be used as cam output or as highspeed output with write access to the user program.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Table 4-5 Logical hardware address and the bit number (high-speed outputs for cam outputs / DOs) Logical hardware address and bit number Output on the D410 Start address message frame 39x +3, bit 0 DO 8 Start address message frame 39x +3, bit 1 DO 9 Start address message frame 39x +3, bit 2 DO 10 Start address message frame 39x +3, bit 3 DO 11 For information about message frame configuring, see Use of message frame 39x (Page 87).
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Table 4-6 Comparison of local and global measuring inputs on the D410 Local measuring input Global measuring input Measurement operation With a signal edge at the relevant input, the current actual values of an encoder connected to a control unit are measured with positioning accuracy to determine lengths and distances.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Configuring of local measuring inputs on the D410 Local measuring inputs are always permanently assigned to an axis (drive). They are configured separately for each drive. The drive and the probe input must always be located on the same control unit. The measuring results are transferred using the axis message frame in accordance with the PROFIdrive profile. Message frame 39x does not need to be configured for local measuring inputs.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Configuring of global measuring inputs on the D410 Global measuring inputs can be freely assigned to the axes (drives) and add an internal timestamp to the measurement result for more precise determination of the axis positions. The drive and the probe input do not need to be located on the same control unit. The measuring results are not transferred using the axis message frame, but using the 391/392 axis message frame.
Commissioning (software) 4.6 Using drive-related I/Os by SIMOTION Table 4-10 Global measuring inputs, configuration of the Measuring Input TO Axis measuring system no. Under axis measuring system number, enter the number of the used encoder system (namely, encoder 1, 2 or 3). Encoder system 1 is the default setting. Global measuring Activate the checkbox when a global measuring input is used.
Commissioning (software) 4.7 Creating and programming TM41 4.7 Creating and programming TM41 4.7.1 Overview The TM41 terminal module can be used to expand the number of digital I/O and of analog inputs within a drive system. TM41 also returns TTL signals which emulate an incremental encoder, for example, for a master control system. The emulated encoder signal has the signal characteristic of an incremental TTL encoder (A track, B track, R track).
Commissioning (software) 4.8 Creating a DMC20 4.8 Creating a DMC20 4.8.1 DMC20 hub properties DRIVE-CLiQ hub properties The DMC20 DRIVE-CLiQ hub can be used to extend the number of DRIVE-CLiQ interfaces and to configure a star topology.
Commissioning (software) 4.8 Creating a DMC20 4.8.2 Creating a DRIVE-CLiQ hub The hub is not wired when you insert the DMC20 and is represented in the topology tree in the component storage. The hub has to be wired manually. Proceed as follows: 1. Right-click the "Topology" entry in the Project Navigator. 2. Select the "Insert new object" > "DRIVE-CLiQ Hub" command from the shortcut menu and confirm with "OK". 3. Double-click "Topology" to open the topology tree.
Commissioning (software) 4.9 Testing the configured drive using the drive control panel 4.9 Testing the configured drive using the drive control panel You can test a configured drive using the drive control panel where you can define a speed value by setting a scaling factor. The drive control panel should only be used for commissioning. Prerequisites ● The project has been downloaded to the target system. ● SIMOTION SCOUT is in online mode. ● The drive is not in use by a current project in RUN mode.
Commissioning (software) 4.9 Testing the configured drive using the drive control panel Figure 4-29 Assuming control priority 4. Read the notes and confirm these with "Accept". 5. Activate the "Enables" checkbox to enable the drive. All enables are now set with the exception of ON/OFF1. 6. Enter your setpoint in the input field and shift the scaling to 0% as safety setting. Figure 4-30 Entering the setpoint 7. Click the "Drive On" button. The "Enable is set" LED lights up in green color.
Commissioning (software) 4.10 Testing the configured axis using the axis control panel 4.10 Testing the configured axis using the axis control panel Axis control panel The axis control panel is used exclusively for testing axes.
Commissioning (software) 4.10 Testing the configured axis using the axis control panel 3. Click "Assume control priority". Confirm the next message with "Yes" in order to set the controller to STOPU state. Note You must assume control priority in order to move the axis using the programming device / PC. You can always stop the axis by pressing the SPACEBAR. 4. The "Assume Control Priority" dialog box opens. Figure 4-32 Assuming control priority 5. Read the notes and confirm these with "Accept". 6.
Commissioning (software) 4.11 Downloading and saving user data 4.11 Downloading and saving user data Overview It is advisable to backup all user data (programs, configuration data, parameters) to the CompactFlash Card after having completed commissioning of SIMOTION D410.
Commissioning (software) 4.
Commissioning (software) 4.12 Deleting data 4.12.2 Resetting the memory of SIMOTION D410 Introduction A memory reset deletes all data from RAM on the SIMOTION D410 and non-volatile data in SRAM with the exception of the communication configuration (baud rates, network addresses, etc.). Data on the CompactFlash Card is retained if you reset the memory.
Commissioning (software) 4.12 Deleting data Data retained during memory reset The following data is retained during memory reset: ● TCP/IP and DP parameters ● Diagnostics buffer ● Data that was saved with the _savePersistentMemoryData, _saveUnitDataSet, _exportUnitDataSet and RAMtoROM commands and with the "Copy RAM to ROM" function. The data contents of a backup file generated by executing _savePersistentMemoryData (PMEMORY.XML/PMEMORY.BAK) is written back to non-volatile data after memory reset.
Commissioning (software) 4.12 Deleting data How to reset the memory: 1. Set the MRES mode on the DIL switch (see the picture below). 21 6FKDOWHUVWHOOXQJ 21 Figure 4-33 6FKDOWHUVWHOOXQJ 2)) Switch position MRES The STOP LED begins to flash. 2. Set DIL switch 1 to ON (STOP mode) after the STOP LED is lit in yellow color. 3. Return the DIL switch to MRES mode within three seconds. The memory is now being reset. 4. Wait for SIMOTION D410 to complete its restart.
Commissioning (software) 4.12 Deleting data Deleting user data 1. Open the project you want to edit in SIMOTION SCOUT. 2. Go online to SIMOTION D410. 3. Select SIMOTION D410 in the Project Navigator, and then select the "Delete user data on card" option from the "Target system" menu. 4. Confirm the "Delete user data from card" message with "OK". The user data are deleted. SINAMICS Integrated goes into offline mode. 4.12.
Commissioning (software) 4.13 System shutdown Restoring the default settings using the DIL switch 1. The power supply is shut down. 2. Set the MRES mode on the DIL switch of SIMOTION D410 (see the picture below). 21 6FKDOWHUVWHOOXQJ 21 Figure 4-34 6FKDOWHUVWHOOXQJ 2)) Switch setting MRES 3. Restart the power supply. The buffered SRAM and user data are deleted. The default settings are loaded. SIMOTION D140 remains in STOP mode. 4.
Maintenance and service 5.1 Replacing modules 5.1.1 Removing and replacing the SIMOTION D410 5 Overview You must replace the entire SIMOTION D410 module. WARNING Always shut down the load power supply before you replace the SIMOTION D410 module. You shut down power using the On/Off switch of the PS power supply module, for example. Note that power modules with FSB performance rating or higher still carry a residual intermediate voltage after shutdown. Wait 10 minutes before you remove any screws.
Maintenance and service 5.1 Replacing modules Note DO NOT delete the module in Slot 2 when replacing it! Figure 5-1 HW Config module replacement 3. "Drag-and-drop" the new module to the upper field of the card rack and confirm the dialog shown with "Yes". The module is replaced. 4. Save and compile the hardware configuration in order to activate the changes. 5. Close HW Config.
Maintenance and service 5.1 Replacing modules 9. Click the "Change version" button and confirm the displayed message. The version of SINAMICS Integrated is changed. 10.Shut down the power supply. 11.Replace the module as described in "Replacing defective modules". 12.Restart the power supply. Replacing defective modules How to remove the SIMOTION D410 module: 1. Shut down the power supply. 2. Remove the CompactFlash Card from the card slot. 3. Remove the connections for the power supply. 4.
Maintenance and service 5.1 Replacing modules 5.1.2 Replacing DRIVE-CLiQ components Replacing components DRIVE-CLiQ components support hot-plugging, that is, replacement or re-insertion while the system is in on or off state. Automatic upgrading/downgrading As of SINAMICS firmware version 2.5, the DRIVE-CLiQ components are automatically upgraded or downgraded to the version of the component firmware on the CF card.
Maintenance and service 5.2 Replacing the fan 5.2 Replacing the fan Prerequisite Replace the fan if a fault message is output by the temperature monitoring function as a result of fan failure. The fan must be replaced if the fan is defective or the maximum operating hours counter is attained. The fan can be ordered as spare part, see "Spare parts and accessories" in the SIMOTION D410 Manual.
Maintenance and service 5.3 Performing a software and firmware update 5.3 Performing a software and firmware update Upgrading SIMOTION D410 The actions described in this section also apply to downgrading to an older version.
Maintenance and service 5.3 Performing a software and firmware update Note Retain data can be backed up with SIMOTION SCOUT; see SIMOTION SCOUT Configuration Manual or Online Help. See also Section User memory concept (Page 35). Procedure The following procedure describes how to perform the upgrade: 1. Switch off the power supply to the D410. 2. Remove the CompactFlash Card from SIMOTION D410 and insert it into the CompactFlash Card adaptor of your PC. 3. Open Windows Explorer.
Maintenance and service 5.3 Performing a software and firmware update Re-compiling and downloading project data in SIMOTION SCOUT Re-compile and download the project data after upgrading the D410. If you download the SIMOTION plus the SINAMICS configuration (default setting when clicking the download button in the toolbar) the SCOUT tool downloads the SIMOTION configuration and then goes online to the SINAMICS in order to download the SINAMICS configuration to the device.
Maintenance and service 5.3 Performing a software and firmware update Upgrading technology packages When modules are replaced or project data is imported, the versions of the technology packages (TP) assigned to the individual technology objects (TO) are not automatically upgraded to a version valid for the SIMOTION device. This upgrade requires a separate step. To adapt the technology package version of the new SIMOTION device: 1. Select the desired SIMOTION device in the Project Navigator. 2.
Maintenance and service 5.3 Performing a software and firmware update Upgrading the library An upgrade of the libraries you are using is required if the version of the SIMOTION device or TOs in your existing project has changed. 1. Open the LIBRARY directory in the Project Navigator. 2. Select a library, right-click to open the context menu, and select "Properties...." 3. Select the "TPs/TOs" tab in the "Properties" window. 4.
Maintenance and service 5.4 SIMOTION CompactFlash Card 5.4 SIMOTION CompactFlash Card 5.4.1 Replacing the CompactFlash Card Prerequisite Note Always power down the unit before you insert or remove the CompactFlash Card! The RDY LED on the SIMOTION D410 flashes in green color as long as any application is accessing the CompactFlash Card (see the chapter "Fault and status displays"). Procedure How to replace the CompactFlash Card: 1. Shut down the power supply. 2.
Maintenance and service 5.4 SIMOTION CompactFlash Card Saving technology and user data to the CompactFlash Card The CompactFlash Card can be used as storage volume for technology and user data (programs, configuration data and parameters) from the "volatile data" area. Proceed as follows: 1. Go online to SIMOTION D410 on your programming device / PC (see the chapter "Creating a project"). 2. Select the "Copy RAM to ROM" command in SIMOTION SCOUT to write the data to your CompactFlash Card.
Maintenance and service 5.4 SIMOTION CompactFlash Card 5.4.4 Bootloader on the CompactFlash card Writing a bootloader A bootloader may need to be written in the following situations: ● When a new bootloader is required for the used SIMOTION D410 firmware version. ● When a new bootloader is required for the used SIMOTION D410 hardware version. ● When the bootloader is defective. The bootloader version can be fetched using the SIMOTION SCOUT device diagnosis.
6 Diagnostics data 6.1 Diagnostics by means of LED displays Overview The status LEDs display the operating modes or fault states of SIMOTION D410. Legend of the LED states Table 6-1 Legend of the LED states Symbol Meaning 1 LED on 0 LED off 0,5/1 LED flashes at 0.
Diagnostics data 6.1 Diagnostics by means of LED displays LED displays The following table provides an overview of all relevant LED display combinations. Each LED can be lit in yellow, red, or green color. The color which corresponds with the LED signal state is also defined.
Diagnostics data 6.1 Diagnostics by means of LED displays Meaning RDY RUN/STOP OUT > 5V SF/BF: 2/1 (yellow) x x x STOP to RUN transition x 2/1 (green) x x STOP/STOPU x 1 (yellow) x x RUN to STOP transition x 2/1 (yellow) x x Memory reset requested by SIMOTION D410, or by means of mode selector switch.
Diagnostics data 6.2 Extended diagnostic capabilities 6.2 Extended diagnostic capabilities SIMOTION Task Profiler application The SIMOTION Task Profiler is a dedicated application installed parallel to SIMOTION SCOUT during the SIMOTION SCOUT setup. The Task Profiler can be called in online mode from the device diagnosis in SIMOTION SCOUT or the Windows application. In cases of malfunction or errors, the Task Trace data can be written in a directory or on the CF card.
A Standards and approvals A.1 General rules IEC 1131 The SIMOTION programmable controller meets the requirements and criteria of the Standard IEC 1131, Section 2.
Standards and approvals A.2 Safety of electronic controllers A.2 Safety of electronic controllers Introduction The following remarks relate to fundamental criteria and apply irrespective of the type of controller and the manufacturer. Reliability Comprehensive and cost-effective measures have been taken during development and production to increase the reliability of the devices and components as far as possible.
Standards and approvals A.2 Safety of electronic controllers Division into safety-critical and non-safety-critical areas Nearly all systems contain parts that perform safety-related tasks (e.g. emergency stop switch, protective grating, two-hand controls). To avoid having to apply safety-related criteria to the entire controller, it is customary to divide the controller into two areas - one that is critical to safety and one that is not critical to safety.
Standards and approvals A.3 Electromagnetic Compatibility A.3 Electromagnetic Compatibility Definition Electromagnetic compatibility (EMC) is the ability of an electrical device to function sufficiently in its electromagnetic environment without interfering with this environment. The SIMOTION D410 control meets the requirements of the EU directive on EMC and the EMC law of the European single market 89/339/EEC.
B ESD guidelines B.1 ESD definition What does ESD mean? All electronic modules are equipped with highly integrated modules or components. Because of the technology used, these electronic components are very sensitive to overvoltages and thus to discharge of static electricity. The acronym ESD has become the established designation for such Electrostatic Sensitive Devices. The ESD designation is used internationally to refer to electrostatic sensitive devices.
ESD guidelines B.3 Basic measures for protection against discharge of static electricity This figure indicates the maximum electrostatic charges that can accumulate on an operator when he comes into contact with the indicated materials. These values comply with the specifications in IEC 801-2. 9ROWDJH LQ N9 N9 6\QWKHWLF PDWHULDO :RRO $QWL VWDWLF PDWHULDO H J ZRRG RU FRQFUHWH Figure B-2 B.
C Appendix C.
Appendix C.
Index A Abbreviations, 146 Applications, 11 Automatic D410 downgrading, 124 Automatic D410 upgrading, 124 Axis Creating with Axis Wizard, 79 Testing, 111 B Boot sector License key, 127 Bootloader, 133 Reading, 133 Writing, 133 C CE Identifier, 139 CF card, 27 Type plate, 27 Commissioning steps, 61 Compact Flash Card Inserting, 32 CompactFlash card, 27 Licenses, 27 Type plate, 27 View, 27 CompactFlash Card, 38 Formatting, 132 Replacing, 131 Saving user data, 132 Writing, 131 Writing data using the program
Index LED status on the port, 53 Node initialization, 54 PROFINET interface, 53 Reading the IP address, 55 Renaming a device, 54 D410 PN PROFINET port LED display, 53 D410 project Downloading to the file system, 72 Downloading to the target system, 71 D410 quantity framework High-speed output cams / DOs, 87 D410 upgrading, 126 Declaration of conformity, 139 Device names Changing on the D410 PN, 55 Configuring on the D410 PN, 55 Diagnostics buffer entries, 40 DMC20 Creating, 108 Properties, 107 DP cycle PRO
Index Using SIMOTION SCOUT, 116 Using the mode selector switch, 116 Message frame 391 on D410, 87 Message frame 392 on D410, 87 Message frame 39x on D410, 87 PSD1, 89 PSD2, 89 PSD3, 89 PSD3 to 15, 89 Message frame configuration for D410, 87 Message frame configuring on D410, 91 Message frame extension D410, 97 Message frames on D410 39x, 87 N Nameplates SIMOTION D410 DP, 21 SIMOTION D410 PN, 25 Non-volatile data, 36 Non-volatile system Deleting user data, 117 O Offline configuration, 62 Onboard I/Os of t
Index Type plate CF card, 27 U UL certification, 139 Updating firmware SINAMICS components, 128 Upgrading Libraries, 130 Project, 128 Technology package, 129 150 User data deleting, 117 Downloading, 113 Saving, 114 User memory concept, 35 V Volatile data, 37 D410 Commissioning Manual, 08/2008 Edition
