Translation of the original Manual SIEMENS SINAMICS CONVERTER Commissioning MLD Linear drive with SINAMICS drive controller 01.
Translation of the original Manual Imprint: Copyright: This manual remains the copyrighted property of SCHUNK GmbH & Co. KG. It is delivered only to our customers and the operators of our products and is an integral part of the module. These documents may not be reproduced or made available to third parties, especially not to our competitors, without our express permission. Technical modifications: We reserve the right to make changes in the interest of technical improvements. Edition: 01.
Table of contents Table of contents 1 2 3 About this manual................................................................................................. 4 1.1 Purpose/Applicability .................................................................................. 4 1.2 Target groups ............................................................................................. 4 1.3 Supporting documents ............................................................................... 4 1.
About this manual 1 About this manual 1.1 Purpose/Applicability This manual is part of the linear direct axis; it describes the safe and correct commissioning of the linear drive with a Siemens SINAMICS converter. This manual applies only to the product stated on the cover. 1.2 Target groups Target group Task Manufacturer, owner/operator Keep this manual accessible for personnel at all times.
Basic safety instructions 1.4 Symbols used in this manual To enable fast access to information, the following symbols are used in this manual: Symbol DANGER Explanation Dangers for personnel. Failure to observe will result in death or severe injuries. WARNING Dangers for personnel. Failure to observe can result in death or severe injuries. IMPORTANT Information for preventing property damage, for understanding or optimizing work processes.
Basic safety instructions 2.2 Environmental and operating conditions For trouble-free operation, certain ambient and operating conditions must be complied with.
Basic safety instructions 2.3.2 Design changes, additions or modifications Additional bore holes, threads or attachments not offered by SCHUNK as accessories may be mounted only after obtaining the approval of SCHUNK. 2.4 Personnel qualifications The installation, commissioning, maintenance and repair of the converter may be carried out only by trained specialists.
Commissioning 3 3.1 3.1.1 Commissioning Description of system MLD axes MLD axes are direct driven drive modules. The driving force is transmitted directly to the slide, without mechanical transmission elements. The axes are ideal for applications with high requirements for dynamics, speed and accuracy. A distinguishing feature of the concept is the high degree of compatibility. The drive meets these high requirements due to the well-designed guide for the slide and the lightweight construction.
Commissioning 3.1.2 Sinamics S120 The drive controllers of the Sinamics series read in all motorrelated information via DRIVE-CLiQ, a proprietary Ethernet-based interface. The conversion of the motor information (measuring system, motor temperature) from conventional signals to DRIVE-CLiQ takes place in the SME-120 component. Picture 1 3.
Commissioning 3.3 Preparation for commissioning DANGER Danger to life and limb due to electric shock! Contact with live parts can result in death. All work on electrical systems or equipment must be performed by trained electricians in accordance with electrical engineering regulations.
Commissioning 1. Wiring Wire SINAMICS and higher level controller according to the connection diagrams. (see Chapter 4, page 39) 2. Establish connection between PC and controller. 3. Start STARTER software on PC. 4. Configure the PROFIBUS address Behind the lower, petroleum green removable cover of the CU320 there is a PROFIBUS switch that can be used to configure the PROFIBUS of the drive device. Configure the PROFIBUS address, e.g. 5 (S1 + S3 = ON).
Commissioning 3.4 3.4.1 Commissioning work Creating a new drive project This chapter describes how to create the sample project in STARTER in 4 steps Create a new project. Define an interface. Establish online connection. Configure drive device with its components. 3.4.2 Create project 1. Click STARTER button, or select menu item Start > Sinamic > STEP 7 > STARTER in Windows start menu, to launch the commissioning tool STARTER. 2.
Commissioning Picture 4 Select Profibus interface 5. To do this, select the Profibus interface in the project assistant. You can then create a project name and path. Click the button Continue > to set up a PROFIBUS interface in the PC/PG. If the required interface is not configured, the desired interface can be configured via the button Change and test.... 6. Click continue > Picture 5 The STARTER now displays the Profibus modules found online and the CU units of the converters. 01.
Commissioning Picture 6 7. Click Continue. The unit displays a summary of the available devices, the interface and the project path. 8. Click FINISH. The window closes. Picture 7 Main window of the STARTER in Offline mode. 14 01.
Commissioning Picture 8 9. Click button Connect with target system The available devices are listed. 10. The required single drive devices can be selected here. 11. Click OK The unit switches from Offline mode to Online mode. Picture 9 The lower third of the main window in Online mode displays a diagnosis overview with the operating states. 01.
Commissioning Picture 10 12. In the project explorer on the left side of the monitor, the CU units marked with a cross can be expanded to show additional folders with details. Picture 11 13. Select folder Automatic configuration A window opens in which the drive devices can be configured automatically. 14. Click Configure. Another window opens. 16 01.
Commissioning After the data is read into the STARTER the factory settings are restored. Picture 12 15. Click OK The factory settings are restored. Picture 13 16. In the window Automatic commissioning, assign the drives the drive object type SERVO. Confirm by clicking Create 01.
Commissioning Picture 14 17. Click Go OFFLINE The connection to the drive control devices is closed. The automatic configuration is ended. Picture 15 After clicking Go OFFLINE the offline comparison generates a message that shows for which target system data were changed. 18. The data can be copied from RAM to ROM, or saved offline by clicking Load changes to PG/PC. Both of these actions can only be carried out after completion of the commissioning. Close the window by clicking OK. 18 01.
Commissioning Picture 16 Picture 16 shows the main screen of the STARTER after the settings have been configured. 01.
Commissioning 3.4.3 Parameterization Picture 17 Select the folder Drives/Servo…/ and the sub-folder CONFIGURATION in the left monitor path of the respective SERVO drive to configure the individual CU units. The actual parameterization is then selected by clicking the button Configure DDS. The new window shows all Sinamics modules that have to be parameterized at this point. They are processed one after the other. IMPORTANT The following settings are standard settings.
Commissioning 1. Regulation structure 1. In the regulation structure, set the input of the function modules to SINGLE POSITION. Picture 18 2. Set the control type [21] to speed regulation (with sensor) 3. Click CONTINUE. 01.
Commissioning 2. Power component: Picture 19 4. Give the power component a name and then define the connected voltage, the heating type and the model. This depends on the power components used by the customer. The STARTER offers a selection of the available power components that can be selected. 5. Click CONTINUE. 22 01.
Commissioning 3. Additional power component data: Picture 20 6. If necessary, select the required control unit CU in the additional power component data. 7. Click CONTINUE. 01.
Commissioning 4. Motor: Picture 21 8. In the motor configuration, give the motor a name. – Select the option field Enter motor data. – In the dropdown field, select motor type, (4) synchronous motor (linear permanent excited). 9. Click CONTINUE. 24 01.
Commissioning 5. Motor data: The motor data, which have to be entered next, are on the commissioning DVD (included with the linear axis). The folder structure is based on the - Drive controller type - Open the folder Motor parameters there - Axis type - Axis version On this level you will find the XML files with the parameters, which can be opened with the explorer and which have the following appearance Picture 22 10.
Commissioning Picture 23 11. In the white fields, enter all parameters with the values from the parameter file (not the values from this documentation!). 12. In addition, further motor data must be entered, which are also saved in the parameter file. To make the selection, check the option DO YOU WANT TO ENTER OPTIONAL DATA (Picture 23). Parameters that do not exist in the parameter file but can be entered in the STARTER must be left at the default values. 13. Click CONTINUE. 26 01.
Commissioning 6. Optional motor data and equivalent circuit diagram data Picture 24 14. Enter the additional parameters according to the parameter file. Parameters that do not exist in the parameter file but can be entered in the STARTER must be left at the default values. 15. Click CONTINUE. 01.
Commissioning 7. Calculation of the motor/controller data Picture 25 16. In this window select the option Complete calculation without equivalent circuit diagram data, which conducts a calculation of basic settings on the basis of previously entered data. 17. Click CONTINUE. 28 01.
Commissioning 8. Motor holding brake Picture 26 18. Corresponding to the actual use of a brake and its integration in the controller, select the option motor holding brake. IMPORTANT Never operate the axis with the holding brake engaged. This is essential and must be ensured by corresponding controls and wiring. 19. Click CONTINUE. 01.
Commissioning 9. Sensor Picture 27 20. The sensor 1 must be entered according to the following information and refers to the LE100 position measuring system, which is standard. To access the sensor data, use the option Enter data and the button Sensor data. 30 01.
Commissioning 10. Sensor data Alternatively, two variants of the sensor data configuration are possible, depending on the hardware. There are systems with and without hall effect sensors. Hall effect sensors used with the linear direct axis execute a commutation when the axis is switched on, to optimize impressing of the current during operation. Accordingly there are two types of commutation: • - Commutation via hall effect sensors • - Commutation via pole position identification Picture28 21.
Commissioning 11. Measuring system Picture 29 24. To define the sensor system for position control set the sensor defined previously as Sensor1. Generally, the default value is retained. 25. Click CONTINUE. 32 01.
Commissioning 12. Mechanical properties Picture 30 26. For standardization of the axis, set the sensor resolution. Enter the value shown in the picture for the linear units (LU) per 10 mm, if the system used is an LE100 position measuring system. Other position measuring systems may require a different standardization. 27. Enter position actual/target value, at which this has the value 0 again. Generally, this value should be so high that it is not reached. 28. Click CONTINUE. 01.
Commissioning 13. Process data exchange Picture 31 29. Based on the system communication, select the telegram type of the Profidrive telegram, as well as its input and output data. 30. Click CONTINUE. 34 01.
Commissioning 14. Summary Picture 32 At the end, a summary of the input data is displayed and can be saved via an export function. In addition, further parameters for temperature monitoring must be set in the expert list. 31. In the project explorer under DRIVE, select SERVO. and open the sub-menu with the right mouse button. Select EXPERT and EXPERT LIST there.
Commissioning Picture 33 Picture 34 36 01.
Commissioning 3.5 Controlling the axes in inching mode Proceed as follows to operate the axis in inching mode: 1. Save the project on the computer. 2. Click Connect with target system to switch to ONLINE MODE. Picture 35 3. In the window ONLINE/OFFLINE comparison, click the button LOAD TO TARGET DEVICE. 4. Confirm the prompt START LOADING with YES. After download: 5. Click CLOSE. 6. In the project navigator under Drive_1 > Commissioning double click the function control panel. 01.
Commissioning Picture 36 7. The control panel appears in the STARTER. The control panel can be used to control the drive directly via the PC/PG. If there are no errors, the LEDs are green with the exception of “OFF 1 Release”. 8. Click Get master control to connect the control panel with the interface to the drive. 9. Click Accept. 10. Check Release. 11. Enter speed 0 m/min 12. Confirm with GREEN BUTTON “I”. Axis is controlled 13. Enter very low speed (e.g. 1 m/min or –1 m/min) 14.
Appendixes 4 4.1 Appendixes SINAMICS connection diagram Figure 1 Sinamics connection diagram 01.
Appendixes 4.2 Identification key of files for linear motors Available from Schunk on request. 4.3 Parameter lists Figure 2 Parameter lists 40 01.
Appendixes Figure 3 Parameter lists Figure 4 Parameter lists 01.
Appendixes Figure 5 Parameter lists 42 01.
Appendixes 4.4 Assignment of motors and drives to the axes Figure 6 Assignment of motors and drives to the axes 4.5 Overview of motor types and their parameters Figure 7 Overview of motor types and parameters 01.
Appendixes Figure 8 44 01.
Appendixes Figure 9 01.
Appendixes Figure 10 46 01.
Appendixes Figure 11 01.
Appendixes Figure 12 48 01.
