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.
SINAMICS/SIMOTICS SINAMICS V90, SIMOTICS S-1FL6
Operating Instructions
PROFINET (PN) interface
_Pr_ef_ac_e_______________ _Finu_sntr_duac_mti_oenn_sta_l _sa_fe_ty________1_ _G_en_er_al_in_fo_rm_a_tio_n________2_ _M_ou_nt_in_g _____________3_ _Co_n_ne_c_tin_g____________4_ _Co_m_m_is_si_on_in_g__________5_ _Ba_s_ic_op_e_ra_to_r p_a_ne_l (_B_OP_)____6_ _Co_n_tro_l _fu_nc_tio_n_s _________7_ _PR_O_F_IN_E_T_co_m_m_un_ic_a_tio_n____8_ _Sa_fe_ty_in_te_g_ra_te_d _fu_nc_tio_n_____9_ _Tu_n_ing______________1_0_ _Pa_ra_m_e_te_rs___________1_1_ _Di_ag_n_os_tic_s___________1_2_ _Ap_p_en_d_ix_____________A_
04/2017
A5E37208830-003
Legal information
Warning notice system This manual contains notices you have to observe in order to ensure your personal safety, as well as to prevent damage to property. The notices referring to your personal safety are highlighted in the manual by a safety alert symbol, notices referring only to property damage have no safety alert symbol. These notices shown below are graded according to the degree of danger.
DANGER indicates that death or severe personal injury will result if proper precautions are not taken.
WARNING indicates that death or severe personal injury may result if proper precautions are not taken.
CAUTION indicates that minor personal injury can result if proper precautions are not taken.
NOTICE indicates that property damage can result if proper precautions are not taken. If more than one degree of danger is present, the warning notice representing the highest degree of danger will be used. A notice warning of injury to persons with a safety alert symbol may also include a warning relating to property damage.
Qualified Personnel The product/system described in this documentation may be operated only by personnel qualified for the specific task in accordance with the relevant documentation, in particular its warning notices and safety instructions. Qualified personnel are those who, based on their training and experience, are capable of identifying risks and avoiding potential hazards when working with these products/systems.
Proper use of Siemens products Note the following:
WARNING Siemens products may only be used for the applications described in the catalog and in the relevant technical documentation. If products and components from other manufacturers are used, these must be recommended or approved by Siemens. Proper transport, storage, installation, assembly, commissioning, operation and maintenance are required to ensure that the products operate safely and without any problems. The permissible ambient conditions must be complied with. The information in the relevant documentation must be observed.
Trademarks All names identified by ® are registered trademarks of Siemens AG. The remaining trademarks in this publication may be trademarks whose use by third parties for their own purposes could violate the rights of the owner.
Disclaimer of Liability We have reviewed the contents of this publication to ensure consistency with the hardware and software described. Since variance cannot be precluded entirely, we cannot guarantee full consistency. However, the information in this publication is reviewed regularly and any necessary corrections are included in subsequent editions.
Siemens AG Division Digital Factory Postfach 48 48 90026 NÜRNBERG GERMANY
A5E37208830-003 05/2017 Subject to change
Copyright © Siemens AG 2016 - 2017. All rights reserved
Preface
Documentation components
Document Operating Instructions Getting Started
SIMOTICS S-1FL6 Servo Motors Installation Guide SINAMICS V90 Servo Drives Information Guide
SINAMICS V90 V-ASSISTANT Online Help
Content
(this manual)
Describes how to install, connect, operate, and perform basic commissioning of the SINAMICS V90 PN servo system.
Describes how to install the SMOTICS S-1FL6 servo motor and relevant safety notices.
Introduces the basic information of the documents and sescribes how to find all the SINAMICS V90 documents from the website.
Describes how to perform fast commissioning and diagnostics for the SINAMICS V90 drives via the SINAMICS VASSISTANT engineering tool.
Target group
This manual provides information about the SINAMICS V90 PN servo system for planners, operators, mechanical engineers, electrical engineers, commissioning engineers, and service engineers.
Technical support
Country
Hotline
China
+86 400 810 4288
Germany
+49 911 895 7222
Italy
+39 (02) 24362000
India
+91 22 2760 0150
Turkey
+90 (216) 4440747
Further service contact information:
Support contacts (https://support.industry.siemens.com/cs/ww/en/)
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Preface
Product maintenance
The components are subject to continuous further development within the scope of product maintenance (improvements to robustness, discontinuations of components, etc). These further developments are "spare parts-compatible" and do not change the article number. In the scope of such spare parts-compatible further developments, connector positions are sometimes changed slightly. This does not cause any problems with proper use of the components. Please take this fact into consideration in special installation situations (e.g. allow sufficient clearance for the cable length).
Use of third-party products
This document contains recommendations relating to third-party products. Siemens accepts the fundamental suitability of these third-party products. You can use equivalent products from other manufacturers. Siemens does not accept any warranty for the properties of third-party products.
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Table of contents
Preface ................................................................................................................................................... 3
1 Fundamental safety instructions ............................................................................................................ 11
1.1
General safety instructions .....................................................................................................11
1.2
Handling electrostatic sensitive devices (ESD) ......................................................................17
1.3
Industrial security ....................................................................................................................18
1.4
Residual risks of power drive systems....................................................................................19
2 General information .............................................................................................................................. 21
2.1 2.1.1 2.1.2
Deliverables ............................................................................................................................21 Drive components ...................................................................................................................21 Motor components ..................................................................................................................26
2.2
Device combination.................................................................................................................29
2.3
Product overview ....................................................................................................................32
2.4
Accessories ............................................................................................................................. 36
2.5
Function list.............................................................................................................................50
2.6 2.6.1 2.6.1.1 2.6.1.2 2.6.2 2.6.2.1 2.6.2.2 2.6.2.3 2.6.3 2.6.4
Technical data.........................................................................................................................51 Techincal data - servo drives ..................................................................................................51 SINAMICS V90 PN 200 V variant...........................................................................................51 SINAMICS V90 PN 400 V variant...........................................................................................54 Technical data - servo motors ................................................................................................57 1FL6 servo motor - low inertia ................................................................................................57 1FL6 servo motor - high inertia...............................................................................................61 Power derating........................................................................................................................65 Technical data - cables ...........................................................................................................66 Address of CE-authorized manufacturer ................................................................................67
3 Mounting............................................................................................................................................... 69
3.1 3.1.1 3.1.2 3.1.3
Mounting the drive ..................................................................................................................69 Mounting orientation and clearance........................................................................................70 Drill patterns and outline dimensions......................................................................................71 Mounting the drive ..................................................................................................................74
3.2 3.2.1 3.2.2 3.2.3
Mounting the motor .................................................................................................................75 Mounting orientation and dimensions .....................................................................................75 Mounting the motor .................................................................................................................84 Motor heating conditions.........................................................................................................85
4 Connecting ........................................................................................................................................... 87
4.1
System connection..................................................................................................................87
4.2 4.2.1
Main circuit wiring ...................................................................................................................94 Line supply - L1, L2, L3...........................................................................................................94
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4.2.2
Motor power - U, V, W ........................................................................................................... 96
4.3 4.3.1 4.3.1.1 4.3.1.2 4.3.2 4.3.3 4.3.3.1 4.3.3.2
Control/status interface - X8 .................................................................................................. 99 Digital inputs/outputs (DIs/Dos) ............................................................................................. 99 DIs ........................................................................................................................................ 100 DOs ...................................................................................................................................... 101 Standard application wiring (factory setting) ........................................................................ 103 Connection example with PLCs ........................................................................................... 105 SIMATICS S7-1200 ............................................................................................................. 105 SIMATICS S7-1500 ............................................................................................................. 106
4.4
24 V power supply/STO ....................................................................................................... 107
4.5
Encoder interface - X9 ......................................................................................................... 108
4.6
External braking resistor - DCP, R1..................................................................................... 112
4.7
Motor holding brake ............................................................................................................. 113
4.8
PROFINET interface - X150 ................................................................................................ 120
5 Commissioning ....................................................................................................................................123
5.1
General commissioning information..................................................................................... 123
5.2
Commissioning in JOG mode .............................................................................................. 124
5.3
Commissioning in basic positioner control mode (EPOS) ................................................... 126
5.4
Commissioning in speed control mode (S) .......................................................................... 127
6 Basic operator panel (BOP) .................................................................................................................129
6.1 6.1.1 6.1.2 6.1.3
BOP overview ...................................................................................................................... 129 LED status indicators ........................................................................................................... 130 BOP display ......................................................................................................................... 131 Control buttons..................................................................................................................... 134
6.2
Parameter structure ............................................................................................................. 135
6.3
Actual status display ............................................................................................................ 136
6.4 6.4.1 6.4.2 6.4.3
Basic operations................................................................................................................... 136 Editing parameters ............................................................................................................... 137 Viewing parameters ............................................................................................................. 139 Searching parameters in "P ALL" menu .............................................................................. 139
6.5 6.5.1 6.5.2 6.5.3 6.5.4 6.5.5 6.5.6 6.5.7
Auxiliary functions ................................................................................................................ 140 JOG ...................................................................................................................................... 141 Saving parameters (RAM to ROM) ...................................................................................... 142 Setting parameters to default ............................................................................................... 143 Transferring data (drive to SD) ............................................................................................ 143 Transferring data (SD to drive) ............................................................................................ 144 Updating firmware ................................................................................................................ 145 Adjusting an absolute encoder............................................................................................. 146
7 Control functions ..................................................................................................................................147
7.1 7.1.1 7.1.2 7.1.3
General functions ................................................................................................................. 147 Motor direction of rotation .................................................................................................... 147 Stopping method at servo OFF............................................................................................ 147 Travel to fixed stop............................................................................................................... 149
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7.2 7.2.1 7.2.2 7.2.3 7.2.4 7.2.5 7.2.6 7.2.7 7.2.8 7.2.9 7.2.10 7.2.11 7.2.12
Basic positioner (EPOS) .......................................................................................................151 Setting the mechanical system .............................................................................................151 Configuring the linear/modular axis ......................................................................................152 Backlash compensation ........................................................................................................153 Over-travel ............................................................................................................................154 Software position limit ...........................................................................................................155 Speed limit ............................................................................................................................156 Torque limit ...........................................................................................................................156 Referencing ........................................................................................................................... 156 Traversing blocks..................................................................................................................161 Direct setpoint input (MDI) ....................................................................................................166 EJOG ....................................................................................................................................169 Position tracking....................................................................................................................171
7.3 7.3.1 7.3.2 7.3.3
Speed control (S) ..................................................................................................................172 Speed limit ............................................................................................................................172 Torque limit ...........................................................................................................................173 Ramp-function generator ......................................................................................................175
8 PROFINET communication ................................................................................................................. 177
8.1
Supported telegrams.............................................................................................................177
8.2
I/O data signals .....................................................................................................................179
8.3 8.3.1 8.3.2 8.3.3 8.3.4 8.3.5 8.3.6 8.3.7 8.3.8 8.3.9 8.3.10 8.3.11 8.3.12
Control word definition ..........................................................................................................181 STW1 control word (for telegrams 1, 2, 3, 5)........................................................................181 STW2 control word (for telegrams 2, 3, 5)............................................................................182 STW1 control word (for telegrams 102, 105)........................................................................182 STW2 control word (for telegrams 102, 105)........................................................................183 STW1 control word (for telegrams 7, 9, 110, 111)................................................................184 STW2 control word (for telegrams 9, 110, 111)....................................................................184 G1_STW encoder 1 control word..........................................................................................185 SATZANW control word........................................................................................................186 MDI_MOD control word.........................................................................................................186 POS_STW control word ........................................................................................................187 POS_STW1 positioning control word....................................................................................188 POS_STW2 positioning control word....................................................................................188
8.4 8.4.1 8.4.2 8.4.3 8.4.4 8.4.5 8.4.6 8.4.7 8.4.8 8.4.9 8.4.10
Status word definition............................................................................................................189 ZSW1 status word (for telegrams 1, 2, 3, 5) .........................................................................189 ZSW2 status word (for telegram 2, 3, 5)...............................................................................190 ZSW1 status word (for telegrams 102, 105) .........................................................................190 ZSW2 status word (for telegram 102, 105)...........................................................................191 ZSW1 status word (for telegram 7, 9, 110, 111)...................................................................191 ZSW2 status word (for telegrams 9, 110, 111) .....................................................................192 G1_ZSW encoder 1 status word...........................................................................................192 MELDW status word .............................................................................................................193 POS_ZSW1 positioning status word.....................................................................................193 POS_ZSW2 positioning status word.....................................................................................194
9 Safety integrated function.................................................................................................................... 195
9.1 9.1.1 9.1.1.1
Standards and regulations ....................................................................................................195 General information ..............................................................................................................195 Aims ......................................................................................................................................195
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Table of contents
9.1.1.2 9.1.2 9.1.2.1 9.1.2.2 9.1.2.3 9.1.2.4 9.1.2.5 9.1.2.6 9.1.2.7 9.1.2.8 9.1.2.9 9.1.3 9.1.3.1 9.1.3.2 9.1.3.3 9.1.3.4 9.1.4 9.1.5
Functional safety .................................................................................................................. 196 Safety of machinery in Europe ............................................................................................. 196 Machinery Directive ............................................................................................................. 196 Harmonized European Standards........................................................................................ 197 Standards for implementing safety-related controllers ........................................................ 198 DIN EN ISO 13849-1 (replaces EN 954-1) .......................................................................... 199 EN 62061 ............................................................................................................................. 200 Series of standards EN 61508 (VDE 0803) ......................................................................... 202 Risk analysis/assessment .................................................................................................... 202 Risk reduction ...................................................................................................................... 204 Residual risk......................................................................................................................... 204 Machine safety in the USA................................................................................................... 204 Minimum requirements of the OSHA ................................................................................... 204 NRTL listing.......................................................................................................................... 205 NFPA 79............................................................................................................................... 205 ANSI B11 ............................................................................................................................. 206 Machine safety in Japan ...................................................................................................... 207 Equipment regulations ......................................................................................................... 207
9.2
General information about SINAMICS Safety Integrated .................................................... 208
9.3 9.3.1 9.3.2 9.3.3 9.3.4 9.3.5 9.3.6
System features ................................................................................................................... 208 STO functional safety data................................................................................................... 208 Certification .......................................................................................................................... 208 Safety instructions................................................................................................................ 209 Probability of failure of the safety function ........................................................................... 210 Response time ..................................................................................................................... 211 Residual risk......................................................................................................................... 211
9.4 9.4.1 9.4.2
Safety Integrated basic function........................................................................................... 211 Safe Torque Off (STO)......................................................................................................... 211 Forced dormant error detection ........................................................................................... 213
10 Tuning .................................................................................................................................................215
10.1
Controller overview .............................................................................................................. 215
10.2
Tuning mode ........................................................................................................................ 217
10.3
One-button auto tuning ........................................................................................................ 218
10.4
Real-time auto tuning ........................................................................................................... 223
10.5
Manual tuning....................................................................................................................... 227
10.6
Resonance suppression ...................................................................................................... 228
10.7
Low frequency vibration suppression................................................................................... 231
11 Parameters ..........................................................................................................................................233
11.1
Overview .............................................................................................................................. 233
11.2
Parameter list ....................................................................................................................... 235
12 Diagnostics ..........................................................................................................................................269
12.1
List of faults and alarms ....................................................................................................... 274
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A Appendix............................................................................................................................................. 301
A.1
Assembly of cable terminals on the drive side .....................................................................301
A.2
Assembly of cable connectors on the motor side .................................................................304
A.3 A.3.1 A.3.2 A.3.3
Motor selection......................................................................................................................311 Selection procedure ..............................................................................................................311 Parameter description...........................................................................................................312 Selection examples...............................................................................................................314
A.4
Replacing fans ......................................................................................................................315
Index................................................................................................................................................... 317
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Fundamental safety instructions
1
1.1
General safety instructions
DANGER
Danger to life due to live parts and other energy sources
Death or serious injury can result when live parts are touched. · Only work on electrical devices when you are qualified for this job. · Always observe the country-specific safety rules.
Generally, six steps apply when establishing safety: 1. Prepare for shutdown and notify all those who will be affected by the procedure. 2. Disconnect the machine from the supply.
Switch off the machine. Wait until the discharge time specified on the warning labels has elapsed. Check that it really is in a no-voltage condition, from phase conductor to phase
conductor and phase conductor to protective conductor. Check whether the existing auxiliary supply circuits are de-energized. Ensure that the motors cannot move. 3. Identify all other dangerous energy sources, e.g. compressed air, hydraulic systems, or water. 4. Isolate or neutralize all hazardous energy sources by closing switches, grounding or short-circuiting or closing valves, for example. 5. Secure the energy sources against switching on again. 6. Ensure that the correct machine is completely interlocked.
After you have completed the work, restore the operational readiness in the inverse sequence.
WARNING
Danger to life through a hazardous voltage when connecting an unsuitable power supply
Touching live components can result in death or severe injury. · Only use power supplies that provide SELV (Safety Extra Low Voltage) or PELV-
(Protective Extra Low Voltage) output voltages for all connections and terminals of the electronics modules.
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Fundamental safety instructions 1.1 General safety instructions
WARNING Danger to life when live parts are touched on damaged motors/devices Improper handling of motors/devices can damage them. For damaged motors/devices, hazardous voltages can be present at the enclosure or at exposed components. · Ensure compliance with the limit values specified in the technical data during transport,
storage and operation. · Do not use any damaged motors/devices.
WARNING Danger to life through electric shock due to unconnected cable shields Hazardous touch voltages can occur through capacitive cross-coupling due to unconnected cable shields. · As a minimum, connect cable shields and the cores of cables that are not used at one
end at the grounded housing potential.
WARNING Danger to life due to electric shock when not grounded For missing or incorrectly implemented protective conductor connection for devices with protection class I, high voltages can be present at open, exposed parts, which when touched, can result in death or severe injury. · Ground the device in compliance with the applicable regulations.
WARNING Danger to life due to electric shock when opening plug connections in operation When opening plug connections in operation, arcs can result in severe injury or death. · Only open plug connections when the equipment is in a no-voltage state, unless it has
been explicitly stated that they can be opened in operation.
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Fundamental safety instructions 1.1 General safety instructions
WARNING Danger to life through electric shock due to the residual charge of the power component capacitors Because of the capacitors, a hazardous voltage is present for up to 5 minutes after the power supply has been switched off. Contact with live parts can result in death or serious injury. · Wait for 5 minutes before you check that the unit really is in a no-voltage condition and
start work.
NOTICE Material damage due to loose power connections Insufficient tightening torques or vibrations can result in loose electrical connections. This can result in damage due to fire, device defects or malfunctions. · Tighten all power connections with the specified tightening torques, e.g. line supply
connection, motor connection, DC link connections. · Check all power connections at regular intervals. This applies in particular after
transport.
WARNING Danger to life due to fire spreading if housing is inadequate Fire and smoke development can cause severe personal injury or material damage. · Install devices without a protective housing in a metal control cabinet (or protect the
device by another equivalent measure) in such a way that contact with fire is prevented. · Ensure that smoke can only escape via controlled and monitored paths.
WARNING Danger to life from electromagnetic fields Electromagnetic fields (EMF) are generated by the operation of electrical power equipment, such as transformers, converters, or motors. People with pacemakers or implants are at particular risk in the immediate vicinity of this equipment. · If you have a heart pacemaker or implant, maintain a minimum distance of 2 m from
electrical power equipment.
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Fundamental safety instructions 1.1 General safety instructions
WARNING Danger to life from permanent-magnet fields Even when switched off, electric motors with permanent magnets represent a potential risk for persons with heart pacemakers or implants if they are close to converters/motors. · If you have a heart pacemaker or implant, maintain a minimum distance of 2 m. · When transporting or storing permanent-magnet motors always use the original packing
materials with the warning labels attached. · Clearly mark the storage locations with the appropriate warning labels. · IATA regulations must be observed when transported by air.
WARNING Danger to life through unexpected movement of machines when using mobile wireless devices or mobile phones Using mobile wireless devices or mobile phones with a transmit power > 1 W closer than approx. 2 m to the components may cause the devices to malfunction, influence the functional safety of machines therefore putting people at risk or causing material damage. · Switch the wireless devices or mobile phones off in the immediate vicinity of the
components.
WARNING Danger to life due to the motor catching fire in the event of insulation overload There is higher stress on the motor insulation through a ground fault in an IT system. If the insulation fails, it is possible that death or severe injury can occur as a result of smoke and fire. · Use a monitoring device that signals an insulation fault. · Correct the fault as quickly as possible so the motor insulation is not overloaded.
WARNING Danger to life due to fire if overheating occurs because of insufficient ventilation clearances Inadequate ventilation clearances can cause overheating of components with subsequent fire and smoke. This can cause severe injury or even death. This can also result in increased downtime and reduced service lives for devices/systems. · Ensure compliance with the specified minimum clearance as ventilation clearance for
the respective component.
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Fundamental safety instructions 1.1 General safety instructions
WARNING Danger of an accident occurring due to missing or illegible warning labels Missing or illegible warning labels can result in accidents involving death or serious injury. · Check that the warning labels are complete based on the documentation. · Attach any missing warning labels to the components, in the national language if
necessary. · Replace illegible warning labels.
NOTICE Device damage caused by incorrect voltage/insulation tests Incorrect voltage/insulation tests can damage the device. · Before carrying out a voltage/insulation check of the system/machine, disconnect the
devices as all converters and motors have been subject to a high voltage test by the manufacturer, and therefore it is not necessary to perform an additional test within the system/machine.
WARNING Danger to life when safety functions are inactive Safety functions that are inactive or that have not been adjusted accordingly can cause operational faults on machines that could lead to serious injury or death. · Observe the information in the appropriate product documentation before
commissioning. · Carry out a safety inspection for functions relevant to safety on the entire system,
including all safety-related components. · Ensure that the safety functions used in your drives and automation tasks are adjusted
and activated through appropriate parameterizing. · Perform a function test. · Only put your plant into live operation once you have guaranteed that the functions
relevant to safety are running correctly.
Note Important safety notices for Safety Integrated functions If you want to use Safety Integrated functions, you must observe the safety notices in the Safety Integrated manuals.
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Fundamental safety instructions 1.1 General safety instructions
WARNING Danger to life or malfunctions of the machine as a result of incorrect or changed parameterization As a result of incorrect or changed parameterization, machines can malfunction, which in turn can lead to injuries or death. · Protect the parameterization (parameter assignments) against unauthorized access. · Respond to possible malfunctions by applying suitable measures (e.g. EMERGENCY
STOP or EMERGENCY OFF).
WARNING Risk of injury caused by moving parts or parts that are flung out Touching moving motor parts or drive output elements and loose motor parts that are flung out (e.g. feather keys) in operation can result in severe injury or death. · Remove any loose parts or secure them so that they cannot be flung out. · Do not touch any moving parts. · Safeguard all moving parts using the appropriate safety guards.
WARNING Danger to life due to fire if overheating occurs because of insufficient cooling Inadequate cooling can cause overheating resulting in death or severe injury as a result of smoke and fire. This can also result in increased failures and reduced service lives of motors. · Comply with the specified coolant requirements for the motor.
WARNING Danger to life due to fire as a result of overheating caused by incorrect operation When incorrectly operated and in the case of a fault, the motor can overheat resulting in fire and smoke. This can result in severe injury or death. Further, excessively high temperatures destroy motor components and result in increased failures as well as shorter service lives of motors. · Operate the motor according to the relevant specifications. · Only operate the motors in conjunction with effective temperature monitoring. · Immediately switch off the motor if excessively high temperatures occur.
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Fundamental safety instructions 1.2 Handling electrostatic sensitive devices (ESD)
CAUTION Risk of injury due to touching hot surfaces In operation, the motor can reach high temperatures, which can cause burns if touched. · Mount the motor so that it is not accessible in operation. Measures when maintenance is required: · Allow the motor to cool down before starting any work. · Use the appropriate personnel protection equipment, e.g. gloves.
1.2
Handling electrostatic sensitive devices (ESD)
Electrostatic sensitive devices (ESD) are individual components, integrated circuits, modules or devices that may be damaged by either electric fields or electrostatic discharge.
NOTICE
Damage through electric fields or electrostatic discharge
Electric fields or electrostatic discharge can cause malfunctions through damaged individual components, integrated circuits, modules or devices.
· Only pack, store, transport and send electronic components, modules or devices in their original packaging or in other suitable materials, e.g conductive foam rubber of aluminum foil.
· Only touch components, modules and devices when you are grounded by one of the following methods: Wearing an ESD wrist strap Wearing ESD shoes or ESD grounding straps in ESD areas with conductive flooring
· Only place electronic components, modules or devices on conductive surfaces (table with ESD surface, conductive ESD foam, ESD packaging, ESD transport container).
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Fundamental safety instructions 1.3 Industrial security
1.3
Industrial security
Note Industrial security
Siemens provides products and solutions with industrial security functions that support the secure operation of plants, systems, machines and networks.
In order to protect plants, systems, machines and networks against cyber threats, it is necessary to implement and continuously maintain a holistic, state-of-the-art industrial security concept. Siemens products and solutions only represent one component of such a concept.
The customer is responsible for preventing unauthorized access to its plants, systems, machines and networks. Systems, machines and components should only be connected to the enterprise network or the internet if and to the extent necessary and with appropriate security measures (e.g. use of firewalls and network segmentation) in place.
Additionally, Siemens' guidance on appropriate security measures should be taken into account. For more information about industrial security, please visit:
Industrial security (http://www.siemens.com/industrialsecurity).
Siemens' products and solutions undergo continuous development to make them more secure. Siemens strongly recommends to apply product updates as soon as available and to always use the latest product versions. Use of product versions that are no longer supported, and failure to apply latest updates may increase customer's exposure to cyber threats.
To stay informed about product updates, subscribe to the Siemens Industrial Security RSS Feed at:
Industrial security (http://www.siemens.com/industrialsecurity).
WARNING
Danger to life as a result of unsafe operating states resulting from software manipulation
Software manipulations (e.g. viruses, trojans, malware or worms) can cause unsafe operating states in your system that may lead to death, serious injury, and property damage.
· Keep the software up to date. · Incorporate the automation and drive components into a holistic, state-of-the-art
industrial security concept for the installation or machine. · Make sure that you include all installed products into the holistic industrial security
concept. · Protect files stored on exchangeable storage media from malicious software by with
suitable protection measures, e.g. virus scanners.
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Fundamental safety instructions 1.4 Residual risks of power drive systems
1.4
Residual risks of power drive systems
When assessing the machine- or system-related risk in accordance with the respective local regulations (e.g., EC Machinery Directive), the machine manufacturer or system installer must take into account the following residual risks emanating from the control and drive components of a drive system:
1. Unintentional movements of driven machine or system components during commissioning, operation, maintenance, and repairs caused by, for example,
Hardware and/or software errors in the sensors, control system, actuators, and cables and connections
Response times of the control system and of the drive Operation and/or environmental conditions outside the specification Condensation/conductive contamination Parameterization, programming, cabling, and installation errors Use of wireless devices/mobile phones in the immediate vicinity of electronic
components External influences/damage X-ray, ionizing radiation and cosmic radiation
2. Unusually high temperatures, including open flames, as well as emissions of light, noise, particles, gases, etc., can occur inside and outside the components under fault conditions caused by, for example:
Component failure Software errors Operation and/or environmental conditions outside the specification External influences/damage
3. Hazardous shock voltages caused by, for example:
Component failure Influence during electrostatic charging Induction of voltages in moving motors Operation and/or environmental conditions outside the specification Condensation/conductive contamination External influences/damage
4. Electrical, magnetic and electromagnetic fields generated in operation that can pose a risk to people with a pacemaker, implants or metal replacement joints, etc., if they are too close
5. Release of environmental pollutants or emissions as a result of improper operation of the system and/or failure to dispose of components safely and correctly
6. Influence of network-connected communication systems, e.g. ripple-control transmitters or data communication via the network
For more information about the residual risks of the drive system components, see the relevant sections in the technical user documentation.
SINAMICS V90, SIMOTICS S-1FL6
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Fundamental safety instructions 1.4 Residual risks of power drive systems
SINAMICS V90, SIMOTICS S-1FL6
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General information
2
The SINAMICS V90 drives with the PROFINET interface (referred to as SINAMICS V90 PN) are available in two variants, 400 V variant and 200 V variant.
The 200 V variant is available in three frame sizes: FSB, FSC, and FSD. Frame sizes B, and C are used on the single phase or three phase power network while frame size D is used on the three phase power network only.
The 400 V variant is available in four frame sizes: FSAA, FSA, FSB, and FSC. All the frame sizes are used on three phase power network only.
2.1
Deliverables
2.1.1
Drive components
Components in the SINAMICS V90 PN 200 V variant drive package
Component
Illustration
SINAMICS V90 PN, single/three-phase, 200 V
SINAMICS V90 PN, three-phase, 200 V
Rated power (kW)
0.1/0.2/0.4
Outline dimension
(Width x Height x Depth, mm) 55 x 170 x 170
Frame size
FSB
0.75 1.0/1.5/2.0
80 x 170 x 195 95 x 170 x 195
FSC FSD
Connectors Shielding plate
For FSB For FSC and FSD For FSB
Article number
6SL3210-5FB10-1UF0 6SL3210-5FB10-2UF0 6SL3210-5FB10-4UF1 6SL3210-5FB10-8UF0 6SL3210-5FB11-0UF1 6SL3210-5FB11-5UF0 6SL3210-5FB12-0UF0 6SL3200-0WT02-0AA0
6SL3200-0WT03-0AA0
For FSC and FSD
User documentation Information Guide English-Chinese bilingual version
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.1 Deliverables
Components in the SINAMICS V90 PN 400 V variant drive package
Component
Illustration
SINAMICS V90 PN, three-phase, 400 V
Rated power (kW)
0.4 0.75/1.0
Outline dimension
(Width x Height x Depth, mm) 60 x 180 x 200 80 x 180 x 200
Frame size
FSAA FSA
1.5/2.0
100 x 180 x 220 FSB
3.5/5.0/7.0 140 x 260 x 240 FSC
Connectors Shielding plate
For FSAA For FSA For FSB and FSC * For FSAA and FSA
Article number
6SL3210-5FE10-4UF0 6SL3210-5FE10-8UF0 6SL3210-5FE11-0UF0 6SL3210-5FE11-5UF0 6SL3210-5FE12-0UF0 6SL3210-5FE13-5UF0 6SL3210-5FE15-0UF0 6SL3210-5FE17-0UF0 6SL3200-0WT00-0AA0
6SL3200-0WT01-0AA0
For FSB and FSC
User documentation Information Guide English-Chinese bilingual version * You can obtain the connectors for SINAMICS V90 PN 400V servo drives of FSB and FSC from the connector kits for
SINAMICS V90 PN 400V servo drives of FSAA or FSA.
SINAMICS V90, SIMOTICS S-1FL6
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Operating Instructions, 04/2017, A5E37208830-003
Drive rating plate (example)
General information 2.1 Deliverables
Drive name Power input Power output Rated motor power
Article number MAC address Product serial number Part number
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.1 Deliverables
Article number explanation (example)
SINAMICS V90, SIMOTICS S-1FL6
24
Operating Instructions, 04/2017, A5E37208830-003
Serial number explanation (example)
General information 2.1 Deliverables
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.1 Deliverables
2.1.2
Motor components
Components in the SIMOTICS S-1FL6 low inertia motor package
Component
SIMOTICS S-1FL6, low inertia
Illustration
Rated power (kW) 0.05/0.1 0.2/0.4 0.75/1.0 1.5/2.0
Shaft height (mm) 20 30 40 50
Article number 1FL6022-2AF21-11 1FL6024-2AF21-11 1FL6032-2AF21-11 1FL6034-2AF21-11 1FL6042-2AF21-11 1FL6044-2AF21-11 1FL6052-2AF21-01 1FL6054-2AF21-01
User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide
Components in the SIMOTICS S-1FL6 high inertia motor package
Component
Illustration
SIMOTICS S-1FL6, high inertia
Rated power (kW)
Shaft height (mm)
Article number
0.4/0.75
45
1FL6042-1AF61-
1FL6044-1AF61-
0.75/1.0/1.5/1.7 65 5/2.0
1FL6061-1AC61- 1FL6062-1AC61-
1FL6064-1AC61-
1FL6066-1AC61-
1FL6067-1AC61-
2.5/3.5/5.0/7.0 90
1FL6090-1AC61-
1FL6092-1AC61-
1FL6094-1AC61-
1FL6096-1AC61-
Straight connectors with a fixed outlet direction
0
1 1 1 1 1 1 1 1 1 1 1
Angular connectors with a flexible outlet direction
2
User documentation SIMOTICS S-1FL6 Servo Motors Installation Guide
SINAMICS V90, SIMOTICS S-1FL6
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Operating Instructions, 04/2017, A5E37208830-003
Motor rating plate (example)
General information 2.1 Deliverables
Motor type Article number Serial number Rated torque Stall torque Rated voltage
Rated power Encoder type and resolution Thermal class Degree of protection Motor operating mode Stall current
Rated current Holding brake Motor ID Weight Maximum speed Rated speed
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.1 Deliverables
Article number explanation
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Operating Instructions, 04/2017, A5E37208830-003
General information 2.2 Device combination
2.2
Device combination
V90 PN 200 V servo system
SIMOTICS S-1FL6 low inertia servo motors
SINAMICS V90 PN 200 V servo drives
Rated torque (Nm) 0.16 0.32 0.64 1.27 2.39 3.18 4.78 6.37
Rated power (kW) 0.05 0.1 0.2 0.4 0.75 1 1.5 2
Rated speed (rpm) 3000 3000 3000 3000 3000 3000 3000 3000
Shaft height (mm) 20
30
40
50
Article number 1FL60
22-2AF21-
1
1
24-2AF21-
1
1
32-2AF21-
1
1
34-2AF21-
1
1
42-2AF21-
1
1
44-2AF21-
1
1
52-2AF21-
0
1
54-2AF21-
0
1
Article number 6SL321 0-5 FB101UF0
FB102UF0 FB104UF1 FB108UF0 FB110UF1 FB115UF0 FB120UF0
Frame size FSB
FSC FSD
Incremental encoder TTL 2500 ppr
A
Absolute encoder single-turn 21-bit
M
MOTION-CONNECT 300 pre-assembled cables
Power cable
Brake cable Encoder cable
Article number 6FX3002-5
Article number 6FX3002-5
Article number 6FX3002-2
CK01-1AD0 BK02-1AD0 20-1AD0 (3
(3 m)
(3 m)
m)
CK01-1AF0 BK02-1AF0
(5 m)
(5 m)
20-1AF0 (5 m)
CK01-1BA0 BK02-1BA0
(10 m)
(10 m)
20-1BA0 (10 m)
CK01-1CA0 BK02-1CA0
(20 m)
(20 m)
20-1CA0 (20 m)
CK31-1AD0 BL02-1AD0 10-1AD0 (3
(3 m)
(3 m)
m)
CK31-1AF0 BL02-1AF0
(5 m)
(5 m)
10-1AF0 (5 m)
CK31-1BA0 BL02-1BA0
(10 m)
(10 m)
10-1BA0 (10 m)
CK31-1CA0 BL02-1CA0
(20 m)
(20 m)
10-1CA0 (20 m)
Incremental encoder TTL C
2500 ppr
T
Absolute encoder single- D
turn 21-bit
B
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.2 Device combination
V90 PN 400 V servo system
SIMOTICS S-1FL6 high inertia servo motors with straight connectors
SINAMICS V90 PN 400 V servo drives
Rated torque (Nm)
1.27
2.39
3.58
4.78
Rated power (kW)
0.4
0.75
0.75
1.0
Rated speed (rpm)
3000
3000
2000
2000
Shaft height (mm) 45
65
Article number 1FL60
42-1AF61-
0
1
44-1AF61-
0
1
61-
1AC61-0
1
62-
1AC61-0
1
Article number 6SL321 0-5
FE104UF0
FE108UF0
FE110UF0
Frame size
FSAA FSA
7.16 1.5
2000
8.36 1.75 2000
9.55 2.0
2000
11.9 2.5
2000 90
16.7 3.5
2000
23.9 5.0
2000
33.4 7.0
2000
Incremental encoder TTL 2500 ppr
641AC61-0
661AC61-0
671AC61-0
901AC61-0
921AC61-0
941AC61-0
961AC61-0
FE111 5UF0
1
FE121 0UF0
1
FE131 5UF0
FE151 0UF0
FE171 0UF0
A
FSB FSC
Absolute encoder 20-bit + 12-bit multi-turn
L
MOTION-CONNECT 300 pre-assembled cables
Power cable
Brake cable Encoder cable
Article number 6FX3002-5
Article number 6FX3002-5
Article number 6FX3002-2
CL01-1AD0 BL02-1AD0 10-1AD0 (3
(3 m)
(3 m)
m)
CL01-1AF0 BL02-1AF0
(5 m)
(5 m)
10-1AF0 (5 m)
CL01-1AH0 BL02-1AH0
(7 m)
(7 m)
10-1AH0 (7 m)
CL01-1BA0 BL02-1BA0
(10 m)
(10 m)
10-1BA0 (10 m)
CL01-1BF0 BL02-1BF0
(15 m)
(15 m)
10-1BF0 (15 m)
CL01-1CA0 BL02-1CA0
(20 m)
(20 m)
10-1CA0 (20 m)
CL11-1AD0 (3 m)
CL11-1AF0 (5 m)
CL11-1AH0 (7 m)
CL11-1BA0 (10 m)
CL11-1BF0 (15 m)
CL11-1CA0 (20 m)
Incremental encoder TTL C
2500 ppr
T
Absolute encoder 20-bit + D
12-bit multi-turn
B
SINAMICS V90, SIMOTICS S-1FL6
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Operating Instructions, 04/2017, A5E37208830-003
General information 2.2 Device combination
SIMOTICS S-1FL6 high inertia servo motors with angular SINAMICS V90
connectors
PN 400 V servo
drives
Rated torque (Nm)
1.27
2.39
3.58
4.78
Rated power (kW)
0.4
0.75
0.75
1.0
Rated speed (rpm)
3000
3000
2000
2000
Shaft height (mm) 45
65
Article number 1FL60
42-1AF61-
2
1
44-1AF61-
2
1
61-
1AC61-2
1
62-
1AC61-2
1
Article number 6SL321 0-5
FE104UF0
FE108UF0
FE110UF0
Frame size
FSAA FSA
7.16 1.5
2000
8.36 1.75 2000
9.55 2.0
2000
11.9 2.5
2000 90
16.7 3.5
2000
23.9 5.0
2000
33.4 7.0
2000
Incremental encoder TTL 2500 ppr
641AC61-2
661AC61-2
671AC61-2
901AC61-2
921AC61-2
941AC61-2
961AC61-2
FE111 5UF0
1
FE121 0UF0
1
FE131 5UF0
FE151 0UF0
FE171 0UF0
A
FSB FSC
Absolute encoder 20-bit + 12-bit multi-turn
L
MOTION-CONNECT 300 pre-assembled cables
Power cable
Brake cable Encoder cable
Article number 6FX3002-5
Article number 6FX3002-5
Article number 6FX3002-2
CL02-1AD0 BL03-1AD0
(3 m)
(3 m)
CL02-1AF0 BL03-1AF0
(5 m)
(5 m)
CL02-1AH0 BL03-1AH0
(7 m)
(7 m)
CL02-1BA0 BL03-1BA0
(10 m)
(10 m)
CL02-1BF0 BL03-1BF0
(15 m)
(15 m)
CL02-1CA0 BL03-1CA0
(20 m)
(20 m)
CL12-1AD0 (3 m)
CL12-1AF0 (5 m)
CL12-1AH0 (7 m)
CL12-1BA0 (10 m)
CL12-1BF0 (15 m)
CL12-1CA0 (20 m)
-1AD0 (3 m)
-1AF0 (5 m)
-1AH0 (7 m)
-1BA0 (10 m)
-1BF0 (15 m)
-1CA0 (20 m)
Incremental encoder TTL CT
2500 ppr
12
Absolute encoder 20-bit + DB
12-bit multi-turn
10
Note
You can select a SINAMICS V90 PN servo drive for all the SIMOTICS S-1FL6 servo motors whose rated power values are equal to or smaller than that specified as matching with this servo drive in the table above.
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.3 Product overview
2.3
Product overview
SINAMICS V90 PN servo drives
SINAMICS V90 PN 200V variant FSB
FSC and FSD
SINAMICS V90, SIMOTICS S-1FL6
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Operating Instructions, 04/2017, A5E37208830-003
SINAMICS V90 PN 400V variant FSAA and FSA
General information 2.3 Product overview
FSB and FSC
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.3 Product overview SIMOTICS S-1FL6 servo motors
Low inertia motors
High inertia motors with straight connectors
SINAMICS V90, SIMOTICS S-1FL6
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Operating Instructions, 04/2017, A5E37208830-003
High inertia motors with angular connectors
General information 2.3 Product overview
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
2.4
Accessories
Cables and connectors
Cable connectors MOTION-CONNECT 300 cables (drive side)
Type
Article number 6FX2003 -
Type
Length * Article
Illustration (left: drive Used for
number side; right: motor side)
6FX3002-
-
-
Power 3 m cable
5 m
10 m
20 m
-
-
Brake 3 m cable
5 m
10 m
20 m
Encod- 0SB14 er connector
Incre- 3 m mental encoder 5 m cable
10 m
20 m
Absolute 3 m encoder cable 5 m
10 m
20 m
5CK011AD0
5CK011AF0
5CK011BA0
5CK011CA0
5BK021AD0
5BK021AF0
5BK021BA0
5BK021CA0
2CT201AD0
2CT201AF0
2CT201BA0
2CT201CA0
2DB201AD0
2DB201AF0
2DB201BA0
2DB201CA0
SIMOTICS S-1FL6, low inertia:
Cable connectors (motor side)
Type
Article number
Power connector
6FX200 3-
0LL12
Brake connector
0LL52
Incre- 0SL12 mental encoder connector
Abso- 0DB12 lute encoder connector
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
Cable connectors MOTION-CONNECT 300 cables (drive side)
Type
Article number 6FX2003 -
Type
Length * Article
Illustration (left: drive Used for
number side; right: motor side)
6FX3002-
-
-
-
-
Power 3 m cable
5 m 10 m 20 m 3 m 5 m 7 m 10 m 15 m 20 m 3 m 5 m 7 m 10 m 15 m 20 m Brake 3 m cable
5CK311AD0
5CK311AF0
5CK311BA0
5CK311CA0
5CL011AD0
5CL011AF0
5CL011AH0
5CL011BA0
5CL011BF0
5CL011CA0
5CL111AD0
5CL111AF0
5CL111AH0
5CL111BA0
5CL111BF0
5CL111CA0
5BL021AD0
For low inertia motors SIMOTICS S-1FL6,
of 1.5 kW to 2 kW:
low inertia:
SIMOTICS S-1FL6, high inertia (with For high inertia motors straight connectors): of 0.4 kW to 1 kW:
For high inertia motors of 1.5 kW to 7 kW:
5 m 7 m **
5BL021AF0
5BL021AH0
10 m
5BL021BA0
15 m ** 5BL021BF0
20 m
5BL021CA0
Cable connectors (motor side)
Type
Article number
Power connector
6FX200 30LL11
Brake connector
0LL51
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
Cable connectors MOTION-CONNECT 300 cables (drive side)
Cable connectors (motor side)
Type
Article number 6FX2003 -
Type
Length * Article
Illustration (left: drive Used for
number side; right: motor side)
6FX3002-
Type
Article number
6FX200 3-
Encod- 0SB14 er connector
Incre- 3 m mental encoder 5 m cable
7 m **
2CT101AD0
2CT101AF0
2CT101AH0
Incre- 0SL11 mental encoder connector
10 m
2CT101BA0
15 m ** 2CT101BF0
20 m
2CT101CA0
Absolute 3 m encoder cable 5 m
7 m **
2DB101AD0
2DB101AF0
2DB101AH0
Abso- 0DB11 lute encoder connector
10 m
2DB101BA0
15 m ** 2DB101BF0
20 m
2DB101CA0
-
-
Power 3 m cable
5 m
5CL021AD0
5CL021AF0
For high inertia motors SIMOTICS S-1FL6, Power
of 0.4 kW to 1 kW:
high inertia (with angu- con-
lar connectors):
nector
0LL13
7 m
5CL02-
1AH0
10 m
5CL021BA0
15 m
5CL021BF0
20 m
5CL021CA0
SINAMICS V90, SIMOTICS S-1FL6
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Operating Instructions, 04/2017, A5E37208830-003
Cable connectors MOTION-CONNECT 300 cables (drive side)
Type
Article number 6FX2003 -
Type
Length * Article
Illustration (left: drive Used for
number side; right: motor side)
6FX3002-
3 m
5 m
7 m
10 m
15 m
20 m
-
-
Brake 3 m cable
5 m
7 m
10 m
15 m
20 m
Encod- 0SB14 er connector
Incre- 3 m mental encoder 5 m cable
7 m
10 m
15 m
20 m
5CL121AD0
5CL121AF0
5CL121AH0
5CL121BA0
5CL121BF0
5CL121CA0
5BL031AD0
5BL031AF0
5BL031AH0
5BL031BA0
5BL031BF0
5BL031CA0
2CT121AD0
2CT121AF0
2CT121AH0
2CT121BA0
2CT121BF0
2CT121CA0
For high inertia motors of 1.5 kW to 7 kW:
General information 2.4 Accessories
Cable connectors (motor side)
Type
Article number
6FX200 3-
Brake connector
0LL53
Incre- 0SL13 mental encoder connector
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
Cable connectors MOTION-CONNECT 300 cables (drive side)
Type
Article number 6FX2003 -
Type
Length * Article
Illustration (left: drive Used for
number side; right: motor side)
6FX3002-
Absolute 3 m encoder cable 5 m
7 m
10 m
15 m
20 m
2DB101AD0
2DB101AF0
2DB101AH0
2DB101BA0
2DB101BF0
2DB101CA0
Cable connectors (motor side)
Type
Article number
6FX200 3-
Abso- 0DB11 lute encoder connector
* The cables with a maximum length of 20 m are provided at delivery. You can also make your own cables with a maximum length of 30 m, which are not tested by Siemens.
** The cables with lengths of 7 m and 15 m are only supplied for high inertia motors.
For more information about how to assemble cable connectors on both the drive and motor sides, see Sections "Assembly of cable terminals on the drive side (Page 301)" and "Assembly of cable connectors on the motor side (Page 304)".
Cable and connector (between the V90 PN drive and the controller)
Name SINAMICS V90 PROFINET I/O connector (20 pins)
SINAMICS V90 PROFINET I/O cable (20 pins)
RJ45 data plug-in connector, with 180° (straight) cable outlet
Standard bus cable (4-core), sold by meter, not assembled
Preassembled PROFINET cable, with two RJ45 plug-180 connectors
Article number 6SL3260-2MA00-0VA0 6SL3260-4MA00-1VB0 6GK1901-1BB10-2AA0
6XV1840-2AH10
6XV1871-5BH10
Length (m) 1 -
-
1
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
External 24 VDC power supply
A 24 VDC power supply is needed to supply the V90 PN servo drive. Refer to the table below to select the power supply:
Without a holding brake
Rated voltage (V) 24 (-15% to +20%)
Maximum current (A) 1.5
With a holding brake Rated voltage (V) 24 (-10% to +10%) 1)
Maximum current (A)
1.5 + motor holding brake rated current
1) The minimum voltage of 24 VDC -10% must be available at the connector on the motor side in order to guarantee that the brake reliably opens. If the maximum voltage of 24 VDC +10% is exceeded, then the brake could re-close. The voltage drop along the brake feeder cable must be taken into consideration. The voltage drop U for copper cables can be approximately calculated as follows:
U [V] = 0.042 ·mm2/m (l/q) IBrake Where: l = Cable length [m], q = Brake cable cross section [mm2], IBrake = DC current of brake [A]
Fuse/Type-E combination motor controller
A fuse/type-E combination motor controller/circuit breaker can be used to protect the system. Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes. Refer to the table below for the selection of fuses, type-E combination motor controllers, and circuit breakers:
SINAMICS V90 PN 200 V variant
SINAMICS V90 PN
Power supply
Frame size
1-phase, FSB 200 VAC to 240 VAC
Rated power (kW) 0.1
0.2
0.4
FSC 0.75
3-phase, FSB
0.1
200 VAC to
240 VAC
0.2
0.4
FSC 0.75
Recommended fuse
Type-E combination motor controller 1)
CEcompliant
3NA3 801 (6 A)
UL/cUL-compliant Rated listed (JDDZ) fuse current
(A)
6 A
2.8 to 4
Rated voltage (VAC)
230/240
Rated power (hp)
1/3
Article number
3RV 20111EA10
3NA3 801 6 A (6 A)
2.8 to 4 230/240
1/3
3RV 20111EA10
3NA3 803 10 A (10 A)
5.5 to 8 230/240
1
3RV 20111HA10
3NA3 805 20 A (16 A)
9 to 12.5 230/240
2
3RV 20111KA10
3NA3 801 6 A (6 A)
2.8 to 4 230/240
3/4
3RV 20111EA10
3NA3 801 6 A (6 A)
2.8 to 4 230/240
3/4
3RV 20111EA10
3NA3 803 10 A (10 A)
2.8 to 4 230/240
3/4
3RV 20111EA10
3NA3 805 20 A (16 A)
5.5 to 8 230/240
2
3RV 20111HA10
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
SINAMICS V90 PN
Power supply
Frame size
FSD
Rated power (kW)
1.0
1.5
2.0
Recommended fuse
Type-E combination motor controller 1)
CEcompliant
3NA3 805 (16 A)
UL/cUL-compliant Rated listed (JDDZ) fuse current
(A)
20 A
7 to 10
Rated voltage (VAC)
230/240
Rated power (hp)
3
Article number
3RV 20111JA10
3NA3 810 25 A (25 A)
10 to 16 230/240
5
3RV 20114AA10
3NA3 810 25 A (25 A)
10 to 16 230/240
5
3RV 20114AA10
1) The above types for type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards.
SINAMICS V90 PN 400 V variant
SINAMICS V90 PN
Power supply
Frame size
Rated power (kW)
3-phase, FSAA 0.4
380 VAC to
480 VAC FSA
0.75
1.0
FSB
1.5
2.0
FSC
3.5
5.0
7.0
Recommended fuse type
CE-compliant
3NA3 801-6 (6 A)
UL/cULcompliant listed (JDDZ) fuse
10 A
3NA3 801-6 (6 A)
10 A
3NA3 803-6 (10 A)
10 A
3NA3 803-6 (10 A)
15 A
3NA3 805-6 (16 A)
15 A
3NA3 807-6 (20 A)
25 A
3NA3 807-6 (20 A)
25 A
3NA3 810-6 (25 A)
25 A
Type-E combination motor controller 1)
Rated
Rated volt-
current (A) age (VAC)
Rated power (hp)
Article number
2.2 to 3.2 380/480
0.5
3RV 20211DA10
2.8 to 4 380/480
1
3RV 20211EA10
3.5 to 5 380/480
1.34
3RV 2021-
1FA10
5.5 to 8 380/480
2
3RV 20211HA10
11 to 16 380/480
2.68
3RV 2021-
4AA10
14 to 20 380/480
4.7
3RV 20214BA10
14 to 20 380/480
6.7
3RV 20214BA10
20 to 25 380/480
9.4
3RV 20214DA10
1) The above types for Type-E combination motor controllers are listed in compliance with both CE and UL/cUL standards.
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
WARNING
Requirements for United States/Canadian installations (UL/cUL)
Suitable for use on a circuit capable of delivering not more than 65000 rms Symmetrical Amperes, 480 VAC maximum for 400 V variants of drives or 240 VAC maximum for 200 V variant drives, when protected by the UL/cUL listed (JDDZ) fuse or type E self-protected controller. For each frame size AA, A, B, C and D, use 75 °C copper wire only.
This equipment is capable of providing internal motor overload protection according to UL508C.
For Canadian (cUL) installations the drive mains supply must be fitted with any external recommended suppressor with the following features: · Surge-protective devices; device shall be a Listed Surge-protective device (Category
code VZCA and VZCA7) · Rated nominal voltage 480/277 VAC, 50/60 Hz, 3-phase; 120/208 VAC, 50/60 Hz, 1/3-
phase · Clamping voltage VPR = 2000 V, IN = 3kA min, MCOV = 508 VAC, SCCR = 65 kA · Suitable for Type 2 SPD application · Clamping shall be provided between phases and also between phase and ground
Braking resistor
The SINAMICS V90 PN has a built-in braking resistor. The table below shows the information of the built-in resistor:
SINAMICS V90 PN
Power supply
1/3-phase, 200 VAC to 240 VAC
Frame size
FSB (0.2 kW)
FSB (0.4 kW)
FSC
3-phase, 200 VAC to 240 VAC
FSD (1 kW)
FSD (1.5 kW to
2 kW)
3-phase, 380 VAC to 480 VAC
FSAA FSA FSB
FSC
Resistance ()
150 100 50 50 25
533 160 70 27
Max. power (kW)
1.09
1.64
3.28 3.28
6.56
1.2 4 9.1 23.7
Rated power (W) Max. energy (kJ)
13.5
0.55
20.5
0.82
41
1.64
41
1.64
82
3.28
17
1.8
57
6
131
13.7
339
35.6
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
Filter
Note
The 200 V variant servo drive with rated power of 0.1 kW (FSB) does not have a built-in resistor.
When the motor works in a fast round-trip process, the voltage of the line supply increases. The braking resistor starts to work if the voltage reaches the set threshold. The temperature of the heat sink increases (>100 °C) when the braking resistor is working. If alarms A52901 and A5000 appear at the same time, you need to switch the built-in braking resistor to the external braking resistor. You can select a standard braking resistor according to the table below:
SINAMICS V90 PN
Power supply
1/3-phase, 200 VAC to 240 VAC
Frame size
FSB (0.1 kW to
0.2 kW)
FSB (0.4 kW)
FSC
3-phase, 200VAC to 240 VAC
FSD (1 kW)
FSD (1.5 kW to
2 kW)
3-phase, 380 VAC to 480 VAC
FSAA FSA FSB
FSC
Resistance ()
150
100 50 50 25
533 160 70 27
Max. power (kW)
1.09
1.64 3.28 3.28 6.56
1.2 4 9.1 23.7
Rated power (W) Max. energy (kJ)
20
21 62 62 123
30 100 229 1185
0.8
1.23 2.46 2.46 4.92
2.4 8 18.3 189.6
Siemens recommends you to use a line filter to protect the system from high frequency noise. The line filter restricts the conductive interference emitted from the SINAMICS V90 PN to the permissible values. The SINAMICS V90 PN drives with these external line filters have been tested in accordance with the emission requirements of the Category C2 environment. The conductive emissions and radiated emissions are in compliance with the Class A requirements of the EN 55011 standard.
Recommended line filters
SINAMICS V90 PN
Power supply Frame size
1-phase, 200 VAC to 240 VAC
FSB FSC
Rated current (A)
Article number
18
6SL3203-0BB21-8VA0
Degree of protection
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
SINAMICS V90 PN
Power supply
3-phase, 200 VAC to 240 VAC
Frame size FSB FSC
Rated current (A)
Article number
5
6SL3203-0BE15-0VA0
3-phase, 380 VAC to 480 VAC
FSD FSAA FSA FSB FSC
12
6SL3203-0BE21-2VA0
6SL3203-0BE15-0VA0
5
12
6SL3203-0BE21-2VA0
20
6SL3203-0BE22-0VA0
Outline dimensions (mm) Filter used on the single phase power network
Degree of protection
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
Filter used on the three phase power network
Rated current (A) W
5
55
12
75
20
60
W1
W2
H
H1
H2
D
ø1
8.5
38
170
158
145
130
5
8.5
58
170
158
145
140
5
10
40
250
240
220
130
5.5
Basic technical data
Filter used on the single phase power network
Rated current (A) 18
Rated voltage
Single phase 200 VAC to 240 VAC (-15% to +10%)
Line frequency
50/60 Hz (-10% to +10%)
Product standard
IEC 61800-5-1
Power loss
< 1.2 W
Package size (H × W 230 × 95 ×90 × D)
Filter used on the three phase power network
Rated current (A) 5
12
20
Rated voltage
Three phase 200 VAC to 480 VAC (-15% to +15%) Three phase 380 VAC to 480 VAC (-15% to +15%)
Line frequency
50/60 Hz (-10% to +10%)
Product standard
IEC 61800-5-1
Power loss
< 1 W
< 3 W
< 8 W
Package size (H × W 543 × 318 × 351 × D)
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
Insertion loss
Parameter
Description
Rated current
5 A
Noise frequency
0.15
0.5
1.0
5.0
10
30
(MHz)
CM (dB)
60
65
55
45
35
20
DM (dB)
50
60
55
50
50
40
Rated current
12 A
Noise frequency
0.15
0.5
1.0
5.0
10
30
(MHz)
CM (dB)
60
70
70
55
45
15
DM (dB)
60
65
60
50
45
30
Rated current
18 A
Noise frequency
0.15
0.5
1.0
5.0
10
30
(MHz)
CM (dB)
32
70
82
88
81
90
DM (dB)
40
67
68
72
69
59
Rated current
20 A
Noise frequency
0.15
0.5
1.0
5.0
10
30
(MHz)
CM (dB)
60
60
60
55
35
15
DM (dB)
40
55
55
50
45
30
Connecting (example) Filter used on the single phase power network
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.4 Accessories
SINAMICS V90 PN 200 V
6SL3210-5FB101UF0
6SL3210-5FB102UF0
6SL3210-5FB104UF1
6SL3210-5FB108UF0
Rated current (A)
18
Screw driver
Cross-tip (M4 screw)
Max. tightening Wire gauge torque (Nm) (AWG)
1.5
22 to 20
22 to 20
18 to 16
14 to 12
Filter used on the three phase power network
Stripping length L (mm)
8
SINAMICS V90 PN
200 V 6SL3210-5FB101UF0 6SL3210-5FB102UF0 6SL3210-5FB104UF1 6SL3210-5FB108UF0 6SL3210-5FB110UF1 6SL3210-5FB115UF0 6SL3210-5FB120UF0
Rated
Screw
current (A) driver
5
Cross-tip
(M4
screw)
12
Cross-tip
(M4
screw)
Max. tightening torque (Nm) 1.5
1.5
Wire gauge (AWG) 24 to 22 24 to 22 22 to 20 18 to 16 16 to 14 14 to 12 14 to 12
Stripping length L (mm) 8
8
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General information 2.4 Accessories
SINAMICS V90 PN
400 V 6SL3210-5FE104UF0 6SL3210-5FE108UF0 6SL3210-5FE110UF0 6SL3210-5FE115UF0 6SL3210-5FE120UF0 6SL3210-5FE135UF0 6SL3210-5FE150UF0 6SL3210-5FE170UF0
Rated
Screw
current (A) driver
5
Cross-tip
(M4
screw)
12
Cross-tip
(M4
screw)
20
Cross-tip
(M4
screw)
Max. tightening torque (Nm) 1.5
1.5
1.5
Wire gauge (AWG) 21 to 19 18 to 17 17 to 16 15 to 14 13 to 12 11 to 10 10 to 9 10 to 9
Stripping length L (mm) 8
8
8
Micro SD card
Optionally a micro SD card/SD card can be used to copy drive parameters or perform a firmware update. Micro SD card is used for 200 V variant servo drive and SD card is used for 400 V variant servo drive. Siemens recommends you to use the Siemens SD card (article number: 6SL3054-4AG00-2AA0).
You can select high quality micro SD cards/SD cards with a maximum capacity of 32 GB from manufacturers such as Kingston or SanDisk.
Replacement fans
The table below lists the replacement fans for SINAMICS V90 PN servo drives.
SINAMICS V90 PN
Power supply
Frame size
3-phase, 200 VAC to 240 VAC
FSD
3-phase, 380 VAC to 480 VAC
FSB FSC
Article number
6SL3200-0WF00-0AA0 6SL3200-0WF00-0AA0 6SL3200-0WF01-0AA0
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.5 Function list
2.5
Function list
Function Basic positioner (EPOS) (Page 151)
Speed control (S) (Page 172)
Safe Torque Off (STO) (Page 211)
One-button auto tuning (Page 218)
Real-time auto tuning (Page 223)
Resonance suppression (Page 228)
Low frequency vibration suppression (Page 231) Speed limit (Page 172)
Torque limit (Page 173)
Basic operator panel (BOP) (Page 129) External braking resistor - DCP, R1 (Page 112) Digital inputs/outputs (DIs/Dos) (Page 99) PROFINET communication (Page 177)
SINAMICS V-ASSISTANT
Description
Positions axes in absolute/relative terms with a motor encoder
Flexibly controls motor speed and direction through PROFINET communication port
Safely disconnects torque-generating motor power supply to prevent an unintentional motor restart
Estimates the machine characteristic and sets the closed loop control parameters (speed loop gain, speed integral compensation, filter if necessary, etc.) without any user intervention
Estimates the machine characteristic and sets the closed loop control parameters (speed loop gain, speed integral compensation, filter if necessary, etc.) continuously in real time without any user intervention
Suppresses the mechanical resonance, such as workpiece vibration and base shake
Suppresses the low frequency vibration in the machine system
Limits motor speed through internal speed limit commands (two groups)
Limits motor torque through internal torque limit commands (two groups)
Displays servo status on a 6-digit 7-segment LED display
An external braking resistor can be used when the internal braking resistor is insufficient for regenerative energy
Control signals and status signals can be assigned to four programmable digital inputs and two digital outputs
Supports communication between the SINAMICS V90 PN servo drive and PLC with PROFINET communication protocol
You can perform parameter settings, test operation, adjustment and other operations with a PC
Control mode EPOS S EPOS, S EPOS, S
EPOS, S
EPOS, S EPOS EPOS, S EPOS, S EPOS, S EPOS, S EPOS, S EPOS, S
EPOS, S
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2.6
Technical data
2.6.1
Techincal data - servo drives
2.6.1.1
SINAMICS V90 PN 200 V variant
General technical data
Parameter Overload capability
Description 300%
General information 2.6 Technical data
Control system Dynamic brake Protective functions
Overvoltage criteria
Speed control mode
Speed control range Torque limit
Environmental conditions
Surrounding air temperature
Operation
Servo control Built-in Earthing fault protection, output short-circuit protection 1), overvoltage/undervoltage protection 2), I2t inverter,I2t motor, IGBT overtemperature protection 3) Category III Internal speed command 1:5000 Set through a parameter
0 °C to 45 °C: without power derating 45 °C to 55 °C: with power derating
Ambient humidity
Storage
Operation
Storage
-40 °C to +70 °C < 90% (non-condensing)
90% (non-condensing)
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General information 2.6 Technical data
Parameter Operating environment
Altitude
Description Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil gas, or dust
1000 m (without power derating)
Vibration
Certification
Degree of protection
IP 20
Degree of pollution
Class 2
Operation
Shock Operational area II
Peak acceleration: 5 g, 30 ms and 15 g, 11 ms
Quantity of shocks: 3 per direction × 6 directions
Duration of shock: 1 s
Vibration Operational area II
10 Hz to 58 Hz: 0.075 mm deflection
58 Hz to 200 Hz: 1 g vibration
Product packag- Vibration 2 Hz to 9 Hz: 3.5 mm deflection
ing
9 Hz to 200 Hz: 1 g vibration
Quantity of cycles: 10 per axis
Sweep seed: 1 octave/min
1) Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.
2) The V90 PN 200 V servo drive has an overvoltage threshold of 410 VDC and an undervoltage threshold of 150 VDC; the V90 PN 400 V servo drive has an overvoltage threshold of 820 VDC and an undervoltage threshold of 320 VDC.
3) SINAMICS V90 PN does not support motor overtemperature protection. Motor overtemperature is calculated by I2t and protected by the output current from the drive.
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General information 2.6 Technical data
Specific technical data
Article No. 6SL3210-5FB...
Frame size Rated output current (A)
Max. output current (A)
Max. supported motor power (kW)
Power loss
1)
Main circuit (W)
Regenerative resistor (W)
Control circuit (W)
Total (W)
Output frequency (Hz)
Power sup- Voltage/frequency ply
24 VDC power supply
Permissible voltage fluctuation
Permissible frequency fluctuation
Permissible supply configuration
Rated input current (A)
1-phase 3-phase
Power supply 1-phase
capacity (kVA)
3-phase
Inrush current (A)
Voltage (V)
Maximum current (A)
Cooling method
Mechanical Outline dimensions (W x
design
H x D, mm)
Weight (kg)
10-1UF0 FSB 1.2 3.6 0.1 8 5
10-2UF0 FSB 1.4 4.2 0.2 15 5
10-4UF1 FSB 2.6 7.8 0.4 33 7
10-8UF0 FSC 4.7 14.1 0.75 48 9
11-0UF1 FSD 6.3 18.9 1.0 65 13
11-5UF0 FSD 10.6 31.8 1.5 105 25
12-0UF0 FSD 11.6 34.8 2.0 113 25
16
16
16
16
16
18
18
29
36
56
73
94
148
156
0 to 330
FSB and FSC: single phase/three phase 200 VAC to 240 VAC, 50/60 Hz
FSD: three phase 200 VAC to 240 VAC, 50/60 Hz
-15% to +10%
-10% to +10%
TN, TT, IT
2.5
3.0
5.0
10.4
-
-
-
1.5
1.8
3.0
5.0
7.0
11.0
12.0
0.5
0.7
1.2
2.0
-
-
-
0.5
0.7
1.1
1.9
2.7
4.2
4.6
8.0
24 (-15% to +20%) 2)
When using a motor without a brake: 1.5 A
When using a motor with a brake: 1.5 A + motor holding brake rated current (See Section "Technical data - servo motors (Page 57)".)
Self-cooled
Fan-cooled
50 x 170 x 170
80 x 170 95 x 170 x 195 x 195
1.25
1.95
2.3
2.4
1) The values here are calculated at rated load.
2) When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to +10% to meet the voltage requirement of the brake.
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.6 Technical data
2.6.1.2
SINAMICS V90 PN 400 V variant
General technical data
Parameter Overload capability
Description 300%
Control system Dynamic brake Protective functions
Overvoltage criteria
Speed control mode
Speed control range Torque limit
Environmental conditions
Surrounding air temperature
Operation
Servo control Built-in Earthing fault protection, output short-circuit protection 1), overvoltage/undervoltage protection 2), I2t inverter,I2t motor, IGBT overtemperature protection 3) Category III Internal speed command 1:5000 Set through a parameter
0 °C to 45 °C: without power derating 45 °C to 55 °C: with power derating
Storage
Ambient humidi- Opera-
ty
tion
Storage
Operating environment
-40 °C to +70 °C < 90% (non-condensing)
90% (non-condensing) Indoors (without direct sunlight), free from corrosive gas, combustible gas, oil gas, or dust
SINAMICS V90, SIMOTICS S-1FL6
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Parameter Altitude
Description 1000 m (without power derating)
General information 2.6 Technical data
Vibration
Certification
Degree of protection
IP 20
Degree of pollution
Class 2
Operation
Shock Operational area II
Peak acceleration: 5 g, 30 ms and 15 g, 11 ms
Quantity of shocks: 3 per direction × 6 directions
Duration of shock: 1 s
Vibration Operational area II
10 Hz to 58 Hz: 0.075 mm deflection
58 Hz to 200 Hz: 1 g vibration
Product packag- Vibration 2 Hz to 9 Hz: 3.5 mm deflection
ing
9 Hz to 200 Hz: 1 g vibration
Quantity of cycles: 10 per axis
Sweep seed: 1 octave/min
1) Integral solid state short circuit protection does not provide branch circuit protection. Branch circuit protection must be provided in accordance with the National Electrical Code and any additional local codes.
2) The V90 PN 200 V servo drive has an overvoltage threshold of 410 VDC and an undervoltage threshold of 150 VDC; the V90 PN 400 V servo drive has an overvoltage threshold of 820 VDC and an undervoltage threshold of 320 VDC.
3) SINAMICS V90 PN does not support motor overtemperature protection. Motor overtemperature is calculated by I2t and protected by the output current from the drive.
SINAMICS V90, SIMOTICS S-1FL6
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General information 2.6 Technical data
Specific technical data
Article No. 6SL3210-5FE...
Frame size
Rated output current (A)
Max. output current (A)
Max. supported motor power (kW)
Power loss
1)
Main circuit (W)
Regenerative resistor (W)
Control circuit (W)
Total (W)
Output frequency (Hz)
Power supply
Voltage/frequency
Permissible voltage fluctuation
Permissible frequency fluctuation
Permissible supply configuration
Rated input current (A)
Power supply capacity (kVA)
Inrush current (A)
24 VDC power supply
Voltage (V) Maximum current (A)
Cooling method
Mechanical Outline dimensions (W x
design
H x D, mm)
Weight (kg)
104UF0
FSAA 1.2 3.6 0.4 12 17
108UF0
FSA 2.1 6.3 0.75 29 57
110UF0
FSA 3.0 9.0 1.0 32 57
115UF0
FSB 5.3 13.8 1.75 84 131
120UF0
FSB 7.8 23.4 2.5 96 131
135UF0
FSC 11.0 33.0 3.5 92 339
150UF0
FSC 12.6 37.8 5.0 115 339
170UF0
FSC 13.2 39.6 7.0 138 339
32
32
35
35
35
36
36
36
61
118
124
250
262
467
490
513
0 to 330
Three phase 380 VAC to 480 VAC, 50/60 Hz
-15% to +10%
-10% to +10%
TN, TT, IT
1.5
2.6
3.8
6.6
9.8
13.8
15.8
16.5
1.7
3.0
4.3
7.6
11.1
15.7
18.0
18.9
8.0
8.0
8.0
4.0
4.0
2.5
2.5
2.5
24 (-15% to +20%) 2)
When using a motor without a brake: 1.5 A
When using a motor with a brake: 1.5 A + motor holding brake rated current (See Section "Technical data - servo motors (Page 61)".)
Self-cooled
Fan-cooled
60 x 180 x 200
80 x 180 x 200
100 x 180 x 220 140 x 260 x 240
1.5
1.9
1.9
2.5
2.5
5.0
5.5
5.75
1) The values here are calculated at rated load.
2) When SINAMICS V90 PN works with a motor with a brake, the voltage tolerance of 24 VDC power supply must be -10% to +10% to meet the voltage requirement of the brake.
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General information 2.6 Technical data
2.6.2
Technical data - servo motors
2.6.2.1
1FL6 servo motor - low inertia
General technical data
Parameter Type of motor Cooling Relative humidity [RH] Installation altitude [m] Thermal class Vibration severity grade Shock resistance [m/s2]
Bearing lifetime [h] Paint finish Protection degree of shaft Type of construction Positive rotation
Description Permanent-magnet synchronous motor Self-cooled 90% (non-condensing at 30°C ) 1000 (without power derating) B A (according to IEC 60034-14) 25 (continuous in axial direction); 50 (continuous in radial direction); 250 (in a short time of 6 ms) > 20000 1) Black IP 65, with shaft oil seal IM B5, IM V1, and IM V3 Clockwise (default setting in servo drives)
Certification
1) This lifetime is only for reference. When a motor keeps running at rated speed under rated load, replace its bearing after 20,000 to 30,000 hours of service time. Even if the time is not reached, the bearing must be replaced when unusual noise, vibration, or faults are found.
Specific technical data
Article No. 1FL60... Rated power [kW] Rated torque [Nm] Maximum torque [Nm] Rated speed [rpm] Maximum speed [rpm] Rated frequency [Hz] Rated current [A] Maximum current [A]
22
24
32
34
42
44
52
54
0.05
0.1
0.2
0.4
0.75
1
1.5
2
0.16
0.32
0.64
1.27
2.39
3.18
4.78
6.37
0.48
0.96
1.91
3.82
7.2
9.54
14.3
19.1
3000
5000
200
1.2
1.2
1.4
2.6
4.7
6.3
10.6
11.6
3.6
3.6
4.2
7.8
14.2
18.9
31.8
34.8
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Article No. 1FL60...
22
24
32
34
42
44
52
54
Moment of inertia [10-4 kgm2]
0.031
0.052
0.214
0.351
0.897
1.15
2.04
2.62
Moment of inertia (with
0.038
0.059
0.245
0.381
1.06
1.31
2.24
2.82
brake) [10-4 kgm2]
Recommended load to mo- Max. 30x tor inertia ratio
Max. 20x
Max. 15x
Operating temperature [°C] 1FL602, 1FL603 and 1FL604: 0 to 40 (without power derating)
1FL605: 0 to 30 (without power derating) 1)
Storage temperature [°C] -20 to +65
Maximum noise level [dB] 60
Rated voltage 24 ± 10% (V)
Rated current 0.25
0.3
(A)
0.35
0.57
Holding brake
Holding brake 0.32 torque [Nm]
1.27
3.18
6.37
Maximum
35
75
105
90
brake opening
time [ms]
Maximum
10
10
15
35
brake closing
time [ms]
Maximum number of emergency stops
2000 2)
Oil seal lifetime [h]
3000 to 5000
Encoder lifetime [h]
> 20000 3)
Protection degree of motor IP 65 body
Protection degree of cable IP20
-
end connector
Weight [kg] With brake
0.70
0.86
1.48
1.92
3.68
4.20
6.76
8.00
Without brake 0.47
0.63
1.02
1.46
2.80
3.39
5.35
6.56
1) When the surrounding temperature is between 30 °C and 40 °C, the 1FL605 motor will have a power derating of 10%.
2) Restricted emergency stop operation is permissible. Up to 2000 braking operations for the motors of 0.05 kW to 1 kW, and 200 braking operations for the motors of 1.5 kW to 2 kW can be executed with 300% rotor moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear.
3) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is 30 °C, the encoder lifetime can be ensured.
Note
The data of rated torque, rated power, maximum torque, and armature resistance in the above table allows a tolerance of 10%.
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General information 2.6 Technical data
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Note · Continuous operating area is a series of states when a motor can operate continuously
and safely. The effective torque must be located in this area. · Short-term operating area is a series of states when a motor can operate for a short
duration if its effective torque is larger than the rated torque. · For the motors with different rated and maximum speeds, the output torque will decline at
a faster rate after the speed exceeds the rated speed. · The feature in short-term operating area varies with power supply voltages. · The continuous operating area becomes smaller and the voltage consumptions on the
cables grow larger when the cables in the major loop exceed 20 m.
Permissible radial and axial forces
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2.6.2.2
1FL6 servo motor - high inertia
General technical data
Parameter Type of motor Cooling Relative humidity [RH] Installation altitude [m] Thermal class Vibration severity grade Shock resistance [m/s2]
Bearing lifetime [h] Paint finish Protection degree of shaft Type of construction Positive rotation
Description Permanent-magnet synchronous motor Self-cooled 90% (non-condensing at 30°C ) 1000 (without power derating) B A (according to IEC 60034-14) 25 (continuous in axial direction); 50 (continuous in radial direction); 250 (in a short time of 6 ms) > 20000 1) Black IP 65, with shaft oil seal IM B5, IM V1, and IM V3 Clockwise (default setting in servo drives)
Certification
1) This lifetime is only for reference. When a motor keeps running at rated speed under rated load, replace its bearing after 20,000 to 30,000 hours of service time. Even if the time is not reached, the bearing must be replaced when unusual noise, vibration, or faults are found.
Specific technical data
Article No. 1FL60... Rated power [kW] Rated torque [Nm] Maximum torque [Nm] Rated speed [rpm] Maximum speed [rpm] Rated frequency [Hz] Rated current [A] Maximum current [A] Moment of inertia [10-4 kgm2] Moment of inertia (with brake) [10-4 kgm2]
42
44
61
62
64
66
67
90
92
94
96
0.40 0.75 0.75 1.00 1.50 1.75 2.00 2.5 3.5 5.0 7.0 1)
1.27 2.39 3.58 4.78 7.16 8.36 9.55 11.9 16.7 23.9 33.4
3.8 7.2 10.7 14.3 21.5 25.1 28.7 35.7 50.0 70.0 90.0
3000
2000
2000
4000
3000
3000
2500 2000
200
133
133
1.2 2.1 2.5 3.0 4.6 5.3 5.9 7.8 11.0 12.6 13.2
3.6 6.3 7.5 9.0 13.8 15.9 17.7 23.4 33.0 36.9 35.6
2.7 5.2 8.0 15.3/1 15.3 22.6 29.9 47.4 69.1 90.8 134.3 1.7 2)
3.2 5.7 9.1 16.4/1 16.4 23.7 31.0 56.3 77.9 99.7 143.2 3.5 2)
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General information 2.6 Technical data
Article No. 1FL60...
Recommended load to motor inertia ratio
Operating temperature [°C]
Storage temperature [°C]
Maximum noise level [dB]
Rated voltage (V)
Rated current (A)
Holding brake
Holding brake torque [Nm]
Maximum brake opening time [ms]
Maximum brake closing time [ms]
Maximum number of emergency stops
Oil seal lifetime [h]
Encoder lifetime [h]
Degree of protection
Weight of incremental encoder motor [kg]
With brake 2)
Without brake
2)
Weight of absolute encoder motor [kg]
With brake 2)
Without brake
2)
42
44
61
62
64
66
67
90
92
94
96
Max. 10×
Max. 5×
Max. 5×
0 to 40 (without power derating)
-20 to +65
65
70
70
24 ± 10%
0.88
1.44
1.88
3.5
12
30
60
180
220
45
60
115
2000 3)
5000
> 20000 4)
IP65, with shaft oil seal
4.6/4. 6.4/6. 8.6/8.
8
6
8
3.3/3. 5.1/5. 5.6/5.
4
2
7
4.4/4. 6.2/6. 8.3/8.
5
3
4
3.1/3. 4.9/5. 5.3/5.
2
0
4
11.3/1 0.1
8.3/7. 0
11.0/9 .7
8.0/6. 7
11.3/1 14.0/1 1.5 4.2
8.3/8. 11.0/1
4
1.1
11.0/1 13.6/1 1.1 3.7
8.0/8. 10.7/1
1
0.8
16.6/1 6.8
13.6/1 3.7
16.3/1 6.4
13.3/1 3.4
21.3/2 1.5
15.3/1 5.4
20.9/2 1.0
14.8/1 4.9
25.7/2 5.9
19.7/1 9.8
25.3/2 5.4
19.3/1 9.4
30.3/3 0.5
24.3/2 4.4
29.9/3 0.0
23.9/2 4.0
39.1/3 9.3
33.2/3 3.3
38.7/3 8.8
32.7/3 2.8
1) When the surrounding temperature is between 30 °C and 40 °C, the 1FL6096 motors with brake will have a power derating of 10%.
2) The former value indicates the data for high inertia motors with straight connectors; the latter value indicates the data for high inertia motors with angular connectors.
3) Restricted emergency stop operation is permissible. Up to 2000 braking operations can be executed with 300% rotor moment of inertia as external moment of inertia from a speed of 3000 rpm without the brake being subject to an inadmissible amount of wear.
4) This lifetime is only for reference. When a motor keeps running at 80% rated value and the surrounding temperature is 30 °C, the encoder lifetime can be ensured.
Note
The data of rated torque, rated power, and maximum torque in the above table allows a tolerance of 10%.
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General information 2.6 Technical data
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General information 2.6 Technical data
Note · Continuous operating area is a series of states when a motor can operate continuously
and safely. The effective torque must be located in this area. · Short-term operating area is a series of states when a motor can operate for a short
duration if its effective torque is larger than the rated torque. · For the motors with different rated and maximum speeds, the output torque will decline at
a faster rate after the speed exceeds the rated speed. · The feature in short-term operating area varies with power supply voltages. · The continuous operating area becomes smaller and the voltage consumptions grows
larger when the cables in the major loop exceed 20 meters. · For 1FL6096 motors, the maximum speed can be ensured when the line supply voltage is
higher than 380V.
Permissible radial and axial forces
Note
1FL604 and 1FL609 have a 5 mm of shaft sheltered in sleeves, and 1FL606 has an 8 mm of shaft in sleeves. Therefore, the distances to flange in the above three figures begin respectively from 5 mm, 8mm, and 5 mm.
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2.6.2.3
General information 2.6 Technical data
Power derating
For deviating conditions (surrounding temperature > 40 °C or installation altitude > 1000 m above sea level) the permissible torque/power must be determined from the following table. Surrounding temperatures and installation altitudes are rounded off to 5 °C and 500 m respectively.
Power derating as a function of the installation altitude and ambient temperature
Installation altitude above sea level (m)
1000 1500 2000 2500 3000 3500 4000
< 30 1.07 1.04 1.00 0.96 0.92 0.88 0.82
Surrounding temperature in °C
30 to 40
45
50
55
1.00
0.96
0.92
0.87
0.97
0.93
0.89
0.84
0.94
0.90
0.86
0.82
0.90
0.86
0.83
0.78
0.86
0.82
0.79
0.75
0.82
0.79
0.75
0.71
0.77
0.74
0.71
0.67
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General information 2.6 Technical data
2.6.3
Technical data - cables
Parameter
General technical data Jacket material Number of cores Operation temperature (°C) Shielding
MOTION-CONNECT 300 Power Cable
PVC 4 -25 to 80 Yes · Coverage 60%:
MOTION-CONNECT 300 Encoder Cable
PVC 10
MOTION-CONNECT 300 Brake Cable
PVC 2
For 200 V variant servo drives + low inertia motors of 0.05 kW to 1 kW · Coverage 85%:
For 200 V variant servo drives + low inertia motors of 1.5 kW to 2 kW, and for 400 V variant servo drives + high inertia motors of 0.4 kW to 7 kW
Minimum bending radius, static (mm)
5 x outer diameter
Minimum bending radius,
155
dynamic (mm)
Oil resistance
EN60811-2-1 fulfilled
Flame-retardant
EN60332-1-1 to 1-3 fulfilled
Certification
RoHS, UL, CE
RoHS
RoHS
Specific technical data
Cable used for 200 V variant servo drive + low inertia motor of 0.05 kW to 1 kW
Rated voltage (V)
300/500
30
30
Cross-section of cores (mm2) 4 x 0.75
3 x 2 x 0.20 + 4 x 0.25
2 x 0.75
Outer diameter (mm)
ø (6.7±0.4)
ø (7.2±0.3)
ø (6.1±0.3)
Degree of protection (motor- IP20 side only)
Bending cycles
100000:
Maximum acceleration 3 m/s2, maximum speed 40 m/min
Cable used for 200 V variant servo drives + low inertia motors of 1.5 kW to 2 kW, and for 400 V variant servo drives + high inertia motors of 0.4 kW to 7 kW
Cross-section of cores (mm2) · 4 x 1.5:
3 x 2 x 0.22 + 4 x 0.25
2 x 0.75
For high inertia motors of 0.4 kW to 1 kW
· 4 x 2.5:
For low inertia motors of 1.5 kW to 2 kW and high inertia motors of 1.5 kW to 7 kW
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Parameter Rated voltage (V) Outer diameter (mm)
Degree of protection (motorside only) Bending cycles
MOTION-CONNECT 300 Power Cable 600/1000
· ø (7.8±0.3):
MOTION-CONNECT 300 Encoder Cable 30
ø (6.9±0.3)
For high inertia motors of 0.4 kW to 1 kW
· ø (9.0±0.4):
For low inertia motors of 1.5 kW to 2 kW and high inertia motors of 1.5 kW to 7 kW
IP65
1000000: Maximum acceleration 3 m/s2, maximum speed 40 m/min
MOTION-CONNECT 300 Brake Cable 30
ø (6.0±0.3)
2.6.4
Address of CE-authorized manufacturer
The CE Declaration of Conformity is held on file available to the competent authorities at the following address: Siemens AG Digital Factory Motion Control Frauenauracher Straße 80 DE-91056 Erlangen Germany
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Mounting
3
3.1
Mounting the drive
Protection against the spread of fire
The device may be operated only in closed housings or in control cabinets with protective covers that are closed, and when all of the protective devices are used. The installation of the device in a metal control cabinet or the protection with another equivalent measure must prevent the spread of fire and emissions outside the control cabinet.
Protection against condensation or electrically conductive contamination
Protect the device, e.g. by installing it in a control cabinet with degree of protection IP54 according to IEC 60529 or NEMA 12. Further measures may be necessary for particularly critical operating conditions. If condensation or conductive pollution can be excluded at the installation site, a lower degree of control cabinet protection may be permitted.
WARNING Death or severe personal injury from harsh installation environment A harsh installation environment will jeopardize personal safety and equipment. Therefore, · Do not install the drive and the motor in an area subject to inflammables or
combustibles, water or corrosion hazards. · Do not install the drive and the motor in an area where it is likely to be exposed to
constant vibrations or physical shocks. · Do not keep the drive exposed to strong electro-magnetic interference.
CAUTION Hot surface During operation and for a short time after switching-off the drive, the surfaces of the drive can reach a high temperature. Avoid coming into direct contact with the drive surface.
For mounting conditions, see Techincal data - servo drives (Page 51).
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Mounting 3.1 Mounting the drive
3.1.1
Mounting orientation and clearance
Mount the drive vertically in a shielded cabinet and observe the mounting clearances specified in the illustration below:
Note
The drive must be derated to 80% when the following conditions are satisfied: · The surrounding temperature is 0 °C to 45 °C, and the mounting clearance is less than
10 mm. In this case, the minimum mounting clearance should not be less than 5 mm. · The surrounding temperature is 45 °C to 55 °C. In this case, the minimum mounting
clearance should not be less than 20 mm.
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3.1.2
Drill patterns and outline dimensions
SINAMICS V90 PN 200V variant (unit: mm)
Mounting 3.1 Mounting the drive
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Mounting 3.1 Mounting the drive
SINAMICS V90 PN 400V variant (unit: mm)
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Mounting 3.1 Mounting the drive
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Mounting 3.1 Mounting the drive
3.1.3
Mounting the drive
Note
EMC instructions
· To comply with the EMC standards, all cables connected with the SINAMICS V90 PN drive system must be shielded cables, which include cables from the line supply to the line filter and from the line filter to the drive.
· The SINAMICS V90 PN drives have been tested in accordance with the emission requirements of the category of C2 (domestic) environment. The conductive emissions and radiated emissions are in compliance with the standard of EN 55011 and reached Class A.
· In a residential environment, this product can cause high-frequency interferences that may necessitate suppression measures.
· For a radiated emission test, an external AC filter (between the mains supply and the drive) will be used to meet the EMC requirement and the drive will be installed inside the shielded metallic chamber, other parts of the motion control system (including the PLC, DC power supply, motor) will be put inside the shielded chamber.
· For a conductive emission test, an external AC filter (between the mains supply and the drive) will be used to meet the EMC requirement.
· For the radiated emission and conductive emission test, the length of the line supply cable between the line filter and the drive must be shorter than 1 m.
· The harmonic current value of SINAMICS V90 PN drive exceeds the class A limit of IEC 61000-3-2, but the SINAMICS V90 PN drive system installed within the Category C2 First Environment require supply authority acceptance for connection to the public low-voltage power supply network. Please contact your local supply network provider.
Note
Screw tightening
Make sure you fix the screw to the terminal door of the drive after you have completed the installation work.
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Mounting 3.2 Mounting the motor
3.2
Mounting the motor
NOTICE Damage to the encoder
Do not exert any shock at the shaft end; otherwise, the encoder may be damaged. For mounting conditions, see Technical data - servo motors (Page 57).
3.2.1
Mounting orientation and dimensions
Mounting orientation
SIMOTICS S-1FL6 supports flange mounting only and three types of constructions, so it can be installed in three orientations as shown in the following figure.
Note
When configuring the IM V3 type of construction, pay particular attention to the permissible axial force (weight force of the drive elements) and the necessary degree of protection.
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Mounting 3.2 Mounting the motor
SIMOTICS S-1FL6 Low inertia servo motors (unit: mm)
Shaft height 20 mm
Rated power
Rated torque
a
0.05 kW
0.16 Nm
38.5
0.1 kW
0.32 Nm
38.5
Shaft height 30 mm
L
L1
86
119
106
139
Rated power
Rated torque
a
0.2 kW
0.64 Nm
39.5
0.4 kW
1.27 Nm
39.5
L
L1
98
132.5
123
157.5
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Shaft height 40 mm
Mounting 3.2 Mounting the motor
Rated power
Rated torque
a
0.75 kW
2.39 Nm
48
1.0 kW
3.18 Nm
48
Shaft height 50 mm
L 139 158.8
L1 178.3 198.1
Rated power Rated torque a
1.5 kW
4.78 Nm
195
2.0 kW
6.37 Nm
219
b
b1
L
L1
143.5
177.5
192
226
167.5
201.5
216
250
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Mounting 3.2 Mounting the motor
SIMOTICS S-1FL6 high inertia servo motors (unit: mm)
Shaft height 45 mm, with the incremental encoder and straight connectors
Shaft height 45 mm, with the incremental encoder and angular connectors
Rated power 0.4 kW 0.75 kW
Rated torque 1.27 Nm 2.39 Nm
K
K1
a
b
b1
154.5
201
169.5
15
61.5
201.5
248
216.5
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Shaft height 45 mm, with the absolute encoder and straight connectors
Shaft height 45 mm, with the absolute encoder and angular connectors
Rated power 0.4 kW 0.75 kW
Rated torque 1.27 Nm 2.39 Nm
K
K1
a
b
b1
157
203.5 172
15
61.5
204
250.5 219
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Mounting 3.2 Mounting the motor
Shaft height 65 mm, with the incremental encoder and straight connectors
Shaft height 65 mm, with the incremental encoder and angular connectors
Rated power 0.75 kW 1.0 kW
1.5 kW 1.75 kW 2.0 kW
Rated torque 3.58 Nm 4.78 Nm
7.16 Nm 8.36 Nm 9.55 Nm
K
K1
a
b
148
202.5 163
15
181/164 1) 235.5/21 196/179
9 1)
.5 1)
181
235.5 196
214
268.5 229
247
301.5 262
b1 69.5
1) The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the dimension for high inertia motors with angular connectors.
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Mounting 3.2 Mounting the motor
Shaft height 65 mm, with the absolute encoder and straight connectors
Shaft height 65 mm, with the absolute encoder and angular connectors
Rated power 0.75 kW 1.0 kW
1.5 kW 1.75 kW 2.0 kW
Rated torque 3.58 Nm 4.78 Nm
7.16 Nm 8.36 Nm 9.55 Nm
K
K1
151
205.5
184/167. 238.5/22
5 1)
2 1)
184
238.5
217
271.5
250
304.5
a
b
166
15
199/182.5
1)
199 232 265
b1 69.5
1) The former value indicates the dimension for high inertia motors with straight connectors; the latter value indicates the dimension for high inertia motors with angular connectors.
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Mounting 3.2 Mounting the motor
Shaft height 90 mm, with the incremental encoder and straight connectors
Shaft height 90 mm, with the incremental encoder and angular connectors
Rated power 2.5 kW 3.5 kW 5.0 kW 7.0 kW
Rated torque 11.9 Nm 16.7 Nm 23.9 Nm 33.4 Nm
K
K1
a
b
b1
189.5 255
210.5
33
98.5
211.5 281
236.5
237.5 307
262.5
289.5 359
314.5
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Mounting 3.2 Mounting the motor
Shaft height 90 mm, with the absolute encoder and straight connectors
Shaft height 90 mm, with the absolute encoder and angular connectors
Rated power
Rated torque
K
K1
a
b
b1
2.5 kW
11.9 Nm
197
263
218
33
98.5
3.5 kW
16.7 Nm
223
289
244
5.0 kW
23.9 Nm
249
315
270
7.0 kW
33.4 Nm
301
367
322
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Mounting 3.2 Mounting the motor
3.2.2
Mounting the motor
WARNING Personal injury and material damage Some motors, especially the 1FL609 are heavy. The excessive weight of the motor should be considered and any necessary assistance required for mounting should be sought. Otherwise, the motor can fall down during mounting. This can result in serious personal injury or material damage.
NOTICE Damage to the motor If the liquid enters the motor, the motor may be damaged During motor installation or operation, make sure that no liquid (water, oil, etc.) can penetrate into the motor. Besides, when installing the motor horizontally, make sure that the cable outlet faces downward to protect the motor from ingress of oil or water.
NOTICE Magnetic interference to the absolute encoder from the magnetic field To avoid magnetic interference to the absolute encoder, keep the servo motor with an absolute encoder at least 15 mm away from the devices that produce a magnetic field stronger than 10 mT.
Note Using the eyebolts The 1FL609 motor (90 mm shaft height) has two M8 screw holes for screwing in two eyebolts. Lift the 1FL609 motor only at the eyebolts. Eyebolts that have been screwed in must be either tightened or removed after mounting.
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Mounting 3.2 Mounting the motor
Install the motor onto a steel flange with four screws as shown in the following figure:
3.2.3
Motor
Screw
Low inertia motors
1FL602 2 x M4
1FL603 4 x M5
1FL604 4 x M6
1FL605 4 x M8
High inertia motors
1FL604 4 x M6
1FL606 4 x M8
1FL609 4 x M12
Recommended flange size
120 x 100 x 40 (mm) 120 x 100 x 40 (mm) 120 x 100 x 40 (mm) 120 x 100 x 40 (mm)
270 x 270 x 10 (mm) 390 x 390 x 15 (mm) 420 x 420 x 20 (mm)
Tightening torque
2.4 Nm 4.7 Nm 8 Nm 20 Nm
8 Nm 20 Nm 85 Nm
Flange material Steel
Steel
Motor heating conditions
The rated motor specifications are continuous allowable values at a surrounding air temperature of 40 °C when the motor is installed with a steel flange. When the motor is mounted on a small surface, the motor temperature may rise considerably because of the limited heat radiating abilities of the surface. Make sure you use a suitable flange according to Siemens recommended flange sizes.
Note
The actual temperature rise depends on how the flange (motor mounting section) is fixed on the installation surface, what material is used for the motor mounting section, and motor speed. Always check the actual motor temperature.
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Mounting 3.2 Mounting the motor
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Connecting
4
4.1
System connection
The SINAMICS V90 PN servo drive is integrated with digital input/output interface and PROFINET communication port. It can be connected either to a Siemens controllers like S71200 or S7-1500.
The following illustrations show the examples of the SINAMICS V90 PN servo system connection.
Connection diagram for FSB on the single phase power network:
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Connection diagram for FSD on the three phase power network:
DANGER
Danger to life when PE connectors are touched
When the equipment is working, hazardous touch current can be present at the PE connectors; if touched, this can result in death or severe personal injury. · Do not touch the PE connector during operation or within a certain period since power
disconnection.
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Connecting 4.1 System connection
WARNING Personal injury and damage to property from improper connections Improper connections have high risks of electrical shock and short circuit, which will jeopardize personal safety and equipment. · The drive must be directly connected with the motor. It is not permissible to connect a
capacitor, inductor or filter between them. · The line supply voltage must be within the allowable range (refer to the drive rating
plate). Never connect the line supply cable to the motor terminals U, V, W or connect the motor power cable to the line input terminals L1, L2, L3. · Never wire up the U, V, W terminals in an interchanged phase sequence. · If the CE marking for cables is mandatory in some cases, the motor power cable, line supply cable and brake cable used must all be shielded cables. · For terminal connection, make sure that the clearances in air between non-insulated live parts are at least 5.5 mm. · Route signal cables and power cables separately in different cable conduits. The signal cables shall be at least 10 cm away from the power cables. · Cables connected may not come into contact with rotating mechanical parts.
CAUTION Personal injury and damage to property from inadequate protection Inadequate protection may cause minor personal injury or damage to property. · Route a second PE conductor with the cross section of the supply system lead in
parallel to the protective earth via separate terminals or use a copper protective earth conductor with a cross section of 10 mm2. · Terminals for equipotential bondings that exist in addition to terminals for PE conductors must not be used for looping-through the PE conductors. · To ensure protective separation, an isolating transformer must be used for the 220 VAC/380 VAC line supply system.
NOTICE Important wiring information In order to meet EMC requirements, all cables must be shielded cables. The cable shields of shielded twisted-pair cables should be connected to the shielding plate or the hose clamp of the servo drive.
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NOTICE Drive damage caused by short-circuiting between the shielding wire and the unused pin on the PROFINET I/O connector The shielding wire may inadvertently be short-circuited to the unused pin on the to-beassembled PROFINET I/O connector. This can cause damage to the drive. Exercise caution when connecting the shielding cable to the PROFINET I/O connector. You can see the assembly method of the connector in Section "Assembly of cable terminals on the drive side (Page 301)".
Note Low Voltage Directive complied Our products comply with EN61800-5-1: 2007 standards and Low Voltage Directive (Low Voltage Directive 2006/95/EC).
Note For low inertia motors of shaft heights 20 mm, 30 mm and 40 mm, the encoder cable connectors may only be accessible to electrically skilled personnel.
Note The mini-USB interface of the SINAMICS V90 PN is used for fast commissioning and diagnostics with SINAMICS V-ASSISTANT installed in the PC. Do not use it for long monitoring.
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Connecting 4.1 System connection
Connecting the cable shields with the shielding plate
To achieve EMC-compliant installation of the drive, use the shielding plate that is shipped with the drive to connect the cable shields. See the following example for steps of connecting cable shields with the shielding plate:
Connect the line supply cable, power cable, and brake Slip the hose clamps over the cable shields and the shield-
cable, and strip the cables where necessary.
ing plate; tighten the screws to press the cable shields onto the
shielding plate as well as to fix the grounding lugs.
WARNING
Danger to life through electric shock as well as fire hazard due to protective devices that either do not trip or trip too late
Overcurrent protective equipment that trips too late or not all can cause electric shock or fire.
· In the case of a conductor-conductor or conductor-ground short-circuit, ensure that the short-circuit current at the point where the inverter is connected to the line supply corresponds as a minimum to the requirements of the protective equipment used.
· You must additionally use a residual-current protective device (RCD) if, for a conductorground short circuit, the required short-circuit current is not reached. Especially for TT line systems, the required short-circuit can be too low.
· It is not permissible that the short-circuit current exceeds the SCCR or the ICC of the inverter and the disconnecting capacity of the protective equipment.
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DANGER Death or severe personal injury from electrical shock The earth leakage current for the drive can be greater than AC 3.5 mA, which may cause death or severe personal injury due to electrical shock. A fixed earth connection is required to eliminate the dangerous leakage current. In addition, the minimum size of the protective earth conductor shall comply with the local safety regulations for high leakage current equipment.
Adjusting cable directions from the motor side
For some low inertia motors and all high inertia motors, you can adjust the direction of the power cable, encoder cable, or brake cable from the motor side to facilitate cable connection. The following illustrations take high inertia motors with the incremental encoder for example to show how to adjust the cable directions.
Low inertia motors with a shaft height of 50 mm and high inertia motors with straight connectors
Note Rotating the connectors You can rotate all the three motor-side connectors only within 360°.
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High inertia motors with angular connectors
Connecting 4.1 System connection
Note Rotating the connectors You can rotate all the three motor-side connectors only within 310°.
Note For an absolute encoder cable on a high inertia motor with angular connectors, adjust its direction just the same as you adjust the cable directions on a high inertia motor with straight connectors mentioned above.
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Connecting 4.2 Main circuit wiring
4.2
Main circuit wiring
4.2.1
Line supply - L1, L2, L3
Signal 200 V variant
L1 L2 L3 Recommended minimum cable cross-section: When used on the single phase power network: FSB (0.1 kW to 0.2 kW): 0.33 mm2 FSB (0.4 kW): 0.52 mm2 FSC: 1.31 mm2 When used on the three phase power network: FSB: 0.33 mm2 FSC: 0.52 mm2 FSD (1 kW): 0.82 mm2 FSD (1.5 kW to 2 kW): 2.08 mm2 400 V variant L1 L2 L3 Recommended minimum cable cross-section: FSAA and FSA: 1.5 mm2 FSB and FSC: 2.5 mm2
Description Line phase L1 Line phase L2 Line phase L3
Line phase L1 Line phase L2 Line phase L3
Note
For 200 V variant servo drive, when using the FSB and FSC on the single phase power network, you can connect the power supply to any two connectors of L1, L2, and L3.
Assembling the line supply cable terminals
The procedure of assembling a line supply cable terminal is the same as that for a power cable terminal on the drive side.
For more information, see Section "Assembly of cable terminals on the drive side (Page 301)".
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Connecting 4.2 Main circuit wiring Attaching the line supply cable CAUTION Risk of injury due to improper cable connection When attaching the line supply cable to a line supply connector that has not been fixed on the drive, you can injure your fingers. · Make sure you first fix the line supply connector on the drive, and then attach the cable to the connector.
200 V variant For FSB
For FSC and FSD
400 V variant
For FSAA and FSA
You can attach the line supply cable with the same method for 200 V variant drives of frame sizes FSC and FSD.
For FSB and FSC
The FSB and FSC servo drives are equipped with barrier terminals for line supply connection. You can fix the line supply cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lb.in).
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Connecting 4.2 Main circuit wiring
4.2.2
Motor power - U, V, W
Motor output - drive side
Signal 200 V variant
U V W Recommended minimum cable cross-section: FSB: 0.75 mm2 FSC and FSD (1 kW): 0.75 mm2 FSD (1.5 kW to 2 kW): 2.5 mm2 400 V variant U V W Recommended minimum cable cross-section: FSAA and FSA: 1.5 mm2 FSB and FSC: 2.5 mm2
Description Motor phase U Motor phase V Motor phase W
Motor phase U Motor phase V Motor phase W
Power connector - motor side
Illustration
Pin No. Signal
Color
Low inertia motor, shaft height: 20 mm, 30 mm, and 40 mm
1
U
Black
2
V
Black
3
W
Black
4
PE
Yellow-green
Low inertia motor, shaft height: 50 mm
High inertia motor, shaft height: 45 mm, 60 mm, and 90 mm
Straight connectors:
1
U
Black
2
V
Black
3
W
Black
4/
Angular connectors (for high inertia motors only):
PE
Yellow-green
Description
Phase U Phase V Phase W Protective earthing
Phase U Phase V Phase W Protective earthing
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Wiring
Connecting 4.2 Main circuit wiring
* 4: high inertia motors with straight connectors and all low inertia motors : high inertia motors with angular connectors
Attaching the motor power cable
CAUTION Risk of injury due to improper cable connection When attaching the motor power cable to a motor power connector that has not been fixed on the drive, you can injure your fingers. · Make sure you first fix the motor power connector on the drive, and then attach the
cable to the connector.
200 V variant For FSB
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Connecting 4.2 Main circuit wiring
For FSC and FSD
400 V variant For FSAA and FSA
You can attach the motor power cable with the same method for 200 V variant drives of frame sizes FSC and FSD. For FSB and FSC The FSB and FSC servo drives are equipped with barrier terminals for motor power connection. You can fix the motor power cable on the servo drives by using the M4 screws with a tightening torque of 2.25 Nm (19.91 lb.in).
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4.3
Pin
Control/status interface - X8
Signal
Description
Pin
Connecting 4.3 Control/status interface - X8
Signal
Description
Type: 20-pin MDR socket
Digital inputs/outputs
1
DI1
Digital input 1
2
DI2
Digital input 2
3
DI3
Digital input 3
4
DI4
Digital input 4
6
DI_COM Common terminal for digital
inputs
7
DI_COM Common terminal for digital
inputs
None
5
-
Reserved
8
-
Reserved
9
-
Reserved
10
-
Reserved
11
DO1+
12
DO1-
13
DO2+
14
DO2-
17 *
BK+
18 *
BK-
15
-
16
-
19
-
20
-
* The pins are used to connect the brake control signals for 200 V variant drive only.
Digital output 1, positive Digital output 1, negative Digital output 2, positive Digital output 2, negative Motor holding brake control signal, positive Motor holding brake control signal, negative
Reserved Reserved Reserved Reserved
4.3.1
Digital inputs/outputs (DIs/Dos)
SINAMICS V90 PN supports free assignment of signals to the following digital input and output terminals depending on the control mode selected: DI1 to DI4 -- Assignable with parameters p29301 to p29304 DO1 to DO2 -- Assignable with parameters p29330 to p29331
For detailed information about default DI/DO signal assignments, see the table below:
Pin
Digital in-
Parameters
puts/outputs
1
DI1
p29301
2
DI2
p29302
3
DI3
p29303
4
DI4
p29304
11
DO1
p29330
13
DO2
p29331
Default values/signals
2 (RESET) 11 (TLIM)
0 0 2 (FAULT) 9 (OLL)
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Connecting 4.3 Control/status interface - X8
Note The selected DI signal will respond with a delay time of 8 to 16 ms.
Note DO signal inverse The logics of digital output signals DO1 and DO2 can be inversed. You can inverse the logics of DO1 and DO2 by setting the bit 0 and bit 1 of parameter p0748.
4.3.1.1
DIs
You can assign a maximum of seven internal digital input signals to the SINAMICS V90 PN servo drive. For detailed information about these signals, see the table below:
Name RESET
TLIM
SLIM
EMGS REF CWL CCWL
Type Edge 01 Level
Level
Level
Edge 01 Edge 10 Edge 10
Reset alarms
Description
· 01: reset alarms
Torque limit selection
You can select two internal torque limit sources with the digital input signal TLIM.
· 0: internal torque limit 1 · 1: internal torque limit 2
Speed limit selection
You can select two internal speed limit sources with the digital input signal SLIM.
· 0: internal speed limit 1 · 1: internal speed limit 2
Emergency stop
· 0: emergency stop
· 1: servo drive is ready to run
Setting the reference point with a digital input or reference cam input for reference approaching mode
· 01: reference input
Clockwise over-travel limit (positive limit)
· 1: condition for operation
· 10: emergency stop (OFF3)
Counter-clockwise over-travel limit (negative limit)
· 1: condition for operation · 10: emergency stop (OFF3)
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The digital inputs support both PNP and NPN types of wirings. You can find detailed information from the following diagrams:
4.3.1.2
NPN wiring
PNP wiring
DOs
You can assign a maximum of 10 internal digital output signals to the SINAMICS V90 PN servo drive. For detailed information about these signals, see the table below:
Name RDY FAULT ZSP TLR
MBR
Servo ready
Descriptions
· 1: the drive is ready. · 0: the drive is not ready (a fault occurs or the enable signal is missing).
Fault
· 1: in the fault state.
· 0: no fault.
Zero speed detection
· 1: motor speed zero speed (can be set with parameter p2161).
· 0: motor speed > zero speed + hysteresis (10 rpm).
Torque limit reached
· 1: the generated torque has nearly (internal hysteresis) reached the value of the positive torque limit or negative torque limit.
· 0: the generated torque has not reached any torque limit.
Motor holding brake
· 1: the motor holding brake is engaged.
· 0: the motor holding brake is released. Note: MBR is only a status signal because the control and the power supply of the motor holding brake are realized with separate terminals.
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Connecting 4.3 Control/status interface - X8
Wiring
Name OLL RDY_ON
INP REFOK STO_EP
Overload level reached
Descriptions
· 1: the motor has reached the parameterizable output overload level (p29080 in % of the rated torque; default: 100%; max: 300%).
· 0: the motor has not reached the overload level.
Ready for servo on
· 1: the drive is ready for servo on.
· 0: the drive is not ready for servo on (a fault occurs, the main power supply is missing, or STW1.1 and STW1.2 are not set to 1).
Note: after the drive is in "servo on" state, the signal remains at high level (1) unless the above abnormal cases happen.
In-position signal
· 1: the number of droop pulses is in the preset in-position range (parameter p2544).
· 0: the number of droop pulses is beyond the preset in-position range.
Referenced
· 1: referenced. · 0: not referenced.
STO active
· 1: the enable signal is missing, indicating that STO is active.
· 0: the enable signal is available, indicating that STO is inactive.
Note: STO_EP is only a status signal for STO input terminals but not a safe DO for the Safety Integrated function.
The digital outputs support both PNP and NPN types of wirings. You can find detailed information from the following diagrams:
NPN wiring
PNP wiring
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4.3.2
Standard application wiring (factory setting)
Example 1
Connecting 4.3 Control/status interface - X8
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Connecting 4.3 Control/status interface - X8
Example 2
* Digital inputs, supporting both PNP and NPN types.
** The pins are used to connect the brake control signals for 200 V variant drive only. Refer to section "Motor holding brake (Page 113)" for the detailed connections.
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4.3.3 4.3.3.1
Connection example with PLCs SIMATICS S7-1200
Connecting 4.3 Control/status interface - X8
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Connecting 4.3 Control/status interface - X8
4.3.3.2
SIMATICS S7-1500
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Connecting 4.4 24 V power supply/STO
4.4
24 V power supply/STO
Pin assignment
Interface
Signal name STO 1 STO + STO 2 +24 V M
Description Safe torque off channel 1 Power supply for safe torque off Safe torque off channel 2 Power supply, 24 VDC Power supply, 0 VDC
Maximum conductor cross-section: 1.5 mm2
Remarks Voltage tolerance:
· Without brake: -15% to +20% · With brake: -10% to +10% Maximum current consumption: · Without brake: 1.5 A · With brake: 1.5 A + motor holding brake
rated current
Wiring
WARNING
Material damages and personal injuries by the drop of a hanging axis
When the servo system is used as a hanging axis, the axis will drop if the positive and negative poles of the 24 V power supply are connected inversely. Unexpected drop of the hanging axis may cause material damages and personal injuries.
Make sure that the 24 V power supply is correctly connected.
WARNING
Material damages and personal injuries by the drop of a hanging axis
It is not allowed to use the STO with a hanging axis because the axis may drop. Unexpected drop of the hanging axis may cause material damages and personal injuries.
Note Using the STO function
The STO1, STO+ and STO2 are short connected at the factory setting.
When the STO function is to be used, you must remove the short-circuit stick before connecting the STO interfaces. The safety function of the servo drive is SIL 2 (EN61800-52). If you do not need to use it any more, you must reinsert the short-circuit stick; otherwise, the motor will not run.
For detailed information about the STO function, refer to "Safety Integrated basic function (Page 211)".
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Connecting 4.5 Encoder interface - X9
Assembling the 24 V power supply and STO cable terminals
The procedure of assembling a 24 V power cable terminal or an STO cable terminal is the same as that for a power cable terminal on the drive side of the V90 PN 200 V servo drives. For more information, see Section "Assembly of cable terminals on the drive side (Page 301)".
Plugging the 24 V power supply and STO cables
4.5
Encoder interface - X9
The SINAMICS V90 PN 200V variant servo drive supports two kinds of encoders:
Incremental encoder TTL 2500 ppr
Absolute encoder single-turn 21-bit
The SINAMICS V90 PN 400V variant servo drive supports two kinds of encoders:
Incremental encoder TTL 2500 ppr
Absolute encoder 20-bit + 12-bit multi-turn
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Connecting 4.5 Encoder interface - X9
NOTICE Cable shielding The encoder cable must be shielded to meet the EMC requirements.
NOTICE Drive damage caused by short-circuiting between the shielding wire and the unused pin on the encoder connector The shielding wire may inadvertently be short-circuited to the unused pin on the to-beassembled encoder connector. This can cause damage to the drive. Exercise caution when connecting the shielding cable to the encoder connector. For more information, see section "Assembly of cable terminals on the drive side (Page 301)".
Encoder interface - drive side
Illustration
Pin Signal name Description No.
1
Biss_DataP Absolute encoder data signal, positive
2
Biss_DataN Absolute encoder data signal, negative
3 Biss_ClockN Absolute encoder clock signal, negative
4 Biss_ClockP Absolute encoder clock signal, positive
5
P5V
Encoder power supply, 5 V
6
P5V
Encoder power supply, 5 V
7
M
Encoder power supply, grounding
8
M
Encoder power supply, grounding
9
Rp
Encoder R phase positive signal
10
Rn
Encoder R phase negative signal
11
Bn
Encoder B phase negative signal
12
Bp
Encoder B phase positive signal
13
An
Encoder A phase negative signal
14
Ap
Encoder A phase positive signal
Screw type: UNC 4-40 (plug-in terminal block)
Tightening torque: 0.4 Nm
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Connecting 4.5 Encoder interface - X9
Encoder connector - motor side
Illustration
Pin Incremental encoder TTL 2500 Illustration No. ppr
Signal
Description
Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm
1 P_Supply Power supply 5 V
2
M
Power supply 0 V
3
A+
Phase A+
4
B+
Phase B+
5
R+
Phase R+
6
n. c.
Not connected
7 P_Supply Power supply 5 V
8
M
Power supply 0 V
9
A-
Phase A-
10
B-
Phase B-
11
R-
Phase R-
12 Shielding
Grounding
Absolute encoder single-turn 21-bit
Signal
Description
P_Supply Power supply 5 V
M
Power supply 0 V
Clock_P
Clock
Data_P
Data
n. c.
Not connected
P_Supply Power supply 5 V
M
Power supply 0 V
Clock_N Inverted clock
Data_N
Inverted data
Shielding
Grounding
Note
The pin11 to pin15 of the absolute encoder connector are not connected.
Illustration
Pin Incremental encoder TTL 2500 ppr No.
Signal
Description
Low inertia motor, shaft height: 50 mm
High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm
Straight connect- 1 ors:
P_Supply
Power supply 5 V
2
M
Power supply 0
V
3
A+
Phase A+
4
A-
Phase A-
Angular connect- 5
B+
ors (for high inertia motors only):
6
B-
7
R+
Phase B+ Phase BPhase R+
8
R-
Phase R-
Absolute encoder single-turn 21-bit
Absolute encoder 20-bit + 12-bit multi-turn
Signal
Description
P_Supply
M
n. c. Clock_N Data_P Clock_P
n. c. Data_N
Power supply 5 V
Power supply 0 V
Not connected Inverted clock
Data Clock Not connected Inverted data
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Wiring
Connecting 4.5 Encoder interface - X9
Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm
Low inertia motor, shaft height: 50 mm High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm
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Connecting 4.6 External braking resistor - DCP, R1
Grounding
To ensure better EMC effects, you are recommended to strip the encoder cable and connect the cable shield to earth, as shown in the following figure:
4.6
External braking resistor - DCP, R1
The SINAMICS V90 PN has been designed with an internal braking resistor to absorb regenerative energy from the motor. When the internal braking resistor cannot meet the braking requirements (e.g. the alarm A52901 is generated), you can connect an external braking resistor. For more information about how to select a braking resistor, see Section "Accessories (Page 36)".
Note
The 200 V variant servo drive with rated power of 0.1 kW (FSB) does not have a built-in resistor.
Connecting an external braking resistor
NOTICE Damage to the drive Before connecting an external resistor to DCP and R1, remove the connection between terminals DCP and R2; otherwise, the drive may be damaged.
For more information about how to connect the external braking resistor, see Section "System connection (Page 87)".
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Connecting 4.7 Motor holding brake
4.7
Motor holding brake
The motor holding brake is used to prevent the moving load from unwanted motions (for example, falling under the influence of gravity) when the servo system is deactivated (for example, the servo power is shut off). The servo motor can move because of its own weight or an external force even the motor power has been cut off.
The holding brake is built in the servo motors with brakes.
For 400 V variant servo drive, a motor holding brake interface (X7) is integrated in the front panel. You can connect it to a servo motor with brake to use the function of motor holding brake directly.
For 200 V variant servo drive, no specific interface is integrated. To use the function, you need to connect the drive to a third-party device via the control/status interface (X8).
Note
· Use this brake for the "hold" purpose only, that is, to hold the stalling state only. Never use this for the "brake" purpose to stop the load in motion. Use the holding brake only to hold a stopped motor.
· The holding brake is activated at the same time when the motor power is cut off.
Motor holding brake interface - drive side (for the 400 V variant servo drive only)
Illustration
Signal B+ B-
Description 24 V, motor brake voltage positive 0 V, motor brake voltage negative
Maximum conductor cross-section: 1.5 mm2 Input voltage tolerance: 24 V ± 10%
Brake connector - motor side
Illustration
Pin No. Signal
Low inertia motor, shaft height: 20 mm, 30 mm and 40 mm
1
Brake+ Phase Brake+
2
Brake- Phase Brake-
Description
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Connecting 4.7 Motor holding brake
Illustration
Pin No. Signal
Low inertia motor, shaft height: 50 mm
High inertia motor, shaft height: 45 mm, 65 mm, and 90 mm
Straight connectors:
1
Brake+ Phase Brake+
2
Brake- Phase Brake-
Description
Angular connectors (for high inertia motors only):
Single status
The following table describes the states of various interfaces and components when the brake works.
200 V variant
Status
MBR (DO)
Brake engagement
Brake release
High level (1) Low level (0)
400 V variant
Brake control (Brake) Brake off
Brake on
Relay
Without current With current
Motor brake function Opened
Closed
Motor shaft Cannot run Can run
Status
MBR (DO)
Brake engagement Brake release
DO signal
High level (1) Low level (0)
Brake control (B+, B-) 0 V
24 V
Motor brake func- Motor shaft tion
Opened
Cannot run
Closed
Can run
Signal type DO
Signal name MBR
Setting
ON = high level (1)
OFF = low level (0)
Description Motor holding brake is closed.
Motor holding brake is released.
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Connecting 4.7 Motor holding brake
You can also change the assignment of the digital output signal MBR and assign it to any DO pin with one of the following parameters:
Parameter
p29330 p29331
Range
1 to 14 1 to 14
Factory setting
2 (FAULT)
9 (OLL)
Unit
Description
- Assignment of digital output 1 - Assignment of digital output 2
Note
Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 99)" for detailed information about the digital outputs.
Wiring for the 200 V variant servo drive
The following diagrams show the examples when the brake is controlled through the motor holding brake signal (Brake) of the 200 V variant servo drive.
Example 1:
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Connecting 4.7 Motor holding brake
Example 2:
Note 1) It is the isolated digital output power supply. Select a proper power supply based on the relay type (see below for the recommended relay). When you use the 24 VDC power supply, it can be also the controller power supply. 2) The motor brake can be controlled not only by the brake control signal from the SINAMICS V90 PN servo drive but also by external emergency stop. 3) Make sure that you use different power supplies for the brake (24 VDC) and for the brake control signal (P24 V) separately to avoid electro-magnetic interference to electronic components. 4) Install a varistor as shown above to suppress the surge voltage or surge current generated by an ON/OFF action of the relay (RY).
Varistor (V) used for the power supply of the brake
Note All the following data on a varistor is provided based on the low inertia motors with a rated power of 2 kW; however the data is also applicable to the low inertia motors of other power ranges.
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Consider the following current-time and voltage-time characteristics when using a varistor to suppress the surge voltage or surge current:
You may select an appropriate varistor with reference to the table below:
Power supply voltage of the brake
DC 24 V
Order information
Manufacturer
EPCOS
Model
S20K20
Specification requirements
Operating temperature Delay switching frequency
-20 °C to 60 °C < 10 times/min
Maximum operating DC volt- 26 V age
Average power dissipation 0.2 W
Voltage at 1 mA
33 V±10%
Clamping voltage at 20 A (8/20 s)
65 V
Energy absorption (2 ms) at a 18 J time
Relay (R) used for the power supply of the brake
Siemens recommends you to select a Siemens relay (article number: 3RQ3018-2AB00).
You can find more information about Siemens relays from Chapter 05 of Catalog IC 10 SIRIUS 2016 at the following Web site:
Siemens relays (http://w3app.siemens.com/mcms/infocenter/content/en/Pages/order_form.aspx?nodeKey=k ey_517764&infotype=catalogs)
You can also select other high quality relays from manufacturers such as Omron (article number: G2R-1A-E-DC24V) .
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Connecting 4.7 Motor holding brake
Wiring for the 400 V variant servo drive
Relevant parameters
No. p1215
Unit Range
-
0 to 2
Default 0
Description Configuration of the holding brake.
· 0: No holding brake available · 1: Motor holding brake according to
sequence control · 2: Motor holding brake always open
p1216 p1217
ms
0 to 10000 Motor depend- Motor holding brake opening time.
ent
ms
0 to 10000 Motor depend- Motor holding brake closing time.
ent
You can configure the holding brake with the parameter p1215 according to the actual application. When you set p1215=1, the motor holding brake is open once the control word STW1.0 has a rising edge and becomes closed once the motor is in "servo off" state.
If the servo motor is used to control a vertical axis, the machine movable part can have a slight shift when the holding brake becomes open or closed. To eliminate such slight shift, you can configure a delay time for the close or open time of the motor holding brake by setting the parameters p1216 and p1217.
Note
The default values of p1216 and p1217 depend on the rated power of the motor which connects to the servo drive.
Note
For 200 V variant servo drives, the actual motor holding brake time consists of the time delay of the motor brake and the time delay of the current amplifying component (a relay in the example above); therefore, you can set the values of p1216 and p1217 as follows:
p1216 = motor brake opening time + relay opening time
p1217 = motor brake closing time + relay closing time
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Connecting 4.7 Motor holding brake
NOTICE Shortening the service life of motor brake The motor brake is used for holding purpose only. Frequent emergency stops with the motor brake will shorten its service life. Unless absolutely necessary, do not apply the motor brake as an emergency stop or deceleration mechanism.
Braking sequence
The operating principle of the holding brake is configured during motor selection for motors with incremental encoders and configured automatically for motors with absolute encoders.
The start of the closing time for the brake depends on the expiration of the shorter of p1227 (zero speed detection monitoring time) and p1228 (pulse suppression delay time).
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Connecting 4.8 PROFINET interface - X150
4.8
PROFINET interface - X150
PROFINET interface
PROFINET devices from the SINAMICS family have a PROFINET interface (Ethernetcontroller/interface) with two ports (physical connection possibilities).
Every PROFINET device on the network is uniquely identified via its PROFINET interface. For this purpose, each PROFINET interface has:
A MAC address (factory default)
An IP address
A device name (name of the station)
Illustration
Pin PROFINET communication port 1 - PROFINET communication port 2 -
P1
P2
Signal
Description
1 P1RXP Port 1 receive data +
Signal
Description
P2RXP Port 2 receive data +
2 P1RXN Port 1 receive data -
P2RXN Port 2 receive data -
3 P1TXP Port 1 transmit data + P2TXP Port 2 transmit data +
4 PE termi- Protective earthing nal
PE terminal Protective earthing
5 PE termi- Protective earthing nal
PE terminal Protective earthing
6 P1TXN Port 1 transmit data -
P2TXN Port 2 transmit data -
7 PE termi- Protective earthing nal
PE terminal Protective earthing
8 PE termi- Protective earthing nal
PE terminal Protective earthing
LED displays
For diagnostic purposes, the RJ45 sockets are each equipped with a green and an orange LED. This allows the following status information about the respective PROFINET port to be displayed:
Name Link
Activity
Color Green
Orange
Status lit off lit off
Meaning Transfer rate 100 Mbit/s No or faulty connection Data exchange No data exchange
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Wiring
Connecting 4.8 PROFINET interface - X150
The maximum length of cables between stations (L1 to Ln) is 100 m. For a long cable, you are recommended to fix it on the cabinet to prevent the connector damage caused by dragging.
Note
When connecting the ports P1 and P2, you need to make sure that the physical input and output connections are the same with the connections in the topology.
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Connecting 4.8 PROFINET interface - X150
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Commissioning
5
5.1
General commissioning information
Prior to commissioning, read "Basic operator panel (BOP) (Page 129)" for more information about the BOP operations. In case of any faults or alarms during commissioning, refer to Chapter "Diagnostics (Page 269)" for detailed description.
CAUTION
Carefully read the safety instructions
Before your commissioning or operation, read the safety instructions in Chapter "Fundamental safety instructions (Page 11)" carefully. Failure to observe the instructions may cause serious effects.
WARNING
Material damages and personal injuries by the drop of a hanging axis
When the servo system is used as a hanging axis, the axis will drop if the positive and negative poles of the 24 V power supply are connected inversely. Unexpected drop of the hanging axis may cause material damages and personal injuries.
Before commissioning, a crosstie must be used to hold the hanging axis in prevention of an unexpected drop. In addition, make sure that the 24 V power supply is correctly connected.
NOTICE
Firmware damage due to drive power-off during data transfer
Switching off the 24 V power supply for the drive during data transfer from the micro SD card/SD card to the drive can cause damage to the drive firmware. · Do not switch off the drive power supply when the data transfer from the micro SD
card/SD card to the drive is in process.
NOTICE
Existing setting data may be overwritten by the setting data on the micro SD card/SD card during startup.
· When a drive is switched on with a micro SD card/SD card containing user setting data, the existing setting data on the drive will be overwritten.
· When a drive is switched on with a micro SD card/SD card containing no user setting data, the drive will automatically save the existing user setting data onto the micro SD card/SD card.
Before starting up the drive with a micro SD card/SD card, check whether the micro SD card/SD card contains user setting data. Otherwise, the existing data on the drive may be overwritten.
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Commissioning 5.2 Commissioning in JOG mode
Note Plugging or unplugging the micro SD card/SD card will cause startup failure. Do not plug or unplug the micro SD card/SD card during startup; otherwise, the drive will fail to start up.
Note In S control mode, if the motor shaft is blocked, the blocked torque is the current effective torque. Long time shaft blocking can cause damage to the motor.
Engineering tool - SINAMICS V-ASSISTANT
You can use the engineering tool SINAMICS V-ASSISTANT to perform the trial operation.
SINAMICS V-ASSISTANT is a software tool that can be installed on a PC and runs on the Windows operating system. It communicates with the SINAMICS V90 PN servo drive with a USB cable (To ensure the stability of online commissioning, Siemens recommends you to use a shielded USB cable of no longer than 3 m with ferrite cores on both ends.). With SINAMICS V-ASSISTANT, you can change drive parameters and monitor drive working states in online mode.
For more information, refer to the SINAMICS V-ASSISTANT Online Help. You can search and download SINAMICS V-ASSISTANT from Technical support website (https://support.industry.siemens.com/cs/ww/en/).
5.2
Commissioning in JOG mode
Commissioning purpose
When the servo drive is powered on for the first time, you can perform a test run with the BOP or the engineering tool SINAMICS V-ASSISTANT to check:
Whether the line supply has been connected correctly
Whether the 24 VDC power supply has been connected correctly
Whether the cables (power cable, encoder cable, and brake cable) between the servo drive and the servo motor have been connected correctly
Whether the motor speed and direction of rotation are correct
Prerequisites
The servo drive is connected to the servo motor without load The servo drive is not in servo on status
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Commissioning 5.2 Commissioning in JOG mode
Operating sequence
Note
Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to enable the JOG function; otherwise, you cannot access the function related parameter p1058.
If you have assigned digital signal EMGS, keep it at a high level (1) to ensure normal operation.
Step 1
2 3
4 5 6 7
Description Connect necessary units and check wiring.
Switch on the 24 VDC power supply. Check the servo motor type. · If the servo motor has an incremental encoder,
input motor ID (p29000). · If the servo motor has an absolute encoder, the
servo drive can identify the servo motor automatically. Check the direction of motor rotation. The default direction of rotation is CW (clockwise). You can change it by setting parameter p29001 if necessary. Check the JOG speed. The default JOG speed is 100 rpm. You can change it by setting parameter p1058. Save parameters with the BOP.
Switch on the main line supply.
Remarks It is necessary to connect the following cables: · Power cable · Encoder cable · Brake cable · Line supply cable · 24 VDC cable Check: · Is the device or cable damaged? · Do the connected cables have excessive pressure,
load or tension? · Are the connected cables put on sharp edges? · Is the line supply within the permissible range? · Are all the terminals firmly and correctly connected? · Are all the connected system components well
grounded? Refer to "Connecting (Page 87)".
Fault F52984 occurs when the servo motor is not identified. You can find the motor ID from the motor rating plate. Go to "Motor components (Page 26)" for detailed descriptions about motor rating plate. Refer to "Basic operations (Page 136)" for information about how to change a parameter with the BOP. p29001=0: CW p29001=1: CCW
Set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive, to enable the JOG function; otherwise, you cannot access p1058.
For detailed information about the parameter saving with the BOP, refer to "Saving parameters (RAM to ROM) (Page 142)".
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Commissioning 5.3 Commissioning in basic positioner control mode (EPOS)
8 Clear faults and alarms.
Refer to "Diagnostics (Page 269)".
9 For the BOP, enter the JOG menu function and press For more information about JOG with the BOP, see Sec-
the UP or DOWN button to run the servo motor.
tion "JOG (Page 141)".
For the engineering tool, use the JOG function to run the servo motor.
For more information about JOG with SINAMICS VASSISTANT, see the SINAMICS V-ASSISTANT Online Help.
Note
When you run the servo motor with an incremental encoder in JOG mode, the servo motor makes a short buzzing sound indicating that it is identifying the magnetic pole position of the rotor.
5.3
Commissioning in basic positioner control mode (EPOS)
The following takes the EJOG function for example to describe the commissioning in EPOS control mode.
Step 1 2
3 4
5
Description Switch off the main line supply. Power off the servo drive and connect it to the controller (for example, SIMATIC S7-1500) with the PROFINET cable and signal cable.
Switch on the 24 VDC power supply. Check the servo motor type. · If the servo motor has an incremental encoder,
input the motor ID (p29000). · If the servo motor has an absolute encoder, the
servo drive can identify the servo motor automatically. Switch to the basic positioner control mode by setting parameter p29003 = 1.
Remarks
If any one of digital signals EMGS, CWL, and CCWL is not assigned to a DI, it will be set to a high level (1) automatically. If you have assigned any one of digital signals EMGS, CWL, and CCWL to a DI, keep it at a high level (1). Refer to "Standard application wiring (factory setting) (Page 103)" and "Connection example with PLCs (Page 105)".
Fault F52984 occurs when the servo motor is not identified. You can find the motor ID from the motor rating plate. For the detailed information of the motor rating plate, see Section "Motor components (Page 26)". Refer to "Basic operations (Page 136)" for information about how to change a parameter with the BOP.
· p29003 = 1: basic positioner control (EPOS) · p29003 = 2: speed control (S)
6 Save the parameter and restart the servo drive to apply the setting of the basic positioner control mode.
7 Set the mechanical gear ratio with parameters p29247, p29248 and p29249.
· p29247: LU per load revolution · p29248: load revolutions
· p29249: motor revolutions Refer to "Setting the mechanical system (Page 151)".
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Commissioning 5.4 Commissioning in speed control mode (S)
Step 8
9
Description Select the axis type by setting parameter p29245. If you use the modular axis, you need to define the modular range by setting parameter p29246.
Setting jogging setpoints with the appropriate parameters.
Remarks · p29245 = 0: linear axis · p29245 = 1: modular axis Refer to "Configuring the linear/modular axis (Page 152)". Refer to "EJOG (Page 169)".
· Velocity (p2585, p2586) · Incremental (p2587, p2588)
10 Switch on the main line supply.
11 Set up the PROFINET configuration with TIA Portal.
12 Select the telegram for PROFINET communication with parameter p0922.
5.4
Commissioning in speed control mode (S)
Step 1 2
3 4
5 6 7 8 9 10
Description Switch off the main line supply. Power off the servo drive and connect it to the controller (for example, SIMATIC S7-1500) with the PROFINET cable and signal cable.
Switch on the 24 VDC power supply. Check the servo motor type. · If the servo motor has an incremental encoder,
input the motor ID (p29000). · If the servo motor has an absolute encoder, the
servo drive can identify the servo motor automatically.
Set up the PROFINET configuration with TIA Portal. Select the telegram for PROFINET communication with parameter p0922. Set the IP address for the station with parameters p8921, p8923. Set the device name for the station with parameter p8920. Active the IP configuration and device name with parameter p8925. Set the torque limitation and speed limitation.
Remarks
If any one of digital signals EMGS, CWL, and CCWL is not assigned to a DI, it will be set to a high level (1) automatically. If you have assigned any one of digital signals EMGS, CWL, and CCWL to a DI, keep it at a high level (1). Refer to "Standard application wiring (factory setting) (Page 103)" and "Connection example with PLCs (Page 105)".
Fault F52984 occurs when the servo motor is not identified. You can find the motor ID from the motor rating plate. Go to "Motor components (Page 26)" for detailed descriptions about motor rating plate. Refer to "Basic operations (Page 136)" for information about how to change a parameter with the BOP.
The device name must be unique within the PROFINET network.
Refer to "Torque limit (Page 173)" and "Speed limit (Page 172)".
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Commissioning 5.4 Commissioning in speed control mode (S)
Step 11
12 13 14 15
Description Configure necessary digital input signals by setting the following parameters:
· p29301: DI1 · p29302: DI2 · p29303: DI3 · p29304: DI4
Save parameters with the BOP and restart the drive. Switch on the main line supply. Clear faults and alarms. Send and receive the process data (PZD) with TIA Portal.
Remarks The factory settings are: · p29301: 2 (RESET) · p29302: 11 (TLIM) · p29303: 0 · p29304: 0 Refer to "Digital inputs/outputs (DIs/Dos) (Page 99)".
Refer to "Diagnostics (Page 269)". The actual speed of the servo motor can be viewed from the BOP operating display. The default display is the actual speed. Refer to "Actual status display (Page 136)".
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Basic operator panel (BOP)
6
6.1
BOP overview
Overview
The SINAMICS V90 PN servo drive is designed with a Basic Operator Panel (BOP) on the front panel of the servo drive:
You can use the BOP for the following operations: Standalone commissioning Diagnosis Parameter access Parameter settings Micro SD card/SD card operations Drive restart
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Basic operator panel (BOP) 6.1 BOP overview
6.1.1
LED status indicators
Two LED status indicators (RDY and COM) are available to indicate drive status. Both LEDs are tricolor (green/red/yellow).
You can find detailed information about the status indications in the table below:
Status indicator RDY
COM
Color -
Green Red
Green and yellow Green
Red
Status
Description
Off
24 V control board power supply is missing
Continuously lit The drive is in "servo on" state
Continuously lit The drive is in "servo off" state or in the startup state
Flash at 1 Hz
Alarms or faults occurs
Flash alternatively at Drive identification 2 Hz
Continuously lit PROFINET communication is working with IRT
Flash at 0.5 Hz PROFINET communication is working with RT
Flash at 2 Hz
Micro SD card/SD card operating (read or write)
Continuously lit
Communication error (always put the PROFINET communication error as the first consideration)
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Basic operator panel (BOP) 6.1 BOP overview
6.1.2
BOP display
Display 8.8.8.8.8.8.
Example
------
Description Drive is in startup state
Drive is busy
Remarks
Fxxxxx
Fault code
In the case of a single fault
F.xxxxx.
Fault code of the first fault
In the case of multiple faults
Fxxxxx. Axxxxx A.xxxxx. Axxxxx. Rxxxxx Pxxxxx P.xxxxx In xxx
xxx.xxx
Fault code Alarm code Alarm code of the first alarm Alarm code Parameter number Parameter number Parameter number Indexed parameter
Negative parameter value
In the case of multiple faults
In the case of a single alarm
In the case of multiple alarms
In the case of multiple alarms
Read-only parameter
Editable parameter
Editable parameter; the dot means that at least one parameter has been changed Figure after "In" indicates the number of indices. For example, "In 001" means that this indexed parameter is 1.
xxx.xx<> xxxx.xx> xxxx.xx<
Current display can be moved to left or right
Current display can be moved to right
Current display can be moved to left
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Basic operator panel (BOP) 6.1 BOP overview
Display S Off
Para
P xxxx
Example
Data Func Jog Save defu dr--sd sd--dr Update ABS A.B.S. r xxx r -xxx T x.x
Description Operating display: servo off
Remarks
Editable parameter group Parameter group
Read-only parameter group
Refer to the section "Editing parameters (Page 137)".
Five groups are available: 1. P APP: application 2. P BASE: basic 3. P CON: communication 4. P EPOS: basic positioner 5. P ALL: all parameters
Refer to "Viewing parameters (Page 139)".
Function group
Refer to "Auxiliary functions (Page 140)".
Jog function
Refer to "JOG (Page 141)".
Save data in drive
Refer to "Saving parameters (RAM to ROM) (Page 142)".
Restore drive to default settings
Refer to "Setting parameters to default (Page 143)".
Save data from drive to micro SD card/SD card
Refer to "Transferring data (drive to SD) (Page 143)".
Upload data from micro SD card/SD Refer to "Transferring data (SD to drive)
card to drive
(Page 144)".
Update firmware
Refer to "Updating firmware (Page 145)".
The zero position has not been set Refer to "Adjusting an absolute encoder (Page 146)".
The zero position has been set
Refer to "Adjusting an absolute encoder (Page 146)".
Actual speed (positive direction)
Actual speed (negative direction)
Actual torque (positive direction)
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Display T -x.x xxxxxx xxxxxx. DCxxx.x Exxxxx run Con
Example
Basic operator panel (BOP) 6.1 BOP overview
Description Actual torque (negative direction)
Remarks
Actual position (positive direction) Only the last six digits displays due to a limited display length.
Actual position (negative direction) Only the last six digits displays due to a limited display length.
Actual DC link voltage
Position following error
The motor is running
The communication between the commissioning tool SINAMICS VASSISTANT and the servo drive is established. In this case, the BOP is protected from any operations except clearing alarms and acknowledging faults.
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Basic operator panel (BOP) 6.1 BOP overview
6.1.3
Control buttons
Control buttons
Button
Description M button
Functions · Exits from the current menu
· Switches between operating modes in the top level menu
OK button
Short-pressing:
· Confirms selection or input
· Enters sub menu · Acknowledges faults Long-pressing: Activates auxiliary functions
· JOG · Saves parameter set in drive (RAM to ROM)
· Sets parameter set to default
· Transfers data (drive to micro SD card/SD card) · Transfers data (micro SD card/SD card to drive)
· Updates firmware
UP button
· Navigates to the next item · Increases a value
· JOG in CW (clockwise)
DOWN button
· Navigates to the previous item
· Decreases a value · JOG in CCW (counter-clockwise)
SHIFT button
Moves the cursor from digit to digit for single digit editing, including the digit of positive/negative sign
Note:
When the sign is edited, "_" indicates positive and "-" indicates negative.
Press the key combination for four seconds to restart the drive
Moves current display to the left page when is displayed at the upper right corner, for
example
.
Moves current display to the right page when is displayed at the lower right corner, for
example
.
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Basic operator panel (BOP) 6.2 Parameter structure
6.2
Parameter structure
The overall parameter structure of SINAMICS V90 PN BOP is designed as follows:
Note There is no ABS menu function for a servo motor with an incremental encoder. The ABS menu function is only available for a servo motor with an absolute encoder.
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Basic operator panel (BOP) 6.3 Actual status display
6.3
Actual status display
The following drive states can be monitored using the operating panel after power-on:
Servo off
Actual speed
Actual torque
DC voltage
Actual position
Position following error
If servo enable signal is available, actual drive speed is displayed by default; otherwise, "S OFF" (servo off) is displayed.
With p29002, you define which of the following drive operating status data is to be displayed on the BOP.:
Parameter p29002
Value 0 (default)
1 2 3 4
Meaning Actual speed DC voltage Actual torque Actual position Position following error
Note Make sure you save p29002 after modification.
6.4
Basic operations
Overview
Editable parameters: all P parameters under the "Para" menu are settable parameters. Five groups in total are available: P APP: application P BASE: basic P COM: communication P EPOS: basic positioner P ALL: all parameters
Read-only parameters: All r parameters under the "Data" menu are read-only parameters. You can only read values of these parameters.
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Basic operator panel (BOP) 6.4 Basic operations
Parameters with index
Some parameters have several indices. Each index has its own meaning and corresponding value.
Parameters without index
All parameters that do not have indices are parameters without index.
6.4.1
Editing parameters
You can edit a parameter value in two methods: Method 1: change the value directly with the UP or DOWN button
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Basic operator panel (BOP) 6.4 Basic operations
Method 2: move the cursor to a digit with the SHIFT button, then change the digit value with the UP or DOWN button
Note Parameters p1414 and p1656 cannot be changed using the SHIFT button.
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6.4.2
Viewing parameters
To view a parameter, proceed as follows:
Basic operator panel (BOP) 6.4 Basic operations
6.4.3
Searching parameters in "P ALL" menu
If you do not know which group that a parameter belongs to, you can search for in the "P ALL" menu.
Note Invalid parameter number
If the input parameter number is unavailable, the nearest parameter number to the input value is displayed.
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Basic operator panel (BOP) 6.5 Auxiliary functions
6.5
Auxiliary functions
In total, there are six BOP functions available:
Jog Save parameter set in drive Restore parameter values to default
Copy parameter set from a drive to a mi-
cro SD card/SD card
Copy parameter set from a micro SD
card/SD card to a drive
Update firmware
Adjust absolute encoder
NOTE:
This function is available only when the servo motor with an absolute encoder is connected.
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6.5.1
Basic operator panel (BOP) 6.5 Auxiliary functions
JOG
Note To enable the JOG function, set bit 0 of parameter p29108 to 1, and then save the parameter setting and restart the drive. Keep digital signal EMGS at a high level (1) to ensure normal operation.
With the JOG function, you can run the connected motor and view JOG speed or JOG torque. To run the connected motor with the JOG function and view the JOG speed, proceed as follows:
JOG in speed (example) To run the connected motor with the JOG function and view the JOG torque, proceed as follows:
JOG in torque (example)
NOTICE Exit the JOG mode after completing JOG run. The servo motor cannot run if the servo drive is in the JOG mode.
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Basic operator panel (BOP) 6.5 Auxiliary functions
6.5.2
Saving parameters (RAM to ROM)
This function is used for saving a parameter set from the drive RAM to the drive ROM. To use this function, proceed as follows:
Note Plugging or unplugging the micro SD card/SD card will cause saving failure.
Do not plug or unplug the micro SD card/SD card during saving; otherwise, the saving operation will fail.
Note · If a micro SD card/SD card has been inserted, the parameter set will be saved onto the
micro SD card/SD card simultaneously. · All signal functions become inactive during the saving process. Use the signal functions
afterwards.
Reference
Editing parameters (Page 137)
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6.5.3
Basic operator panel (BOP) 6.5 Auxiliary functions
Setting parameters to default
This function is used to reset all parameters to their default values. To reset the parameters to their default values, proceed as follows:
Note
You must save the parameter set after setting the parameter set to the default values; otherwise, the default values will not be saved to drive ROM.
Reference
Saving parameters (RAM to ROM) (Page 142)
6.5.4
Transferring data (drive to SD)
You can save the parameter set from the drive ROM to a micro SD card/SD card with the BOP. To do this, proceed as follows:
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Note Data transfer between the drive and the SD card is possible only when the drive is in "servo off" state.
Note Plugging or unplugging the micro SD card/SD card will cause transferring failure. Do not plug or unplug the micro SD card/SD card during transferring; otherwise, the transferring operation will fail.
Note Write protection function is not supported by SINAMICS V90 PN. Data in the micro SD card/SD card will be overwritten even if the write protection function of the micro SD card/SD card is enabled.
6.5.5
Transferring data (SD to drive)
You can also upload the parameters from a micro SD card/SD card to the drive ROM. To do this, proceed as follows:
Note Data transfer between the drive and the SD card is possible only when the drive is in "servo off" state.
Note Plugging or unplugging the micro SD card/SD card will cause transferring failure. Do not plug or unplug the micro SD card/SD card during transferring; otherwise, the transferring operation will fail.
Note Parameter inconsistency If the parameters on the micro SD card/SD card are inconsistent with existing parameters in the drive memory, you must restart the servo drive to apply the changes.
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6.5.6
Basic operator panel (BOP) 6.5 Auxiliary functions
Updating firmware
With the firmware update function of the BOP, you can update the drive firmware. To do this, you have to store proper firmware files on a micro SD card/SD card and insert it into the micro SD card/SD card slot. After that, proceed as follows:
After you have updated the firmware, you need to set parameters to their default values. Refer to "Setting parameters to default (Page 143)" about the default process.
Note Before you update the firmware, you can back up the drive data on a micro SD card/SD card. If you want to use them after the update, you can copy the data from the micro SD card/SD card to the drive (Page 144).
CAUTION Improper firmware files will cause update failure. When the update fails, the RDY indicator flashes red at 2 Hz and the COM indicator becomes red on. An update failure is probably caused by improper firmware files or files missing. · If the firmware files on the micro SD card/SD card are corrupt, the servo drive cannot
start up after power-on. · If the firmware on the micro SD card/SD card is the same with the current firmware of
the servo drive, only a restart is performed. When a failure occurs, try to update the firmware again using proper firmware files. If the failure persists, contact your local distributor.
Note Update the firmware by restarting the drive. After inserting the micro SD card/SD card with proper firmware files, you can also update the firmware by restarting the drive.
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6.5.7
Adjusting an absolute encoder
NOTICE Motor type This function is only available when you are using a servo motor with the absolute encoder. Stop the servo motor You must stop the servo motor before adjusting the absolute encoder.
With the BOP function menu "ABS", you can set the current position of an absolute encoder to the zero position. To do this, proceed as follows:
Note Save parameter
The position value is set in parameter p2525. You must save the parameters after setting the zero position.
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Control functions
7
7.1
7.1.1
General functions
Motor direction of rotation
With parameter p29001, you can reverse the direction of rotation of the motor. The polarity of output signal analog monitoring remains unchanged at a reversal of direction.
Parameter
p29001
Value 0
Description
CW is forward direction · (factory setting)
Setpoint
Positive
Negative
Analog monitoring:
· Analog monitoring:
1
CCW is forward direc- · Analog monitoring:
tion
· Analog monitoring:
7.1.2
Stopping method at servo OFF
You can select a stopping method when the drive is in "servo off" state. The following stopping methods are available: Ramp-down (OFF1) Coast-down (OFF2) Emergency stop (OFF3)
Ramp-down (OFF1) and coast-down (OFF2)
The ramp-down and coast-down can be configured with the PROFINET control words STW1.0 and STW1.1:
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Control functions 7.1 General functions
Ramp-down (OFF1)
Control word STW1.0
Setting Rising edge (01)
0
Description Power circuit is powered on (the drive is in "servo on" state) and the servo motor is ready to run.
Motor ramps down.
Note: The control word STW1.0 can be used to control the start and stop of the motor.
Coast-down (OFF2)
Control word STW1.1
Setting 1 0
Description Servo motor is ready to run. Motor coasts down.
Emergency stop (OFF3)
The emergency stop can be configured with the PROFINET control word STW1.2 or the digital input signal EMGS:
Emergency stop by PROFINET control word
Control word STW1.2
Setting 1 0
Description Servo motor is ready to run. Emergency stop.
Emergency stop by digital input signal
DI Signal EMGS
Setting 1 0
Description Servo motor is ready to run. Emergency stop.
For detailed information about the PROFINET control word and the digital input signal EMGS, refer to Section "Control word definition" and "Digital inputs/outputs (DIs/Dos) (Page 99)".
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7.1.3
Control functions 7.1 General functions
Travel to fixed stop
The function of travelling to fixed stop 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.
Function behavior in speed control mode
The function of travelling to fixed stop can be configured with the PROFINET control word STW2.8:
Control word STW2.8
Setting 1 0
Description Traverse to fixed endstop. Do not traverse to fixed endstop.
Function behavior in basic positioner control mode
The clamping torque can be parameterized in the traversing task (p2622). An adjustable monitoring window for travel to fixed stop prevents the drive from traveling beyond the window if the fixed stop should break away.
In EPOS mode (p29003 = 1), this function is started when a traversing block is processed with the FIXED STOP command (specified in p2621[0...15]). In this traversing block, in addition to the specification of the dynamic parameterized position, speed, acceleration override and deceleration override, the required clamping torque can be specified as task parameter p2622. From the start position onwards, the target position is approached with the parameterized speed. The fixed stop (the workpiece) must be between the start position and the braking point of the axis; that is, the target position is placed inside the workpiece. The preset torque limit is effective from the start, i.e. travel to fixed stop also occurs with a
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reduced torque. The preset acceleration and deceleration overrides and the current speed override are also effective. Note
F7452 is disabled when the function of travelling to fixed stop is activated.
Fixed stop is reached
As soon as the axis comes into contact with the mechanical fixed stop, the closed-loop control in the drive raises the torque so that the axis can move on. The torque increases up to the value specified in the task and then remains constant. If the actual position following error exceeds the value set in parameter p2634 (fixed stop: maximum following error), fixed stop is reached.
Once the "Fixed stop reached" status has been detected, the traversing task "Travel to fixed stop" is ended. The program advances to the next block depending on the task parameterization. The drive remains in fixed stop until the next positioning task is processed or the system is switched to jog mode. The clamping torque is therefore also applied during subsequent waiting tasks. The continuation condition CONTINUE_EXTERNAL_WAIT can be used to specify that the drive must remain at the fixed stop until a step enabling signal is applied externally.
As long as the drive remains in fixed stop, the position setpoint is adjusted to the actual position value (position setpoint = actual position value). Fixed stop monitoring and controller enable are active.
Note
If the drive is in fixed stop, it can be referenced using the control signal "Set reference point".
If the axis leaves the position that has been detected as the fixed stop by more than the selected monitoring window for the fixed stop (p2635), the speed setpoint is set to 0, and fault F7484 "Fixed stop outside of the monitoring window" is triggered with the reaction OFF3 (quick stop). The monitoring window can be set using the parameter p2635 ("Fixed stop monitoring window"). It applies to both positive and negative traversing directions and must be selected such that it will only be triggered if the axis breaks away from the fixed stop.
Fixed stop is not reached
If the brake application point is reached without the "fixed stop reached" status being detected, then the fault F7485 "Fixed stop is not reached" is output with fault reaction OFF1, the torque limit is canceled and the drive cancels the traversing block.
Overview of important parameters
· p2621[0...15] · p2622[0...15] · p2634 · p2635
EPOS traversing block, task EPOS traversing block, task parameter EPOS fixed stop maximum following error EPOS fixed stop monitoring window
For more information about the parameters above, see Section "Parameter list (Page 235)".
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7.2
7.2.1
Basic positioner (EPOS)
Control functions 7.2 Basic positioner (EPOS)
Setting the mechanical system
By parameterizing the mechanical system, the link between the physical moving part and the length unit (LU) is established.
The unit of the fixed position setpoint is the Length Unit (LU). All subsequent position setpoint, related speed value, and acceleration value will maintain the LU as the unit in internal position control mode.
Taking a ball screw system for example, if the system has a pitch of 10 mm/revolution (10000 µm/revolution) and the resolution of the length unit is 1 µm (1 LU = 1 µm), one load revolution corresponds to 10000 LU (p29247 = 10000).
Note
If the value of p29247 increases by N times, the values of p2542, p2544 and p2546 should increase by N times accordingly. Otherwise, the fault F7450 or F7452 occurs.
Relevant parameters
Parameter p29247 p29248 p29249
Range 1 to 2147483647
1 to 1048576 1 to 1048576
Factory setting 10000 1 1
Unit
Description
-
LU per load revolution
-
Load revolutions
-
Motor revolutions
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Examples for configuring mechanical system
Step
Description
Ball screw
Mechanical system
Disc table
1 Identify the mechanical · Pitch of ball screw: 6 mm
system
· Reduction gear ratio: 1:1
2 Define LU
3 Calculate the LU per load shaft revolution
4 Set param- p29247
eters
p29248
p29249
1 LU = 1 µm 6/0.001 = 6000 LU
6000 1 1
· Rotary angle: 360o · Reduction gear ratio: 3:1 1 LU = 0.01o 360/0.01 = 36000 LU
36000 1 3
7.2.2
Configuring the linear/modular axis
You can choose to use a linear axis or a modular axis depending on your actual application. The linear axis has a restricted traversing range, which is the factory setting of the SINAMICS V90 PN servo drive.
The modular axis has an unrestricted traversing range. The value range of the position repeats itself after a value is specified in p29245. You can use the modular axis by setting the following parameters additionally:
Parameter
Range
Unit
p29245
0 to 1
-
p29246
1 to 2147482647
LU
Default 0
360000
· 0: linear axis · 1: modular axis Modular range
Description
Note After modifying parameter p29245, you must perform the referencing operation again.
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7.2.3
Control functions 7.2 Basic positioner (EPOS)
Backlash compensation
Generally, backlash occurs when the mechanical force is transferred between a machine part and its drive:
If the mechanical system was to be adjusted/designed so that there was absolutely no backlash, this would result in high wear. Thus, backlash can occur between the machine component and the encoder. For axes with indirect position sensing, mechanical backlash results in a false traversing distance because the axis, at direction reversal, travels either too far or not far enough corresponding to the absolute value of the backlash.
Note Pre-conditions for backlash compensation
The backlash compensation is active after · the axis has been referenced for the incremental measuring system. Refer to Section
"Referencing (Page 156)" for detailed information about referencing. · the axis has been adjusted for the absolute measuring system. Refer to Section
"Adjusting an absolute encoder (Page 146)" for reference.
In order to compensate the backlash, the determined backlash must be specified in p2583 with correct polarity. At each direction of rotation reversal, the axis actual value is corrected dependent on the actual traversing direction.
If the axis has been referenced or adjusted, the setting of parameter p2604 (reference point approach, starting direction) is used to activate the compensation value:
p2604 0 1
Traversing direction Negative Positive
Activate compensation value Immediately Immediately
Parameter settings
Parameter p2583
p2604 1)
Range -200000 to
200000
0 to 1
Unit
Default
Description
LU
0
Backlash compensation
-
0
Set signal source for start direction of searching cam:
· 0: start in positive direction
· 1: start in negative direction
1) When telegram 111 is used, the value of p2604 is assigned by control word POS_STW2.9.
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7.2.4
Over-travel
When the servo motor travels over the distance limit, the limit switch is turned on and then the servo motor has an emergency stop.
When telegram 111 is used, the over-travel function can be configured with the PROFINET control word POS_STW2.15:
Control word POS_STW2.15
Setting 1 0
STOP cam active. STOP cam inactive.
Description
Travel limit signal (CWL/CCWL)
In EPOS control mode, the motor rotates properly after you do as follows:
When F7492 is triggered after the STOP cam plus is reached in a positive traversing direction, acknowledge the fault using the RESET signal, and then move the axis away from the STOP cam plus in a negative traversing direction to return it to a position within the valid traversing range.
When F7491 is triggered after the STOP cam minus is reached in a negative traversing direction, acknowledge the fault using the RESET signal, and then move the axis away from the STOP cam minus in a positive traversing direction to return it to a position within the valid traversing range.
Note · Make sure both signals CWL and CCWL are at a high level when the servo drive is
powered on. · In EPOS control mode, the motor cannot rotate with F7491/F7492 being triggered again,
if you only acknowledge the fault without returning the axis to a position within the valid traversing range.
Signal CWL functions as the clockwise travel limit while signal CCWL functions as the counter-clockwise travel limit. Both of them are level and edge sensitive signals.
Signal type DI
Signal name
CWL
DI
CCWL
Pin assignment
X8-a (a = 1 to 4)
X8-b (b = 1 to 4; b a)
Setting
Description
Falling edge (10)
Falling edge (10)
The servo motor has travelled to the clockwise travel limit and has an emergency stop after that.
The servo motor has travelled to the counter-clockwise travel limit and has an emergency stop after that.
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Control functions 7.2 Basic positioner (EPOS)
Relevant parameter settings
Parameter
p29301 to p29304
p29301 to p29304
Value setting Description
3
Signal CWL (signal number: 3) is assigned to any one of DI1 to DI4.
4
Signal CCWL (signal number: 4) is assigned to any one of DI1 to DI4.
When either of signals CWL and CCWL is not assigned to any DI, the signal will be at a high level automatically.
Note DI parameterization
Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 99)" for detailed information about DI parameterization.
Refer to Chapter "Parameters (Page 233)" for detailed information about parameters.
7.2.5
Software position limit
The following two software position limits are available in the internal position control mode:
positive position limit
negative position limit
The function of the software position limit only becomes active after the referencing operation is performed. When the actual position reaches one of the above-mentioned software position limits, the motor decelerates to 0.
When telegram 111 is used, the software position limit function can be configured with the PROFINET control word POS_STW2.14:
Control word POS_STW2.14
Setting 1 0
Description Software limit switch activation. Software limit switch deactivation.
Parameter settings
Parameter p2580
p2581
p2582
Range -2147482648 to
2147482647
-2147482648 to 2147482647
0 to 1
Factory setting -2147482648
2147482648
0
Unit
Description
LU Negative software position limit switch
LU Positive software position limit switch
- Activation of software limit switch: · 0: deactivate · 1: activate
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7.2.6
Speed limit
Refer to Section "Speed limit (Page 172)" for details.
7.2.7
Torque limit
Refer to Section "Torque limit (Page 173)" for details.
7.2.8
Referencing
Referencing modes
When telegrams 7, 9, 110, and 111 are used, starting referencing can be configured with the PROFINET control word STW1.11:
Control word STW1.11
Setting 1 0
Start referencing. Stop referencing.
Description
If the servo motor has an incremental encoder, totally three referencing modes are available:
Setting reference point with the digital input signal REF
External reference cam (signal REF) and encoder zero mark
Encoder zero mark only
If the servo motor has an absolute encoder, the three referencing modes are available. You can also adjust the absolute encoder (by setting current position as the zero position) with the BOP function "ABS". Refer to Section "Adjusting an absolute encoder (Page 146)" for details.
You can select one of these referencing modes by setting the parameter p29240:
Parameter p29240
Value 0
1 (default)
2
Description Referencing with external signal REF
Referencing with external reference cam (signal REF) and encoder zero mark Referencing with zero mark only
Note
Referencing mode for absolute encoder
If an absolute encoder is connected, the three referencing modes are available. You can select the different referencing modes with parameter p29240. When p29240 = 1 or 2, the referencing process can only be implemented before you use the "ABS" function. Once the "ABS" function is implemented, the two referencing modes are not available any more.
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Setting reference point with the digital input signal REF (p29240=0)
When telegram 111 is used, the digital input signal REF can be configured with the PROFINET control word POS_STW2.1:
Control word POS_STW2.1
Setting 1 0
Description Set reference point. Do not set reference point.
When telegram 110 is used, the digital input signal REF can be configured with the PROFINET control word POS_STW.1:
Control word POS_STW.1
Setting 1 0
Description Set reference point. Do not set reference point.
When telegrams 7 and 9 are used, the digital input signal REF can be configured with digital inputs.
Note Preconditions for this referencing mode · The servo motor must be in "servo on" state and keep standstill. · The signal REF must be OFF under the following conditions:
before power-on when switching from another referencing mode to this referencing mode when switching from another control mode to basic positioner control mode
Note
When setting the reference point via the digital input REF, you need to keep the control word STW1.11 = 0.
The current position is set to zero at a rising edge of the signal REF and the servo drive is referenced:
CAUTION
The referencing point may not be fixed during referencing.
The servo motor must be in "servo on" state so that the referencing point is fixed during referencing.
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Control functions 7.2 Basic positioner (EPOS)
External reference cam (signal REF) and encoder zero mark (p29240=1)
When telegram 111 is used, the digital input signal REF can be configured with the PROFINET control word POS_STW2.2:
Control word POS_STW2.2
Setting 1 0
Description Reference cam active. Reference cam inactive.
When telegram 110 is used, the digital input signal REF can be configured with the PROFINET control word POS_STW.2:
Control word POS_STW.2
Setting 1 0
Description Reference cam active. Reference cam inactive.
When telegrams 7 and 9 are used, the digital input signal REF can be configured with digital inputs.
The referencing is triggered by control word STW1.11. After that, the servo motor accelerates to the speed specified in p2605 to find the reference cam. The direction (CW or CCW) for searching the reference cam is defined by p2604. When the reference cam is reached (signal REF: 01), the servo motor decelerates to standstill. After that, the servo motor accelerates again to the speed specified in p2608 and the running direction is opposite to the direction defined by p2604. Then the signal REF should be switched off (10). When the servo motor reaches the first zero mark, it starts to travel towards the reference point defined in p2600 with the speed specified in p2611. When the servo motor reaches the reference point (p2599), the signal REFOK is output. Set STW1.11 to 0 and the referencing finishes successfully.
The whole process is shown in the diagram below:
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Follow the steps below to perform referencing with this mode: 1. Set relevant parameters:
Parameter
Range
p2599 p2600 p2604 1)
-2147482648 to 2147482647
-2147482648 to 2147482647
0 to 1
Factory setting
0
0
0
Unit
Description
LU Sets the position value for the reference point coordinate.
LU Reference point offset
- Sets signal source for start direction of searching cam:
· 0: start in positive direction
· 1: start in negative direction
p2605 p2606 p2608 p2609 p2611
1 to 40000000 0 to 2147482647
1 to 40000000 0 to 2147482647
1 to 40000000
5000 2147482647
300 20000
300
1000 LU/min
LU
1000 LU/min
LU
1000 LU/min
Speed for searching the cam
Maximum distance for searching the cam Speed for searching zero mark
Maximum distance for searching the zero mark Speed for searching reference point
1) When telegram 111 is used, the value of p2604 is assigned by control word POS_STW2.9.
2. Configure signal REF.
Refer to Section "Digital inputs/outputs (DIs/Dos) (Page 99)" for reference.
3. Set STW1.11 (01) to start referencing.
Note During the referencing, if STW1.11 is set to 0, the referencing stops.
4. If the servo motor reaches the reference point, the signal REFOK (if configured) is output. 5. Set control word STW1.11 to 0, and the referencing finishes successfully.
Encoder zero mark only (p29240=2)
In this mode, there is no cam available. The referencing is triggered by control word STW1.11. After that, the servo motor accelerates to the speed specified in p2608 and the direction (CW or CCW) is defined by p2604. When the servo motor reaches the first zero mark, it starts to travel towards the reference point defined in p2600 with the speed specified by p2611. When the servo motor reaches the reference point (p2599), the signal REFOK is output. Set control word STW1.11 to 0 and the referencing finishes successfully.
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Control functions 7.2 Basic positioner (EPOS)
The whole process is shown in the diagram below:
Follow the steps below to perform referencing with this mode: 1. Set relevant parameters:
Parameter p2599 p2600 p2604
Range
-2147482648 to 2147482647
-2147482648 to 2147482647 0 to 1
Factory setting
0
0
0
p2608 p2609 p2611
1 to 40000000
300
0 to 2147482647 20000
1 to 40000000
300
2. Set STW1.11 (01) to start referencing.
Unit
Description
LU Sets the position value for the reference point coordinate.
LU Reference point offset
-
1000 LU/min
LU 1000 LU/min
Sets signal source for start direction of searching cam: · 0: start in positive direction · 1: start in negative direction Speed for searching zero mark
Maximum distance for searching the zero mark Speed for searching reference point
Note During the referencing, if STW1.11 is set to 0, the referencing stops.
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3. If the servo motor reaches the reference point, the signal REFOK (if configured) is output. 4. Set control word STW1.11 to 0, and the referencing finishes successfully.
7.2.9
Traversing blocks
Up to 16 different traversing tasks can be saved. All parameters which describe a traversing task are effective during a block change.
Activating the traversing block function When telegram 111 is used, the traversing block function can be configured with the PROFINET control word POS_STW1.15:
Control word POS_STW1.15
Setting 1 0
Description MDI selection. Traversing block selection.
When telegrams 7, 9, and 110 are used, the traversing block function can be configured with the PROFINET control word SATZANW.15:
Control word SATZANW.15
Setting 1 0
Description MDI selection. Traversing block selection.
Selecting a traversing block number
When telegram 111 is used, set traversing block numbers bit 0 to bit 3 respectively with the PROFINET control words POS_STW1.0 to POS_STW1.3.
When telegrams 7, 9, and 110 are used, set traversing block numbers bit 0 to bit 3 respectively with the PROFINET control words SATZANW.0 to SATZANW.3.
Select one of the 16 traversing block numbers with the co-settings of bit 0 to bit 3:
Traversing block number Traversing block 1 Traversing block 2 Traversing block 3 ... Traversing block 16
Bit 3 0 0 0
1
Bit 2 0 0 0
1
Bit 1 0 0 1
... 1
Bit 0 0 1 0
1
Activating a traversing task
When telegrams 7, 9, 110, and 111 are used, activate a traversing task with the PROFINET control word STW1.6:
Control word STW1.6
Setting 1 0
Description Traversing task activation. Traversing task deactivation.
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Parameter sets
Traversing blocks are parameterized using parameter sets that have a fixed structure:
Task (p2621[0...15]) 1: POSITIONING 2: FIXED ENDSTOP 3: ENDLESS_POS 4: ENDLESS_NEG 5: WAIT 6: GOTO 7: SET_O 8: RESET_O 9: JERK
Motion parameters
Target position or traversing distance (p2617[0...15])
Velocity (p2618[0...15])
Acceleration override (p2619[0...15])
Deceleration override (p2620[0...15])
Task mode (p2623[0...15]) The execution of a traversing task can be influenced by parameter p2623 (task mode). This is automatically written by programming the traversing blocks in the engineering tool SINAMICS V-ASSISTANT. Value = 0000 cccc bbbb aaaa
aaaa: Identifiers 000x hide/show block (x = 0: show, x = 1: hide)
bbbb: Continuation condition 0000, END: 0/1 edge at STW1.6 0001, CONTINUE_WITH_STOP: The exact position parameterized in the block is approached (brake to standstill and positioning window monitoring) before block processing can continue. 0010, CONTINUE_ON-THE-FLY: The system switches to the next traversing block "on the fly" when the braking point for the current block is reached (if the direction needs to be changed, this does not occur until the drive stops within the positioning window). 0011, CONTINUE_EXTERNAL: Same as "CONTINUE_ON-THE-FLY", except that an instant block change can be triggered up to the braking point by a 0/1 edge. If an external block change is not triggered, a block change is triggered at the braking point. 0100, CONTINUE_EXTERNAL_WAIT: Control signal "External block change" can be used to trigger a flying changeover to the next task at any time during the traveling phase. If "External block change" is not triggered, the axis remains in the parameterized target position until the signal is issued. The difference here is that with CONTINUE_EXTERNAL, a flying changeover is carried out at the braking point if "External block change" has not been triggered, while here the drive waits for the signal in the target position. 0101, CONTINUE_EXTERNAL_ALARM: This is the same as CONTINUE_EXTERNAL_WAIT, except that alarm A07463 "External traversing block change in traversing block x not requested" is output when
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"External block change" is not triggered by the time the drive comes to a standstill. The alarm can be converted to a fault with a stop response so that block processing can be canceled if the control signal is not issued.
cccc: positioning mode The POSITIONING task (p2621 = 1) defines how the position specified in the traversing task is to be approached. 0000, ABSOLUTE: The position specified in p2617 is approached. 0001, RELATIVE: The axis is traveled along the value specified in p2617 0010, ABS_POS: For rotary axes with modulo offset only. The position specified in p2617 is approached in a positive direction. 0011, ABS_NEG: For rotary axes with modulo offset only. The position specified in p2617 is approached in a negative direction.
Task parameter (command-dependent significance) (p2622[0...15])
Traversing block tasks
POSITIONING The POSITIONING task initiates motion. The following parameters are evaluated: p2616[x] Block number p2617[x] Position p2618[x] Velocity p2619[x] Acceleration override p2620[x] Deceleration override p2623[x] Task mode The task is executed until the target position is reached. If, when the task is activated, the drive is already located at the target position, then for the block change enable (CONTINUE_ON-THE-FLY or CONTINUE_EXTERNAL), the next task is selected in the same interpolation cycle. For CONTINUE_WITH_STOP, the next block is activated in the next interpolation cycle. CONTINUE_EXTERNAL_ALARM causes a message to be output immediately.
FIXED STOP The FIXED STOP task triggers a traversing movement with reduced torque to fixed stop. The following parameters are relevant: p2616[x] Block number p2617[x] Position p2618[x] Velocity p2619[x] Acceleration override p2620[x] Deceleration override
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Control functions 7.2 Basic positioner (EPOS)
p2623[x] Task mode p2622[x] Task parameter clamping torque [0.01 Nm] with rotary motors. Possible continuation conditions include END, CONTINUE_WITH_STOP, CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT.
ENDLESS POS, ENDLESS NEG Using these tasks, the axis is accelerated to the specified velocity and is moved until: A software limit switch is reached. A STOP cam signal has been issued. The traversing range limit is reached. Motion is interrupted by the control signal "no intermediate stop / intermediate stop"
(STW1.5). Motion is interrupted by the control signal "do not reject traversing task / reject traversing
task" (STW1.4). An external block change is triggered (with the appropriate continuation condition). The following parameters are relevant: p2618[x] Velocity p2619[x] Acceleration override p2623[x] Task mode All continuation conditions are possible.
JERK Jerk limitation can be activated (command parameter = 1) or deactivated (task parameter = 0) by means of the JERK task. p2575 "Active jerk limitation" must be set to zero. The value parameterized in "jerk limit" p2574 is the jerk limit. A precise stop is always carried out here regardless of the parameterized continuation condition of the task preceding the JERK task. The following parameters are relevant: p2622[x] Task parameter = 0 or 1 All continuation conditions are possible.
WAIT The WAIT task can be used to set a waiting period which should expire before the following task is processed. The following parameters are relevant: p2622[x] Task parameter = delay time in milliseconds 0 ms, but is rounded-off to a
multiple of numeral 8 p2623[x] Task mode
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Regardless of the parameterized continuation condition which is parameterized for the task that precedes the WAIT task, an exact stop is always executed before the waiting time expires. The WAIT task can be executed by an external block change.
Possible continuation conditions include END, CONTINUE_WITH_STOP, CONTINUE_EXTERNAL, CONTINUE_EXTERNAL_WAIT, and CONTINUE_EXTERNAL_ALARM. The fault message is triggered when "External block change" has still not been issued after the waiting time has elapsed.
GOTO
Using the GOTO task, jumps can be executed within a sequence of traversing tasks. The block number which is to be jumped to must be specified as task parameter. A continuation condition is not permissible. If there is no block with this number, then alarm A07468 (jump destination does not exist in traversing block x) is output and the block is designated as being inconsistent.
The following parameters are relevant:
p2622[x] Task parameter = Next traversing block number
Any two of the SET_O, RESET_O and GOTO tasks can be processed in an interpolation cycle and a subsequent POSITION and WAIT task can be started.
SET_O, RESET_O
Currently, these two functions are reserved.
Intermediate stop and reject a traversing task
When telegrams 7, 9, 110, and 111 are used, reject a traversing task with the PROFINET control word STW1.4:
Control word STW1.4
Setting 1 0
Description Do not reject a traversing task.
Reject a traversing task (ramp-down with the maximum deceleration).
When telegrams 7, 9, 110, and 111 are used, perform an intermediate stop with the PROFINET control word STW1.5:
Control word STW1.5
Setting 1 0
No intermediate stop. Intermediate stop.
Description
Overview of important parameters
· p2617[0...15] · p2618[0...15] · p2619[0...15] · p2620[0...15]
EPOS traversing block, position EPOS traversing block, velocity EPOS traversing block, acceleration override EPOS traversing block, deceleration override
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Control functions 7.2 Basic positioner (EPOS)
· p2621[0...15] · p2622[0...15] · p2623[0...15]
EPOS traversing block, task EPOS traversing block, task parameter EPOS traversing block, task mode
For more information about the parameters above, see Section "Parameter list (Page 235)".
7.2.10
Direct setpoint input (MDI)
The "direct setpoint input" function allows for positioning (absolute, relative) and setup (endless position-controlled) by means of direct setpoint inputs (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 "setting-up" and "positioning" modes. The "direct setpoint specification" mode (MDI) can also be used if the axis is not referenced in the "setting-up" or "relative positioning" modes.
Activating the direct setpoint input function
When telegram 111 is used, the direct setpoint input function can be configured with the PROFINET control word POS_STW1.15:
Control word POS_STW1.15
Setting 1 0
Description MDI selection. Traversing block selection.
When telegrams 7, 9, and 110 are used, the direct setpoint input function can be configured with the PROFINET control word SATZANW.15:
Control word SATZANW.15
Setting 1 0
Description MDI selection. Traversing block selection.
Selecting a working mode
In "positioning" mode, the parameters (position, velocity, acceleration and deceleration) can be used to carry out absolute or relative positioning.
In the "setting-up" mode, using parameters (velocity, acceleration and deceleration) endless closed-loop position control behavior can be carried out.
When telegram 111 is used, select a working mode with the PROFINET control word POS_STW1.14:
Control word POS_STW1.14
Setting 1 0
Description Signal setting-up selected. Signal positioning selected. 1)
1) Telegrams 7, 9, and 110 can only work in signal positioning mode.
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Features
Control functions 7.2 Basic positioner (EPOS)
Selecting a positioning type in signal positioning mode
When telegram 111 is used, select a positioning type with the PROFINET control word POS_STW1.8:
Control word POS_STW1.8
Setting 1 0
Description Absolute positioning is selected. Relative positioning is selected.
When telegram 9 is used, select a positioning type with the PROFINET control word MDI_MOD.0:
Control word MDI_MOD.0
Setting 1 0
Description Absolute positioning is selected. Relative positioning is selected.
When telegram 7 is used, select a positioning type with the following parameter:
Parameter p29231
Setting 0 (default)
1
Description Relative positioning is selected. Absolute positioning is selected.
Selecting an absolute positioning direction in signal positioning mode
When telegram 111 is used, select an absolute positioning direction with the PROFINET control words POS_STW1.9 and POS_STW1.10:
Control word POS_STW1.9 POS_STW1.10
Setting 0 1 2 3
Description Absolute positioning through the shortest distance. Absolute positioning/MDI direction selection, positive. Absolute positioning/MDI direction selection, negative. Absolute positioning through the shortest distance.
When telegram 9 is used, select an absolute positioning direction with the PROFINET control words MDI_MOD.1 and MDI_MOD.2:
Control word MDI_MOD.1 MDI_MOD.2
Setting 0 1 2 3
Description Absolute positioning through the shortest distance. Absolute positioning/MDI direction selection, positive. Absolute positioning/MDI direction selection, negative. Absolute positioning through the shortest distance.
When telegram 7 is used, select an absolute positioning direction with the following parameter:
Parameter p29230
Setting 0 (default)
1 2
Description Absolute positioning through the shortest distance. Absolute positioning/MDI direction selection, positive. Absolute positioning/MDI direction selection, negative.
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Control functions 7.2 Basic positioner (EPOS)
Selecting a direction in signal setting-up mode
Control word POS_STW1.9 POS_STW1.10
Setting 1 2
Description MDI direction selection, positive. MDI direction selection, negative.
MDI mode with the use of telegram 110 When telegram 110 is used, select a positioning type and an absolute positioning direction with the PROFINET control word MDI_MODE (PZD12): xx0x = absolute xx1x = relative xx2x = ABS_POS xx3x = ABS_NEG
Selecting an MDI transfer type
When telegram 111 is used, select an MDI transfer type with the PROFINET control word POS_STW1.12:
Control word POS_STW1.12
Setting 1 0
Description Continuous transfer.
Activate MDI block change with of a traversing task (STW1.6).
Note When telegrams 7, 9, and 110 are used, a rising edge is fixed.
Setting MDI setpoints When telegrams 9, 110, and 111 are used, set MDI setpoints with the following PROFINET control words: Position setpoint (MDI_TARPOS): 1 hex = 1 LU Velocity setpoint (MDI_VELOCITY): 1 hex = 1000 LU/min Acceleration override (MDI_ACC): 4000 hex = 100% Deceleration override (MDI_DEC): 4000 hex = 100% When telegram 7 is used, set MDI setpoints with the following parameters: Position setpoint (p2690) Velocity setpoint (p2691) Acceleration override (p2692) Deceleration override (p2693)
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Control functions 7.2 Basic positioner (EPOS)
Intermediate stop and reject an MDI task
When telegrams 7, 9, 110, and 111 are used, reject an MDI task with the PROFINET control word STW1.4:
Control word STW1.4
Setting 1 0
Description Do not reject a traversing task.
Reject a traversing task (ramp-down with the maximum deceleration).
When telegrams 7, 9, 110, and 111 are used, perform an intermediate stop with the PROFINET control word STW1.5:
Control word STW1.5
Setting 1 0
Description No intermediate stop.
Intermediate stop with parameterized deceleration MDI_DEC (telegrams 9, 110, and 111) or p2693 (telegram 7).
Overview of important parameters
· p2690 · p2691 · p2692 · p2693
MDI position, fixed setpoint MDI velocity, fixed setpoint MDI acceleration override, fixed setpoint MDI deceleration override, fixed setpoint
For more information about the parameters above, see Section "Parameter list (Page 235)".
7.2.11
EJOG
When telegrams 7, 9, 110, and 111 are used, select a jogging channel with the PROFINET control words STW1.8 and STW1.9:
Control word STW1.8 STW1.9
Setting 0 1 2 3
Description No jogging channel activated. Jog 1 signal source rising edge activated. Jog 2 signal source rising edge activated. Reserved.
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Control functions 7.2 Basic positioner (EPOS)
Features
Selecting a jogging mode
When telegram 110 is used, select a jogging mode with the PROFINET control word POS_STW.5:
Control word POS_STW.5
Setting 1 0
Description Jogging, incremental active. Jogging, velocity active.
When telegram 111 is used, select a jogging mode with the PROFINET control word POS_STW2.5:
Control word POS_STW2.5
Setting 1 0
Description Jogging, incremental active. Jogging, velocity active.
Note When telegrams 7 and 9 are used, endless jogging is fixed.
Setting jogging setpoints When telegrams 7 and 9 are used, set the following jogging setpoint with the appropriate parameters: Velocity (p2585, p2586) When telegrams 110 and 111 are used, set the following jogging setpoints with the appropriate parameters: Velocity (p2585, p2586) Incremental (p2587, p2588)
Overview of important parameters
· p2585 · p2586 · p2587 · p2588
EPOS jog 1 setpoint velocity EPOS jog 2 setpoint velocity EPOS jog 1 travel distance EPOS jog 2 travel distance
For more information about the parameters above, see Section "Parameter list (Page 235)".
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Control functions 7.2 Basic positioner (EPOS)
7.2.12
Position tracking
Position tracking enables the load position to be reproduced when using gearboxes. It can also be used to extend the position area.
Features
Configuration via p29243 Virtual multiturn via p29244 Mechanical gear ratio via p29248 and p29249
Example of position area extension
The following diagram illustrates an absolute encoder that can represent eight encoder revolutions.
Position tracking (p29244 = 24), setting p29248 = p29249 =1 (gear ratio = 1):
In this example, this means:
Without position tracking, the position for +/- 4 encoder revolutions around r2521 = 0 LU can be reproduced.
With position tracking, the position for +/- 12 encoder revolutions (+/- 12 load revolutions with load gear) can be reproduced (p29244 = 24).
Measuring gear configuration (p29243)
The following points can be set by configuring this parameter:
Parameter p29243
Description · 0: deactivate position tracking · 1: activate position tracking
Note Be sure to perform the "ABS" function again after you set p29243 to 1.
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Control functions 7.3 Speed control (S)
Virtual multiturn encoder (p29244)
With a rotary absolute encoder with activated position tracking (p29243 = 1), p29244 can be used to enter a virtual multiturn resolution. This enables you to generate a virtual multiturn encoder value from a singleturn encoder.
Overview of important parameters
· p29243 · p29244 · p29248 · p29249
Position tracking activate Absolute encoder virtual rotary revolutions Mechanical gear: Numerator Mechanical gear: Denominator
For more information about the parameters above, see Section "Parameter list (Page 235)".
7.3
Speed control (S)
7.3.1
Speed limit
Two sources in total are available for the speed limit. You can select one of them via a combination of digital input signal SLIM:
Digital signal (SLIM) 0 1
Internal speed limit 1 Internal speed limit 2
Speed limit
Note The bit 0 of parameter p29108 must be set to 1 to enable the speed limit function.
Note You can switch between the two sources and modify their values when the servo drive is running.
Note Fault F7901 occurs when the actual speed exceeds the positive speed limit + hysteresis speed (p2162) or the negative speed limit - hysteresis speed (p2162). Go to "List of faults and alarms (Page 274)" for information about the acknowledgment of this fault.
Refer to "DIs (Page 100)" for more information about the digital input signal SLIM.
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Control functions 7.3 Speed control (S)
Overall speed limit
Besides the above two channels, an overall speed limit is also available. You can configure the overall speed limit by setting the following parameters:
Parameter p1083 p1086
Value range 0 to 210000 -210000 to 0
Default 210000 -210000
Unit
Description
rpm Overall speed limit (positive)
rpm Overall speed limit (negative)
Internal speed limit
Select an internal speed limit by setting the following parameters:
Parameter p29070[0] p29070[1] p29071[0] p29071[1]
Value range 0 to 210000 0 to 210000 -210000 to 0 -210000 to 0
Default 210000 210000 -210000 -210000
Unit
Description
rpm Internal speed limit 1 (positive)
rpm Internal speed limit 2 (positive)
rpm Internal speed limit 1 (negative)
rpm Internal speed limit 2 (negative)
Digital input (SLIM) 0
1
0
1
Note
After the motor is commissioned, p1082, p1083, p1086, p29070 and p29071 are set to the maximum speed of the motor automatically.
7.3.2
Torque limit
Two sources in total are available for the torque limit. You can select one of them via the digital input signal TLIM:
Digital input (TLIM) 0 1
Internal torque limit 1 Internal torque limit 2
Torque limit
When the torque setpoint reaches torque limit, the torque is limited to the value selected by TLIM.
Note You can switch between the two sources and modify their values when the servo drive is running.
Refer to "DIs (Page 100)" for more information about the digital input signal TLIM.
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Control functions 7.3 Speed control (S)
Overall torque limit
Besides the above two sources, an overall torque limit is also available. The overall torque limit takes effect when an emergency stop (OFF3) happens. In this case, the servo drive brakes with a maximum torque.
You can configure the overall torque limit by setting the following parameters:
Parameter
p1520
p1521
Value range
-1000000.00 to 20000000.00 -20000000.00 to 1000000.00
Default Unit
Description
0
Nm Overall torque limit (positive)
0
Nm Overall torque limit (negative)
Internal torque limit
Select an internal torque limit by setting the following parameters:
Parameter Value range p29050[0] -150 to 300 p29050[1] -150 to 300 p29051[0] -300 to 150 p29051[1] -300 to 150
Default 300 300 -300 -300
Unit
Description
Digital input (TLIM)
% Internal torque limit 1 (posi-
0
tive)
% Internal torque limit 2 (posi-
1
tive)
% Internal torque limit 1 (neg-
0
ative)
% Internal torque limit 2 (neg-
1
ative)
The following diagram shows how the internal torque limit functions:
Torque limit reached (TLR)
When the generated torque has nearly (internal hysteresis) reached the value of the positive torque limit or negative torque limit, the signal TLR is output.
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7.3.3
Control functions 7.3 Speed control (S)
Ramp-function generator
The ramp-function generator is used to limit acceleration in the event of abrupt setpoint changes and thus helps prevent load surges during drive operation. The ramp-up time p1120 and ramp-down time p1121 can be used to set acceleration and deceleration ramps separately. This allows a smoothed transition in the event of setpoint changes. The maximum speed p1082 is used as the reference value for calculating the ramp-up and ramp-down times. You can see the properties of the ramp-function generator from the diagram below:
S-curve ramp-function generator
You can also use the S-curve ramp-function generator by setting p1115 to 1. The S-curve ramp-function generator is realized with the following parameters: the acceleration (p1120) and deceleration (p1121) ramps the initial (p1130) and final (p1131) rounding-off times You can see the properties of the S-curve ramp-function generator from the diagram below:
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Control functions 7.3 Speed control (S)
Parameter settings
Parameter p1082 p1115 p1120 p1121 p1130 p1131
Value range 0 to 210000
0 to 1 0 to 999999 0 to 999999
0 to 30 0 to 30
Default 1500
0 1 1 0 0
Unit
Description
rpm Maximum motor speed
-
Ramp-function generator selection
s
Ramp-function generator ramp-up time
s
Ramp-function generator ramp-down time
s
Ramp-function generator initial rounding-off time
s
Ramp-function generator final rounding-off time
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PROFINET communication
8
8.1
PROFINET IO is a real time protocol based on Ethernet. It is used as high level network for industrial automation applications. PROFINET IO focuses on the data exchange for a programmable controller. A PROFINET IO network consists of the following devices:
IO controller: typically, it is the PLC, which controls the whole application
IO device: a decentralized IO device (for example, encoder, sensor), which is controlled by the IO controller
IO supervisor: HMI (human machine interface) or PC for diagnostic purposes or commissioning
PROFINET supplies two kinds of real time communication, that is, PROFINET IO RT (Real Time) and PROFINET IO IRT (Isochronous Real Time). The real time channel is used for IO data and alarm mechanism.
In PROFINET IO RT, the RT data is transferred via a prioritized Ethernet frame. No special hardware is required. Due to this prioritization a cycle time of 4 ms can be achieved. PROFINET IO IRT is used for more precise timing requirements. Cycle time of 2 ms is possible, but also special hardware for IO devices and switches are required.
All diagnostic and configuration data is transferred via the non-real time channel (NRT). For this purpose the common TCP/IP protocol is used. Anyhow, no timing can be guaranteed and typically the cycle times can be more than 100 ms.
Supported telegrams
SINAMICS V90 PN supports standard telegrams and Siemens telegrams for speed control mode and basic positioner control mode. You can select the desired telegram with parameter p0922. See the following table for details.
From the perspective of the drive unit, the received process data represents the receive words and the process data to be sent represents the send words.
Telegram
Standard telegram 1 Standard telegram 2 Standard telegram 3 Standard telegram 5 Standard telegram 7 Standard telegram 9 Siemens telegram 102 Siemens telegram 105
Maximum number of PZD
Receive word
Send word
2
2
4
4
5
9
9
9
2
2
10
5
6
10
10
10
Description
p0922 = 1 p0922 = 2 p0922 = 3 p0922 = 5 p0922 = 7 p0922 = 9 p0922 = 102 p0922 = 105
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PROFINET communication 8.1 Supported telegrams
Telegram
Siemens telegram 110 Siemens telegram 111
Maximum number of PZD
Receive word 12
Send word 7
12
12
Description
p0922 = 110 p0922 = 111
One PZD = one word
Standard telegram 5 and Siemens telegram 105 can only be used when the V90 PN connects to the SIMATICS S7-1500 and the TIA Portal version is V14 or higher.
Telegrams used for speed control mode
Telegram Appl. class PZD1 PZD2
PZD3 PZD4 PZD5
PZD6
PZD7 PZD8 PZD9 PZD10
1
1
STW1 NSOLL _A
2
1
ZSW1 STW1 NIST_A NSOLL
_B
STW2
3
1, 4
ZSW1 STW1 NIST_B NSOLL
_B
ZSW2
STW2
G1_ST W
5
102
4
1, 4
ZSW1 STW1 ZSW1 STW1
NIST_B NSOLL NIST_B NSOLL
_B
_B
ZSW2 STW2
G1_ZS G1_ST
W
W
G1_XIS XERR T1
ZSW2 STW2
G1_ZS MOMR
W
ED
G1_XIS G1_ST
T1
W
G1_XIS KPC T2
G1_XIS T2
105
4
ZSW1 STW1 ZSW1
NIST_B NSOLL NIST_
_B
B
ZSW2 STW2
MELD MOMR
W
ED
G1_ZS G1_ST
W
W
G1_XIS XERR T1
ZSW2
MELD W
G1_ZS W
G1_XI ST1
G1_XIS KPC T2
G1_XI ST2
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PROFINET communication 8.2 I/O data signals
Telegrams used for basic positioner control mode
Telegram Appl. class PZD1 PZD2
7 3 STW1 SATZANW
ZSW1 AKTSATZ
PZD3
PZD4 PZD5 PZD6 PZD7 PZD8 PZD9 PZD10
PZD11
PZD12
1) User-defined receive word 2) User-defined send word
9 3 STW1 SATZANW
ZSW1 AKTSATZ
STW2
ZSW2
MDI_ TARPOS
XIST_A
MDI_ VELOCITY
MDI_ACC MDI_DEC MDI_MOD
110 3 STW1 SATZANW
ZSW1 AKTSATZ
POS_STW POS_ZSW
STW2
ZSW2
OVERRIDE MELDW
MDI_TAR XIST_A POS
111
3
STW1
ZSW1
POS_STW POS_ZSW
1
1
POS_STW POS_ZSW
2
2
STW2
ZSW2
OVERRIDE MELDW
MDI_TAR XIST_A POS
MDI_VELO CITY
MDI_VELO NIST_B CITY
MDI_ACC MDI_DEC MDI_MODE
MDI_ACC MDI_DEC user 1)
FAULT_CO DE
WARN_CO DE
user 2)
8.2
I/O data signals
Parameters p200x apply as reference variables (telegram contents = 4000 hex or 40000000 hex in the case of double words if the input variable has the value p200x).
The following table provides an overview of the I/O data used in the telegram.
Signal STW1 STW2 ZSW1 ZSW2 NSOLL_A NSOLL_B
Description Control word 1 Control word 2 Status word 1 Status word 2 Speed setpoint A (16 bit) Speed setpoint B (32 bit)
Receive word/send word Receive word Receive word Send word Send word Receive word Receive word
Data type U16 U16 U16 U16 I16 I32
Scaling 4000 hex p2000 40000000 hex p2000
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PROFINET communication 8.2 I/O data signals
Signal NIST_A NIST_B G1_STW G1_ZSW G1_XIST1 G1_XIST2 MOMRED MELDW KPC XERR AKTSATZ MDI_TAR POS MDI_VELO CITY MDI_ACC MDI_DEC XIST_A OVERRIDE
1)
Description Speed actual value A (16 bit) Speed actual value B (32 bit) Encoder 1 control word Encoder 1 status word Encoder 1 actual position 1 Encoder 1 actual position 2 Torque reduction Message word Position controller gain factor Position deviation Position selected block MDI position
MDI velocity
MDI acceleration override MDI deceleration override Position actual value A Position velocity override
Receive word/send word Send word Send word Receive word Send word Send word Send word Receive word Send word Receive word Receive word Send word Receive word
Receive word
Receive word Receive word Send word Receive word
MDI_MODE
FAULT_CO DE
WARN_CO DE
POS_ZSW
user
Position MDI mode Fault code
Alarm code
Position status word User-defined receive word (p29150):
Receive word Send word
Send word
Send word Receive word
· 0: No function
· 1: Additional torque (0x4000 = p2003)
· 2: Additional speed (0x4000 = p2000)
user
User-defined send word
Send word
(p29151):
· 0: No function
· 1: Actual torque (0x4000 = p2003)
· 2: Actual absolute current (0x4000 = p2002)
· 3: DI status
1) Make sure that signal OVERRIDE is set to a value from 0 to 32767.
Data type I16 I32 U16 U16 U32 U32 I16 U16 I32 I32 U16 I32
I32
I16 I16 I32 I16
U16 U16
U16
U16 I16
I16
Scaling 4000 hex p2000 40000000 hex p2000 4000 hex p2003 1 hex 1 LU
1 hex 1000 LU/min
4000 hex 100% 4000 hex 100% 1 hex 1 LU 4000 hex 100%
-
-
-
-
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8.3
8.3.1
Control word definition
PROFINET communication 8.3 Control word definition
STW1 control word (for telegrams 1, 2, 3, 5)
Note When p29108.0 = 0, STW1.11 is disabled.
Note When telegram 5 is used, STW1.4, STW1.5, and STW1.6 are disabled.
Note STW1.10 must be set to 1 to allow the PLC to control the drive.
Signal STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6
STW1.7 STW1.8 STW1.9 STW1.10 STW1.11 STW1.12 STW1.13 STW1.14 STW1.15
Description
= ON (pulses can be enabled) 0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on) 1 = No OFF2 (enable is possible) 0 = OFF2 (immediate pulse suppression and switching on inhibited) 1 = No OFF3 (enable is possible) 0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited) 1 = Enable operation (pulses can be enabled) 0 = Inhibit operation (suppress pulses) 1 = Operating condition (the ramp-function generator can be enabled) 0 = Inhibit ramp-function generator (set the ramp-function generator output to zero) 1 = Continue ramp-function generator 0 = Freeze ramp-function generator (freeze the ramp-function generator output) 1 = Enable setpoint 0 = Inhibit setpoint (set the ramp-function generator input to zero)
= 1. Acknowledge faults Reserved Reserved 1 = Control via PLC 1 = Setpoint inversion Reserved Reserved Reserved Reserved
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PROFINET communication 8.3 Control word definition
8.3.2
STW2 control word (for telegrams 2, 3, 5)
Signal STW2.0 STW2.1 STW2.2 STW2.3 STW2.4 STW2.5 STW2.6 STW2.7 STW2.8 STW2.9 STW2.10 STW2.11 STW2.12 STW2.13 STW2.14 STW2.15
Description Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 1 = Traverse to fixed endstop Reserved Reserved Reserved Master sign-of-life, bit 0 Master sign-of-life, bit 1 Master sign-of-life, bit 2 Master sign-of-life, bit 3
8.3.3
182
STW1 control word (for telegrams 102, 105)
Note When telegram 105 is used, STW1.4, STW1.5, and STW1.6 are disabled.
Note STW1.10 must be set to 1 to allow PLC to control the drive.
Signal STW1.0
STW1.1 STW1.2
STW1.3 STW1.4
Description
= ON (pulses can be enabled) 0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on) 1 = No OFF2 (enable is possible) 0 = OFF2 (immediate pulse suppression and switching on inhibited) 1 = No OFF3 (enable is possible) 0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited) 1 = Enable operation (pulses can be enabled) 0 = Inhibit operation (suppress pulses) 1 = Operating condition (the ramp-function generator can be enabled) 0 = Inhibit ramp-function generator (set the ramp-function generator output to zero)
SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2017, A5E37208830-003
8.3.4
PROFINET communication 8.3 Control word definition
STW1.5
STW1.6
STW1.7 STW1.8 STW1.9 STW1.10 STW1.11 STW1.12 STW1.13 STW1.14 STW1.15
1 = Continue ramp-function generator 0 = Freeze ramp-function generator (freeze the ramp-function generator output) 1 = Enable setpoint 0 = Inhibit setpoint (set the ramp-function generator input to zero)
= 1. Acknowledge faults Reserved Reserved 1 = Control via PLC 1 = Ramp-function generator active 1 = Unconditionally open the holding brake Reserved Reserved Reserved
STW2 control word (for telegrams 102, 105)
Note When p29108.0 = 0, STW2.4 is disabled.
Signal STW2.0 STW2.1 STW2.2 STW2.3 STW2.4 STW2.5 STW2.6 STW2.7 STW2.8 STW2.9 STW2.10 STW2.11 STW2.12 STW2.13 STW2.14 STW2.15
Description Reserved Reserved Reserved Reserved 1 = Bypass ramp-function generator Reserved 1 = Integrator inhibit, speed controller Reserved 1 = Traverse to fixed endstop Reserved Reserved Reserved Master sign-of-life, bit 0 Master sign-of-life, bit 1 Master sign-of-life, bit 2 Master sign-of-life, bit 3
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PROFINET communication 8.3 Control word definition
8.3.5
STW1 control word (for telegrams 7, 9, 110, 111)
Note STW1.10 must be set to 1 to allow the PLC to control the drive.
Signal STW1.0
STW1.1
STW1.2
STW1.3
STW1.4
STW1.5
STW1.6 STW1.7 STW1.8 STW1.9 STW1.10 STW1.11
STW1.12 STW1.13 STW1.14 STW1.15
Description
= ON (pulses can be enabled) 0 = OFF1 (braking with ramp-function generator, then pulse suppression and ready for switching on) 1 = No OFF2 (enable is possible) 0 = OFF2 (immediate pulse suppression and switching on inhibited) 1 = No OFF3 (enable is possible) 0 = OFF3 (braking with the OFF3 ramp p1135, then pulse suppression and switching on inhibited) 1 = Enable operation (pulses can be enabled) 0 = Inhibit operation (suppress pulses) 1 = Do not reject traversing task 0 = Reject traversing task (ramp-down with the maximum deceleration) 1 = No intermediate stop 0 = Intermediate stop
= Activate traversing task
= Acknowledge faults 1 = Jog 1 signal source 1 = Jog 2 signal source 1 = Control via PLC 1 = Start referencing 0 = Stop referencing Reserved
= External block change Reserved Reserved
8.3.6
184
STW2 control word (for telegrams 9, 110, 111)
Signal STW2.0 STW2.1 STW2.2 STW2.3 STW2.4 STW2.5
Description Reserved Reserved Reserved Reserved Reserved Reserved
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8.3.7
Signal STW2.6 STW2.7 STW2.8 STW2.9 STW2.10 STW2.11 STW2.12 STW2.13 STW2.14 STW2.15
Description Reserved Reserved 1 = Traverse to fixed endstop Reserved Reserved Reserved Master sign-of-life, bit 0 Master sign-of-life, bit 1 Master sign-of-life, bit 2 Master sign-of-life, bit 3
PROFINET communication 8.3 Control word definition
G1_STW encoder 1 control word
Signal G1_STW.0 G1_STW.1 G1_STW.2 G1_STW.3
Description Selects the function to be activate (with bit value = 1)
G1_STW.4 G1_STW.5 G1_STW.6
Start/stop/read selected function
G1_STW.7
G1_STW.8 G1_STW.9 G1_STW.10 G1_STW.11 G1_STW.12
Mode of the function to be activated 1 = Flying measurement 0 = Search for reference mark Reserved Reserved Reserved Reserved Reserved
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PROFINET communication 8.3 Control word definition
Signal G1_STW.13 G1_STW.14 G1_STW.15
Description 1 = Request value cyclic transfer of the absolute position value in Gn_XIST2 1 = Request parking encoder
= Acknowledge encoder fault
8.3.8
SATZANW control word
Signal SATZANW.0 SATZANW.1 SATZANW.2 SATZANW.3 SATZANW.4 SATZANW.5 SATZANW.6 SATZANW.7 SATZANW.8 SATZANW.9 SATZANW.10 SATZANW.11 SATZANW.12 SATZANW.13 SATZANW.14 SATZANW.15
Description 1 = Traversing block selection, bit 0 1 = Traversing block selection, bit 1 1 = Traversing block selection, bit 2 1 = Traversing block selection, bit 3 1 = Traversing block selection, bit 4 1 = Traversing block selection, bit 5 Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved 1 = Activate MDI 0 = Deactivate MDI
8.3.9
186
MDI_MOD control word
Signal MDI_MOD.0
MDI_MOD.1 MDI_MOD.2
MDI_MOD.3 MDI_MOD.4 MDI_MOD.5 MDI_MOD.6 MDI_MOD.7 MDI_MOD.8
Description 1 = Absolute positioning is selected 0 = Relative positioning is selected 0 = Absolute positioning through the shortest distance 1 = Absolute positioning in the positive direction 2 = Absolute positioning in the negative direction 3 = Absolute positioning through the shortest distance Reserved Reserved Reserved Reserved Reserved Reserved
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Signal MDI_MOD.9 MDI_MOD.10 MDI_MOD.11 MDI_MOD.12 MDI_MOD.13 MDI_MOD.14 MDI_MOD.15
Description Reserved Reserved Reserved Reserved Reserved Reserved Reserved
PROFINET communication 8.3 Control word definition
8.3.10
POS_STW control word
Signal POS_STW.0
POS_STW.1
POS_STW.2 POS_STW.3 POS_STW.4 POS_STW.5
POS_STW.6 POS_STW.7 POS_STW.8 POS_STW.9 POS_STW.10 POS_STW.11 POS_STW.12 POS_STW.13 POS_STW.14 POS_STW.15
Description 1 = Tracking mode active 0 = No tracking mode active 1 = Set reference point 0 = Do not set reference point 1 = Reference cam active Reserved Reserved 1 = Jogging, incremental active 0 = Jogging, velocity active Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved Reserved
Note
If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position value.
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PROFINET communication 8.3 Control word definition
8.3.11
POS_STW1 positioning control word
Signal POS_STW1.0 POS_STW1.1 POS_STW1.2 POS_STW1.3 POS_STW1.4 POS_STW1.5 POS_STW1.6 POS_STW1.7 POS_STW1.8
POS_STW1.9 POS_STW1.10
POS_STW1.11 POS_STW1.12
Description Traversing block selection, bit 0 Traversing block selection, bit 1 Traversing block selection, bit 2 Traversing block selection, bit 3 Traversing block selection, bit 4 Traversing block selection, bit 5 Reserved Reserved 1 = Absolute positioning is selected 0 = Relative positioning is selected 0 = Absolute positioning through the shortest distance 1 = Absolute positioning/MDI direction selection, positive 2 = Absolute positioning/MDI direction selection, negative 3 = Absolute positioning through the shortest distance Reserved 1 = Continuous transfer
POS_STW1.13 POS_STW1.14
POS_STW1.15
0 = Activate MDI block change with Reserved 1 = Signal setting-up selected 0 = Signal positioning selected 1 = MDI selection
of a traversing task (STW1.6)
8.3.12
188
POS_STW2 positioning control word
Signal POS_STW2.0 POS_STW2.1 POS_STW2.2 POS_STW2.3 POS_STW2.4 POS_STW2.5
POS_STW2.6 POS_STW2.7 POS_STW2.8 POS_STW2.9
POS_STW2.10
Description 1 = Tracking mode active 1 = Set reference point 1 = Reference cam active Reserved Reserved 1 = Jogging, incremental active 0 = Jogging, velocity active Reserved Reserved Reserved 1 = Start the search for reference in the negative direction 0 = Start the search for reference in the positive direction Reserved
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PROFINET communication 8.4 Status word definition
Signal POS_STW2.11 POS_STW2.12 POS_STW2.13 POS_STW2.14 POS_STW2.15
Description Reserved Reserved Reserved 1 = Software limit switch activation 1 = STOP cam active
Note
If the tracking mode is activated, the position setpoint follows the actual position value, i.e. position setpoint = actual position value.
8.4
8.4.1
Status word definition
ZSW1 status word (for telegrams 1, 2, 3, 5)
Signal ZSW1.0 ZSW1.1 ZSW1.2 ZSW1.3 ZSW1.4 ZSW1.5 ZSW1.6 ZSW1.7 ZSW1.8 ZSW1.9 ZSW1.10 ZSW1.11 ZSW1.12 ZSW1.13 ZSW1.14
ZSW1.15
Description 1 = Ready for servo on 1 = Ready for operation 1 = Operation enabled 1 = Fault present 1 = No coast down active (OFF2 inactive) 1 = No fast stop active (OFF3 inactive) 1 = Switching on inhibited active 1 = Alarm present 1 = Speed setpoint - actual value deviation within tolerance t_off 1 = Control requested 1 = f or n comparison value reached/exceeded 0 = I, M, or P limit reached 1 = Open the holding brake 1 = No motor overtemperature alarm 1 = Motor rotates forwards (n_act 0) 0 = Motor rotates backwards (n_act < 0) 1 = No alarm, thermal overload, power unit
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PROFINET communication 8.4 Status word definition
8.4.2
ZSW2 status word (for telegram 2, 3, 5)
Signal ZSW2.0 ZSW2.1 ZSW2.2 ZSW2.3 ZSW2.4 ZSW2.5 ZSW2.6 ZSW2.7 ZSW2.8 ZSW2.9 ZSW2.10 ZSW2.11 ZSW2.12 ZSW2.13 ZSW2.14 ZSW2.15
Description Reserved Reserved Reserved Reserved Reserved 1 = Alarm class bit 0 1 = Alarm class bit 1 Reserved 1 = Traverse to fixed endstop Reserved 1 = Pulses enabled Reserved Slave sign-of-life, bit 0 Slave sign-of-life, bit 1 Slave sign-of-life, bit 2 Slave sign-of-life, bit 3
8.4.3
ZSW1 status word (for telegrams 102, 105)
Signal ZSW1.0 ZSW1.1 ZSW1.2 ZSW1.3 ZSW1.4 ZSW1.5 ZSW1.6 ZSW1.7 ZSW1.8 ZSW1.9 ZSW1.10 ZSW1.11 ZSW1.12 ZSW1.13 ZSW1.14 ZSW1.15
Description 1 = Ready for servo on 1 = Ready for operation 1 = Operation enabled 1 = Fault present 1 = No coast down active (OFF2 inactive) 1 = No fast stop active (OFF3 inactive) 1 = Switching on inhibited active 1 = Alarm present 1 = Speed setpoint - actual value deviation within tolerance t_off 1 = Control requested 1 = f or n comparison value reached/exceeded 1 = Alarm class bit 0 1 = Alarm class bit 1 Reserved 1 = Closed-loop torque control active Reserved
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8.4.4 8.4.5
ZSW2 status word (for telegram 102, 105)
Signal ZSW2.0 ZSW2.1 ZSW2.2 ZSW2.3 ZSW2.4 ZSW2.5 ZSW2.6 ZSW2.7 ZSW2.8 ZSW2.9 ZSW2.10 ZSW2.11 ZSW2.12 ZSW2.13 ZSW2.14 ZSW2.15
Description Reserved Reserved Reserved Reserved 1 = Ramp-function generator inactive 1 = Open the holding brake 1 = Integrator inhibit, speed controller Reserved 1 = Traverse to fixed endstop Reserved Reserved Reserved Slave sign-of-life, bit 0 Slave sign-of-life, bit 1 Slave sign-of-life, bit 2 Slave sign-of-life, bit 3
PROFINET communication 8.4 Status word definition
ZSW1 status word (for telegram 7, 9, 110, 111)
Signal ZSW1.0 ZSW1.1 ZSW1.2 ZSW1.3 ZSW1.4 ZSW1.5 ZSW1.6 ZSW1.7 ZSW1.8 ZSW1.9 ZSW1.10 ZSW1.11 ZSW1.12
ZSW1.13 ZSW1.14 ZSW1.15
Description 1 = Ready for switching on 1 = Ready for operation (DC link loaded, pulses blocked) 1 = Operation enabled (drive follows n_set) 1 = Fault present 1 = No coast down active (OFF2 inactive) 1 = No fast stop active (OFF3 inactive) 1 = Switching on inhibited active 1 = Alarm present 1 = Following error within tolerance 1 = Control requested 1 = Target position reached 1 = Reference point set
= Acknowledgement traversing block activated 1 = Setpoint fixed 1 = Axis accelerated 1 = Axis decelerated
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PROFINET communication 8.4 Status word definition
8.4.6
ZSW2 status word (for telegrams 9, 110, 111)
Signal ZSW2.0 ZSW2.1 ZSW2.2 ZSW2.3 ZSW2.4 ZSW2.5 ZSW2.6 ZSW2.7 ZSW2.8 ZSW2.9 ZSW2.10 ZSW2.11 ZSW2.12 ZSW2.13 ZSW2.14 ZSW2.15
Description Reserved Reserved Reserved Reserved Reserved 1 = Alarm class bit 0 1 = Alarm class bit 1 Reserved 1 = Traverse to fixed endstop Reserved 1 = Pulses enabled Reserved Slave sign-of-life, bit 0 Slave sign-of-life, bit 1 Slave sign-of-life, bit 2 Slave sign-of-life, bit 3
8.4.7
G1_ZSW encoder 1 status word
Signal G1_ZSW.0 G1_ZSW.1 G1_ZSW.2 G1_ZSW.3
Description Feedback signal of the active function (1 = function active)
G1_ZSW.4 G1_ZSW.5 G1_ZSW.6 G1_ZSW.7 G1_ZSW.8 G1_ZSW.9 G1_ZSW.10 G1_ZSW.11
1 = Position actual value from function 1 1 = Position actual value from function 2 1 = Position actual value from function 3 1 = Position actual value from function 4 Reserved Reserved Reserved 1 = Acknowledge encoder fault active
Generated value in Gn_XIST2 (and can be read)
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Signal G1_ZSW.12 G1_ZSW.13 G1_ZSW.14 G1_ZSW.15
Description Reserved (for reference point offset) Absolute value is cyclically transferred Parking encoder active Encoder fault, the fault is in Gn_XIST2
PROFINET communication 8.4 Status word definition
8.4.8
MELDW status word
Signal MELDW.0
MELDW.1 MELDW.2 -MELDW.3 MELDW.4 MELDW.5 MELDW.6 MELDW.7 MELDW.8 MELDW.9 MELDW.10 MELDW.11 MELDW.12 MELDW.13 MELDW.14 MELDW.15
Description 1 = Ramp-up/ramp-down complete 0 = Ramp-function generator active 1 = Torque utilization [%] < torque threshold value 2 1 = |n_act| < speed threshold value 3 (p2161) 1 = |n_act| speed threshold value 2 1 = Vdc_min controller active Reserved 1 = No motor overtemperature alarm 1 = No alarm, thermal overload, power unit 1 = Speed setpoint - actual value deviation within tolerance t_on Reserved Reserved 1 = Controller enable 1 = Drive ready 1 = Pulses enabled Reserved Reserved
8.4.9
POS_ZSW1 positioning status word
Signal POS_ZSW1.0 POS_ZSW1.1 POS_ZSW1.2 POS_ZSW1.3 POS_ZSW1.4 POS_ZSW1.5 POS_ZSW1.6 POS_ZSW1.7 POS_ZSW1.8
Description Active Traversing Block Bit 0 (20) Active Traversing Block Bit 0 (21) Active Traversing Block Bit 0 (22) Active Traversing Block Bit 0 (23) Active Traversing Block Bit 0 (24) Active Traversing Block Bit 0 (25) Reserved Reserved 1 = STOP cam minus active
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PROFINET communication 8.4 Status word definition
Signal POS_ZSW1.9 POS_ZSW1.10 POS_ZSW1.11 POS_ZSW1.12 POS_ZSW1.13 POS_ZSW1.14 POS_ZSW1.15
Description 1 = STOP cam plus active 1 = Jogging active 1 = Reference point approach active Reserved 1 = Traversing Block active 1 = Set-up active 1 = MDI active 0 = MDI inactive
8.4.10
POS_ZSW2 positioning status word
Signal POS_ZSW2.0 POS_ZSW2.1 POS_ZSW2.2 POS_ZSW2.3 POS_ZSW2.4 POS_ZSW2.5 POS_ZSW2.6 POS_ZSW2.7 POS_ZSW2.8 POS_ZSW2.9 POS_ZSW2.10 POS_ZSW2.11 POS_ZSW2.12 POS_ZSW2.13 POS_ZSW2.14 POS_ZSW2.15
Description 1 = Tracking mode active 1 = Velocity limiting active 1 = Setpoint available Reserved 1 = Axis moves forward 1 = Axis moves backwards 1 = Software limit switch minus reached 1 = Software limit switch plus reached 1 = Position actual value cam switching position 1 1 = Position actual value cam switching position 2 1 = Direct output 1 via traversing block 1 = Direct output 2 via traversing block 1 = Fixed stop reached 1 = Fixed stop clamping torque reached 1 = Travel to fixed stop active 1 = Traversing command active
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Safety integrated function
9
9.1
Standards and regulations
9.1.1 9.1.1.1
General information
Aims
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. To ensure this, companies describe in the various standards the current state of the art covering all aspects relevant to safety. When the relevant Standards are observed, this ensures that state-of-the-art technology has been utilized and, in turn, the erector/builder of a plant or a manufacturer of a machine or a piece of equipment has fulfilled his appropriate responsibility.
Safety systems are designed to minimize potential hazards for both people and the environment by means of suitable technical equipment, without restricting industrial production and the use of machines more than is necessary. The protection of man and environment must be assigned equal importance in all countries, which is it is important that rules and regulations that have been internationally harmonized are applied. This is also designed to avoid distortions in the competition due to different safety requirements in different countries.
There are different concepts and requirements in the various regions and countries of the world when it comes to ensuring the appropriate degree of safety. The legislation and the requirements of how and when proof is to be given and whether there is an adequate level of safety are just as different as the assignment of responsibilities. The most important thing for manufacturers of machines and companies that set up plants and systems is that the legislation and regulations in the country where the machine or plant is being operated apply. For example, the control system for a machine that is to be used in the US must fulfill local US requirements even if the machine manufacturer (OEM) is based in the European Economic Area (EEA).
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Safety integrated function 9.1 Standards and regulations
9.1.1.2
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. To ensure the functional safety of a machine or plant, the safety-related parts of the protection and control devices must function correctly. In addition, the systems must behave in such a way that either the plant remains in a safe state or it is brought into a safe state if a fault occurs. In this case, it is necessary to use specially qualified technology that fulfills the requirements described in the associated Standards. The requirements to achieve functional safety are based on the following basic goals:
Avoiding systematic faults
Controlling systematic faults
Controlling random faults or failures
Benchmarks for establishing whether or not a sufficient level of functional safety has been achieved include the probability of hazardous failures, the fault tolerance, and the quality that is to be ensured by minimizing systematic faults. This is expressed in the Standards using different terms. In IEC/EN 61508, IEC/EN 62061 "Safety Integrity Level" (SIL) and EN ISO 13849-1 "Categories" and "Performance Level" (PL).
9.1.2 9.1.2.1
Safety of machinery in Europe
The EU Directives that apply to the implementation of products are based on Article 95 of the EU contract, which regulates the free exchange of goods. These are based on a new global concept ("new approach", "global approach"):
EU Directives only specify general safety goals and define basic safety requirements.
Technical details can be defined by means of standards by Standards Associations that have the appropriate mandate from the commission of the European Parliament and Council (CEN, CENELEC). These standards are harmonized in line with a specific directive and listed in the official journal of the commission of the European Parliament and Council. Legislation does not specify that certain standards have to be observed. When the harmonized Standards are observed, it can be assumed that the safety requirements and specifications of the Directives involved have been fulfilled.
EU Directives specify that the Member States must mutually recognize domestic regulations.
The EU Directives are equal. This means that if several Directives apply for a specific piece of equipment or device, the requirements of all of the relevant Directives apply (e.g. for a machine with electrical equipment, the Machinery Directive and the Low-Voltage Directive apply).
Machinery Directive
The basic safety and health requirements specified in Annex I of the Directive must be fulfilled for the safety of machines.
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9.1.2.2
Safety integrated function 9.1 Standards and regulations
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.
Harmonized European Standards
The two Standards Organizations CEN (Comité Européen de Normalisation) and CENELEC (Comité Européen de Normalisation Électrotechnique), mandated by the EU Commission, drew-up harmonized European standards in order to precisely specify the requirements of the EC directives for a specific product. These standards (EN standards) are published in the official journal of the commission of the European Parliament and Council and must be included without revision in domestic standards. They are designed to fulfill basic health and safety requirements as well as the protective goals specified in Annex I of the Machinery Directive.
When the harmonized standards are observed, it is "automatically assumed" that the Directive is fulfilled. As such, manufacturers can assume that they have observed the safety aspects of the Directive under the assumption that these are also covered in this standard. However, not every European Standard is harmonized in this sense. Key here is the listing in the official journal of the commission of the European Parliament and Council.
The European Safety of Machines standard is hierarchically structured. It is divided into:
A standards (basic standards)
B standards (group standards)
C standards (product standards)
Type A standards/basic standards
A standards include basic terminology and definitions relating to all types of machine. This includes EN ISO 12100-1 (previously EN 292-1) "Safety of Machines, Basic Terminology, General Design Principles".
A standards are aimed primarily at the bodies responsible for setting the B and C standards. The measures specified here for minimizing risk, however, may also be useful for manufacturers if no applicable C standards have been defined.
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.
A further sub-division has been made for B standards:
Type B1 standards for higher-level safety aspects (e.g. ergonomic principles, safety clearances from sources of danger, minimum clearances to prevent parts of the body from being crushed).
Type B2 standards for protective safety devices are defined for different machine types (e.g. EMERGENCY STOP devices, two-hand operating circuits, interlocking elements, contactless protective devices, safety-related parts of controls).
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Type C standards/product standards
C standards are product-specific standards (e.g. for machine tools, woodworking machines, elevators, packaging machines, printing machines etc.). Product standards cover machinespecific requirements. The requirements can, under certain circumstances, deviate from the basic and group standards. Type C/product standards have the highest priority for machine manufacturers who can assume that it fulfills the basic requirements of Annex I of the Machinery Directive (automatic presumption of compliance). If no product standard has been defined for a particular machine, type B standards can be applied when the machine is constructed.
A complete list of the standards specified and the mandated draft standards are available on the Internet at the following address:
http://www.newapproach.org/
Recommendation: Due to the rapid pace of technical development and the associated changes in machine concepts, the standards (and C standards in particular) should be checked to ensure that they are up to date. Please note that the application of a particular standard may not be mandatory provided that all the safety requirements of the applicable EU directives are fulfilled.
9.1.2.3
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. EN ISO 13849-1 (formerly EN 954-1) and EN IEC61508 define principles for implementing safety-related machine controllers which, when properly applied, ensure that all the safety requirements of the EC Machinery Directive are fulfilled. These standards ensure that the relevant safety requirements of the Machinery Directive are fulfilled.
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The application areas of EN ISO 13849-1, EN 62061, and EN 61508 are very similar. To help users make an appropriate decision, the IEC and ISO associations have specified the application areas of both standards in a joint table in the introduction to the standards. EN ISO 13849-1 or EN 62061 should be applied depending on the technology (mechanics, hydraulics, pneumatics, electrics, electronics and programmable electronics), risk classification and architecture.
Type
Systems for executing safety-related control EN ISO 13849-1 functions
EN 62061
A
Non-electrical (e.g. hydraulic, pneumatic)
X
Not covered
B
Electromechanical (e.g. relay and/or basic
Restricted to the designated All architectures and max. up
electronics)
architectures (see comment to SIL 3
1) and max. up to PL = e
C
Complex electronics (e.g. programmable
Restricted to the designated All architectures and max. up
electronics)
architectures (see comment to SIL 3
1) and max. up to PL = d
D
A standards combined with B standards
Restricted to the designated X
architectures (see comment See comment 3 1) and max. up to PL = e
E
C standards combined with B standards
Restricted to the designated All architectures and max. up
architectures (see comment to SIL 3
1) and max. up to PL = d
F
C standards combined with A standards or C X
standards combined with A standards and B See comment 2 standards
X See comment 3
"X" indicates that the point is covered by this standard.
Comment 1: Designated architectures are described in Annex B of EN ISO 13849-1 and provide a simplified basis for the quantification.
Comment 2: For complex electronics: Using designated architectures in compliance with EN ISO 13849-1 up to PL = d or every architecture in compliance with EN 62061.
Comment 3: For non-electrical systems: Use components that comply with EN ISO 13849-1 as sub-systems.
9.1.2.4
DIN EN ISO 13849-1 (replaces EN 954-1)
A qualitative analysis according to DIN EN 13849-1 is not sufficient for modern control systems due to their technology. Among other things, DIN EN ISO 13849-1 does not take into account time behavior (e.g. test interval and/or cyclic test, lifetime). This results in the probabilistic approach in DIN EN ISO 13849-1 (probability of failure per unit time). DIN EN ISO 13849-1 is based on the known categories of EN 954-1. It now also takes into account complete safety functions and all the devices required to execute these. With DIN EN ISO 13849-1, safety functions are investigated from a quantitative perspective going beyond the qualitative basis of EN 954-1. Performance levels (PL), which are based on the categories, are used. The following safety-related characteristic quantities are required for devices/equipment:
Category (structural requirement)
PL: Performance level
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MTTFd: Mean time to dangerous failure DC: Diagnostic coverage CCF: Common cause failure The standard describes how the performance level (PL) is calculated for safety-related components of the controller on the basis of designated architectures. In the event of any deviations from this, EN ISO 13849-1 refers to EN 61508. When combining several safety-related parts to form a complete system, the standard explains how to determine the resulting PL.
Note DIN EN ISO 13849-1 and machinery directive Since May 2007, DIN EN ISO 13849-1 has been harmonized as part of the Machinery Directive.
9.1.2.5
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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 life cycle, from the conceptual phase to decommissioning. The standard is based on the quantitative and qualitative analyses of safety functions, whereby it systematically applies a top-down approach to implementing complex control systems (known as "functional decomposition"). The safety functions derived from the risk analysis are sub-divided into sub-safety functions, which are then assigned to real devices, subsystems, and sub-system elements. Both the hardware and software are covered. EN 62061 also describes the requirements placed on implementing application programs.
A safety-related control system comprises different sub-systems. From a safety perspective, the sub-systems are described in terms of the SIL claim limit and PFHD characteristic quantities. Programmable electronic devices (e.g. PLCs or variable-speed drives) must fulfill EN 61508. They can then be integrated in the controller as sub-systems. The following safety-related characteristic quantities must be specified by the manufacturers of these devices.
Safety-related characteristic quantities for subsystems:
SIL CL: SIL claim limit
PFHD: Probability of dangerous failures per hour
T1: Lifetime
Simple sub-systems (e.g. sensors and actuators) in electromechanical components can, in turn, comprise sub-system elements (devices) interconnected in different ways with the characteristic quantities required for determining the relevant PFHD value of the sub-system.
Safety-related characteristic quantities for subsystem elements (devices):
: Failure rate
B10 value: For elements that are subject to wear
T1: Lifetime
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For electromechanical devices, a manufacturer specifies a failure rate with reference to the number of operating cycles. The failure rate per unit time and the lifetime must be determined using the switching frequency for the particular application. Parameters for the sub-system, which comprises sub-system elements, that must be defined during the design phase: T2: Diagnostic test interval : 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. The user has the following options when setting up a safety-related controller: Use devices and sub-systems that already comply with EN ISO 13849-1, IEC/EN 61508,
or IEC/EN 62061. The standard provides information specifying how qualified devices can be integrated when safety functions are implemented. Develop own subsystems: Programmable, electronic systems and complex systems: Application of EN 61508 or
EN 61800-5-2. Simple devices and subsystems: Application of EN 62061. EN 62061 does not include information about non-electric systems. The standard provides detailed information on implementing safety-related electrical, electronic, and programmable electronic control systems. EN ISO 13849-1 must be applied for non-electric systems.
Note Function examples Details of simple sub-systems that have been implemented and integrated are now available as "functional examples".
Note EN 62061 and machinery directive IEC 62061 has been ratified as EN 62061 in Europe and harmonized as part of the Machinery Directive.
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9.1.2.6
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. The manufacturer of a safety-related product, however, can also use EN 61508 to fulfill basic requirements of European directives in accordance with the latest conceptual design, for example, in the following cases:
If no harmonized standard exists for the application in question. In this case, the manufacturer can use EN 61508, although no presumption of conformity exists here.
A harmonized European standard (e.g. EN 62061, EN ISO 13849, EN 60204-1) references EN 61508. This ensures that the appropriate requirements of the directives are fulfilled ("standard that is also applicable"). When manufacturers apply EN 61508 properly and responsibly in accordance with this reference, they can use the presumption of conformity of the referencing standard.
EN 61508 covers all the aspects that must be taken into account when E/E/PES systems (electrical, electronic, and programmable electronic System) are used in order to execute safety functions and/or to ensure the appropriate level of functional safety. Other hazards (e.g. electric shock) are, as in EN ISO 13849, not part of the standard.
EN 61508 has recently been declared the "International Basic Safety Publication", which makes it a framework for other, sector-specific standards (e.g. EN 62061). As a result, this standard is now accepted worldwide, particularly in North America and in the automotive industry. Today, many regulatory bodies already stipulate it (e.g. as a basis for NRTL listing).
Another recent development with respect to EN 61508 is its system approach, which extends the technical requirements to include the entire safety installation from the sensor to the actuator, the quantification of the probability of hazardous failure due to random hardware failures, and the creation of documentation covering all phases of the safety-related lifecycle of the E/E/PES.
9.1.2.7
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. To assess these risks, the following standards must be applied:
EN ISO 12100-1 "Safety of Machinery - basic terminology, general principles for design"
EN ISO 13849-1 (successor to EN 954-1) "Safety-related parts of control systems"
EN ISO 12100-1 focuses on the risks to be analyzed and the design principles for minimizing risk.
The risk assessment is a procedure that allows hazards resulting from machines to be systematically investigated. Where necessary, the risk assessment is followed by a risk reduction procedure. When the procedure is repeated, this is known as an iterative process. This can help eliminate hazards (as far as this is possible) and can act as a basis for implementing suitable protective measures.
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The risk assessment involves the following: Risk analysis
Determines the limits of the machine (EN ISO 12100-1) Identification of the hazards (EN ISO 12100-114) Estimating the level of risk (EN 1050 Paragraph 7) Risk evaluation As part of the iterative process to achieve the required level of safety, a risk assessment is carried out after the risk estimation. A decision must be made here as to whether the residual risk needs to be reduced. If the risk is to be further reduced, suitable protective measures must be selected and applied. The risk assessment must then be repeated.
Risks must be reduced by designing and implementing the machine accordingly (e.g. by means of controllers or protective measures suitable for the safety-related functions).
If the protective measures involve the use of interlocking or control functions, these must be designed according to EN ISO 13849-1. For electrical and electronic controllers, EN 62061 can be used as an alternative to EN ISO 13849-1. Electronic controllers and bus systems must also comply with IEC/EN 61508.
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9.1.2.8
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. The requirements regarding safety-related controller components are graded according to the magnitude of the risk and the level to which the risk needs to be reduced.
EN ISO 13849-1 defines a risk flow chart that instead of categories results in hierarchically graduated Performance Levels (PL).
IEC/EN 62061 uses "Safety Integrity Level" (SIL) for classification purposes. This is a quantified measure of the safety-related performance of a controller. The required SIL is also determined in accordance with the risk assessment principle according to ISO 12100 (EN 1050). Annex A of the standard describes a method for determining the required Safety Integrity Level (SIL).
Regardless of which standard is applied, steps must be taken to ensure that all the machine controller components required for executing the safety-related functions fulfill these requirements.
9.1.2.9
Residual risk
In today's technologically advanced world, the concept of safety is relative. The ability to ensure safety to the extent that risk is ruled out in all circumstances "zero-risk guarantee" is practically impossible. The residual risk is the risk that remains once all the relevant protective measures have been implemented in accordance with the latest state of the art.
Residual risks must be clearly referred to in the machine/plant documentation (user information according to EN ISO 12100-2).
9.1.3 9.1.3.1
Machine safety in the USA
A key difference between the USA and Europe in the legal requirements regarding safety at work is that, in the USA, no legislation exists regarding machinery safety that is applicable in all of the states and that defines the responsibility of the manufacturer/supplier. A general requirement exists stating that employers must ensure a safe workplace.
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). OSHA employs regional inspectors who check whether or not workplaces comply with the applicable regulations.
The OSHA regulations are described in OSHA 29 CFR 1910.xxx ("OSHA Regulations (29 CFR) PART 1910 Occupational Safety and Health"). (CFR: Code of Federal Regulations.)
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9.1.3.2 9.1.3.3
Safety integrated function 9.1 Standards and regulations
http://www.osha.gov
The application of standards is regulated in 29 CFR 1910.5 "Applicability of standards". The concept is similar to that used in Europe. Product-specific standards have priority over general standards insofar as they cover the relevant aspects. Once the standards are fulfilled, employers can assume that they have fulfilled the core requirements of the OSH Act with respect to the aspects covered by the standards.
In conjunction with certain applications, OSHA requires that all electrical equipment and devices that are used to protect workers be authorized by an OSHA-certified, "Nationally Recognized Testing Laboratory" (NRTL) for the specific application.
In addition to the OSHA regulations, the current standards defined by organizations such as NFPA and ANSI must be carefully observed and the extensive product liability legislation that exists in the US taken into account. Due to the product liability legislation, it is in the interests of manufacturing and operating companies that they carefully maintain the applicable regulations and are "forced" to fulfill the requirement to use state-of-the-art technology.
Third-party insurance companies generally demand that their customers fulfill the applicable standards of the standards organizations. Self-insured companies are not initially subject to this requirement but, in the event of an accident, they must provide verification that they have applied generally-recognized safety principles.
NRTL listing
To protect employees, all electrical equipment used in the USA must be certified for the planned application by a "Nationally Recognized Testing Laboratory" (NRTL) certified by the OSHA. NRTLs are authorized to certify equipment and material by means of listing, labeling, or similar. Domestic standards (e.g. NFPA 79) and international standards (e.g. IEC/EN 61508 for E/E/PES systems) are the basis for testing.
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.
For programmable electronics and communication buses, NFPA 79 states as a basic requirement that these must be listed if they are to be used to implement and execute safetyrelated functions. If this requirement is fulfilled, then electronic controls and communication buses can also be used for Emergency Stop functions, Stop Categories 0 and 1 (refer to NFPA 79 9.2.5.4.1.4). Like EN 60204-1, NFPA 79 no longer specifies that the electrical energy must be disconnected by electromechanical means for emergency stop functions.
The core requirements regarding programmable electronics and communication buses are: system requirements (see NFPA 79 9.4.3)
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1. Control systems that contain software-based controllers must:
In the event of a single fault
cause the system to switch to a safe shutdown mode
prevent the system from restarting until the fault has been rectified
prevent an unexpected restart
Offer the same level of protection as hard-wired controllers
Be implemented in accordance with a recognized standard that defines the requirements for such systems.
2. IEC 61508, IEC 62061, ISO 13849-1, ISO 13849 2 and IEC 61800-5-2 are specified as suitable standards in a note.
Underwriter Laboratories Inc. (UL) has defined a special category for "Programmable Safety Controllers" for implementing this requirement (code NRGF). This category covers control devices that contain software and are designed for use in safety-related functions.
A precise description of the category and a list of devices that fulfill this requirement can be found on the Internet at the following address:
http://www.ul.com certifications directory UL Category code/ Guide information search for category "NRGF"
TUV Rheinland of North America, Inc. is also an NRTL for these applications.
9.1.3.4
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). The documented findings of a risk analysis can be used to select a suitable safety system based on the safety class of the application in question.
The situation in Japan is different from that in Europe and the US. Legislation such as that prescribed in Europe does not exist. Similarly, product liability does not play such an important role as it does in the US.
Instead of legal requirements to apply standards have been defined, an administrative recommendation to apply JIS (Japanese Industrial Standard) is in place: Japan bases its approach on the European concept and uses basic standards as national standards (see table).
Japanese standards
ISO/IEC number ISO12100-1 ISO12100-2 ISO14121- 1 / EN1050 ISO13849- 1
JIS number JIS B 9700-1 JIS B 9700-2 JIS B 9702 JIS B 9705-1
Comment Earlier designation TR B 0008 Earlier designation TR B 0009
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9.1.4 9.1.5
Safety integrated function 9.1 Standards and regulations
ISO/IEC number ISO13849- 2 IEC 60204-1
IEC 61508-0 to -7 IEC 62061
JIS number JIS B 9705-1 JIS B 9960-1
JIS C 0508
Comment
Without annex F or route map of the European foreword
JIS number not yet assigned
In addition to the requirements of the guidelines and standards, company-specific requirements must be taken into account. Large corporations in particular (e.g. automobile manufacturers) make stringent demands regarding automation components, which are often listed in their own equipment specifications.
Safety-related issues (e.g. operating modes, operator actions with access to hazardous areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so that they can be integrated in the risk assessment/risk reduction process.
Machine safety in Japan
The situation in Japan is different from that in Europe and the US. Legislation such as that prescribed in Europe does not exist. Similarly, product liability does not play such an important role as it does in the US.
Instead of legal requirements to apply standards have been defined, an administrative recommendation to apply JIS (Japanese Industrial Standard) is in place: Japan bases its approach on the European concept and uses basic standards as national standards (see table).
Japanese standards
ISO/IEC number ISO12100-1 ISO12100-2 ISO14121- 1 / EN1050 ISO13849-1 ISO13849-2 IEC 60204-1
IEC 61508-0 to -7 IEC 62061
JIS number JIS B 9700-1 JIS B 9700-2 JIS B 9702 JIS B 9705-1 JIS B 9705-1 JIS B 9960-1
JIS C 0508
Comment Earlier designation TR B 0008 Earlier designation TR B 0009
Without annex F or route map of the European foreword JIS number not yet assigned
Equipment regulations
In addition to the requirements of the guidelines and standards, company-specific requirements must be taken into account. Large corporations in particular (e.g. automobile manufacturers) make stringent demands regarding automation components, which are often listed in their own equipment specifications.
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Safety integrated function 9.2 General information about SINAMICS Safety Integrated
Safety-related issues (e.g. operating modes, operator actions with access to hazardous areas, EMERGENCY STOP concepts, etc.) should be clarified with customers early on so that they can be integrated in the risk assessment/risk reduction process.
9.2
General information about SINAMICS Safety Integrated
Safety Integrated function - STO
The Safe Torque Off (STO) is a safety function that prevents the drive from restarting unexpectedly, in accordance with EN 60204-1:2006 Section 5.4.
The STO function is in conformance with the IEC 61508, SIL2 standard, in the operating mode with a high demand, Category 3 and Performance Level d (PL d) acc. to ISO 138491:2006, as well as IEC 61800-5-2.
Controlling the STO Function
The STO function can be controlled via terminals. For the details about STO wiring, refer to the chapter "24 V power supply/STO (Page 107)".
9.3
System features
9.3.1
STO functional safety data
The STO functional safety data of SINAMICS V90 PN is as follows:
Applied standards Type Safety Integrity Level (SIL) Hardware Fault Tolerance (HFT) Probability of Failure per Hour (PFH)
IEC 61508, IEC 62061, ISO 13849-1 A 2 1 5 × 10-8 per hour
9.3.2
Certification
The safety function of the SINAMICS V90 PN drive system meets the following requirements: Category 3 according to ISO 13849-1:2006 Performance Level (PL) d to ISO 13849-1:2006 Safety integrity level 2 (SIL 2) to IEC 61508
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9.3.3
Safety integrated function 9.3 System features
In addition, the safety function of SINAMICS V90 PN has been certified by independent institutes. An up-to-date list of certified components is available on request from your local Siemens office.
Safety instructions
Note Residual risks not specified in this section are included in the chapter "Fundamental safety instructions (Page 11)".
DANGER
Safety Integrated can be used to minimize the level of risk associated with machines and plants. Machines and plants can only be operated safely in conjunction with Safety Integrated, however, when the machine manufacturer is familiar with and observes every aspect of this technical user documentation, including the documented general conditions, safety information, and residual risks. Precisely knows and observes this technical user documentation - including the documented limitations, safety information and residual risks; Carefully constructs and configures the machine/plant. A careful and thorough acceptance test must then be performed by qualified personnel and the results documented. Implements and validates all the measures required in accordance with the machine/plant risk analysis by means of the programmed and configured Safety Integrated functions or by other means. The use of Safety Integrated does not replace the machine/plant risk assessment carried out by the machine manufacturer as required by the EC machinery directive. In addition to using Safety Integrated functions, further risk reduction measures must be implemented.
WARNING
The Safety Integrated functions cannot be activated until the system has been completely powered up. System startup is a critical operating state with increased risk. No personnel may be present in the immediate danger zone in this phase. The drives of vertical axes must be in torque state. A complete forced dormant error detection cycle is required after power on.
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Safety integrated function 9.3 System features
WARNING
EN 60204-1:2006 Emergency Stop function must bring the machine to a standstill in accordance with STO. The machine must not restart automatically after EMERGENCY STOP. When the safety function is deactivated, an automatic restart is permitted under certain circumstances depending on the risk analysis (except when Emergency Stop is reset). An automatic start is permitted when a protective door is closed, for example.
WARNING
After hardware and/or software components have been modified or replaced, all protective equipment must be closed prior to system startup and drive activation. Personnel shall not be present within the danger zone. Before allowing anybody to re-enter the danger zone, you should test steady control response by briefly moving the drives in forward and reverse direction (+/). To observe during power on: The Safety Integrated functions are only available and can only be selected after the system has completely powered up.
9.3.4
Probability of failure of the safety function
Probability of failure per hour (PFH)
The probability of the failure of safety functions must be specified in the form of a PFH value in accordance with IEC 61508, IEC 62061, and ISO 13849-1:2006. 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.
Corresponding PFH values are provided for the SINAMICS V90 PN drive system, depending on the hardware configuration (number of drives, control type, number of encoders used). The various integrated safety functions are not differentiated.
The PFH value of SINAMICS V90 PN drive system is 5 × 10-8 per hour.
Hardware fault tolerance (HFT)
The HFT value of SINAMICS V90 PN drive system is one. It means that the system can handle one fault without brake down. SINAMICS V90 PN STO function is a subsystem from type A, and only the discrete components are involved in the STO function.
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9.3.5 9.3.6
Safety integrated function 9.4 Safety Integrated basic function
Response time
Response time means the time from the control via terminals until the response actually occurs. The worst response time for the STO function is 5 ms. The response time of fault reaction functions is 2 s.
Residual risk
The fault analysis enables the machine manufacturer to determine the residual risk at this machine with regard to the drive unit. The following residual risks are known:
WARNING Due to the intrinsic potential of hardware faults, electrical systems are subject to additional residual risk, which can be expressed by means of the PFH value.
WARNING Simultaneous failure of two power transistors (one in the upper and the other offset in the lower inverter bridge) in the inverter may cause brief movement of the drive, depending on the number of poles of the motor. Maximum value of this movement: Synchronous rotary motors: Max. movement = 180° / no. of pole pairs
9.4
Safety Integrated basic function
9.4.1
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 and de-energize the torque-generating energy feed to the motor.
When the function is selected, the drive unit is in a "safe status". The switching on inhibited function prevents the drive unit from being restarted.
The two-channel pulse suppression function integrated in the Motor Modules/power units is a basis for this function.
Functional features of "Safe Torque Off"
This function is integrated in the drive; this means that a higher-level controller is not required.
The function is drive-specific, i.e. it is available for each drive and must be individually commissioned.
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When the "Safe Torque Off" function is selected, the following applies:
The motor cannot be started accidentally.
The pulse suppression safely disconnects the torque-generating energy feed to the motor.
The power unit and motor are not electrically isolated.
By selecting/deselecting STO, the safety messages are automatically withdrawn.
The STO function can be used wherever the drive naturally reaches a standstill due to load torque or friction in a sufficiently short time or when "coasting down" of the drive will not have any relevance for safety.
WARNING
Appropriate measures must be taken to ensure that the motor does not undesirably move once the energy feed has been disconnected, e.g. against coasting down.
CAUTION
If two power transistors simultaneously fail in the power unit (one in the upper and one in the lower bridge), then this can cause brief momentary movement. The maximum movement can be: Synchronous rotary motors: Max. movement = 180 ° / No. of pole pairs Synchronous linear motors: Max. movement = pole width
Note Closing delay of the holding brake The closing signal (low level) of the holding brake is output 30 ms after the STO is triggered.
Preconditions for using the STO function When use the STO function, the following preconditions should be fulfilled: Each monitoring channel (STO1 and STO2) triggers safe pulse suppression with its
switch off signal path. If a motor holding brake is connected and configured, the connected brake is not safe
because there is no safety function for brake, such as safe brake.
Behaviors of the STO function
Terminal
STO1
STO2
High level
High level
Low level
Low level
State
Action
Safe Safe
The servo motor can normally run when you power on the servo drive.
The servo drive starts up normally but the servo motor cannot run.
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Safety integrated function 9.4 Safety Integrated basic function
Terminal
STO1 High level
STO2 Low level
Low level
High level
State
Action
Unsafe Unsafe
Fault F1611 occurs and servo motor coasts down (OFF2).
Fault F1611 occurs and servo motor coasts down (OFF2).
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).
Note If "Safe Torque Off" is selected and de-selected through one channel within 2 seconds, the pulses are suppressed without a message being output.
Restart after the "Safe Torque Off" function has been selected
1. Deselect the function in each monitoring channel via the input terminals. 2. Issue drive enable signals. 3. Switch the drive back on.
1/0 edge at input signal "ON/OFF1" 0/1 edge at input signal "ON/OFF1" (switch on drive) 4. Operate the drives again.
Response time for the "Safe Torque Off" function
The worst response time for the STO function is 5 ms.
9.4.2
Forced dormant error detection
Forced dormant error detection or test of the switch-off signal paths for Safety Integrated basic functions
The forced dormant error detection function at the switch-off signal paths is used to detect software/hardware faults at both monitoring channels in time and is automated by means of activation/deactivation of the "Safe Torque Off" function.
To fulfill the requirements of ISO 13849-1:2006 regarding timely error detection, the two switch-off signal paths must be tested at least once within a defined time to ensure that they
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Safety integrated function 9.4 Safety Integrated basic function
are functioning properly. This functionality must be implemented by means of forced dormant error detection function, triggered either in manual mode or by the automated process. A timer ensures that forced dormant error detection is carried out as quickly as possible. 8760 hours for the forced dormant error detection. Once this time has elapsed, an alarm is output and remains present until forced dormant error detection is carried out. The timer returns to the set value each time the STO function is deactivated. When the appropriate safety devices are implemented (e.g. protective doors), it can be assumed that running machinery will not pose any risk to personnel. For this reason, only an alarm is output to inform the user that a forced dormant error detection run is due and to request that this be carried out at the next available opportunity. This alarm does not affect machine operation. Examples of when to carry out forced dormant error detection: When the drives are at a standstill after the system has been switched on (POWER ON). When the protective door is opened. At defined intervals. In automatic mode (time and event dependent)
Note The timer will be reset if the associated forced dormant error detection is executed. The corresponding alarm is not triggered. The forced dormant error detection procedure of Safety Function (STO) always has to be executed through the terminals. The mission time of the devices is 40000 hours.
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Tuning
10
10.1
Controller overview
The SINAMICS V90 PN servo drive consists of three control loops: Current control Speed control Position control The following block diagram shows the relationship between these three control loops:
In theory, frequency width of the inside control loop must be wider than that of the outer control loop; otherwise, the whole control system can vibrate or have a low response level. The relationship between the frequency widths of these three control loops is as follows:
Current loop > speed loop > position loop
Since the current loop of SINAMICS V90 PN servo drive already has a perfect frequency width, it is only necessary for you to adjust the speed loop gain and the position loop gain.
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Tuning 10.1 Controller overview
Servo gains
Position loop gain
Position loop gain directly influences the response level of the position loop. If the mechanical system does not vibrate or produce noises, you can increase the value of position loop gain so that the response level can be increased and positioning time can be shortened.
Parameter p29110
Value range 0.00 to 300.00
Default value 1.8
Unit 1000/min
Description Position loop gain
Speed loop gain
Speed loop gain directly influences the response level of the speed loop. If the mechanical system does not vibrate or produce noises, you can increase the value of speed loop gain so that the response level can be increased.
Parameter p29120
Value range 0 to 999999.00
Default value 0.3
Unit Nms/rad
Description Speed loop gain
Speed loop integral gain
With adding integral component into speed loop, the servo drive can efficiently eliminate the steady-state error of speed and give response to a small change to speed.
Generally speaking, if the mechanical system does not vibrate or produce noises, you can decrease speed loop integral gain so that the system rigidity can be increased.
If the load inertia ratio is very high or the mechanical system has a resonance factor, it must be guaranteed that the speed loop integral time constant is big enough; otherwise, the mechanical system may have a resonance.
Parameter p29121 p29022
Value range
Default value Unit
0 to 100000.00 15
ms
1 to 10000
1
-
Description Speed loop integral time
Tuning: Ratio of total inertia moment to motor inertia moment
Position loop feed forward gain
With position loop feed forward gain, the responsiveness level can be increased. If the position loop feed forward gain is too big, motor speed can have overshoots and the digital output signal INP can have a repeated on/off. You, therefore, must monitor the changes to speed waveform and the action of the digital output signal INP during adjustment. You can slowly adjust the position loop feed forward gain. The effect of feed forward function is not obvious if the position loop gain is too big.
Parameter p29111
Value range 0 to 200
Default value Unit
0
%
Description
Speed pre-control factor (feed forward)
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Tuning 10.2 Tuning mode
10.2
Tuning mode
Responsivity of a machine can be optimized by tuning. The responsivity is reflected by dynamic factor and determined by the servo gains that is set in the servo drive.
The servo gains are set by using a combination of parameters. These parameters influence each other so you must consider the balance between set values when setting these values.
Generally, the responsivity of a machine with high rigidity can be improved by increasing the servo gains; however, if the servo gains of a machine with low rigidity are increased, the machine can vibrate and the responsivity cannot be improved.
NOTICE
Effectiveness of servo gains
The tuning function only uses the first group of servo gains (position loop gain 1, speed loop gain 1 and speed loop integral time 1).
The following tuning functions are available for the SINAMICS V90 PN servo drive. Select a tuning mode by setting parameter p29021:
Parameter p29021
Setting value 0 (default) 1
3
5
Description
Auto tuning is disabled (manual tuning) without changing servo gains relevant parameters.
One-button auto tuning
Identify the ratio of load moment of inertia and automatically adjust servo gains accordingly.
Real-time auto tuning
Identify the ratio of load moment of inertia and automatically adjust servo gains in real time.
Auto tuning is disabled (manual tuning). All servo gains relevant parameters are set to tuning default values.
Auto-tuning methods
The SINAMICS V90 PN supplies two auto-tuning modes: one-button auto tuning and realtime auto tuning. The auto tuning function can optimize control parameters with ratio of machine load moment of inertia (p29022) and set suitable current filter parameters to suppress the machine resonance automatically. You can change the dynamic performance of the system by setting different dynamic factors.
One-button auto tuning
One-button auto tuning estimates the machine load moment of inertia and mechanical characteristics with internal motion commands. To achieve the desired performance, you can execute the process many times before you control the drive with the host controller. The maximum speed is limited by the rated speed.
Real-time auto tuning
Real-time auto tuning estimates the machine load moment of inertia automatically while the drive is running with the host controller command. After the motor is servo on,
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Tuning 10.3 One-button auto tuning
the real-time auto tuning function stays effective. If you do not need to estimate the load moment of inertia continuously, you can disable the function when the system performance is acceptable. You are recommended to save the tuned parameters when the tuning is completed and the drive performance is acceptable.
Tuning with SINAMICS V-ASSISTANT
You are recommended to perform tuning with the engineering tool SINAMICS V-ASSISTANT. For more information, refer to SINAMICS V-ASSISTANT Online Help.
10.3
One-button auto tuning
Note Before using the one-button auto tuning, move the servo motor to the middle of mechanical position to avoid approaching the actual machine position limit.
Pre-conditions for one-button auto tuning The ratio of machine load moment of inertia is still unknown and needs to be estimated. The motor is allowed to rotate clockwise and counter clockwise. The motor rotation position (p29027 defines that one revolution equals to 360 degree) is
allowed by the machine. For the motor with an absolute encoder: position limitation is defined by p29027 For the motor with an incremental encoder: the motor must be allowed to rotate freely
about two rounds when tuning starts
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Tuning 10.3 One-button auto tuning
One-button auto tuning procedure Proceed as follows to perform one-button auto tuning for the SINAMICS V90 PN servo drive.
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Tuning 10.3 One-button auto tuning
Parameter settings
You can set the ratio of machine load moment of inertia (p29022) with the following methods:
Enter it manually if you have known the ratio of machine load moment of inertia.
Estimate the ratio of machine load moment of inertia with one-button auto tuning (p29023.2 = 1). When you have executed the one-button tuning many times and obtained a stable value of p29022, you can stop estimating it by setting p29023.2 = 0.
Parameter
p29020[ 0...1]
Value range
1 to 35
Default value
18
Unit Description
-
The dynamic factor of auto tuning
· [0]: dynamic factor for one-button auto tuning
· [1]: dynamic factor for real-time auto tuning
p29021 0 to 5
0
-
Selection of a tuning mode
· 0: disabled
· 1: one-button auto tuning
· 3: real-time auto tuning
· 5: disabled with default control parameters
p29022 1 to
1
10000
-
Ratio of load moment of inertia
p29023 0 to 0xffff 0x0007 -
One-button auto tuning configuration
p29025 0 to 0x003f
0x0004 -
Overall tuning configuration
p29026 0 to 5000 2000
ms Test signal duration
(default)
p29027 0 to
0 (de-
°
Limit rotation position of the motor
30000
fault)
p29028 0.0 to
7.5
60.0
ms Pre-control time constant
Parameter p29028 is available when the multi-axis interpolation function is activated (p29023.7 = 1). If the axes are used as the interpolation axes, you need to set the same precontrol time constants (p29028) for them.
You can configure the dynamic factor of the servo system with the parameter p29020. Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range.
A total of 35 dynamic factors are available for the SINAMICS V90 PN servo drive:
Dynamic factor (p29020) 1 2 ... 17 18
Machine rigidity Low
Middle
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Tuning 10.3 One-button auto tuning
Dynamic factor (p29020) 19 ... 35
Machine rigidity
High
If the dynamic factor setting cannot be increased up to the desired level because of machine resonance beyond 250 Hz, the function of resonance suppression can be used to suppress machine resonance and thus increase dynamic factor. Refer to Section "Resonance suppression (Page 228)" for detailed information about the function of resonance suppression.
Note
The tuning configuration parameters must be set carefully when the auto tuning function is disabled (p29021=0).
After servo on, the motor will run with the test signal.
When the one-button auto tuning process completes successfully, the parameter p29021 will be set to 0 automatically. You can also set the parameter p29021 to 0 before servo on to interrupt the one-button tuning process. Before you save the parameters on the drive, make sure that p29021 has changed to 0.
Note Do not use the JOG function when you use the one-button tuning function.
Note
After the one-button tuning is activated, no operation will be allowed except the servo off and emergency stop.
With one-button auto tuning, the servo drive can automatically estimate the ratio of load moment of inertia and set the following relevant parameters accordingly.
Parameter p1414 p1415 p1417 p1418 p1419 p1420 p1441 p1656 p1658
Value range
0 to 3 0 to 2 0.5 to 16000 0.001 to 10 0.5 to 16000 0.001 to 10 0 to 50 0 to 15 0.5 to 16000
Default value 0 0 1999 0.7 1999 0.7 0 1 1999
p1659 p2533
0.001 to 10 0.7 0 to 1000 0
Unit Description
-
Speed setpoint filter activation
-
Speed setpoint filter 1 type
Hz
Speed setpoint filter 1 denominator natural frequency
-
Speed setpoint filter 1 denominator damping
Hz
Speed setpoint filter 1 numerator natural frequency
-
Speed setpoint filter 1 numerator damping
ms
Actual speed smoothing time
-
Activates current setpoint filter
Hz
Current setpoint filter 1 denominator natural frequen-
cy
-
Current setpoint filter 1 denominator damping
ms
LR position setpoint filter time constant
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Tuning 10.3 One-button auto tuning
Parame- Value range Default
ter
value
p2572 1 to 2000000 100
p2573 1 to 2000000 100
p29022 1 to 10000 1
p29110 0.00 to
1.8
300.00
p29120 0 to 999999 0.3
p29121 0 to 100000 15
p29111 0 to 200
0
Unit Description
1000 EPOS maximum acceleration LU/s2
1000 EPOS maximum deceleration LU/s2
-
Ratio of load moment of inertia
1000/ Position loop gain min
Nms/ra Speed loop gain d
ms
Speed loop integral time
%
Speed pre-control factor (feed forward)
After one-button tuning, four current setpoint filters can be activated at most. The following parameters related to the filters may be tuned accordingly.
Parame- Value range Default Unit
ter
value
p1663 0.5 to 16000 1000
Hz
p1664 0.001 to 10 0.3
-
p1665 0.5 to 16000 1000
Hz
p1666 0.0 to 10
0.01
-
p1668 0.5 to 16000 1000
Hz
p1669 0.001 to 10 0.3
-
p1670 0.5 to 16000 1000
Hz
p1671 0.0 to 10
0.01
-
p1673 0.5 to 16000 1000
Hz
p1674 0.001 to 10 0.3
-
p1675 0.5 to 16000 1000
Hz-
p1676 0.0 to 10
0.01
-
Description
Natural frequency of current notch filter 2 denominator. Damp of current notch filter 2 denominator. Natural frequency of current notch filter 2 numerator. Damp of current notch filter 2 numerator. Natural frequency of current notch filter 3 denominator. Damp of current notch filter 3 denominator. Natural frequency of current notch filter 3 numerator. Damp of current notch filter 3 numerator. Natural frequency of current notch filter 4 denominator. Damp of current notch filter 4 denominator. Natural frequency of current notch filter 4 numerator. Damp of current notch filter 4 numerator.
Note
After one-button auto tuning is activated, do not change other auto tuning related control/filter parameters since these parameters can be set automatically and your changes will not be accepted.
Note
One-button auto tuning may cause some changes of the control parameters. When the system rigidity is low, this may lead to a situation that when you set EMGS = 0, the motor needs take long time to emergency stop.
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10.4
Tuning 10.4 Real-time auto tuning
Real-time auto tuning
With real-time auto tuning, the servo drive can automatically estimate the ratio of load moment of inertia and set the optimum control parameters.
Pre-conditions for the real-time auto tuning The drive must be controlled by the host controller. The machine actual load moment of inertia is different when the machine moves to the
different positions. Make sure that the motor has multiple accelerations and decelerations. Step command is
recommended. Machine resonance frequency changes when the machine is running.
Real-time auto tuning procedure Proceed as follows to perform real-time auto tuning for the SINAMICS V90 PN servo drive.
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Tuning 10.4 Real-time auto tuning
Parameter settings
You can set the ratio of machine load moment of inertia (p29022) with the following methods:
Enter it manually if you have known the ratio of machine load moment of inertia
Use the ratio of machine load moment of inertia estimated by the one-button auto tuning function directly
Estimate the ratio of machine load moment of inertia with real-time auto tuning (p29024.2 = 1). When you have obtained a stable value of p29022, you can stop estimating it by setting p29024.2 = 0.
Parame- Value range Default Unit
ter
value
p29020[ 1 to 35
18
-
0...1]
Description
The dynamic factor of auto tuning. · [0]: dynamic factor for one-button auto tuning · [1]: dynamic factor for real-time auto tuning
p29021 0 to 5
0
-
Selection of a tuning mode.
· 0: disabled
· 1: one-button auto tuning
· 3: real-time auto tuning
· 5: disable with default controller parameters
p29022 1 to 10000 1
-
p29024 0 to 0xffff 0x004c -
p29025 0 to 0x003f 0x0004 -
p29028 0.0 to 60.0 7.5
ms
Ratio of load moment of inertia Real-time auto tuning configuration Overall tuning configuration Pre-control time constant
Parameter p29028 is available when the multi-axis interpolation function is activated (p29024.7 = 1). If the axes are used as the interpolation axes, you need to set the same precontrol time constants (p29028) for them.
You can configure the dynamic factor of the servo system with the parameter p29020. Higher dynamic factor means higher tracking ability and shorter settling time but also higher possibility of resonance. You should find a desired dynamic factor within a resonance-free range.
35 dynamic factors are available for the SINAMICS V90 PN servo drive:
Dynamic factor (p29020) 1 2 ... 17 18 19 ... 35
Machine rigidity Low
Middle
High
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Tuning 10.4 Real-time auto tuning
If the dynamic factor setting cannot be increased up to the desired level because of machine resonance beyond 250 Hz, the function of resonance suppression can be used to suppress machine resonance and thus increase dynamic factor. Refer to Section "Resonance suppression (Page 228)" for detailed information about the function of resonance suppression.
Note
The tuning configuration parameters must be set carefully when the auto tuning function is disabled (p29021=0).
During tuning, you can modify the dynamic factor with p29020[1] to obtain the different dynamic performance after p29022 has been tuned and accepted by the drive.
After servo on, the real-time auto tuning function will always effective for the servo drive. If you want to end or interrupt the real-time auto tuning process, set the drive to the servo off state then set p29021 to 0.
The following relevant parameters can be continuous set in real time when you are using the real-time auto tuning:
Parameter
p1417
Value range 0.5 to 16000
Default value
1999
p1419 p29022 p29110
p29120
0.5 to 16000 1 to 10000 0.00 to 300.00 0 to 999999
1999 1 1.8
0.3
p29121 0 to 100000 15
p29111 0 to 200
0
Unit
Description
Hz
Hz 1000/mi n Nms/ra d ms %
Speed setpoint filter 1 denominator natural frequency Speed setpoint filter 1 numerator natural frequency Ratio of load moment of inertia Position loop gain
Speed loop gain
Speed loop integral time Speed pre-control factor (feed forward)
Note
When using the real-time auto tuning function, if the default values are inappropriate, the host controller cannot run the motor. To run the motor with the host controller, you need to let the drive tune the parameters automatically through trial run with the real-time auto tuning function. After the tuning is completed, the host controller can run the motor.
Note
After the real-time auto tuning is activated, do not change other auto tuning related control/filter parameters since these parameters can be set automatically and your changes will not be accepted.
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Tuning 10.4 Real-time auto tuning
Note The real-time auto tuning may not be performed properly if the following conditions are not satisfied: · Accelerate the motor for 100 ms or more with the acceleration torque. · The acceleration/deceleration torque is 15% or more of the rated torque. Under operating conditions that impose sudden disturbance torque during acceleration/deceleration or on a machine that its rigidity is poor, auto tuning may not function properly, either. In such cases, use the one-button auto tuning or manual tuning to optimize the drive.
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Tuning 10.5 Manual tuning
10.5
Manual tuning
When the auto tuning cannot reach expected tuning results, you can disable the auto tuning function by setting the parameter p29021 and manually perform tuning:
p29021 = 5: auto tuning function is disabled and all control parameters are reset to tuning default values.
p29021 = 0: auto tuning function is disabled without changing control parameters.
Procedure for manual tuning
Follow the procedure below to perform manual tuning:
Note Resonance suppression
For detailed information about the resonance suppression, refer to Section "Resonance suppression (Page 228)".
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Tuning 10.6 Resonance suppression
Parameter settings
You need to set the following servo gains related parameters manually when using the manual tuning function:
Parameter p2533
p2572
Value range Default value
0 to 1000 0
1 to 2000000 100
Unit Description
ms LR position setpoint filter time constant 1000 EPOS maximum acceleration LU/s
2
p2573 1 to 2000000 100
1000 EPOS maximum deceleration LU/s
2
p29110 0.00 to
1.8
300.00
p29120 0 to 999999 0.3
p29121 0 to 100000 15
p29111 0 to 200
0
1000 Position loop gain /min
Nms Speed loop gain /rad
ms Speed loop integral time
% Speed pre-control factor (feed forward)
10.6
Resonance suppression
The resonance suppression function is filter (notch filter) function. It detects mechanical resonance at a frequency between 250 Hz and 1500 Hz, and decreases the gain of specific frequency (by automatically setting notch filter) to suppress the mechanical resonance.
Now four current setpoint filters are available for the V90 PN servo drive. Filter 1 is lowpass filter. Filter 2, filter 3 and filter 4 are band damp filters.
The gain decreasing frequency, width as well as depth can be set by setting the notch filter:
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Tuning 10.6 Resonance suppression
Using the resonance suppression function
Note The resonance suppression function is used together with the auto tuning function. In realtime auto tuning and one-button auto tuning mode, the function is activated by default. When you use real-time auto tuning function, you are recommended to disable the resonance suppression function to get a high dynamic performance if there is no resonance in the machine. The function can be activated/deactivated with the following parameters: · For one-button auto tuning: bit 1 of p29023 · For real-time auto tuning: bit 6 of p29024
Resonance suppression with one-button auto tuning (p29021=1, p29023.1=1)
Before you use the resonance suppression function with one-button auto tuning, make sure the load is mounted as required and the servo motor can rotate freely. When the one-button auto tuning process completes successfully, the servo drive automatically sets the following notch filter relevant parameters with real machine characteristic. Four current setpoint filters can be activated at most.
Parameter Value range
p1663 p1664 p1665 p1666 p1668 p1669 p1670 p1671 p1673 p1674 p1675 p1676
0.5 to 16000 0.001 to 10 0.5 to 16000 0.0 to 10 0.5 to 16000 0.001 to 10 0.5 to 16000 0.0 to 10 0.5 to 16000 0.001 to 10 0.5 to 16000 0.0 to 10
Default Unit value
1000
Hz
0.3
-
1000
Hz
0.01
-
1000
Hz
0.3
-
1000
Hz
0.01
-
1000
Hz
0.3
-
1000
Hz-
0.01
-
Description
Natural frequency of current notch filter 2 denominator. Damp of current notch filter 2 denominator. Natural frequency of current notch filter 2 numerator. Damp of current notch filter 2 numerator. Natural frequency of current notch filter 3 denominator. Damp of current notch filter 3 denominator. Natural frequency of current notch filter 3 numerator. Damp of current notch filter 3 numerator. Natural frequency of current notch filter 4 denominator. Damp of current notch filter 4 denominator. Natural frequency of current notch filter 4 numerator. Damp of current notch filter 4 numerator.
Note Notch filter remains active when the resonance suppression function is activated automatically.
After one-button tuning is completed, four filters can be activated at most. You can deactivate the notch filters by setting the parameter p1656.
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Tuning 10.6 Resonance suppression
Resonance suppression with real-time auto tuning (p29021=3, p29024.6=1)
When you choose to use the resonance suppression function with real-time auto tuning, the servo drive performs real-time detection of the resonance frequency and configures the following notch filter relevant parameters accordingly:
Parameter Value range
p1663 p1664 p1665 p1666
0.5 to 16000 0.001 to 10 0.5 to 16000 0.0 to 10
Default Unit value
1000
Hz
0.3
-
1000
Hz
0.01
-
Description
Natural frequency of current notch filter 2 denominator. Damp of current notch filter 2 denominator. Natural frequency of current notch filter 2 numerator. Damp of current notch filter 2 numerator.
Resonance suppression with manual tuning (p29021=0)
When both the resonance suppression with real-time auto tuning and one-button tuning mode cannot reach the suppression effect, you can do the resonance suppression by manually setting the following parameters:
Parameter Value range
p1663 p1664 p1665 p1666 p1668 p1669 p1670 p1671 p1673 p1674 p1675 p1676
0.5 to 16000 0.001 to 10 0.5 to 16000 0.0 to 10 0.5 to 16000 0.001 to 10 0.5 to 16000 0.0 to 10 0.5 to 16000 0.001 to 10 0.5 to 16000 0.0 to 10
Default Unit value
1000
Hz
0.3
-
1000
Hz
0.01
-
1000
Hz
0.3
-
1000
Hz
0.01
-
1000
Hz
0.3
-
1000
Hz
0.01
-
Description
Natural frequency of current notch filter 2 denominator. Damp of current notch filter 2 denominator. Natural frequency of current notch filter 2 numerator. Damp of current notch filter 2 numerator. Natural frequency of current notch filter 3 denominator. Damp of current notch filter 3 denominator. Natural frequency of current notch filter 3 numerator. Damp of current notch filter 3 numerator. Natural frequency of current notch filter 4 denominator. Damp of current notch filter 4 denominator. Natural frequency of current notch filter 4 numerator. Damp of current notch filter 4 numerator.
Assume the notch frequency is fsp, notch width is fBB, and notch depth is K, then the filter parameters can be calculated as follows:
p1663=p1665=fsp p1664=fBB / (2 × fsp)
p1666=(fBB × 10(k/20) )/ (2 × fsp)
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Tuning 10.7 Low frequency vibration suppression
10.7
Low frequency vibration suppression
The low frequency vibration suppression function is a position setpoint filter function. It can suppress the vibration from 0.5 Hz to 62.5 Hz. The function is available in EPOS control mode.
Related parameters
When you use the vibration suppression function, you need to configure the following parameters accordingly:
Parameter
p29035
Value range
0 to 1
Default value
0
p31581 0 to 1
0
p31585 0.5 to 62.5 1 p31586 0 to 0.99 0.03
Unit
Description
-
Vibration suppression activation.
· 0: disble · 1: enable
-
Vibration suppression filter type.
· 0: filter type rugged
· 1: filter type sensitive
Hz
Vibration suppression filter frequency.
-
Vibration suppression filter damp.
Operating steps
Step
Description Set the drive to "servo off" state. Select the filter type by p31581.
Set the suppression frequency by p31585.
Set the damp of the filter by p31586. Set the control mode for the drive by p29003. Enable the vibration suppression function by p29035. Set the drive to "servo on" state.
Comment
Vibration suppression filter type. · 0: filter type rugged · 1: filter type sensitive You can set the suppression frequency from 0.5 Hz to 62.5 Hz. You can set the damp from 0 to 0.99.
Set p29035 = 1 to activate the function.
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Parameters
11
11.1
Overview
The section below lists all the parameters of the SINAMICS V90 PN servo drive.
Parameter number
Numbers prefixed with an "r" indicate that parameter is a read-only parameter. Numbers prefixed with a "p" indicate that the parameter is an editable parameter.
Effective
Indicates the conditions for making parameterization effective. Two conditions are possible: IM (Immediately): Parameter value becomes effective immediately after changing. RE (Reset): Parameter value becomes effective after repower-on.
Can be changed
This indicates when the parameter can be changed. Two states are possible:
U (Run): Can be changed in the "Running" state when the drive is in "servo on" state. The "RDY" LED lights up green.
T (Ready to run): Can be changed in the "Ready" state when the drive is in "servo off" state. The "RDY" LED lights up red.
Note
When judging the state of the drive according to the "RDY" LED, ensure that no faults or alarms exist.
Data type
Date type Integer16 Integer32 Unsigned8 Unsigned16 Unsigned32 FloatingPoint32
Abbreviation I16 I32 U8 U16 U32 Float
Description 16-bit integer 32-bit integer 8-bit unsigned integer 16-bit unsigned integer 32-bit unsigned integer 32-bit floating point number
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Parameters 11.1 Overview
Parameter groups
The SINAMICS V90 PN parameters are divided into the following groups:
Parameter group Basic parameters
Available parameters p07xx, p10xx to p16xx, p21xx
Parameter group display on the BOP
Application parameters
p29xxx
Communication parameters
p09xx, p89xx
Basic positioner parameters
p25xx, p26xx
Status monitoring parameters
All read-only parameters
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Parameters 11.2 Parameter list
11.2
Parameter list
Editable parameters
The values of the parameters marked with an asterisk (*) may be changed after commissioning. Make sure you back up the parameters first as required if you desire to replace the motor. The default values of the parameters marked with two asterisks (**) are motor dependent. They may have different default values when the drive connects to different motors.
Par. No. p0748 p0922
p0925
Name
Min
Max
CU invert digital outputs -
-
Description: Inverts the signals at the digital outputs.
Factory Unit Data
Setting
type
0
-
U32
Effective IM
Can be changed
T, U
· Bit 0: inverts signal DO 1 Bit 0 = 0: not inverted Bit 0 = 1: inverted
· Bit 1: inverts signal DO 2 Bit 1 = 0: not inverted Bit 1 = 1: inverted
PROFIdrive: PZD tele- 1 gram selection
111
105
- U16
IM
T
Description: Sets the send and receive telegram.
For speed control mode:
· 1: Standard telegram 1, PZD-2/2
· 2: Standard telegram 2, PZD-4/4 · 3: Standard telegram 3, PZD-5/9
· 5: Standard telegram 5, PZD-9/9
· 102: SIEMENS telegram 102, PZD-6/10 · 105: SIEMENS telegram 105, PZD-10/10 For basic positioner control mode:
· 7: Standard telegram 7, PZD-2/2
· 9: Standard telegram 9, PZD-10/5
· 110: SIEMENS telegram 110, PZD-12/7
· 111: SIEMENS telegram 111, PZD-12/12
PROFIdrive: Synchro- 0 nous sign-of-life tolerance
65535
1
- U16
IM
T, U
Description: Sets the number of tolerated consecutive sign-of-life errors of the clock-cycle synchronous master. The sign-of-life signal is normally received in PZD4 (control word 2) from the master.
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Parameters 11.2 Parameter list
Par. No. p0972
p0977 p1058 p1082 * p1083 *
Name
Min
Max
Factory Unit Data
Effective
Setting
type
Drive unit reset
0
2
0
- U16
IM
Description: Sets the required procedure to execute a hardware reset for the drive unit.
Can be changed
T, U
· 0: Inactive
· 1: Hardware reset immediate · 2: Hardware reset preparation
Danger: It must be absolutely ensured that the system is in a safe condition.
The memory card/device memory of the Control Unit must not be accessed.
Note: If value = 1:
Reset is immediately executed and communications interrupted.
If value = 2:
Help to check the reset operation.
Firstly, set p0972 = 2 and then read back. Secondly, set p0972 = 1 (it is possible that this request is possibly no longer acknowledged). The communication is then interrupted.
After the drive unit has been restarted and communications have been established, read p0972 and check the following:
p0972 = 0? The reset was successfully executed.
p0972 > 0? The reset was not executed.
Save all parameters
0
1
0
- U16
IM
T, U
Description: Saves all parameters of the drive system to the non-volatile memory.
When saving, only the adjustable parameters intended to be saved are taken into account.
· Value = 0: Inactive
· Value = 1: Save in non-volatile memory - downloaded at POWER ON
Notice: The Control Unit power supply may only be powered down after data has been saved (i.e. after data save has been started, wait until the parameter again has the value 0).
Writing to parameters is inhibited while saving.
JOG 1 speed setpoint
0.00
210000.000 100.00 rpm Float
IM
T
Description: Sets the speed/velocity for JOG 1. Jogging is level-triggered and allows the motor to be incrementally moved.
Note: The parameter values displayed on the BOP are integers.
Maximum speed
0.000
210000.000 1500.00 rpm Float
IM
T
0
Description: Sets the highest possible speed.
Notice: After the value has been modified, no further parameter modifications can be made.
Note: The parameter values displayed on the BOP are integers.
The parameter applies for both motor directions.
The parameter has a limiting effect and is the reference quantity for all ramp-up and ramp-down times (e.g. down ramps, ramp-function generator and motor potentiometer).
The range of the parameter is different when connect with different motors.
Speed limit in positive
0.000
210000.000 210000. rpm Float
IM
T, U
direction of rotation
000
Description: Sets the maximum speed for the positive direction.
Note: The parameter values displayed on the BOP are integers.
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Parameters 11.2 Parameter list
Par. No. p1086 * p1115 p1120 p1121
p1130 p1131 p1135 p1215 *
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Speed limit in negative -210000.000 0.000
-
rpm Float
IM
T, U
direction of rotation
210000.
000
Description: Sets the speed limit for the negative direction.
Note: The parameter values displayed on the BOP are integers.
Ramp-function generator 0 selection
1
0
- I16
IM
T
Description: Sets the ramp-function generator type.
Note: Another ramp-function generator type can only be selected when the motor is at a standstill.
Ramp-function generator 0.000
999999.000 1
s Float
IM
T, U
ramp-up time
Description: The ramp-function generator ramps-up the speed setpoint from standstill (setpoint = 0) up to the maximum speed (p1082) in this time.
Dependency: Refer to p1082
Ramp-function generator 0.000
999999.000 1
s Float
IM
T, U
ramp-down time
Description: Sets the ramp-down time for the ramp-function generator.
The ramp-function generator ramps-down the speed setpoint from the maximum speed (p1082) down to standstill (setpoint = 0) in this time.
Further, the ramp-down time is always effective for OFF1.
Dependency: Refer to p1082
Ramp-function generator 0.000
30.000
0.000 s Float
IM
T, U
initial rounding-off time
Description: Sets the initial rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
Ramp-function generator 0.000
30.000
0.000 s Float
IM
T, U
final rounding-off time
Description: Sets the final rounding-off time for the extended ramp generator. The value applies to ramp-up and ramp-down.
Note: Rounding-off times avoid an abrupt response and prevent damage to the mechanical system.
OFF3 ramp-down time 0
600
0
s Float
IM
T, U
Description: Sets the ramp-down time from the maximum speed down to zero speed for the OFF3 command.
Note: This time can be exceeded if the DC link voltage reaches its maximum value.
Motor holding brake con- 0 figuration
2
0
- I16
IM
T
Description: Sets the holding brake configuration.
Dependency: Refer to p1216, p1217, p1226, p1227, p1228
Caution: For the setting p1215 = 0, if a brake is used, it remains closed. If the motor moves, this will destroy the brake.
Notice: If p1215 was set to 1, then when the pulses are suppressed, the brake is closed even if the motor is still rotating.
Note: The parameter can only be set to zero when the pulses are inhibited.
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Parameters 11.2 Parameter list
Par. No. p1216 * p1217 * p1226
p1227
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Motor holding brake
0
opening time
10000
100
ms Float
IM
T, U
Description: Sets the time to open the motor holding brake.
After controlling the holding brake (opens), the speed/velocity setpoint remains at zero for this time. After this, the speed/velocity setpoint is enabled.
Dependency: Refer to p1215, p1217
Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor.
For p1216 = 0 ms, the monitoring and the message A7931 "Brake does not open" are deactivated.
Motor holding brake clos- 0 ing time
10000
100
ms Float
IM
T, U
Description: Sets the time to apply the motor holding brake.
After OFF1 or OFF3 and the holding brake is controlled (the brake closes), then the drive remains closed-loop controlled for this time stationary with a speed setpoint/velocity setpoint of zero. The pulses are suppressed when the time expires.
Dependency: Refer to p1215, p1216
Note: For a motor with integrated brake, this time is pre-assigned the value saved in the motor.
For p1217 = 0 ms, the monitoring and the message A07932 "Brake does not close" are deactivated.
Threshold for zero speed 0.00 detection
210000.00 20.00 rpm Float
IM
T, U
Description: Sets the speed threshold for the standstill identification.
Acts on the actual value and setpoint monitoring. When braking with OFF1 or OFF3, when the threshold is undershot, standstill is identified.
The following applies when the brake control is activated:
When the threshold is undershot, the brake control is started and the system waits for the brake closing time in p1217. The pulses are then suppressed.
If the brake control is not activated, the following applies:
When the threshold is undershot, the pulses are suppressed and the drive coasts down.
Dependency: Refer to p1215, p1216, p1217, p1227
Notice: For reasons relating to the compatibility to earlier firmware versions, a parameter value of zero in indices 1 to 31 is overwritten with the parameter value in index 0 when the drive boots.
Note: Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.
The actual value sensing is subject to measuring noise. For this reason, standstill cannot be detected if the speed threshold is too low.
Zero speed detection
0.000
300.000 300.000 s Float
IM
T, U
monitoring time
Description: Sets the monitoring time for the standstill identification.
When braking with OFF1 or OFF3, standstill is identified after this time has expired, after the setpoint speed has fallen below p1226.
After this, the brake control is started, the system waits for the closing time in p1217 and then the pulses are suppressed.
Dependency: Refer to p1215, p1216, p1217, p1226
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Parameters 11.2 Parameter list
Par. No. p1228 p1414 p1415
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Notice: The setpoint is not equal to zero dependent on the selected value. This can therefore cause the monitoring time in p1227 to be exceeded. In this case, for a driven motor, the pulses are not suppressed..
Note: Standstill is identified in the following cases:
- The speed actual value falls below the speed threshold in p1226 and the time started after this in p1228 has expired.
- The speed setpoint falls below the speed threshold in p1226 and the time started after this in p1227 has expired.
For p1227 = 300.000 s, the following applies:
Monitoring is de-activated.
For p1227 = 0.000 s, the following applies:
With OFF1 or OFF3 and a ramp-down time = 0, the pulses are immediately suppressed and the motor "coasts" down.
Pulse suppression delay 0.000
299.000
0.000 s Float
IM
T, U
time
Description: Sets the delay time for pulse suppression. After OFF1 or OFF3, the pulses are canceled, if at least one of the following conditions is fulfilled:
- The speed actual value falls below the threshold in p1226 and the time started after this in p1228 has expired.
- The speed setpoint falls below the threshold in p1226 and the time started after this in p1227 has expired.
Dependency: Refer to p1226, p1227
Notice: When the motor holding brake is activated, pulse cancellation is additionally delayed by the brake closing time (p1217).
Speed setpoint filter acti- vation
-
0000 -
U16
IM
T, U
bin
Description: Setting for activating/de-activating the speed setpoint filter.
· Bit 0: Activate filter 1 Bit 0 = 0: Deactivated Bit 0 = 1: Activated
· Bit 1: Activate filter 2 Bit 1 = 0: Deactivated Bit 1 = 1: Activated
Dependency: The individual speed setpoint filters are parameterized as of p1415.
Note: The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
Speed setpoint filter 1
0
type
2
0
- I16
IM
T, U
Description: Sets the type for speed setpoint filter 1.
Dependency:
PT1 low pass: p1416
PT2 low pass: p1417, p1418
General filter: p1417 ... p1420
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Parameters 11.2 Parameter list
Par. No. p1416 p1417
p1418 p1419 p1420 p1421 p1422
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Speed setpoint filter 1
0.00
time constant
5000.00 0.00 ms Float
IM
T, U
Description: Sets the time constant for the speed setpoint filter 1 (PT1).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the filter is set as a PT1 low pass.
Speed setpoint filter 1
0.5
denominator natural fre-
quency
16000.0 1999.0 Hz Float
IM
T, U
Description: Sets the denominator natural frequency for speed setpoint filter 1(PT2, general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
Speed setpoint filter 1
0.001
10.000
0.700 - Float
IM
T, U
denominator damping
Description: Sets the denominator damping for speed setpoint filter 1 (PT2, general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
Speed setpoint filter 1
0.5
numerator natural fre-
quency
16000.0 1999.0 Hz Float
IM
T, U
Description: Sets the numerator natural frequency for speed setpoint filter 1 (general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is set as a general filter. The filter is only effective if the natural frequency is less than half of the sampling frequency.
Speed setpoint filter 1
0.001
10.000
0.700 - Float
IM
T, U
numerator damping
Description: Sets the numerator damping for speed setpoint filter 1 (general filter).
Dependency: Refer to p1414, p1415
Note: This parameter is only effective if the speed filter is set as a general filter.
Speed setpoint filter 2
0
type
2
0
- I16
IM
T, U
Description: Sets the type for speed setpoint filter 2.
Dependency:
PT1 low pass: p1422 PT2 low pass: p1423, p1424 General filter: p1423 ... p1426
Speed setpoint filter 2
0.00
time constant
5000.00 0.00 ms Float
IM
T, U
Description: Sets the time constant for the speed setpoint filter 2 (PT1).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is set as a PT1 low pass.
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Parameters 11.2 Parameter list
Par. No. p1423
p1424 p1425
p1426 p1441 p1520 * p1521 *
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Speed setpoint filter 2
0.5
denominator natural fre-
quency
16000.0
1999.0 Hz Float
IM
T, U
Description: Sets the denominator natural frequency for speed setpoint filter 2 (PT2, general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
Speed setpoint filter 2
0.001
10.000
0.700 -
Float
IM
T, U
denominator damping
Description: Sets the denominator damping for speed setpoint filter 2 (PT2, general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is parameterized as a PT2 low pass or as general filter.
Speed setpoint filter 2
0.5
numerator natural fre-
quency
16000.0
1999.0 Hz Float
IM
T, U
Description: Sets the numerator natural frequency for speed setpoint filter 2 (general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is set as a general filter.
The filter is only effective if the natural frequency is less than half of the sampling frequency.
Speed setpoint filter 2
0.000
10.000
0.700 -
Float
IM
T, U
numerator damping
Description: Sets the numerator damping for speed setpoint filter 2 (general filter).
Dependency: Refer to p1414, p1421
Note: This parameter is only effective if the speed filter is set as a general filter.
Actual speed smoothing 0.00 time
50.00
0.00 ms Float
IM
T, U
Description: Sets the smoothing time constant (PT1) for the speed actual value.
Note: The speed actual value should be smoothed for increment encoders with a low pulse number.
After this parameter has been changed, we recommend that the speed controller is adapted and/or the speed controller settings checked Kp (p29120) and Tn (p29121).
Torque limit upper
-1000000.00 20000000.0 0.00 Nm Float
IM
T, U
0
Description: Sets the fixed upper torque limit.
Danger: Negative values when setting the upper torque limit (p1520 < 0) can result in the motor accelerating in an uncontrollable fashion.
Notice: The maximum value depends on the maximum torque of the connected motor.
Torque limit lower
-20000000.00 1000000.00 0.00 Nm Float
IM
T, U
Description: Sets the fixed lower torque limit.
Danger: Positive values when setting the lower torque limit (p1521 > 0) can result in the motor accelerating in an uncontrollable fashion.
Notice: The maximum value depends on the maximum torque of the connected motor.
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Parameters 11.2 Parameter list
Par. No. p1656 *
p1658 * p1659 * p1663 p1664 p1665
Name
Min
Max
Factory Unit
Setting
Activates current setpoint filter
-
0001 -
bin
Description: Setting for activating/de-activating the current setpoint filter.
Data type
U16
Effective IM
Can be changed
T, U
· Bit 0: Activate filter 1 Bit 0 = 0: Deactivated Bit 0 = 1: Activated
· Bit 1: Activate filter 2 Bit 1 = 0: Deactivated Bit 1 = 1: Activated
· Bit 2: Activate filter 3 Bit 2 = 0: Deactivated Bit 2 = 1: Activated
· Bit 3: Activate filter 4 Bit 3 = 0: Deactivated Bit 3 = 1: Activated
Dependency: The individual current setpoint filters are parameterized as of p1658.
Note: If not all of the filters are required, then the filters should be used consecutively starting from filter 1. The drive unit displays the value in hex format. To know the logic (high/low) assignment to each bit, you must convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
Current setpoint filter 1 0.5 denominator natural frequency
16000.0 1999.0 Hz Float
IM
T, U
Description: Sets the denominator natural frequency for current setpoint filter 1 (PT2, general filter).
Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.
Current setpoint filter 1 0.001
10.000
0.700 - Float
IM
T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 1.
Dependency: The current setpoint filter 1 is activated via p1656.0 and parameterized via p1658 ... p1659.
Current setpoint filter 2 0.5 denominator natural frequency
16000.0 1000.0 Hz Float
IM
T, U
Description: Sets the denominator natural frequency for current setpoint filter 2 (PT2, general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
Current setpoint filter 2 0.001
10.000
0.300 - Float
IM
T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
Current setpoint filter 2 0.5 numerator natural frequency
16000.0 1000.0 Hz Float
IM
T, U
Description: Sets the numerator natural frequency for current setpoint filter 2 (general filter).
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1662 ... p1666.
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Parameters 11.2 Parameter list
Par. No. p1666 p1668 p1669 p1670 p1671 p1673 p1674 p1675 p1676
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Current setpoint filter 2 0.000
10.000
0.010 -
Float
IM
T, U
numerator damping
Description: Sets the numerator damping for current setpoint filter 2.
Dependency: Current setpoint filter 2 is activated via p1656.1 and parameterized via p1663 ... p1666.
Current setpoint filter 3 0.5 denominator natural frequency
16000.0
1000.0 Hz Float
IM
T, U
Description: Sets the denominator natural frequency for current setpoint filter 3 (PT2, general filter).
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
Current setpoint filter 3 0.001
10.000
0.300 -
Float
IM
T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 3.
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
Current setpoint filter 3 0.5 numerator natural frequency
16000.0
1000.0 Hz Float
IM
T, U
Description: Sets the numerator natural frequency for current setpoint filter 3 (general filter).
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
Current setpoint filter 3 0.000
10.000
0.010 -
Float
IM
T, U
numerator damping
Description: Sets the numerator damping for current setpoint filter 3.
Dependency: Current setpoint filter 3 is activated via p1656.2 and parameterized via p1668 ... p1671.
Current setpoint filter 4 0.5 denominator natural frequency
16000.0
1000.0 Hz Float
IM
T, U
Description: Sets the denominator natural frequency for current setpoint filter 4 (PT2, general filter).
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
Current setpoint filter 4 0.001
10.000
0.300 -
Float
IM
T, U
denominator damping
Description: Sets the denominator damping for current setpoint filter 4.
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
Current setpoint filter 4 0.5 numerator natural frequency
16000.0
1000.0 Hz Float
IM
T, U
Description: Sets the numerator natural frequency for current setpoint filter 4 (general filter).
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
Current setpoint filter 4 0.000
10.000
0.010 -
Float
IM
T, U
numerator damping
Description: Sets the numerator damping for current setpoint filter 4.
Dependency: Current setpoint filter 4 is activated via p1656.3 and parameterized via p1673 ... p1675.
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Parameters 11.2 Parameter list
Par. No. p2000 p2002
p2003 p2153 p2161 * p2162 *
p2175 *
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Reference speed
6.00
210000.00 3000.00 rpm Float
IM
T
Description: Sets the reference quantity for speed and frequency.
All speeds or frequencies specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).
Dependency: Refer to: p2003
Reference current
0.10
100000.00 100.00 Arm Float
IM
T
s
Description: Sets the reference quantity for currents.
All currents specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 4000 0000 hex (double word).
Notice: If various DDS are used with different motor data, then the reference quantities remain the same as these are not changed over with the DDS. The resulting conversion factor should be taken into account (e.g. for trace records).
Example:
p2002 = 100 A
Reference quantity 100 A corresponds to 100 %
Reference torque
0.01
20000000.0 1.00 Nm Float
IM
T
0
Description: Sets the referene quantity for torque.
All torques specified as relative value are referred to this reference quantity.
The reference quantity corresponds to 100% or 4000 hex (word) or 40000000 hex (double word).
Speed actual value filter 0 time constant
1000000 0
ms Float
IM
T, U
Description: Sets the time constant of the PT1 element to smooth the speed/velocity actual value.
The smoothed actual speed/velocity is compared with the threshold values and is only used for messages and signals.
Speed threshold 3
0.00
210000.00 10.00 rpm Float
IM
T, U
Description: Sets the speed threshold value for the signal that indicates the axis is stationary.
Hysteresis speed n_act > 0.00 n_max
60000.00 0.00 rpm Float
IM
T, U
Description: Sets the hysteresis speed (bandwidth) for the signal "n_act > n_max".
Note:
For a negative speed limit, the hysteresis is effective below the limit value and for a positive speed limit above the limit value.
If significant overshoot occurs in the maximum speed range (for example, due to load shedding), you are advised to increase the dynamic response of the speed controller (if possible). If this is insufficient, the hysteresis p2162 can be increased, but its value must not be greater than the value calculated by the formula below when the motor maximum speed is sufficiently greater than the maximum speed p1082.
p2162 1.05 × motor maximum speed - maximum speed (p1082)
The range of the parameter is different when connect with different motors.
Motor blocked speed
0.00
threshold
210000.00 210000. rpm Float
IM
T, U
00
Description: Sets the speed threshold for the message "Motor blocked".
Dependency: Refer to p2177.
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Parameters 11.2 Parameter list
Par. No. p2177 * p2525 p2533
p2542 *
p2543 *
p2544 *
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Motor blocked delay time 0.000
65.000
0.500 s Float
IM
T, U
Description: Sets the delay time for the message "Motor blocked".
Dependency: Refer to p2175.
LR encoder adjustment 0 offset
429496729 0
LU U32
IM
T
5
Description: Position offset when adjusting the absolute encoder.
Note: The position offset is only relevant for absolute encoders. The drive determines the value when adjusting the absolute encoder and the user should not change it.
LR position setpoint filter 0.00 time constant
1000.00
0.00 ms Float
IM
T, U
Description: Sets the time constant for the position setpoint filter (PT1).
Note: The effective Kv factor (position loop gain) is reduced with the filter.
This allows a softer control behavior with improved tolerance with respect to noise/disturbances.
Applications:
- Reduces the pre-control dynamic response.
- Jerk limiting.
LR standstill window
0
214748364 1000 LU U32
IM
T, U
7
Description: Sets the standstill window for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output.
Value = 0: The standstill monitoring is deactivated.
Dependency: Refer to: p2543, p2544, and F07450
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) positioning window (p2544)
LR standstill monitoring 0.00 time
100000.00 200.00 ms Float
IM
T, U
Description: Sets the standstill monitoring time for the standstill monitoring function.
After the standstill monitoring time expires, it is cyclically checked whether the difference between the setpoint and actual position is located within the standstill window and, if required, an appropriate fault is output.
Dependency: Refer to: p2542, p2545, and F07450
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) positioning monitoring time (p2545)
LR positioning window 0
214748364 40
LU U32
IM
T, U
7
Description: Sets the positioning window for the positioning monitoring function.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint and actual position lies within the positioning window and if required an appropriate fault is output.
Value = 0: The positioning monitoring function is de-activated.
Dependency: Refer to: p2542, p2545, and F07451
Note: The following applies for the setting of the standstill and positioning window:
Standstill window (p2542) positioning window (p2544)
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Parameters 11.2 Parameter list
Par. No. p2545 * p2546 * p2571 p2572 **
p2573 **
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
LR positioning monitoring 0.00 time
100000.00 1000.00 ms Float
IM
T, U
Description: Sets the positioning monitoring time for the positioning monitoring.
After the positioning monitoring time expires, it is checked once as to whether the difference between the setpoint and actual position lies within the positioning window and if required an appropriate fault is output.
Dependency: The range of p2545 depends on p2543.
Refer to: p2543, p2544, and F07451
Note: The following applies for the setting of the standstill and positioning monitoring time:
Standstill monitoring time (p2543) positioning monitoring time (p2545)
LR dynamic following
0
error monitoring tolerance
214748364 3000 LU U32
IM
T, U
7
Description: Sets the tolerance for the dynamic following error monitoring.
If the dynamic following error (r2563) exceeds the selected tolerance, then an appropriate fault is output.
Value = 0: The dynamic following error monitoring is deactivated.
Dependency: Refer to: r2563, F07452
Note: The tolerance bandwidth is intended to prevent the dynamic following error monitoring incorrectly responding due to operational control sequences (e.g. during load surges).
IPos maximum velocity 1
40000000 30000 100 U32
IM
T, U
0
LU/
min
Description: Sets the maximum velocity for the "basic positioner" function (EPOS).
Note: The maximum velocity is active in all of the operating modes of the basic positioner.
The maximum velocity for the basic positioner should be aligned with the maximum speed/velocity of the speed/velocity controller:
p2571[1000 LU/min] = max_speed[rpm] x p29248/p29249 x p29247/1000
EPOS maximum acceler- 1 ation
2000000 100
100 U32
IM
T
0
LU/s
²
Description: Sets the maximum acceleration for the "basic positioner" function (EPOS).
Dependency: Refer to: p2619
Note: The maximum acceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed acceleration override (p2619) acts on the maximum acceleration.
"Direct setpoint input/MDI" mode:
The acceleration override is effective (p2644, 4000 hex = 100%).
"Jog" and "search for reference" modes:
No acceleration override is active. The axis starts with the maximum acceleration.
EPOS maximum deceler- 1 ation
2000000 100
100 U32
IM
T
0
LU/s
²
Description: Sets the maximum deceleration for the "basic positioner" function (EPOS).
Dependency: Refer to: p2620
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Parameters 11.2 Parameter list
Par. No.
p2574 ** p2575 p2580 p2581 p2582
Name
Min
Max
Factory Unit Data
Effective
Setting
type
Note: The maximum deceleration appears to exhibit jumps (without jerk).
"Traversing blocks" operating mode:
The programmed deceleration override (p2620) acts on the maximum deceleration.
"Direct setpoint input/MDI" mode:
The deceleration override is effective (p2645, 4000 hex = 100%).
"Jog" and "search for reference" modes:
No deceleration override is effective. The axis brakes with the maximum deceleration.
EPOS jerk limiting
1
100000000 200000 100 U32
IM
0
0
LU/s
3
Description: Sets the jerk limiting.
Dependency: Refer to p2572, p2573, and p2575
Note: The jerk limiting is internally converted into a jerk time as follows:
Jerk time Tr = max(p2572, p2573)/p2574
EPOS jerk limiting activa- 0 tion
1
0
- U32
IM
Description: Activates the jerk limiting.
· 0: The jerk limiting is deactivated. · 1: The jerk limiting is activated.
Dependency: Refer to p2574
EPOS software limit
-2147482648 214748264 -
LU I32
IM
switch minus
7
214748
2648
Description: Sets the software limit switch in the negative direction of travel.
Dependency: Refer to p2581, p2582
EPOS software limit
-2147482648 214748264 214748 LU I32
IM
switch plus
7
2647
Description: Sets the software limit switch in the positive direction of travel.
Dependency: Refer to p2580, p2582
EPOS software limit
-
switch activation
-
0
- U32/Bina IM
ry
Description: Sets the signal source to activate the "software limit switch".
Dependency: Refer to p2580, p2581
Caution: Software limit switch effective:
- Axis is referenced.
Software limit switch ineffective:
- Modulo correction active.
- Search for reference is executed.
Can be changed
T, U
T T, U T, U T
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Parameters 11.2 Parameter list
Par. No. p2583
p2585 p2586 p2587
Name
Min
Max
Factory Unit Data
Setting
type
Notice: Target position for relative positioning outside software limit switch:
Effective
Can be changed
The traversing block is started and the axis comes to a standstill at the software limit switch. An appropriate alarm is output and the traversing block is interrupted. Traversing blocks with valid position can be activated.
Target position for absolute positioning outside software limit switch:
In the "traversing blocks" mode, the traversing block is not started and an appropriate fault is output.
Axis outside the valid traversing range:
If the axis is already outside the valid traversing range, then an appropriate fault is output. The fault can be acknowledged at standstill. Traversing blocks with valid position can be activated.
Note: The traversing range can also be limited using STOP cams.
EPOS backlash compen- -200000
200000
0
LU I32
IM
T, U
sation
Description: Sets the amount of play (backlash) for positive or negative play.
· = 0: The backlash compensation is deactivated.
· > 0: Positive backlash (normal case)
When the direction is reversed, the encoder actual value leads the actual value. · < 0: Negative backlash
When the direction is reversed, the actual value leads the encoder actual value.
Dependency: If a stationary axis is referenced by setting the reference point, or an adjusted with absolute encoder is powered up, then the setting of p2604 is relevant for entering the compensation value.
p2604 = 1:
Traveling in the positive direction -> A compensation value is immediately entered.
Traveling in the negative direction -> A compensation value is not entered
p2604 = 0:
Traveling in the positive direction -> A compensation value is not entered
Traveling in the negative direction -> A compensation value is immediately entered.
When again setting the reference point (a referenced axis) or for "flying referencing", p2604 is not relevant but instead the history of the axis.
Refer to: p2604
EPOS jog 1 setpoint
-40000000
40000000 -300 100 I32
IM
T, U
velocity
0 L
U/mi
n
Description: Sets the setpoint speed for jog 1.
Dependency: Refer to: p2587
EPOS jog 2 setpoint
-40000000
40000000 300
100 I32
IM
T, U
velocity
0 L
U/mi
n
Description: Sets the setpoint speed for jog 2.
Dependency: Refer to: p2588
EPOS jog 1 traversing 0 distance
214748264 1000 LU U32
IM
T, U
7
Description: Sets the traversing distance for incremental jog 1.
Dependency: Refer to: p2585
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SINAMICS V90, SIMOTICS S-1FL6 Operating Instructions, 04/2017, A5E37208830-003
Parameters 11.2 Parameter list
Par. No. p2588 p2599 p2600 p2604
p2605
p2606
p2608
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
EPOS jog 2 traversing 0 distance
214748264 1000 LU U32
IM
T, U
7
Description: Sets the traversing distance for incremental jog 2.
Dependency: Refer to: p2586
EPOS reference point
-2147482648 214748264 0
LU I32
IM
T, U
coordinate value
7
Description: Sets the position value for the reference point coordinate. This value is set as the actual axis position after referencing or adjustment.
Dependency: Refer to: p2525
EPOS search for refer- -2147482648 214748264 0
LU I32
IM
T, U
ence point offset
7
Description: Sets the reference point offset for search for reference.
EPOS search for refer- ence start direction
-
0
- U32/Bina IM
T
ry
Description: Sets the signal sources for the start direction of the search for reference.
· 1 signal: Start in the negative direction.
· 0 signal: Start in the positive direction.
Dependency: Refer to p2583
EPOS search for refer- 1 ence approach velocity reference cam
40000000 5000 100 U32
IM
T, U
0 L
U/mi
n
Description: Sets the approach velocity to the reference cam for the search for reference.
Dependency: The search for reference only starts with the approach velocity to the reference cam when there is a reference cam.
Refer to: p2604, p2606
Note: When traversing to the reference cam, the velocity override is effective. If, at the start of the search for reference, the axis is already at the reference cam, then the axis immediately starts to traverse to the zero mark.
EPOS search for refer- 0 ence reference cam maximum distance
214748264 214748 LU U32
IM
T, U
7
2647
Description: Sets the maximum distance after the start of the search for reference when traversing to the reference cam.
Dependency: Refer to: p2604, p2605, and F07458
Note: When using a reversing cam, the maximum distance must be set appropriately long.
EPOS search for refer- 1 ence approach velocity zero mark
40000000 300
100 U32
IM
T, U
0 L
U/mi
n
Description: Sets the approach velocity after detecting the reference cam to search for the zero mark for the search for reference.
Dependency: If there is no reference cam, the search for reference immediately starts with the axis traversing to the zero mark.
Refer to: p2604, p2609
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249
Parameters 11.2 Parameter list
Par. No.
p2609
p2611
p2617[0... 15] p2618[0... 15]
p2619[0... 15] p2620[0... 15]
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
Caution: If the reference cam is not adjusted so that at each search for reference the same zero mark for synchronization is detected, then an "incorrect" axis reference point is obtained.
After the reference cam has been left, the search for the zero mark is activated with a time delay due to internal factors. This is the reason that the reference cam should be adjusted in this center between two zero marks and the approach velocity should be adapted to the distance between two zero marks.
Note: The velocity override is not effective when traversing to the zero mark.
EPOS search for refer- 0 ence max. distance ref. cam and zero mark
214748264 20000 LU U32
IM
T, U
7
Description: Sets the maximum distance after leaving the reference cam when traversing to the zero mark.
Dependency: Refer to: p2604, p2608, and F07459
EPOS search for refer- 1 ence approach velocity reference point
40000000 300
100 U32
IM
T, U
0 L
U/mi
n
Description: Sets the approach velocity after detecting the zero mark to approach the reference point.
Dependency: Refer to: p2604, p2609
Note: When traversing to the reference point, the velocity override is not effective.
EPOS traversing block -2147482648 214748264 0
LU I32
IM
T, U
position
7
Description: Sets the target position for the traversing block.
Dependency: Refer to: p2618, p2619, p2620, p2621, p2622, p2623
Note: The target position is approached in either relative or absolute terms depending on p2623.
EPOS traversing block 1 velocity
40000000 600
100 I32
IM
T, U
0 L
U/mi
n
Description: Sets the velocity for the traversing block.
Dependency: Refer to: p2617, p2619, p2620, p2621, p2622, p2623
Note: The velocity can be influenced using the velocity override.
EPOS traversing block 1.0 acceleration override
100.0
100.0 % Float
IM
T, U
Description: Sets the acceleration override for the traversing block.
The override refers to the maximum acceleration (p2572).
Dependency: Refer to: p2572, p2617, p2618, p2620, p2621, p2622, p2623
EPOS traversing decel- 1.0 eration override
100.0
100.0 % Float
IM
T, U
Description: Sets the deceleration override for the traversing block.
The override refers to the maximum deceleration (p2573).
Dependency: Refer to: p2573, p2617, p2618, p2619, p2621, p2622, p2623
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Parameters 11.2 Parameter list
Par. No. Name
Min
Max
Factory Unit Data
Setting
type
p2621[0... EPOS traversing block 1
15]
task
9
1
% -
Description: Sets the required task for the traversing block.
Effective IM
Can be changed
T, U
· 1: POSITIONING · 2: FIXED STOP
· 3: ENDLESS_POS
· 4: ENDLESS_NEG · 5: WAIT
· 6: GOTO
· 7: SET_O · 8: RESET_O
· 9: JERK
p2622[0... 15]
p2623[0... 15]
Dependency: Refer to: p2617, p2618, p2619, p2620, p2622, p2623
EPOS traversing block -2147483648 214748364 0
-
I32
IM
T, U
task parameter
7
Description: Sets additional information/data of the appropriate task for the traversing block.
Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2623
Note: The following should be set depending on the task:
FIXED STOP: Clamping torque and clamping force (rotary 0...65536 [0.01 Nm], linear 0...65536 [N])
WAIT: Delay time [ms]
GOTO: Block number
SET_O: 1, 2 or 3 - set direct output 1, 2 or 3 (both)
RESET_O: 1, 2 or 3 - reset direct output 1, 2 or 3 (both)
JERK: 0 - deactivate, 1 - activate
EPOS traversing block 0 task mode
65535
0
- U16
IM
T, U
Description: Sets the influence of the task for the traversing block. Value = 0000 cccc bbbb aaaa
cccc: Positioning mode cccc = 0000: ABSOLUTE cccc = 0001: RELATIVE cccc = 0010: ABS_POS (only for a rotary axis with modulo correction) cccc = 0011: ABS_NEG (only for a rotary axis with modulo correction) bbbb: Progression condition
bbbb = 0000: END bbbb = 0001: CONTINUE WITH STOP bbbb = 0010: CONTINUE FLYING bbbb = 0011: CONTINUE EXTERNAL bbbb = 0100: CONTINUE EXTERNAL WAIT
bbbb = 0101: CONTINUE EXTERNAL ALARM
aaaa: IDs aaaa = 000x: show/hide block (x = 0: show; x = 1: hide)
Dependency: Refer to: p2617, p2618, p2619, p2620, p2621, p2622
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251
Parameters 11.2 Parameter list
Par. No. p2634
p2635
p2690 p2691 p2692
p2693
p8920[0... 239]
p8921[0... 3]
Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
EPOS fixed stop maxi- 0 mum following error
214748264 1000 LU U32
IM
T, U
7
Description: Sets the following error to detect the "fixed stop reached" state.
Dependency: Refer to: p2621
Note: The state "fixed stop reached" is detected if the following error exceeds the theoretically calculated following error value by p2634.
EPOS fixed stop monitor- 0 ing window
214748264 100
LU U32
IM
T, U
7
Description: Sets the monitoring window of the actual position after the fixed stop is reached.
Dependency: Refer to: F07484
Note: If, after the fixed stop is reached, the end stop shifts in either the positive or negative direction by more than the value set here, an appropriate message is output.
MDI position fixed set- -2147482648 214748264 0
- I32
IM
T, U
point
7
Description: Sets a fixed setpoint for the position.
MDI velocity fixed set-
1
point
40000000 600
100 U32
IM
T, U
0 L
U/mi
n
Description: Sets a fixed setpoint for the speed.
MDI acceleration over- 0.100
100.000 100.000 % Float
IM
T, U
ride, fixed setpoint
Description: Sets a fixed setpoint for the acceleration override.
Dependency: Refer to: p2572
Note: The percentage value refers to the maximum acceleration (p2572).
MDI deceleration over- 0.100
100.000 100.000 % Float
IM
T, U
ride, fixed setpoint
Description: Sets a fixed setpoint for the deceleration override.
Dependency: Refer to: p2572
Note: The percentage value refers to the maximum deceleration (p2573).
PROFIdrive: Name of
-
station
-
-
- U8
IM
T, U
Description: Sets the station name for the onboard PROFINET interface on the Control Unit.
The active station name is displayed in r8930.
Note: The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
PROFIdrive: IP address 0 of station
255
0
- U8
IM
T, U
Description: Sets the IP address for the onboard PROFINET interface on the Control Unit.
The active IP address is displyed in r8931.
Note: The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
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Parameters 11.2 Parameter list
Par. No. p8922[0... 3]
p8923[0... 3]
p8925
Name
Min
Max
Factory Unit Data
Effective
Setting
type
PROFIdrive: Default
0
gateway of station
255
0
- U8
IM
Description: Sets the default gateway for the onboard PROFINET interface on the Control Unit.
The active default gateway is displayed in r8932.
Note: The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
Can be changed
T, U
PROFIdrive: Subnet
0
mask of station
255
0
- U8
IM
T, U
Description: Sets the subnet mask for the onboard PROFINET interface on the Control Unit.
The active subnet mask is displayed in r8933.
Note: The interface configuration (p8920 and following) is activated with p8925.
The parameter is not influenced by setting the factory setting.
PROFIdrive: Interface
0
configuration
3
0
- U8
IM
T, U
Description: Setting to activate the interface configuration for the onboard PROFINET interface on the Control Unit.
p8925 is automatically set to 0 at the end of the operation.
· p8925 = 0: No function
· p8925 = 2: Save and activate configuration
p29000 * p29001 p29002
The interface configuration (p8920 and following) is saved and activated after the next POWER ON.
Motor ID
0
65535
0
-
U16
IM
T
Description: Motor type number is printed on the motor rating plate as motor ID.
For a motor with an incremental encoder, users need to manually input the parameter value.
For a motor with an absolute encoder, the drive automatically reads the parameter value.
Reversal of motor direc- 0 tion
1
0
- I16
IM
T
Description: Reversal of motor running direction. By default, CW is the positive direction while CCW the negative direction. After changing of p29001, reference point will lost, A7461 will remind user to referencing again.
· 0: No reversal
· 1: Reverse
BOP display selection
0
4
0
-
I16
IM
T, U
Description: Selection of BOP operating display.
· 0: Actual speed (default)
· 1: DC voltage
· 2: Actual torque
· 3: Actual position
· 4: Position following error
p29003 Control mode
1
2
2
-
I16
IM
T
Description: Selection of control mode.
· 1: Basic positioner control mode (EPOS)
· 2: Speed control mode (S)
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253
Parameters 11.2 Parameter list
Par. No. Name
Min
Max
Factory Unit Data
Effective
Can be
Setting
type
changed
p29005
Braking resistor capacity 1 percentage alarm threshold
100
100
% Float
IM
T
Description: Alarm triggering threshold for the capacity of the internal braking resistor.
Alarm number: A52901
p29006 Line supply voltage
200
480
400/230 V U16
IM
T
Description: Nominal Line supply voltage, effective value of line to line voltage. Drive can operate within -15% to +10% error.
For 400 V variant servo drive, the value range is 380 V to 480 V, default value is 400 V.
For 200 V variant servo drive, the value range is 200 V to 240 V, default value is 230 V.
p29020[0.. Tuning: Dynamic factor 1
35
18
- U16
IM
T, U
.1]
Description: The dynamic factor of auto tuning. 35 dynamic factors in total are available.
Index:
· [0]: Dynamic factor for one-button auto tuning
· [1]: Dynamic factor for real-time auto tuning
p29021 Tuning: Mode selection 0
5
Description: Selection of a tuning mode.
0
- I16
IM
T
· 0: Disabled
· 1: One-button auto tuning
· 3: Real-time auto tuning · 5: Disable with default controller parameters
p29022
Tuning: Ratio of total
1.00
inertia moment to motor
inertia moment
10000.00 1.00 - Float
IM
T, U
Description: Ratio of total inertia moment to servo motor inertia moment.
p29023
Tuning: One-button auto tuning configuration
-
0x0007 - U16
IM
T
Description: One-button auto tuning configuration.
· Bit 0: The speed controller gain is determined and set using a noise signal.
· Bit 1: Possible required current setpoint filters are determined and set using a noise signal. As a consequence, a higher dynamic performance can be achieved in the speed control loop.
· Bit 2: The inertia moment ratio (p29022) can be measured after this function is running. If not set, the inertia moment ratio must be set manually with p29022.
· Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic response.
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Parameters 11.2 Parameter list
Par. No. p29024
p29025
p29026 p29027 p29028
Name
Min
Max
Tuning: Real-time auto -
-
tuning configuration
Description: Real-time auto tuning configuration.
Factory Unit Data
Setting
type
0x004c - U16
Effective IM
Can be changed
T
· Bit 2: The inertia moment ratio (p29022) is estimated while the motor is running, if not set, the inertia moment ratio must be set manually with p29022.
· Bit 3: If not set, the inertia moment ratio (p29022) is estimated only once and the inertia estimator is deactivated automatically after the estimation is completed. If the bit is set to 1, the inertia moment ratio is estimated in real time and the controller adapts the parameters continuously. You are recommended to save the parameters when the estimation result is satisfied. After that, when you power on the drive next time, the controller will be started with the optimized parameters.
· Bit 6: The adaption of current setpoint filter. This adaption may be necessary if a mechanical resonance frequency changes in operation. It can also be used to dampen a fixed resonance frequency. Once the control loop has stabilized, this bit should be deactivated and to save parameters in a non-volatile memory.
· Bit 7: With this bit set, multi-axes are adapted to the dynamic response set in p29028. This is necessary for interpolating axes. The time in p29028 should be set according to the axis with the lowest dynamic response.
Tuning: Configuration
-
overall
-
0x0004 -
U16
IM
T
Description: Overall configuration of auto tuning, apply for both one-button and real-time auto tuning.
· Bit 0: For significant differences between the motor and load moment of inertia, or for low dynamic performance of the controller, then the P controller becomes a PD controller in the position control loop. As a consequence, the dynamic performance of the position controller is increased. This function should only be set when the speed pre-control (bit 3 = 1) or the torque pre-control (bit 4 = 1) is active.
· Bit 1: At low speeds, the controller gain factors are automatically reduced in order to avoid noise and oscillation at standstill. This setting is recommended for incremental encoders.
· Bit 2: The estimated load moment of inertia is taken into account for the speed controller gain.
· Bit 3: Activates the speed pre-control for the position controller. · Bit 4: Activates the torque pre-control for the position controller.
· Bit 5: Adapts acceleration limit.
Tuning: Test signal dura- 0 tion
5000
2000 ms U32
IM
T
Description: The duration time of the one-button auto tuning test signal.
Tuning: Limit rotation of 0 motor
30000
0
° U32
IM
T
Description: The limit position with motor rotations during one-button auto tuning. The traversing range is limited within +/- p29027 degrees (motor run one revolution is 360 degree).
Tuning: Pre-control time 0.0 constant
60.0
7.5
ms Float
IM
T, U
Description: Sets the time constant for the pre-control symmetrization for auto tuning.
As a consequence, the drive is allocated a defined, dynamic response via its pre-control.
For drives, which must interpolate with one another, the same value must be entered.
The higher this time constant is, the smoother the drive will follow the position set point.
Note: This time constant is only effective when multi-axis interpolation is selected (bit 7 of p29023 and p29024).
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Parameters 11.2 Parameter list
Par. No. p29035
Name
Min
VIBSUP activation
0
Max
Factory Unit Data
Setting
type
1
0
- I16
Description: Select the VIBSUP ON/OFF.
Position setpoint filter can be activated (p29035) for EPOS control mode.
· 0: Disable
Effective IM
Can be changed
T
Filter is not activated. · 1: Enable
Filter is activated.
p29050[0.. Torque limit upper
-150
300
300
% Float
IM
T, U
.1]
Description: Positive torque limit.
Two internal torque limits in total are available. You can select the internal parameters as the source of the torque limit with the digital input signals TLIM.
p29051[0.. Torque limit lower
-300
150
-300 % Float
IM
T, U
.1]
Description: Negative torque limit.
Two internal torque limits in total are available.
You can select the internal parameters as the source of the torque limit with the digital input signals TLIM.
p29070[0.. Speed limit positive
0
.1] *
Description: Positive speed limit.
210000
210000 rpm Float
IM
T, U
Two internal speed limits in total are available.
You can select the internal parameters as the source of the speed limit with the digital input signals SLIM.
p29071[0.. Speed limit negative
-210000
0
.1] *
-
rpm Float
IM
T, U
210000
Description: Negative speed limit.
Two internal speed limits in total are available.
You can select the internal parameters as the source of the speed limit with the digital input signals SLIM.
p29080 Overload threshold for 10 output signal triggering
300
100
% Float
IM
T
Description: Overload threshold for the output power.
p29108 Function module activate 0
0xffffffff
0
- U32
RE
T
Description: Bit 0: activate extended setpoint channel including ramp-function generator (RFG), speed limit (SLIM), and JOG.
· Bit 0 = 0: Deactivate
· Bit 0 = 1: Activate
p29110 **
Note: Changes only become effective after save and repower-on.
Currently, you can set bit 0 only.
Position loop gain
0.000
300.000 1.800 100 Float
IM
T, U
0/mi
n
Description: Position loop gain.
Two position loop gains in total are available. You can switch between these two gains by configuring the digital input signal G-CHANGE or setting relevant condition parameters.
The first position loop gain is the default setting.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
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Parameters 11.2 Parameter list
Par. No. p29111 p29120** p29121* p29150 p29151
p29230
p29231 p29240
Name
Min
Max
Factory Unit Data
Effective
Setting
type
Speed pre-control factor 0.00 (feed forward)
200.00
0.00 % Float
IM
Description: Setting to activate and weight the speed pre-control value.
Value = 0%: The pre-control is deactivated.
Speed loop gain
0.00
999999.00 Motor Nms Float
IM
de-
/rad
pendent
Description: Speed loop gain.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
Speed loop integral time 0.00
100000.00 15
ms Float
IM
Description: Speed loop integral time.
Dependency: The parameter value will be set to default after configuring a new motor ID (p29000).
User defined PZD receive 0
2
0
-
I16
IM
Description: Select the function of control PZD12 when using telegram 111.
· 0: No function
· 1: Additional torque setpoint
· 2: Additional speed setpoint
User defined PZD send 0
3
0
-
I16
IM
Description: Select the function of status PZD12 when using telegram 111.
· 0: No function
· 1: Actual torque
· 2: Actual absolute current
· 3: DI status
MDI direction selection 0
2
Description: MDI direction selection:
0
-
I16
IM
· 0: Absolute positioning through the shortest distance
· 1: Absolute positioning in the positive direction
· 2: Absolute positioning in the negative direction
Dependency: This parameter is only valid for modulo axis (p29245 = 1).
MDI positioning type
0
1
0
-
I16
IM
Description: MDI positioning type:
· 0: Relative positioning
· 1: Absolute positioning
Dependency: This parameter is only valid for modulo axis (p29245 = 1).
Select referencing mode 0
2
1
-
I16
IM
Description: Selects referencing mode.
· 0: Referencing with external signal REF
· 1: Referencing with external reference cam (signal REF) and encoder zero mark
· 2: Referencing with zero mark only
Can be changed T, U T, U T, U T
T
T
T
T
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Parameters 11.2 Parameter list
Par. No. p29243
p29244 p29245 p29246 * p29247 * p29248 * p29249 * p29301
p29302 p29303 p29304
Name
Min
Max
Positioning tracking acti- 0
1
vate
Description: Activation of position tracking.
Factory Unit Data
Setting
type
0
- I16
Effective IM
Can be changed
T
· 0: Deactivated · 1: Activated
Absolute encoder virtual 0 rotary revolutions
4096
0
- U32
IM
T
Description: Sets the number of rotations that can be resolved for an encoder with activated position tracking function (p29243 = 1).
Axis mode state
0
1
0
- U32
IM
T
Description: Linear/modulo mode:
· 0: Linear axis
· 1: Modulo axis
Modulo correction range 1
214748264 360000 - U32
IM
T
7
Description: Modulo number, effective on modulo mode (P29245=1)
Mechanical gear: LU per 1 revolution
214748364 10000 - U32
IM
T
7
Description: LU per load revolution.
Mechanical gear: Numer- 1 ator
1048576 1
- U32
IM
T
Description: (Load/Motor) Load revolutions.
Mechanical gear: Denom- 1 inator
1048576 1
- U32
IM
T
Description: (Load/Motor) Motor revolutions.
Digital input 1 assignment 0
29
2
- I16
IM
T
Description: Defines the function of digital input signal DI1
· 0: NA
· 2: RESET
· 3: CWL · 4: CCWL
· 11: TLIM
· 20: SLIM · 24: REF
· 29: EMGS
Digital input 2 assignment 0
29
11
- I16
IM
T
Description: Defines the function of digital input signal DI2
Digital input 3 assignment 0
29
0
- I16
IM
T
Description: Defines the function of digital input signal DI3
Digital input 4 assignment 0
29
0
- I16
IM
T
Description: Defines the function of digital input signal DI4
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Parameters 11.2 Parameter list
Par. No. p29330
p29331 p31581
p31585 p31586
Name
Min
Max
Factory Unit Data
Setting
type
Digital output 1 assign- 1 ment
15
2
- I16
Description: Defines the function of digital output signal DO1
Effective IM
Can be changed
T
· 1: RDY · 2: FAULT · 3: INP · 4: ZSP · 6: TLR · 8: MBR · 9: OLL · 12: REFOK · 14: RDY_ON · 15: STO_EP
Digital output 2 assign- 1 ment
15
9
- I16
IM
T
Description: Defines the function of digital output signal DO2
VIBSUP filter type
0
1
0
-
I16
IM
T
Description: Sets the filter type for VIBSUP. Depending on the selected filter type, the VIBSUP filter results in motion sequences that take somewhat longer.
· 0: The rugged VIBSUP filter has a lower sensitivity to frequency offsets compared with the sensitive filter type, but results in a higher delay of the motion sequence. The total motion sequence is extended by the time period Td (Td = 1/fd).
· 1: The sensitive VIBSUP filter has a higher sensitivity to frequency offsets compared with the rugged filter type, but results in a lower delay of the motion sequence. The total motion sequence is extended by half the time period Td/2 (Td = 1/fd).
VIBSUP filter frequency 0.5
62.5
1
Hz Float
IM
T
Description: Sets the frequency of the damped natural vibration of the mechanical system. This frequency can be determined by making the appropriate measurements.
Note: The maximum frequency that can be set depends on the filter sampling time.
VIBSUP filter damping 0
0.99
0.03 -
Float
IM
T
Description: Sets the value for the damping of the natural mechanical vibration to be filtered. Typically, the damping value is about 0.03, and can be optimized by performing the appropriate positioning tests.
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Parameters 11.2 Parameter list
Read-only parameters
Par. No. r0020 r0021 r0026 r0027
r0029 r0030 r0031 r0034
Name
Unit
Data type
Speed setpoint smoothed
rpm
Float
Description: Displays the currently smoothed speed setpoint at the input of the speed controller or U/f characteristic (after the interpolator).
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed setpoint is available smoothed (r0020) and unsmoothed.
Actual speed smoothed
rpm
Float
Description: Displays the smoothed actual value of the motor speed.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The speed actual value is available smoothed (r0021) and unsmoothed.
DC link voltage smoothed
V
Float
Description: Displays the smoothed actual value of the DC link voltage.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The DC link voltage is available smoothed.
Absolute actual current smoothed
Arms
Float
Description: Displays the smoothed absolute actual current value.
Notice: This smoothed signal is not suitable for diagnostics or evaluation of dynamic operations. In this case, the unsmoothed value should be used.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The absolute current actual value is available smoothed (r0027) and unsmoothed.
Current actual value field-generating smoothed
Arms
Float
Description: Displays the smoothed field-generating actual current.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The field-generating current actual value is available smoothed (r0029) and unsmoothed.
Current actual value torque-generating smoothed
Arms
Float
Description: Displays the smoothed torque-generating actual current.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque-generating current actual value is available smoothed.
Actual torque smoothed
Nm
Float
Description: Displays the smoothed torque actual value.
Note: Smoothing time constant = 100 ms
The signal is not suitable as a process quantity and may only be used as a display quantity.
The torque actual value is available smoothed (r0031) and unsmoothed.
Motor utilization thermal
%
Float
Description: Displays the motor utilization from motor temperature model 1 (I2t) or 3.
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Parameters 11.2 Parameter list
Par. No. Name
r0037[0...1 Power unit temperatures
9]
Description: Displays the temperatures in the power unit.
Index:
Unit
Data type
°C
Float
· [0]: Inverter maximum value
· [1]: Depletion layer maximum value
· [2]: Rectifier maximum value · [3]: Air intake
· [4]: Interior of power unit
· [5]: Inverter 1 · [6]: Inverter 2
· [7]: Inverter 3
· [8]: Inverter 4 · [9]: Inverter 5
· [10]: Inverter 6
· [11]: Rectifier 1 · [12]: Rectifier 2
· [13]: Depletion layer 1
· [14]: Depletion layer 2 · [15]: Depletion layer 3
· [16]: Depletion layer 4
· [17]: Depletion layer 5 · [18]: Depletion layer 6
· [19]: Cooling unit liquid intake
Dependency: Refer to A01009 Notice: Only for internal Siemens troubleshooting. Note: The value of -200 indicates that there is no measuring signal.
· r0037[0]: Maximum value of the inverter temperatures (r0037[5...10]).
· r0037[1]: Maximum value of the depletion layer temperatures (r0037[13...18]).
· r0037[2]: Maximum value of the rectifier temperatures (r0037[11...12]).
The maximum value is the temperature of the hottest inverter, depletion layer, or rectifier.
r0079[0...1 Torque setpoint total
Nm
Float
]
Description: Displays and connector output for the torque setpoint at the output of the speed controller (before
clock cycle interpolation).
Index:
· [0]: Unsmoothed
· [1]: Smoothed
r0296
DC link voltage undervoltage threshold
V
U16
Description: Threshold to detect a DC link undervoltage.
If the DC link voltage falls below this threshold, the drive unit is tripped due to a DC link undervoltage condition.
Note: The value depends on the device type and the selected device rated voltage.
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Parameters 11.2 Parameter list
Par. No. Name
Unit
Data type
r0297
DC link voltage overvoltage threshold
V
U16
Description: If the DC link voltage exceeds the threshold specified here, the drive unit is tripped due to DC link overvoltage.
Dependency: Refer to F30002.
r0311
Rated motor speed
rpm
Float
Description: Displays the rated motor speed (rating plate).
r0333
Rated motor torque
Nm
Float
Description: Displays the rated motor torque.
IEC drive: unit Nm
NEMA drive: unit lbf ft
r0482[0...2 Encoder actual position value Gn_XIST1
-
U32
]
Description: Displays the encoder actual position value Gn_XIST1.
Index:
· [0]: Encoder 1
· [1]: Encoder 2
· [2]: Reserved
Note: · In this value, the measuring gear is only taken into account when the position tracking is activated.
· The update time for the position control (EPOS) corresponds to the position controller clock cycle.
· The update time in isochronous operation corresponds to the bus cycle time.
· The update time in isochronous operation and with position control (EPOS) corresponds to the position controller clock cycle.
· The update time in non-isochronous operation or without position control (EPOS) comprises the following:
Update time = 4 * least common multiple (LCM) of all current controller clock cycles in the drive group (infeed + drives). The minimum update time is 1 ms.
Example 1: infeed, servo Update time = 4 * LCM(250 s, 125 s) = 4 * 250 s = 1 ms
Example 2: infeed, servo, vector Update time = 4 * LCM(250 s, 125 s, 500 s) = 4 * 500 s = 2 ms
r0632 r0722
r0747
Motor temperature model, stator winding temperature
°C
Float
Description: Displays the stator winding temperature of the motor temperature model.
CU digital inputs status
-
U32
Description: Displays the status of the digital inputs.
Note:
DI: Digital Input
DI/DO: Bidirectional Digital Input/Output
The drive unit displays the value in hex format. You can convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
CU digital outputs status
-
U32
Description: Displays the status of digital outputs.
Note:
DI/DO: Bidirectional Digital Input/Output
The drive unit displays the value in hex format. You can convert the hex number to the binary number, for example, FF (hex) = 11111111 (bin).
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Parameters 11.2 Parameter list
Par. No. r0930
Name
Unit
PROFIdrive operating mode
-
Description: Displays the operating mode.
· 1: Closed-loop speed controlled operation with ramp-function generator
Data type U16
· 2: Closed-loop position controlled operation
· 3: Closed-loop speed controlled operation without ramp-function generator
r0945[0...6 Fault code
-
U16
3]
Description: Displays the number of faults that have occurred.
Dependency: Refer to r0949
Note: The buffer parameters are cyclically updated in the background. Fault buffer structure (general principle):
r0945[0], r0949[0] actual fault case, fault 1 ...
r0945[7], r0949[7] actual fault case, fault 8 r0945[8], r0949[8] 1st acknowledged fault case, fault 1 ... r0945[15], r0949[15] 1st acknowledged fault case, fault 8 ...
r0945[56], r0949[56] 7th acknowledged fault case, fault 1 ... r0945[63], r0949[63] 7th acknowledged fault case, fault 8
r0949[0...6 Fault value
-
I32
3]
Description: Displays additional information about the fault that occurred (as integer number).
Dependency: Refer to r0945
Note: The buffer parameters are cyclically updated in the background. The structure of the fault buffer and the assignment of the indices is shown in r0945.
r0964[0...6 Device identification
]
Description: Displays the device identification.
-
U16
Index:
· [0]: Company (Siemens = 42)
· [1]: Device type
· [2]: Firmware version
· [3]: Firmware data (year) · [4]: Firmware data (day/month)
· [5]: Number of drive objects
· [6]: Firmware patch/hot fix
Note: Example: r0964[0] = 42 SIEMENS r0964[1] = Device type r0964[2] = 403 First part of the firmware version V04.03 (for second part, refer to index 6) r0964[3] = 2010 Year 2010 r0964[4] = 1705 17th of May r0964[5] = 2 2 drive objects r0964[6] = 200 Secnod part, firmware version (complete version: V04.03.02.00)
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Parameters 11.2 Parameter list
Par. No. Name
Unit
r0965
PROFIdrive profile number
-
Description: Displays the PROFIdrive profile and profile version.
Constant value = 0329 hex
Byte 1: Profile number = 03 hex = PROFIdrive profile
Byte 2: Profile version = 29 hex = Version 4.1
Note: When the parameter is read via PROFIdrive, the Octet String 2 data type applies.
r0975[0...1 Drive object identification
-
0]
Description: Displays the identification of the drive object.
Index:
Data type U16
U16
· [0]: Company (Siemens = 42)
· [1]: Drive object type
· [2]: Firmware version
· [3]: Firmware data (year)
· [4]: Firmware data (day/month)
· [5]: PROFIdrive drive object type class
· [6]: PROFIdrive drive object sub-type class 1
· [7]: Drive object number
· [8]: Reserved
· [9]: Reserved · [10]: Firmware patch/hot fix
Note: Example: r0975[0] = 42 SIEMENS r0975[1] = SERVO drive object type r0975[2] = 102 First part of the firmware version V01.02 (for second part, refer to index 10) r0975[3] = 2003 Year 2003 r0975[4] = 1401 14th of January r0975[5] = 1 PROFIdrive drive object, type clase r0975[6] = 9 PROFIdrive drive object sub-type class 1 r0975[7] = 2 Drive object number = 2 r0975[8] = 0 (Reserved) r0975[9] = 0 (Reserved) r0975[10] = 600 Sencod part, firmware version (complete version: V01.02.06.00)
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Parameters 11.2 Parameter list
Par. No. Name
Unit
r0979[0...3 PROFIdrive encoder format
-
0]
Description: Displays the actual position encoder used according to PROFIdrive.
Index:
Data type U32
· [0]: Header
· [1]: Type encoder 1
· [2]: Resolution encoder 1 · [3]: Shift factor G1_XIST1
· [4]: Shift factor G1_XIST2
· [5]: Distinguishable revolutions encoder 1 · [6]...[30]: Reserved
Note: Information about the individual indices can be taken from the following literature:
PROFIdrive Profile Drive Technology
r2043.0...2 PROFIdrive: PZD state
-
U8
Description: Displays the PROFIdrive PZD state.
Bit 0: Setpoint failure
· Value = 1: Yes
· Vaule = 0: No Bit 1: Clock cycle synchronous operation active
· Vaule = 1: Yes
· Vaule = 0: No Bit 2: Fieldbus operation
· Value = 1: Yes · Vaule = 0: No
Note: When using the "setpoint failure" signal, the bus can be monitored and an application-specific response triggered when the setpoint fails.
r2050[0...1 PROFIdrive: PZD receive word
-
I16
9]
Description: Displays the PZD (setpoints) with word format received from the fieldbus controller.
Dependency: Refer to r2060.
Index:
Index 0 to index 19 stand for PZD1 to PZD20 correspondingly.
r2053[0...2 PROFIdrive: Diagnostics PZD send word
-
U16
7]
Description: Displays the PZD (actual values) with word format send to the fieldbus controller.
Index:
Index 0 to index 27 stand for PZD1 to PZD28 correspondingly.
Bit field:
For each PZD, it has 16 bits from bit 0 to bit 15. For the control words, if the bit value equals to 0, the function of the bit is OFF; if the bit vaule equals to 1, the function of the bit is ON.
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Parameters 11.2 Parameter list
Par. No. Name
Unit
Data type
r2060[0...1 PROFIdrive: PZD receive double word
-
I32
8]
Description: Displays the PZD (setpoints) with double word format received from the fieldbus controller.
Dependency: Refer to r2050.
Index:
Index [n] = PZD[n +1] + n + 2
In the formula, n = 0...18.
Notice: A maximum of 4 indices of the "trace" function can be used.
r2063[0...2 PROFIdrive: Diagnostics PZD send double word
-
U32
6]
Description: Displays the PZD (actual values) with double word format send to the fieldbus controller.
Index:
Index [n] = PZD[n +1] + n + 2
In the formula, n = 0...26.
Bit field:
For each PZD, it has 32 bits from bit 0 to bit 31. For the control words, if the bit value equals to 0, the function of the bit is OFF; if the bit vaule equals to 1, the function of the bit is ON.
Notice: A maximum of 4 indices of the "trace" function can be used.
r2090.0...1 PROFIdrive: PZD1 receive bit-serial
-
U16
5
Description: Bit-serial description of PZD1 (normally control word 1) received from the PROFIdrive controller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to 1, it means the function of this bit is activated.
r2091
PROFIdrive: PZD2 receive bit-serial
-
U16
Description: Binector output for bit-serial interconnection of PZD2 received from the PROFIdrive controller.
r2092
PROFIdrive: PZD3 receive bit-serial
-
U16
Description: Binector output for bit-serial interconnection of PZD3 received from the PROFIdrive controller.
r2093.0...1 PROFIdrive: PZD4 receive bit-serial
-
U16
5
Description: Bit-serial description of PZD4 (normally control word 2) received from the PROFIdrive controller.
If the value of the bit equals to 0, it means the function of this bit is deactivated. If the value of the bit equals to 1, it means the function of this bit is activated.
r2094
PROFIdrive: MDI_MOD receive bit-serial for telegram 9
-
U16
Description: Binector output for bit-serial onward interconnection of a PZD word received from the PROFIdrive controller.
r2122[0...6 Alarm code
-
U16
3]
Description: Displays the number of faults that have occurred.
Dependency: Refer to r2124
Note: The buffer parameters are cyclically updated in the background.
Alarm buffer structure (general principle):
r2122[0], r2124[0] alarm 1 (the oldest)
...
r2122[7], r2124[7] alarm 8 (the latest)
When the alarm buffer is full, the alarms that have gone are entered into the alarm history:
r2122[8], r2124[8] alarm 1 (the latest)
...
r2122[63], r2124[63] alarm 1 (the oldest)
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Parameters 11.2 Parameter list
Par. No. Name
Unit
Data type
r2124[0...6 Alarm value
-
I32
3]
Description: Displays additional information about the active alarm (as integer number).
Dependency: Refer to r2122
Note: The buffer parameters are cyclically updated in the background.
The structure of the alarm buffer and the assignment of the indices is shown in r2122.
r2521[0...3 LR position actual value
LU
I32
]
Description: Display and connector output for the actual position actual value determined by the position actu-
al value preprocessing.
Index:
· [0]: Cl-loop position control
· [1]: Encoder 1
· [2]: Encoder 2 · [3]: Reserved
r2556
LR position setpoint after setpoint smoothing
LU
I32
Description: Display and connector output for the position setpoint after setpoint smoothing.
r2563
LR following error dynamic model
LU
I32
Description: Display and connector output for the dynamic following error.
This value is the deviation, corrected by the velocity-dependent component, between the position setpoint and the position actual value.
r2665
EPOS position setpoint
LU
I32
Description: Displays the actual absolute position setpoint.
r8909
PROFIdrive: Device ID
-
U16
Description: Displays the PROFINET device ID.
Every SINAMICS device type has its own PROFINET device ID and its own PROFINET GSD.
r8930[0...2 PROFIdrive: Active name of station
-
U8
39]
Description: Displays the active station name for the onboard PROFINET interface on the Control Unit.
r8931[0...3 PROFIdrive: Active IP address of station
-
U8
]
Description: Displays the active IP address for the onboard PROFINET interface on the Control Unit.
r8932[0...3 PROFIdrive: Active default gateway of station
-
U8
]
Description: Displays the active default gateway for the onboard PROFINET interface on the Control Unit.
r8933[0...3 PROFIdrive: Active subnet mask of station
-
U8
]
Description: Displays the active subnet mask for the onboard PROFINET interface on the Control Unit.
r8935
PROFIdrive: MAC address of station
-
U8
Description: Displays the MAC address for the onboard PROFINET interface on the Control Unit.
r8939
PROFIdrive: Device access point (DAP) ID
-
U32
Description: Displays the PROFINET device access point ID for the onboard PROFINET interface.
The combination of device ID (r8909) and DAP ID uniquely identifies a PROFINET access point.
r29018[0... OA version
1]
Description: Displays the OA version.
-
Float
Index:
· [0]: Firmware version
· [1]: Build increment number
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Parameters 11.2 Parameter list
Par. No. r29400
r29942
Name Internal control signal status indicating Description: Control signal status identifiers The bits of the parameter are reseved except the following ones: · Bit 1: RESET · Bit 2: CWL · Bit 3: CCWL · Bit 10: TLIM · Bit 19: SLIM · Bit 23: REF · Bit 28: EMGS
DO signals status indicating Description: Indicates the status of DO signals. · Bit 0: RDY · Bit 1: FAULT · Bit 2: Reserved · Bit 3: ZSP · Bit 4: Reserved · Bit 5: TLR · Bit 6: Reserved · Bit 7: MBR · Bit 8: OLL · Bit 9: Reserved · Bit 10: Reserved · Bit 11: Reserved · Bit 12: Reserved · Bit 13: RDY_ON · Bit 14: STO_EP
Unit
Data type
-
U32
-
U32
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Diagnostics
12
General information about faults and alarms
The errors and states detected by the individual components of the drive system are indicated by messages. The messages are categorized into faults and alarms.
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 PROFINET status word ZSW1.3. 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 acknowledgement is required. Status via Control Unit and LED RDY. Status via PROFINET status word ZSW1.7. Entry in the alarm buffer.
General properties of faults and alarms Triggering on selected messages possible. Contain the component number for identifying the affected SINAMICS component. Contain diagnostic information on the relevant message.
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Diagnostics
Message class
For each message, specifies the associated message class with the following structure:
Text of the message class (number according to PROFIdrive)
The message classes that are available are shown in the table below, which provides the text of the message class, their number according to PROFIdrive, and a brief help text regarding the cause and remedy.
Text of the message class (number according to PROFIdrive)
Cause and remedy
Hardware/software errors (1)
A hardware or software malfunction was detected. Carry out a POWER ON for the relevant component. If it occurs again, contact the hotline.
Line fault (2)
A line supply fault has occurred (phase failure, voltage level ...). Check the line supply and fuses. Check the supply voltage. Check the wiring.
Supply voltage fault (3)
An electronics supply voltage fault (48 V, 24 V, 5 V ...) was detected. Check the wiring. Check the voltage level.
DC link overvoltage (4)
The DC link voltage has assumed an inadmissibly high value. Check the dimensioning of the system (line supply, reactor, voltages). Check the infeed settings.
Power electronics fault (5)
An impermissible operating state of the power electronics was detected (overcurrent, overtemperature, IGBT failure ...). Check compliance with the permissible load cycles. Check the ambient temperatures (fan).
Overtemperature of the electronic compo- The temperature in the component has exceeded the highest permissible limit.
nent (6)
Check the ambient temperature/control cabinet ventilation.
Ground fault/inter-phase short-circuit detected (7)
A ground fault/inter-phase short-circuit was detected in the power cables or in the motor windings. Check the power cables (connection). Check the motor.
Motor overload (8)
The motor was operated outside the permissible limits (temperature, current, torque ...). Check the load cycles and set limits. Check the ambient temperature/motor cooling.
Communication to the higher-level control- The communication to the higher-level controller (internal coupling,
ler faulted (9)
PROFINET ...) is faulted or interrupted. Check the state of the higher-level
controller. Check the communication connection/wiring. Check the bus config-
uration/cycles.
Safety monitoring channel has detected an error (10)
A safe operation monitoring function has detected an error.
Actual position/speed value incorrect or not available (11)
An illegal signal state was detected while evaluating the encoder signals (track signals, zero marks, absolute values ...). Check the encoder/state of the encoder signals. Observe the maximum permissible frequencies.
Internal communication faulted (12)
The internal communication between the SINAMICS components is faulted or interrupted. Ensure an EMCcompliant installation. Observe the maximum permissible quantity structures/cycles.
Infeed fault (13)
The infeed is faulty or has failed. Check the infeed and its environment (line supply, filters, reactors, fuses ...). Check the infeed control.
Braking controller/Braking Module faulted The internal or external Braking Module is faulted or overloaded (tempera-
(14)
ture). Check the connection/state of the Braking Module. Comply with the
permissible number of braking operations and their duration.
Line filter fault (15)
The line filter monitoring has detected an excessively high temperature or another impermissible state. Check the temperature/temperature monitoring. Check the configuration to ensure that it is permissible (filter type, infeed, thresholds).
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Diagnostics
Text of the message class (number according to PROFIdrive) External measured value/signal state outside of the permissible range (16)
Application/technological function faulty (17)
Error in the parameterization/configuration/commissioning procedure (18)
General drive fault (19)
Auxiliary unit fault (20)
Cause and remedy
A measured value/signal state read in via the input area (digital/temperature) has assumed an impermissible value/state. Identify and check the relevant signal. Check the set thresholds.
The application/technological function has exceeded a (set) limit (position, velocity, torque ...). Identify and check the relevant limit. Check the setpoint specification of the higher-level controller.
An error was identified in the parameterization or in a commissioning procedure, or the parameterization does not match the actual device configuration. Determine the precise cause of the fault using the commissioning tool. Adapt the parameterization or device configuration.
Group fault. Determine the precise cause of the fault using the commissioning tool.
The monitoring of an auxiliary unit (incoming transformer, cooling unit ...) has detected an illegal state. Determine the exact cause of the fault and check the relevant device.
Differences between faults and alarms
The differences between faults and alarms are shown as follows:
Type Fault
Alarm
BOP display (example)
Single fault
The first fault in the case of multiple faults Non-first fault in the case of multiple faults
Status indicator
RDY COM
Slow
-
flashing
in red
Single alarm
Slow
-
flashing
The first alarm in the in red
case of multiple
alarms
Non-first alarm in the case of multiple alarms
Reaction
Acknowledgement
· NONE: no reaction · POWER ON: re-power on
· OFF1: servo motor
the servo drive to clear a
ramps down
fault after eliminating its
· OFF2: servo motor
cause.
coasts down
· IMMEDIATELY: the fault
· OFF3: servo motor stops quickly (emer-
disappears immediately after eliminating its cause.
gency stop)
· PULSE INHIBIT: The fault
· ENOCDER: Encoder fault causes OFF2.
can only be acknowledged with a pulse inhibit. The same options are available for acknowledg-
ing as described under
acknowledgment with
IMMEDIATELY.
· NONE: no reaction Self-acknowledgement
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Diagnostics
NOTICE Faults have higher display priority than alarms In the case that both faults and alarms occur, only faults are displayed until they have been acknowledged.
BOP operations for faults and alarms
To view faults or alarms, proceed as follows: Faults
Alarms
To exit from fault or alarm display, proceed as follows: Faults
Alarms
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To acknowledge faults, proceed as follows:
Diagnostics
Note
· If you do not eliminate the cause(s) of the fault, it can appear again after no button operation for five seconds. Make sure that you have eliminated the cause(s) of the fault.
· You can acknowledge faults using RESET signal. For details of the signal, refer to DIs (Page 100).
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Diagnostics 12.1 List of faults and alarms
12.1
List of faults and alarms
This section lists only common faults and alarms. To view the detailed information of all faults and alarms, call the online help for an active fault/alarm in the SINAMICS VASSISTANT engineering tool.
Fault list
Fault
Cause
F1000: Internal software error An internal software error has occurred.
Message class: Hardware/software error (1)
Reaction: OFF2
Acknowledgement: POWER ON
Remedy · Evaluate fault buffer. · Carry out a POWER ON (power off/on) for
all components. · Upgrade firmware to later version. · Contact the Hotline. · Replace the Control Unit.
F1001: FloatingPoint exception
Message class: Hardware/software error (1)
Reaction: OFF2
An exception occurred during an operation · Carry out a POWER ON (power off/on) for
with the FloatingPoint data type.
all components.
· Upgrade firmware to the latest version.
· Contact the Hotline.
Acknowledgement: POWER ON
F1002: Internal software error An internal software error has occurred.
Message class: Hardware/software error (1)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
· Carry out a POWER ON (power off/on) for all components.
· Upgrade firmware to the latest version. · Contact the Hotline.
F1003: Acknowledgement delay when accessing the memory
A memory area was accessed that does not return a "READY".
· Carry out a POWER ON (power off/on). · Contact the Hotline.
Message class: Hardware/software error (1)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
F1015: Internal software error An internal software error has occurred.
Message class: Hardware/software error (1)
Reaction: OFF2
Acknowledgement: POWER ON
· Carry out a POWER ON (power off/on) for all components.
· Upgrade firmware to the latest version. · Contact the Hotline.
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Diagnostics 12.1 List of faults and alarms
Fault F1018: Booting has been interrupted several times Message class: Hardware/software error (1) Reaction: NONE Acknowledgement: POWER ON
F1030: Sign-of-life failure for master control Message class: Communication to the higher-level controller faulted (9) Reaction: OFF3 Acknowledgement: IMMEDIATELY F1611: SI CU: Defect detected Message class: Safety monitoring channel has identified an error (10) Reaction: OFF2 Acknowledgement: IMMEDIATELY F1910: Fieldbus: setpoint timeout Message class: Communication to the higher-level controller faulted (9) Reaction: OFF3 Acknowledgement: IMMEDIATELY
Cause Module booting was interrupted several times. As a consequence, the module boots with the factory setting. Possible reasons for booting being interrupted: · Power supply interrupted. · CPU crashed. · Parameterization invalid. After this fault is output, then the module is booted with the factory settings.
For active PC master control, no sign-oflife was received within the monitoring time.
The drive-integrated "Safety Integrated" (SI) function on the Control Unit (CU) has detected an error and initiated an STO
The reception of setpoints from the fieldbus interface (Modbus/USS) has been interrupted. · Bus connection interrupted. · Controller switched off. · Controller set into the STOP state.
Remedy · Carry out a POWER ON (power off/on).
After switching on, the module reboots from the valid parameterization (if available). · Restore the valid parameterization Examples: · Carry out a first commissioning, save, carry out a POWER ON (switch-off/switchon). · Load another valid parameter backup (e.g. from the memory card), save, carry out a POWER ON (switch-off/switch-on). Note: If the fault situation is repeated, then this fault is again output after several interrupted boots. Contact the Hotline.
· Carry out a POWER ON (power off/on) for all components.
· Upgrade software. · Replace the Control Unit.
Restore the bus connection and set the controller to RUN.
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Diagnostics 12.1 List of faults and alarms
Fault
F1911: PROFIdrive: Clock cycle synchronous operation clock cycle failure
Message class: Communication to the higher-level controller faulted (9)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
F1912: PROFIdrive: Clock cycle synchronous operation sign-of-life failure
Message class: Communication to the higher-level controller faulted (9)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
Cause The global control telegram to synchronize the clock cycles has failed - for several DP clock cycles or has violated the time grid specified in the parameterizing telegram over several consecutive DP clock cycles (refer to the bus cycle time, Tdp and Tpllw).
The maximum permissible number of errors in the controller sign-of-life (clock synchronous operation) has been exceeded in cyclic operation.
Remedy
· Check the physical bus configuration (cable, connector, terminating resistor, shielding, etc.).
· Check whether communication was briefly or permanently interrupted.
· Check the bus and controller for utilization level (e.g. bus cycle time Tdp was set too short).
· Physically check the bus (cables, connectors, terminating resistor, shielding, etc).
· Correct the interconnection of the controller sign-of-life.
· Check whether the controller correctly sends the sign-of-life (e.g. create a trace with STW2.12...STW2.15 and trigger signal ZSW1.3).
· Check the permissible telegram failure rate (p0925).
· Check the bus and controller for utilization level (e.g. bus cycle time was set too short).
F7011: Motor overtemperature
Message class: Motor overload (8)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
· Motor overloaded
· Reduce the motor load.
· Motor surrounding temperature too high
· Check the surrounding temperature and the motor ventilation.
· Wire breakage or sensor not connected · Check the wiring and the connection.
· Motor temperature model incorrectly parameterized
· Check the motor temperature model parameters.
F7085: Open-loop/closedloop control parameters changed
Open-loop/closed-loop control parameters It is not necessary to change the parameters have had to be changed for the following as they have already been correctly limited. reasons:
Message class: Error in the · As a result of other parameters, they
parameteriza-
have exceeded the dynamic limits.
tion/configuration/commission
ing procedure (18)
· They cannot be used due to the fact
Reaction: NONE
that the hardware detected not having certain features.
Acknowledgement:
IMMEDIATELY
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Diagnostics 12.1 List of faults and alarms
Fault
Cause
F7090: Drive: Upper torque limit less than the lower torque limit
The upper torque limit is lower than the lower torque limit.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
F7093: Drive: Test signal error
The limit rotation of the motor (p29027) is inappropriate.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: OFF3
Acknowledgement: IMMEDIATELY
F7220: Drive: Master control The "master control by PLC" signal was
by PLC missing
missing in operation.
Message class: Communica- · Input for "master control by PLC" is
tion to the higher-level con-
incorrect.
troller faulted (9) Reaction: OFF1
· The higher-level control has withdrawn the "master control by PLC" signal.
Acknowledgement: IMMEDIATELY
· Data transfer via the fieldbus (master/drive) was interrupted.
Remedy The upper torque limit (p29050) must be lower torque limit (p29051)
Modify the value of parameter p29027.
· Check the input for "master control by PLC".
· Check the "master control by PLC" signal and, if required, switch in.
· Check the data transfer via the fieldbus (master/drive).
F7403: Lower DC link voltage The DC link voltage monitoring is active
threshold reached
and the lower DC link voltage threshold
Message class: Infeed faulted was reached in the "Operation" state.
(13)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
F7404: Upper DC link voltage threshold reached
Message class: DC link overvoltage (4)
The DC link voltage monitoring is active and the upper DC link voltage threshold was reached in the "Operation" state.
Reaction: OFF2
Acknowledgement: IMMEDIATELY
· Check the line supply voltage. · Check the infeed. · Reduce the lower DC link threshold. · Switch out (disable) the DC link voltage
monitoring.
· Check the line supply voltage. · Check the infeed module or the brake
module. · Increase the upper DC link voltage
threshold. · Switch out (disable) the DC link voltage
monitoring.
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Diagnostics 12.1 List of faults and alarms
Fault
F7410: Current controller output limited
Message class: Application/technological function faulty (17)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
F7412: Commutation angle incorrect (motor model)
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Acknowledgement: IMMEDIATELY
Cause
Remedy
The condition "I_act = 0 and Uq_set_1
·
longer than 16 ms at its limit" is present
and can be caused by the following: ·
·
Motor not connected or motor contactor open.
·
Connect the motor or check the motor contactor. Check the DC link voltage. Check the Motor Module.
· No DC link voltage present.
· Motor Module defective.
An incorrect commutation angle was de- · If the encoder mounting was changed, re-
tected that can result in a positive coupling
adjust the encoder.
in the speed controller. Possible causes:
· Replace the defective motor encoder.
· Correctly set the motor stator resistance,
· The motor encoder is incorrectly ad-
cable resistance and motor-stator leakage
justed with respect to the magnet posi-
inductance.
tion.
Calculate the cable resistance from the
· The motor encoder is damaged.
cross-section and length, check the in-
· Data to calculate the motor model has
ductance and stator resistance using the
been incorrectly set.
motor data sheet, measure the stator re-
· Pole position identification might have calculated an incorrect value when activated.
sistance, e.g. using a multimeter - and if required, again identify the values using the stationary motor data identification.
· The motor encoder speed signal is faulted.
· The control loop is instable due to incorrect parameterization.
· With pole position identification activated, check the procedure for pole position identification and force a new pole position identification procedure by means of de-selection followed by selection.
F7420: Drive: Current setpoint filter natural frequency > Shannon frequecy
Message class: Error in the parameterization/configuration/commission ing procedure (18)
F7442: LR: Multiturn does not match the modulo range
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
One of the filter natural frequencies is greater than the Shannon frequency.
The ratio between the multiturn resolution and the modulo range (p29246) is not an integer number. This results in the adjustment being set back, as the position actual value cannot be reproduced after poweroff/power-on.
· Reduce the numerator or denominator natural frequency of the current setpoint filter involved.
· Switch out the filter involved (p1656).
Make the ration between the multiturn resolution and the modulo range an integer number. The ratio v is calculated as follows: · Motor encoder without position tracking
(p29243 = 0): For multiturn encoders:
v = (4096 * p29247 * p29248)/(p29249 * p29246) For singleturn encoders:
v = (p29247 * p29248)/(p29249 * p29246)
· Motor encoder with position trakcing (p29243 = 1):
v = (p29244 * 29247)/p29246
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Diagnostics 12.1 List of faults and alarms
Fault
Cause
Remedy
F7443: Reference point coordinate not in the permissible range
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
The reference point coordinate received when adjusting the encoder via connector input p2599 lies outside the half of the encoder range and cannot be set as actual axis position.
Fault value (r0949, interpret decimal):
Maximum permissible value for the reference point coordinate.
Set the reference point coordinate to a lower value than specified in the fault value.
See also: p2599 (EPOS reference point coordinate value.
For a motor with an absolute encoder, the maximum permissible encoder range is calculated by the following formula:
· For multiturn encoders: (4096 * p29247) / 2
· For singleturn encoders: p29247 / 2
F7450: Standstill monitoring After the standstill monitoring time expired, Check the causes and resolve.
has responded
the drive left the standstill window.
Message class: Application/technological function faulty (17)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
· Position loop gain too low.
· Position loop gain too high (instability/oscillation).
· Mechanical overload.
· Connecting cable, motor/drive converter incorrect (phase missing, interchange).
· Tracking mode is not activated with POS_STW.0 (telegram 110) or POS_STW2.0 (telegram 111).
F7451: Position monitoring has responded
Message class: Application/technological function faulty (17)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
When the position monitoring time (p2545) Check the causes and resolve. expired, the drive had still not reached the positioning window (p2544).
· Positioning window parameterized too small (p2544).
· Position monitoring time parameterized too short (p2545).
· Position loop gain is too low.
· Position loop gain is too high (instability/oscillation).
· Drive mechanically locked.
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Diagnostics 12.1 List of faults and alarms
Fault
F7452: Following error too high
Message class: Application/technological function faulty (17)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
Cause
The difference between the position setpoint and position actual value (following error dynamic model) is greater than the tolerance (p2546).
Remedy Check the causes and resolve.
· The value of p2546 is too small.
· The gain of position loop is too small.
· The drive torque or accelerating capacity exceeded.
· Position measuring system fault.
· Position control sense incorrect. · Mechanical system locked.
· Excessively high traversing velocity or excessively high position reference value (setpoint) differences.
F7453: Position actual value preprocessing error
Message class: Application/technological function faulty (17)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
F7458: EPOS: Reference cam not found
Message class: Application/technological function faulty (17)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7459: Zero mark not detected
Message class: Application/technological function faulty (17)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
An error has occurred during the position actual value preprocessing.
After starting the search for reference, the axis moved through the maximum permissible distance to seach for the reference cam without actually finding the reference cam.
After leaving the reference cam, the axis has traversed the maximum permissible distance (p2609) between the reference cam and the zero mark without finding the zero mark.
Check the encoder for the position actual value preprocessing.
· Check the "reference cam" input. · Check the maximum permissible distance
to the reference cam (p2606). See also: p2606 (EPOS search for reference reference cam maximum distance)
· Check the encoder regarding zero mark. · Check the maximum permissible distance
between the reference cam and zero mark (p2609). · Use an external encoder zero mark (equivalent zero mark). See also: p2609 (EPOS search for reference max distance ref cam and zero mark)
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Diagnostics 12.1 List of faults and alarms
Fault
Cause
Remedy
F7460: EPOS: End of reference cam not found
Message class: Application/technological function faulty (17)
Reaction: OFF1 (OFF2, OFF3)
During the search for reference, when the · Check the "reference cam" input.
axis reached the zero mark it also reached the end of the traversing range without
·
Repeat the search for reference.
detecting an edge at the binector input
"reference cam".
Maximum traversing range: -2147483648 [LU] ... -2147483647 [LU]
Acknowledgement: IMMEDIATELY
F7464: EPOS: Traversing block is inconsistent
Message class: Error in the parameterization/configuration/commission ing procedure (18)
The traversing block does not contain vaild information.
Alarm value:
Number of the traversing block with invaild information.
Check the traversing block and where relevant, take into consideration alarms that are present.
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7475: EPOS: Target position < start of traversing range
The target position for relative traversing lies outside the traversing range.
Correct the target position.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7476: EPOS: Target position > end of the traversing range
The target position for relative traversing lies outside the traversing range.
Correct the target position.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7481: EPOS: Axis position < The actual position of the axis is less than
software limit switch minus the position of the software limit switch
Message class: Applica-
minus.
tion/technological function
faulty (17)
Reaction: OFF1 (OFF2, OFF3)
· Correct the target position.
· Change software limit switch minus (CI: p2580).
See also: p2580 (EPOS software limit switch minus), p2582 (EPOS software limit switch activation)
Acknowledgement: IMMEDIATELY
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Diagnostics 12.1 List of faults and alarms
Fault
F7482: EPOS: Axis position > software limit switch plus
Message class: Application/technological function faulty (17)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7484: EPOS: Fixed stop outside the monitoring window
Message class: Application/technological function faulty (17)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7485: EPOS: Fixed stop not reached
Message class: Application/technological function faulty (17)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7488: EPOS: Relative positioning not possible
Message class: Application/technological function faulty (17)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
F7490: Enable signal withdrawn while traversing
Message class: Application/technological function faulty (17)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
Cause The actual position of the axis is greater than the position of the software limit switch plus.
In the "fixed stop reached" state, the axis has moved outside the defined monitoring window (p2635).
In a traversing block with the task FIXED STOP, the end position was reached without detecting a fixed stop.
In the mode "direct setpoint input/MDI", for continuous transfer relative positioning was selected.
· For a standard assignment, another fault may have occurred as a result of withdrawing the enable signals.
· The drive is in the "switching on inhibited" state (for a standard assignment).
Remedy · Correct the target position. · Change software limit switch plus (CI:
p2581). See also: p2580 (EPOS software limit switch minus), p2582 (EPOS software limit switch activation)
· Check the monitoring window (p2635). · Check the mechanical system.
· Check the traversing block and locate the target position further into the workpiece.
· Check the "fixed stop reached" control signal.
· If required, reduce the maximum following error window to detect the fixed stop (p2634).
Check the control.
· Set the enable signals or check the cause of the fault that first occurred and then result (for a standard assignment).
· Check the assignment to enable the basic positioning function.
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Diagnostics 12.1 List of faults and alarms
Fault
F7491: STOP cam minus reached
Message class: Application/technological function faulty (17)
Reaction: OFF3
Acknowledgement: IMMEDIATELY
F7492: STOP cam plus reached
Message class: Application/technological function faulty (17)
Reaction: OFF3
Acknowledgement: IMMEDIATELY
F7493: LR: Overflow of the value range for position actual value
Message class: Application/technological function faulty (17)
Reaction: OFF1 (OFF2, OFF3)
Acknowledgement: IMMEDIATELY
Cause The STOP cam minus was reached. For a positive traversing direction, the STOP cam minus was reached, i.e. the wiring of the STOP cam is incorrect.
The STOP cam plus was reached. For a negative traversing direction, the STOP cam plus was reached, i.e. the wiring of the STOP cam is incorrect.
The value range (-2147483648 ... 2147483647) for the position actual value representation was exceeded. When the overflow occurs, the "referenced" or "adjustment absolute measuring system" status is reset. · The position actual value (r2521) has
exceeded the value range. · The encoder position actual value has
exceeded the value range. · The maximum encoder value times the
factor to convert the absolute position from increments to length units (LU) has exceeded the value range for displaying the position actual value.
Remedy · Leave the STOP cam minus in the posi-
tive traversing direction and return the axis to the valid traversing range. · Check the wiring of the STOP cam.
· Leave the STOP cam plus in the negative traversing direction and return the axis to the valid traversing range.
· Check the wiring of the STOP cam.
If required, reduce the traversing range or position resolution p29247. Note for case = 3: If the value for the maximum possible absolute position (LU) is greater than 4294967296, then it is not possible to make an adjustment due to an overflow. For rotary encoders, the maximum possible absolute position (LU) is calculated as follows: Motor encoder with position tracking: EPOS: p29247 * p29244 Motor encoder without position tracking: · For multiturn encoders:
EPOS: p29247 * p29248 * 4096 / p29249 · For singleturn encoders:
EPOS: p29247 * p29248 / p29249
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Diagnostics 12.1 List of faults and alarms
Fault
F7575: Drive: Motor encoder not ready
Cause
The motor encoder signals that it is not ready.
Remedy
Evaluate other queued faults via motor encoder.
Message class: Actual position/speed value incorrect or not available (11)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
· Initialization of motor encoder was unsuccessful.
· The function "parking encoder" is active (encoder control word G1_STW.14 = 1).
F7599: Encoder 1: Adjustment not possible
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: OFF1 (NONE, OFF2, OFF3)
Acknowledgement: IMMEDIATELY
The maximum encoder value times the factor to convert the absolute position from increments to length units (LU) has exceeded the value range (-2147483648 ... 2147483647) for displaying the position actual value.
If the value for the maximum possible absolute position (LU) is greater than 4294967296, then it is not possible to make an adjustment due to an overflow.
For rotary encoders, the maximum possible absolute position (LU) is calculated as follows:
Motor encoder with position tracking:
EPOS: p29247 * p29244
Motor encoder without position tracking:
· For multiturn encoders:
EPOS: p29247 * p29248 * 4096 / p29249 · For singleturn encoders:
F7800 Drive: No power unit The power unit parameters cannot be read ·
present
or no parameters are stored in the power
Message class: Error in the unit.
·
parameteriza-
tion/configuration/commission
ing procedure (18)
Reaction: NONE
Acknowledgement: IMMEDIATELY
F7801: Motor overcurrent
Message class: Motor overload (8)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
The permissible motor limit current was
·
exceeded.
·
· Effective current limit set too low.
·
· Current controller not correctly set.
· Motor was braked with an excessively · high stall torque correction factor.
· Up ramp was set too short or the load is too high.
· Short-circuit in the motor cable or ground fault.
· Motor current does not match the current of Motor Module.
EPOS: p29247 * p29248 / p29249 Carry out a POWER ON (power off/on) for all components. Change the module.
Reduce the stall torque correction factor. Increase the up ramp or reduce the load. Check the motor and motor cables for short-circuit and ground fault. Check the Motor Module and motor combination.
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Diagnostics 12.1 List of faults and alarms
Fault
Cause
Remedy
F7802: Infeed or power unit After an internal power-on command, the ·
not ready
infeed or drive does not signal ready be-
Message class: Infeed faulted cause of one of the following reasons:
(13) Reaction: OFF2
· Monitoring time is too short.
·
· DC link voltage is not present.
Acknowledgement: IMMEDIATELY
· Associated infeed or drive of the signaling component is defective.
Ensure that there is a DC link voltage. Check the DC link busbar. Enable the infeed.
Replace the associated infeed or drive of the signaling component.
F7815: Power unit has been The code number of the actual power unit Connect the original power unit and power up
changed
does not match the saved number.
the Control Unit again (POWER ON).
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Reaction: NONE
Acknowledgement: IMMEDIATELY
F7900: Motor blocked/speed controller at its limit
Message class: Application/technological function faulty (17)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
The servo motor has been operating at the · Check whether the servo motor can rotate
torque limit longer than 1s and below the speed threshold of 120 rpm .
This signal can also be initiated if the speed actual value is oscillating and the
freely or not. · Check the torque limit. · Check the inversion of the actual value.
speed controller output repeatedly goes to · Check the motor encoder connection.
its limit.
· Check the encoder pulse number.
F7901: Motor overspeed
Message class: Application/technological function faulty (17)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
The maximumly permissible speed has been exceeded.
· Check and correct the maximum speed (p1082).
· Check if there are any peaks of actual speed. If the value of the peak is especially large, contact the hotline.
F7995: Motor identification failure
Message class: Error in the parameterization/configuration/commission ing procedure (18)
For incremental motor, needs pole position identification when the motor is servo on for the first time. If the motor already in run (i.e. by external force) position identification may failure.
Stop the motor before servo on.
Reaction: OFF2
Acknowledgement: IMMEDIATELY
F8501: PROFIdrive: Setpoint The reception of setpoints from the
timeout
PROFINET has been interrupted.
Restore the PROFINET connection and set the controller to RUN.
Message class: Communica- · PROFINET connection interrupted.
tion to the higher-level controller faulted (9)
· Controller switched off.
Reaction: OFF3
· Controller set into the STOP state.
Acknowledgement:
· PROFINET defective.
IMMEDIATELY
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Diagnostics 12.1 List of faults and alarms
Fault
Cause
F30001: Power unit: Overcur- The power unit has detected an overcur-
rent
rent condition.
Message class: Power electronics faulted (5)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
· Closed-loop control is incorrectly parameterized.
· Controller parameters are not proper.
· Motor has a short-circuit or fault to ground (frame).
· Power cables are not correctly connected.
· Power cables exceed the maximum permissible length.
· Power unit defective.
· Line phase interrupted.
Remedy
· Check the motor data - if required, carry out commissioning.
· Modify speed loop Kp (p29120), position loop Kv (p29110).
· Check the motor circuit configuration (star-delta).
· Check the power cable connections. · Check the power cables for short-circuit or
ground fault. · Check the length of the power cables. · Replace power unit. · Check the line supply phases. · Check the external braking resistor con-
nection.
F30002: DC link voltage, overvoltage
Message class: DC link overvoltage (4)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
The power unit has detected overvoltage in the DC link.
· Motor regenerates too much energy. · Device connection voltage too high. · Line phase interrupted.
· Increase the ramp-down time. · Activate the DC link voltage controller. · Use a braking resistor. · Increase the current limit of the infeed or
use a larger module. · Check the device supply voltage. · Check the line supply phases.
F30003: DC link voltage,
The power unit has detected an undervolt- · Check the line supply voltage
undervoltage
age condition in the DC link.
· Check the line supply infeed and observe
Message class: Infeed faulted · Line supply failure
(13)
· Line supply voltage below the permis-
the fault messages relating to it (if there are any)
Reaction: OFF2
sible value.
· Check the line supply phases.
Acknowledgement: IMMEDIATELY
· Line supply infeed failed or interrupted. · Check the line supply voltage setting.
· Line phase interrupted.
F30004: Drive heat sink overtemperature
Message class: Power electronics faulted (5)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
The temperature of the power unit heat sink has exceeded the permissible limit value.
· Insufficient cooling, fan failure.
· Overload.
· Surrounding temperature too high.
· Pulse frequency too high.
· Check whether the fan is running. · Check the fan elements. · Check whether the surrounding tempera-
ture is in the permissible range. · Check the motor load. · Reduce the pulse frequency if this is high-
er than the rated pulse frequency.
F30005: Power unit: Overload The power unit was overloaded.
I2t
· The permissible rated power unit cur-
Message class: Power electronics faulted (5)
rent was exceeded for an inadmissibly long time.
Reaction: OFF2
· The permissible load duty cycle was
Acknowledgement: IMMEDIATELY
not maintained.
· Reduce the continuous load. · Adapt the load duty cycle. · Check the motor and power unit rated
currents.
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Diagnostics 12.1 List of faults and alarms
Fault
F30011: Line phase failure in main circuit
Message class: Network fault (2)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
Cause At the power unit, the DC link voltage ripple has exceeded the permissible limit value. Possible causes:
· A line phase has failed.
· The 3 line phases are inadmissibly unsymmetrical.
Remedy · Check the main circuit fuses. · Check whether a single-phase load is
distorting the line voltages. · Check the motor feeder cables.
· The fuse of a phase of a main circuit has ruptured.
· A motor phase has failed.
F30015: Phase failure motor cable
Message class: Application/technological function faulty (17)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
F30021: Ground fault
Message class: Ground fault/inter-phase short-circuit detected (7)
Reaction: OFF2
Acknowledgement: IMMEDIATELY
A phase failure in the motor feeder cable · Check the motor feeder cables.
was detected.
· Check the speed controller settings.
The signal can also be output in the follow-
ing case:
The motor is correctly connected, however the closed-speed control is instable and therefore an oscillating torque is generated.
Power unit has detected a ground fault.
· Ground fault in the power cables. · Winding fault or ground fault at the
motor.
· Check the power cable connections. · Check the motor.
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Diagnostics 12.1 List of faults and alarms
Fault
Cause
F30027: Precharging DC link · time monitoring
Message class: Infeed faulted (13)
Reaction: OFF2
The power unit DC link was not able to be pre-charged within the expected time. There is no line supply voltage connected.
Acknowledgement: IMMEDIATELY
· The line contactor/line side switch has not been closed.
Remedy
Check the line supply voltage at the input terminals.
· The line supply voltage is too low.
· The pre-charging resistors are overheated as there were too many precharging operations per time unit
· The pre-charging resistors are overheated as the DC link capacitance is too high.
· The pre-charging resistors are overheated.
· The pre-charging resistors are overheated as the line contactor was closed during the DC link fast discharge through the Braking Module.
· The DC link has either a ground fault or a short-circuit.
· The pre-charging circuit is possibly defective.
F30036: Internal overtemperature Message class: Power electronics faulted (5) Reaction: OFF2 Acknowledgement: IMMEDIATELY
F30050: 24 V supply overvoltage Message class: Supply voltage fault (undervoltage) (3) Reaction: OFF2 Acknowledgement: POWER ON
The temperature inside the drive converter has exceeded the permissible temperature limit.
· Insufficient cooling, fan failure.
· Overload.
· Surrounding temperature too high.
· Check whether the fan is running.
· Check the fan elements.
· Check whether the surrounding temperature is in the permissible range.
Notice: This fault can only be acknowledged once the permissible temperature limit minus 5 K has been fallen below.
The voltage monitor signals an overvoltage · Check the 24 V power supply.
fault on the module.
· Replace the module if necessary.
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Diagnostics 12.1 List of faults and alarms
Fault
F31100: Zero mark distance error
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
F31101: Zero mark failed
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
F31110: Serial communications error
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
F31111: Encoder 1: Absolute encoder internal error
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
F31112: Error bit set in the serial protocol
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
F31117: Inversion error signals A/B/R
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
Cause
The measured zero mark distance does not correspond to the parameterized zero mark distance. For distance-coded encoders, the zero mark distance is determined from zero marks detected pairs. This means that if a zero mark is missing, depending on the pair generation, this cannot result in a fault and also has no effect in the system.
The 1.5 x parameterized zero mark distance was exceeded.
Remedy · Check that the encoder cables are routed
in compliance with EMC. · Check the plug connections · Replace the encoder or encoder cable
· Check that the encoder cables are routed in compliance with EMC.
· Check the plug connections. · Replace the encoder or encoder cable.
Serial communication protocol transfer error between the encoder and evaluation module.
· Check the encoder cable and shielding connection.
· Replace the encoder cable/encoder.
The absolute encoder fault word supplies fault bits that have been set.
· Check the encoder cable connection and make sure the cables are routed in compliance with EMC.
· Check the motor temperature.
· Replace the motor/encoder.
The encoder sends a set error bit via the Refer to F31111. serial protocol.
For a square-wave encoder (bipolar, dou- · ble ended) signals A*, B* and R* are not inverted with respect to signals A, B and R.
·
Check the encoder and cable and the connection of them.
Does the encoder supply signals and the associated inverted signals?
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Diagnostics 12.1 List of faults and alarms
Fault
Cause
Remedy
F31130: Zero mark and position error from the coarse synchronization
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
After initializing the pole position using track C/D, Hall signals or pole position identification routine, the zero mark was detected outside the permissible range. For distance-coded encoders, the test is carried out after passing 2 zero marks. Fine synchronization was not carried out.
· Check that the encoder cables are routed in compliance with EMC.
· Check the plug connections
· If the Hall sensor is used as an equivalent for track C/D, check the connection.
· Check the connection of track C or D.
Acknowledgement: PULSE INHIBIT
· Replace the encoder or encoder cable.
F31131: Encoder 1: Deviation · position incremental/absolute too large
Message class: Actual position/speed value incorrect or not available (11)
Reaction: ENCODER
Absolute encoder
·
When cyclically reading the absolute position, an excessively high difference ·
to the incremental position was detect- ·
ed. The absolute position that was read · is rejected.
Check that the encoder cables are routed in compliance with EMC.
Check the plug connections.
Replace the encoder or encoder cable.
Check whether the coding disk is dirty or there are strong ambient magnetic fields.
Acknowledgement: PULSE INHIBIT
Limit value for the deviation: 15 pulses (60 quadrants).
· Incremental encoder
When the zero is passed, a deviation in the incremental position was detected.
The first zero mark passed supplies the reference point for all subsequent checks. The other zero marks must have n times the distance referred to the first zero mark.
Divation in quadrants (1 pulse = 4 quadrants).
F31150: Initialization error
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Encoder functionality is not operating correctly.
· Check the encoder type used (incremental/absolute) and the encoder cable.
· If relevant, note additional fault messages that describe the fault in detail.
Reaction: ENCODER
Acknowledgement: PULSE INHIBIT
F52904: Control mode change
When the control mode is changed, the drive must be saved and restarted.
Save and restart the drive.
Message class: General drive fault (19)
Reaction: OFF2
Acknowledgement: POWER ON
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Diagnostics 12.1 List of faults and alarms
F52980: Absolute encoder motor changed
Message class: General drive fault (19)
The servo motor with absolute encoder is changed. Actual motor ID is different from commissioned motor ID.
The servo motor will be automatically configured after the acknowledgement of this fault.
Reaction: OFF1
Acknowledgement: IMMEDIATELY
F52981: Absolute encoder motor mismatched
Message class: General drive fault (19)
Connected absolute encoder motor cannot be operated. The servo drive in use does not support the Motor ID.
Use a suitable absolute encoder motor.
Reaction: OFF1
Acknowledgement: IMMEDIATELY
F52983: No encoder detected The servo drive in use does not support Message class: General drive encoderless operation. fault (19)
· Check the encoder cable connection between the servo drive and the servo motor.
Reaction: OFF1
Acknowledgement: IMMEDIATELY
· Use a servo motor with encoder.
F52984: Incremental encoder · motor not configured
Message class: General drive · fault (19)
Reaction: OFF1
Commissioning of the servo motor has failed.
The incremental encoder motor is connected but fails to commission.
Configure the motor ID by setting the parameter p29000.
Acknowledgement: IMMEDIATELY
F52985: Absolute encoder · motor wrong
Message class: General drive · fault (19)
Reaction: OFF1
Motor ID is downloaded wrong during manufacture.
The firmware of the servo drive does not support the Motor ID.
· Update the firmware. · Use a correct absolute encoder motor.
Acknowledgement: IMMEDIATELY
F52987: Absolute encoder replaced
Incorrect absolute encoder data.
Contact the Hotline.
Message class: General drive fault (19)
Reaction: OFF1
Acknowledgement: IMMEDIATELY
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Diagnostics 12.1 List of faults and alarms
Alarm list
Alarm
Cause
Remedy
A1009: Control module overtemperature
Message class: Overtemperature of the electronic components (6)
The temperature of the control module (Control Unit) has exceeded the specified limit value.
· Check the air intake for the Control Unit.
· Check the Control Unit fan.
Note: The alarm automatically disappears after the limit value has been undershot.
A1019: Writing to the remov- The write access to the removable data able data medium unsuccess- medium was unsuccessful. ful
Remove and check the removable data medium. Then run the data backup again.
Message class: Overtemperature of the electronic component (6)
A1032: All parameters must be saved
Message class: Hardware/software error (1)
The parameters of an individual drive object were saved, although there is still no backup of all drive system parameters. The saved object-specific parameters are not loaded the next time that the system powers up. For the system to successfully power up, all of the parameters must have been completely backed up.
Save all parameters.
A1045: Configuring data invalid
Message class: Hardware/software error (1)
An error was detected when evaluating the parameter files saved in the non-volatile memory. Because of this, under certain circumstances, several of the saved parameter values were not able to be accepted.
Save the parameterization using the "Copy RAM to ROM" function on the BOP. This overwrites the incorrect parameter files in the non-volatile memory and the alarm is withdrawn.
A1902: PROFIdrive: Clock cycle synchronous operation parameterization not permissible
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Parameterization for isochronous operation is not permissible.
· Adapt the bus parameterization Tdp, Ti, To.
· Adapt the sampling time for the current controller or speed controller.
· Reduce Tdx by using fewer bus participants or shorter telegrams.
A1920: Drive Bus: Receive setpoints after To
Message class: Communication to the higher-level controller faulted (9)
Output data of Drive Bus master (setpoints) received at the incorrect instant in time within the Drive Bus clock cycle.
· Check bus configuration.
· Check parameters for clock cycle synchronization (ensure To > Tdx).
Note: To: Time of setpoint acceptance Tdx: Data exchange time
A1932: Drive Bus clock cycle synchronization missing for DSC
There is no clock synchronization or clock synchronous sign of life and DSC is selected.
Set clock synchronization across the bus configuration and transfer clock synchronous sign-of-life.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Note: DSC: Dynamic Servo Control
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Diagnostics 12.1 List of faults and alarms
Alarm
A1940: PROFIdrive: clock cycle synchronism not reached
Message class: Communication to the higher-level controller faulted (9)
Cause
Remedy
The bus is in the data exchange state and · clock synchronous operation has been selected using the parameterizing telegram. It was not possible to synchronize to · the clock cycle specified by the master.
· The master does not send a clock synchronous global control telegram · although clock synchronous operation was selected when configuring the bus.
Check the master application and bus configuration.
Check the consistency between the clock cycle input when configuring the slave and clock cycle setting at the master.
Check that no drive object has a pulse enable. Only enable the pulses after synchronizing the PROFIdrive.
· The master is using another clock synchronous DP clock cycle than was transferred to the slave in the parameterizing telegram.
· At least one drive object has a pulse enable (not controlled from PROFIdrive either).
A1944: PROFIdrive: Sign-oflife synchronism not reached Message class: Communication to the higher-level controller faulted (9)
A5000: Drive heat sink overtemperature Message class: Power electronics faulted (5)
The bus is in the data exchange state and clock synchronous operation has been selected using the parameterizing telegram.
Ensure that the master correctly increments the sign-of-life in the master application clock cycle Tmapc.
Synchronization with the master sign-of-life (STW2.12...STW2.15) could not be completed because the sign-of-life is changing differently to how it was configured in the Tmapc time grid.
The alarm threshold for overtemperature at Check the following:
the inverter heat sink has been reached. · Is the surrounding temperature within the
If the temperature of the heat sink increas-
defined limit values?
es by an additional 5 K, then fault F30004 is initiated.
· Have the load conditions and the load
duty cycle been appropriately dimen-
sioned?
· Has the cooling failed?
A6310: Supply voltage (p29006) incorrectly parameterized Message class: Network fault (2)
A7012: Motor temperature model 1/3 overtemperature Message class: Motor overload (8)
For AC/AC drive units, the measured DC voltage lies outside the tolerance range after pre-charging has been completed.
The following applies for the tolerance range: 1.16 × p29006 < r0026 <1.6 × p29006
Note:
The fault can only be acknowledged when the drive is switched off.
The motor temperature model 1/3 identified that the alarm threshold was exceeded.
· Check the parameterized supply voltage and if required change it (p29006).
· Check the line supply voltage. See also: p29006 (Line supply voltage)
· Check the motor load and reduce it if required.
· Check the motor surrounding temperature.
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Diagnostics 12.1 List of faults and alarms
Alarm
Cause
A7092: Drive: Moment of
The moment of the inertia estimator has
inertia estimator still not ready still not determined any valid values.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
The acceleration cannot be calculated.
The moment of inertia estimator has stabilized, if the ratio of machine load moment of inertia (p29022) have been determined.
A7440: EPOS: Jerk time is limited
Message class: Error in the parameterization/configuration/commission ing procedure (18)
The calculation of the jerk time Tr = max (p2572, 2573)/2574 resulted in an excessively high value so that the jerk time is internally limited to 1000 ms.
Note:
The alarm is also output if jerk limiting is not active.
A7441: LR: Save the position offset of the absolute encoder adjustment
Message class: Application/technological function faulty (17)
The status of the absolute encoder adjustment has changed.
In order to permanently save the determined position offset (p2525), it must be saved in a non-volatile fashion (p0977).
A7454: LR: Position value
One of the following problems has oc-
preprocessing does not have curred with the position actual value pre-
a valid encoder
processing:
Message class: Error in the ·
parameteriza-
tion/configuration/commission
ing procedure (18)
·
An encoder is not assigned for the position actual value preprocessing.
An encoder is assigned, but no encoder data set.
Remedy Traverse the axis until the moment of inertia estimator has stabilized. The alarm is automatically withdrawn after the moment of inertia estimator has stabilized.
· Increase the jerk limiting (p2574). · Reduce maximum acceleration or maxi-
mum deceleration (p2572, p2573). See also: p2572 (EPOS maximum acceleration), p2573 (EPOS maximum deceleration), p2574 (EPOS jerk limiting)
Not necessary. This alarm automatically disappears after the offset has been saved. See also: p2525 (LR encoder adjustment offset)
Check the drive data sets, encoder data sets and encoder assignment.
· An encoder an an encoder data set have been assigned, however, the encoder data set does not contain any encoder data or invalid data.
A7455: EPOS: Maximum velocity limited
Message class: Error in the parameterization/configuration/commission ing procedure (18)
The maximum velocity (p2571) is too high to correctly calculate the modulo correction.
Within the sampling time for positioning, with the maximum velocity, a maximum of the half modulo length must be moved through. p2571 was limited to this value.
A7456: EPOS: Setpoint velocity limited
Message class: Application/technological function faulty (17)
The actual setpoint velocity is greater than the parameterized maximum velocity (p2571) and is therefore limited.
Reduce the maximum velocity (p2571).
· Check the entered setpoint velocity. · Reduce the velocity override. · Increase the maximum velocity (p2571). · Check the signal source for the externally
limited velocity.
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Diagnostics 12.1 List of faults and alarms
Alarm
A7457: EPOS: Combination of input signals illegal
Cause
An illegal combination of input signals that are simultaneously set was identified.
Remedy
Check the appropriate input signals and correct.
Message class: Application/technological function faulty (17)
Alarm value (r2124, interpret decimal):
0: Jog 1 and jog 2.
1: Jog 1 or jog 2 and direct setpoint input/MDI.
2: Jog 1 or jog 2 and start referencing.
3: Jog 1 or jog 2 and activate traversing task.
4: Direct setpoint input/MDI and starting referencing.
5: Direct setpoint input/MDI and activate traversing task.
6: Start referencing and activate traversing task.
A7461: EPOS: Reference point not set
Message class: Application/technological function faulty (17)
When starting a traversing block/direct
Reference the system (search for reference,
setpoint input, a reference point is not set. flying referencing, set reference point).
A7462: EPOS: Selected trav- A traversing block selected via PROFINET · Correct the traversing program.
ersing block number does not control words POS_STW1.0 to
exist
POS_STW1.5 (when telegram 111 is
Message class: Error in the used) or SATZANW.0 to SATZANW.5
· Select an available traversing block number.
parameteriza-
(when telegram 7, 9 and 110 are used)
tion/configuration/commission was started via PROFINET control word
ing procedure (18)
STW1.6 = 0/1 edge "Activate traversing
task".
· The selected traversing block exceeds the block number limit, relevant highorder bits should remain low. Refer to Section "Traversing blocks"
· The started traversing block is suppressed.
Alarm value (r2124, interpret decimal):
Number of the selected traversing block that is also not vailable.
A7463: EPOS: External block change not requested in the traversing block
Message class: Application/technological function faulty (17)
For a traversing block with the block change enable CONTINUE_EXTERNAL_ALARM, the external block change was not requested.
Alarm value (r2124, interpret decimal):
Number of the traversing block.
Resolve the reason as to why the edge is missing at STW1.13.
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Diagnostics 12.1 List of faults and alarms
Alarm
Cause
Remedy
A7467: EPOS: Traversing block has illegal task parameters
Message class: Error in the parameterization/configuration/commission ing procedure (18)
The task parameter in the traversing block contains an illegal value.
Alarm value (r2124, interpret decimal):
Number of the traversing block with an illegal task parameter.
Correct the task parameter in the traversing block.
A7468: EPOS: Traversing
In a traversing block, a jump was pro-
·
block jump destination does grammed to a non-existent block.
not exist
Alarm value (r2124, interpret decimal):
·
Message class: Error in the Number of the traversing block with a jump
parameteriza-
destination that does not exist.
tion/configuration/commission
ing procedure (18)
Correct the traversing block. Add the missing traversing block.
A7469: EPOS: Traversing block < target position < software limit switch minus
Message class: Error in the parameterization/configuration/commission ing procedure (18)
In the traversing block the specified absolute target position lies outside the range limited by the software limit switch minus.
· Correct the traversing block.
· Change software limit switch minus (p2580).
A7470: EPOS: Traversing block > target position > software limit switch plus
In the traversing block the specified absolute target position lies outside the range limited by the software limit switch plus.
· Correct the traversing block. · Change software limit switch plus (p2581).
Message class: Error in the parameterization/configuration/commission ing procedure (18)
A7471: EPOS: Traversing block target position outside the modulo range
Message class: Application/technological function faulty (17)
In the traversing block the target position lies outside the modulo range.
· In the traversing block, correct the target position.
· Change the modulo range (p29246).
A7472: EPOS: Traversing block ABS_POS/ABS_NEG not possible
Message class: Application/technological function faulty (17)
In the traversing block the positioning mode ABS_POS or ABS_NEG were parameterized with the modulo correction not activated.
Correct the traversing block.
A7473: EPOS: Beginning of When traversing, the axis has moved to
traversing range reached
the traversing range limit.
Move away in the positive direction.
Message class: Application/technological function faulty (17)
A7474: EPOS: End of traversing range reached
When traversing, the axis has moved to the traversing range limit.
Move away in the negative direction.
Message class: Application/technological function faulty (17)
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Diagnostics 12.1 List of faults and alarms
Alarm
Cause
Remedy
A7477: EPOS: Target position < software limit switch minus
In the actual traversing operation, the target position is less than the software limit switch minus.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
· Correct the target position.
· Change software limit switch minus (CI: p2580).
See also: p2580 (EPOS software limit switch minus), p2582 (EPOS software limit switch activation)
A7478: EPOS: Target position > software limit switch plus
Message class: Error in the parameterization/configuration/commission ing procedure (18)
In the actual traversing operation, the target position is greater than the software limit switch plus.
· Correct the target position.
· Change software limit switch plus (CI: p2581).
See also: p2581 (EPOS software limit switch plus), p2582 (EPOS software limit switch activation)
A7479: EPOS: Software limit switch minus reached
Message class: Application/technological function faulty (17)
The axis is at the position of the software limit switch minus. An active traversing block was interrupted.
· Correct the target position.
· Change software limit switch minus (CI: p2580).
See also: p2580 (EPOS software limit switch minus), p2582 (EPOS software limit switch activation)
A7480: EPOS: Software limit switch plus reached
Message class: Application/technological function faulty (17)
The axis is at the position of the software limit switch plus. An active traversing block was interrupted.
· Correct the target position.
· Change software limit switch plus (CI: p2581).
See also: p2581 (EPOS software limit switch plus), p2582 (EPOS software limit switch activation)
A7483: EPOS: Travel to fixed stop clamping torque not reached
Message class: Application/technological function faulty (17)
The fixed stop in the traversing block was reached without the clamping torque/clamping force having been achieved.
Check the torque limits (p1520, p1521).
A7486: EPOS: Intermediate stop missing
Message class: Application/technological function faulty (17)
In the modes "traversing blocks" or "direct setpoint input/MDI" at the start of motion, the binector input "no intermediate stop/intermediate stop" did not have a 1 signal.
Connect a 1 signal to the binector input "no intermediate stop/intermediate stop" and restart motion.
A7487: EPOS: Reject travers- In the modes "traversing blocks" or "direct Connect a 1 signal to the binector input "do
ing task missing
setpoint input/MDI" at the start of motion, not reject traversing task/reject traversing
Message class: Application/technological function faulty (17)
the binector input "do not reject traversing task" and restart motion. task/reject traversing task" does not have a 1 signal.
A7496: EPOS: Enable not possible
Message class: Application/technological function faulty (17)
In the EPOS control mode, no servo on command is sent to the drive via PROFINET.
Send servo on command to the drive via PROFINET.
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Diagnostics 12.1 List of faults and alarms
Alarm
A7530: Drive: Drive Data Set DDS not present
Message class: Error in the parameterization/configuration/commission ing procedure (18)
A7565: Drive: Encoder error in PROFIdrive encoder interface 1
Message class: Actual position/speed value incorrect or not available (11)
A7576: Encoderless operation due to a fault active
Message class: Actual position/speed value incorrect or not available (11)
A7582: Position actual value preprocessing error
Message class: Actual position/speed value incorrect or not available (11)
A7805: Power unit overload I2t
Message class: Power electronics faulted (5)
Cause The selected drive data set is not available. The drive data set was not changed over.
An encoder error was signaled for encoder 1 via the PROFIdrive encoder interface (G1_ZSW.15).
Encoderless operation is active due to a fault.
An error has occurred during the position actual vaule preprocessing.
Alarm threshold for I2t overload of the power unit exceeded.
Remedy · Select the existing drive data set. · Set up additional drive data sets.
Acknowledge the encoder error using the encoder control word (G1_STW.15 = 1).
· Remove the cause of a possible encoder fault.
· Carry out a POWER ON (power off/on) for all components.
Check the encoder for the position actual value preprocessing.
· Reduce the continuous load. · Adapt the load duty cycle. · Check the assignment of the rated cur-
rents of the motor and motor module.
A7965: Save required
Message class: Error in the parameterization/configuration/commission ing procedure (18)
A7971: Angular commutation offset determination activated
Message class: Error in the parameterization/configuration/commission ing procedure (18)
A7991: Motor data identification activated
Message class: Error in the parameterization/configuration/commission ing procedure (18)
The angular commutation offset was redefined and has still not been saved. In order to permanently accept the new value, it must be saved in a non-volatile fashion.
The automatic determination of the angular commutation offset (encoder adjustment) is activated. The automatic determination is carried out at the next power-on command.
The motor data ident. routine is activated. The motor data identification routine is carried out at the next power-on command.
This alarm automatically disappears after the data has been saved.
The alarm automatically disappears after determination.
The alarm automatically disappears after the motor data identification routine has been successfully completed. If a POWER ON or a warm restart is performed with motor data identification selected, the motor data identification request will be lost. If motor data identification is required, it will need to be selected again manually following ramp-up.
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Diagnostics 12.1 List of faults and alarms
Alarm
Cause
Remedy
A8511: PROFIdrive: Receive The drive unit did not accept the receive
configuration data invalid
configuration data.
Check the receive configuration data.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
A8526: PROFIdrive: No cyclic There is no cyclic connection to the con-
connection
trol.
Message class: Communication to the higher-level controller faulted (9)
· Establish the cyclic connection and activate the control with cyclic operation.
· Check the parameters "Name of Station" and "IP of Station" (r8930, r8931).
A8565: PROFIdrive: Receive A consistency error was detected when
configuration data invalid
activating the configuration.
Check the required interface configuration, correct if necessary.
Message class: Error in the parameterization/configuration/commission ing procedure (18)
Note: Currently set configuration has not been activated.
A30016: Load supply switched off
Message class: Network fault (2)
The DC link voltage is too low.
· Switch on the load supply. · Check the line supply if necessary.
A30031: Hardware current limiting in phase U
Message class: Power electronics faulted (5)
Hardware current limit for phase U responded. The pulsing in this phase is inhibited for one pulse period.
· Closed-loop control is incorrectly parameterized.
· Fault in the motor or in the power cables.
· The power cables exceed the maximum permissible length.
· Motor load too high.
Check the motor data. As an alternative, run a motor data identification.
· Check the motor circuit configuration (star-delta)
· Check the motor load.
· Check the power cable connections.
· Check the power cables for short-circuit or ground fault.
· Check the length of the power cables.
· Power unit defective.
Note: Alarm A30031 is always output if, for a power unit, the hardware current limiting of phase U, V or W responds.
A31411: Encoder 1: Absolute encoder signals internal alarms
Message class: Actual position/speed value incorrect or not available (11)
The absolute encoder fault word includes alarm bits that have been set.
· Check the encoder cable connection and make sure the cables are routed in compliance with EMC.
· Check the motor temperature.
· Replace the motor/encoder.
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Diagnostics 12.1 List of faults and alarms
Alarm
A31412: Error bit set in the serial protocol
Message class: Actual position/speed value incorrect or not available (11)
Cause
The encoder sends a set error bit via the serial protocol.
A52900: Failure during data · Copying is halted.
copying
· The micro SD card/SD card was
Message class: General drive fault (19)
plugged out.
· The drive is not in the stop state.
A52901: Braking resistor reaches alarm threshold
The heat capacity reaches the threshold (p29005) of the braking resistor capacity.
Message class: General drive fault (19)
A52902: Emergency missing Implement servo on when the emergency Message class: General drive input (EMGS) is switched off. fault (19)
Remedy · Carry out a POWER ON (power off/on) for
all components. · Check that the cables are routed in com-
pliance with EMC. · Check the plug connections. · Replace the encoder. · Re-plug in the micro SD card/SD card. · Make sure the drive is in the stop state.
· Change the external braking resistor. · Increase deceleration time.
Switch on the emergency input (EMGS) and then implement servo on.
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Appendix
A.1
Assembly of cable terminals on the drive side
Power terminal assembly
Drive type
200 V variant
FSB FSC
FSD
400 V variant
FSAA FSA
Procedure Terminal assembly procedure:
1. Remove the outer sheath of the cable.
2. Remove the insulation from the wire.
3. Insert the stripped end into the cable end sleeve.
4. Crimp the cable end sleeve using a crimp tool for end sleeves.
Illustration
400 V variant
FSB FSC
Terminal assembly procedure:
1. Remove the outer sheath of the cable.
2. Remove the insulation from the wire.
3. Insert the stripped end into the spade terminal.
4. Crimp the spade terminal using a crimp tool for cable lugs. (Note: Coat any exposed wires with tin.)
A
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Appendix A.1 Assembly of cable terminals on the drive side
Encoder terminal assembly
The terminal assembly procedures for incremental and absolute encoders are the same.
Brake terminal assembly
The assembly of a brake terminal follows the procedure as described in the figure above for a power terminal.
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PROFINET I/O connector assembly
Appendix A.1 Assembly of cable terminals on the drive side
Note
To ensure better EMC effects, you are recommended to strip the PROFINET I/O cable and connect the cable shield to earth.
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Appendix A.2 Assembly of cable connectors on the motor side
A.2
Assembly of cable connectors on the motor side
Power connector assembly
Power cable used for low inertia motors with a shaft height of 20 mm to 40 mm
Note Brake connector assembly
The assembly of the brake connector used for low inertia motors with a shaft height of 20 mm to 40 mm follows the procedure as described in the figure above for a power connector.
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Appendix A.2 Assembly of cable connectors on the motor side
Power cable used for low inertia motors with a shaft height of 50 mm and high inertia motors with straight connectors
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Appendix A.2 Assembly of cable connectors on the motor side
Power cable used for high inertia motors with angular connectors
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Appendix A.2 Assembly of cable connectors on the motor side
Encoder connector assembly
Incremental encoder cable used for low inertia motors with a shaft height of 20 mm to 40 mm
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Appendix A.2 Assembly of cable connectors on the motor side
Absolute encoder cable used for low inertia motors with a shaft height of 20 mm to 40 mm
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Appendix A.2 Assembly of cable connectors on the motor side
Encoder cable used for low inertia motors with a shaft height of 50 mm and high inertia motors with straight connectors The connector assembly procedures for absolute and incremental encoders are the same.
Note Brake connector assembly
The assembly of the brake connector used for low inertia motors with a shaft height of 50 mm and high inertia motors with straight connectors follows the procedure as described in the figure above for an encoder connector.
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Appendix A.2 Assembly of cable connectors on the motor side
Encoder cable used for high inertia motors with angular connectors The following figure provides the assembly procedure for an incremental encoder connector. The high inertia motors with straight connectors and with angular connectors share the same absolute encoder connector that is assembled as shown in the figure above.
Note Brake connector assembly
The assembly of the brake connector used for high inertia motors with angular connectors follows the procedure as described in the figure above for an incremental encoder connector.
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A.3
Motor selection
Appendix A.3 Motor selection
A.3.1
Selection procedure
1. Determine the mechanism type as well as the detailed data of the related mechanical parts, such as ball screw lead, diameter, lead, and gear diameter. Three mechanism types are shown below:
Ball screw
Belt transmission
Rack and pinion and/or gear
2. Determine the operation pattern including such parameters as acceleration time (ta), constant motion time (tu), deceleration time (td), stopping time (ts), cycle time (tc), and travel distance (L).
3. Calculate load inertia and inertia ratio. The inertia ratio can be obtained by dividing the load inertia by the rotor inertia of the selected motor. The unit of inertia is x 10-4 kg·m2.
4. Calculate the speed. Calculate the speed according to the travel distance, acceleration time, deceleration time, and constant motion time.
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Appendix A.3 Motor selection
5. Calculate the torque. Calculate the torque according to the load inertia, acceleration time, deceleration time, and constant motion time.
6. Select the motor. Select the motor that matches the data in step 3 to step 5.
A.3.2 Torque
Parameter description
Summit torque: It refers to the maximum torque required by a motor in operation, which is generally less than 80% of the motor's maximum torque. When the torque is a negative value, regenerative resistors may be needed.
Moving torque and hold torque in standstill: It refers to the torque required by a motor in long-term operation, which is generally less than 80% of the motor's rated torque. When the torque is a negative value, regenerative resistors may be needed. Torque calculation methods of two major mechanism types:
W: Mass [kg] Pb: Ball screw lead [m] F: External force [N]
: Mechanical efficiency : Friction coefficient g: Gravitational acceleration 9.8 [m/s2]
W: Mass [kg] Pd: Belt transmission lead [m] F: External force [N]
: Mechanical efficiency : Friction coefficient g: Gravitational acceleration 9.8 [m/s2]
Effective torque: It refers to the continuous effective load torque converted into the equivalent value on the servo motor shaft, which is generally less than 80% of the motor's rated torque.
Ta: Acceleration torque [N·m] ta: Acceleration time [s]
Tm: Moving torque [N·m]
tu: Constant motion time [s]
Td: Deceleration torque [N·m] td: Deceleration time [s]
tc: Cycle time [s]
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Appendix A.3 Motor selection
Speed
Maximum speed: It refers to the motor's maximum speed in operation, which is generally lower than the rated speed. When a motor operating at the maximum speed, pay attention to its torque and temperature rise.
Inertia and inertia ratio
Inertia refers to the force required to keep a certain physical state. Inertia ratio indicates dynamic response performance of motors. The smaller the inertia ratio is the better response performance a motor has.
Typical load inertia equations
Mechanism
Equation
Mechanism
Equation
Axis of rotation on center
W: Mass (kg) a: Length (m) b: Width (m)
Axis of rotation on center
W: Mass (kg) D1: External diameter (m) D2: Internal diameter (m)
Axis of rotation off center
W: Mass (kg) a: Length (m) b: Width (m) R: Rotational diameter (m)
Axis of rotation off center
W: Mass (kg) D: Workpiece diameter (m) R: Rotational diameter (m)
Conveyor
W: Mass (kg) D: Pulley wheel diameter (m) Ball screw
Object hung with pulley
W: Mass (kg)
D: Pulley wheel diameter (m)
Jp: Pulley inertia (kg·m2)
Reducer
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W: Mass (kg) P: Lead (m) Jb: Ball screw inertia (kg·m2)
W: Mass (kg) n1/n2: Speed of each motor (rpm) J1 /J2: Inertia of each motor (kg·m2)
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Appendix A.3 Motor selection
A.3.3
Selection examples
This section uses a ball screw mechanism as an example to illustrate the motor selection procedure.
Exemplary data The following table lists the data related to the ball screw mechanism and operation pattern.
Mechanism Workpiece weight (W) Ball screw length (Bl) Ball screw diameter (Bd) Ball screw pitch (Bp) Mechanical efficiency (B) Coupler inertia (Jc)
Operation pattern
40 kg
Acceleration time (ta)
2 m
Constant motion time (tu)
0.04 m
Deceleration time (td)
0.04 m
Cycle time (tc)
0.9
Travel distance (L)
20 x 10-6 kg·m2 (refer to the supplier's product catalog)
0.15 s 0.7 s 0.15 s 2 s 0.5 m
1. Ball screw weight Bw = x x (Bd/2)2 x Bl = 19.85 kg
2. Load inertia Jl = Jc + Jb = Jc + 1/8 x Bw x Bd2 + W x Bp2 / 42 = 5.61 x 10-3 kg·m2
3. Preselection If a 1000 W motor is selected, Jm (motor inertia) = 1.57 x 10-3 kg·m2 Therefore, Jl / Jm (inertia ratio) = 3.57 < 5 times
4. Maximum rotational speed Vmax (maximum travelling speed) = 2L / (ta + 2tu + td) = 5.89 m/s Nmax (maximum rotational speed) = 60 x Vmax / Bp = 882 rpm < 2000 rpm (rated speed)
5. Effective torque Tm (moving torque) = (gW + F) x Bp / 2B = 0.069 Nm Ta (acceleration torque) = [(Jl + Jm) x 2 N / Ta] + Tm = 4.49 Nm Td (deceleration torque) = [(Jl + Jm) x 2 N / Td] - Tm = 4.35 Nm Therefore, Trms (effective torque) =(Ta2 x ta + Tm2 x tb + Td2 x td) / tc = 1.71 Nm < 4.78 Nm (rated torque)
6. Final selection According to the above calculated speed, torque, and inertia ratio, you are recommended to select 1000 W motors, i.e. 1FL6062.
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A.4
Appendix A.4 Replacing fans
Replacing fans
Proceed as illustrated below to remove the fan from the drive. To re-assemble the fan, proceed in reverse order. When re-assembling the fan, make sure that the arrow symbol (" "in the illustration) on the fan points to the drive rather than the fan housing.
Replacing the fan (example)
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Appendix A.4 Replacing fans
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Index
A
Accessories Braking resistor, 43 Cables and connectors, 36 External 24 VDC power supply, 41 Filter, 44 Fuse/type E combination motor controller, 41 Micro SD card/SD card", 49
Aims, 195 ANSI B11, 206
B
Backlash compensation, 153 Basic positioner (EPOS)
Linear/modular axis, 152 BOP operations
Button functions, 134 BOP operations for faults and alarms, 272
Acknowledging faults, 273 Exiting from alarm display, 272 Exiting from fault display, 272 Viewing alarms, 272 Viewing faults, 272 BOP overview, 129
D
Differences between faults and alarms, 271 Digital inputs, 100
Wiring, 101 Digital outputs, 101
Wiring, 102 DIN EN ISO 13849-1, 199 Direction of motor rotation, 147
E
EN 61508, 202 EN 62061, 200 EPOS
Traversing blocks, 161 Equipment regulations, 207
F
Function list, 50 Functional safety, 196
G
General information about faults and alarms, 269
C
Certification, 208 Change a parameter value, 137
Set the parameter value directly, 137 Set the parameter value with a shift function, 138 Commissioning Initial commissioning, 124 Connecting 24 V power supply/STO, 107 Connecting an external braking resistor, 112 Copy parameter set from a micro SD card/SD card to drive, 144 Copy parameters from the servo drive to a micro SD card/SD card, 143
H
Harmonized European Standards, 197
I
Internal position control mode (IPos) Setting mechanical system, 151 Software position limit, 155
Iterative process for achieving safety, 203
J
JOG function, 141 JOG in speed, 141 JOG in torque, 141
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Index
L
LED status indicators, Error! Bookmark not defined., 130
M
Machine safety in Japan, 207 Machine safety in the USA, 204 Machinery directive, 196 Main circuit wirings
Connecting the motor power - U, V, W, 96 Motor holding brake, 113
Relevant parameters, 118 Motor rating plate, 27 Motor selection method, 311 Mounting the motor
Motor dimensions, 78 Mounting orientation, 75
N
NFPA 79, 205 NRTL, 205
O
Operating display, 136 OSHA, 204 Over-travel, 154 Overview of SINAMICS V90 PN BOP functions, 140
One-button auto tuning with resonance suppression (p29023.1=1), 229 Real-time auto tuning with resonance suppression (p29024.6=1), 230 Response time, 211 Risk analysis, 202 Risk reduction, 204
S
Safe Torque Off Functional features, 211 response time, 213 selecting/deselecting STO, 213
Safety Intefrated function, 208 Safety of machinery in Europe, 196 Save parameters in the servo drive, 142 Search a parameter in "P ALL" menu, 139 Set parameter set to default, 143 Set zero position, 146 Speed control mode
Ramp-function generator, 175 Speed limit, 172
Overall speed limit, 173 Standards for implementing safety-related controllers, 198 Stopping method
Coase-dowm (OFF2), 147 Ramp-down (OFF1), 147 Stopping method at servo OFF, 147 Emergency stop, 148
P
Preface Documentation components, 3 Target group, 3 Technical support, 3
Probability of failure, 210
R
Referencing Referencing modes, 156
Residual risk, 204 Resonance suppression, 228
Activate the resonance suppression function, 229 Manual tuning with resonance suppression (p29021=0), 230
T
Technical data Cables, 66
Torque control mode Internal speed limit, 173
Torque limit, 173 Internal torque limit, 174 Overall torque limit, 174 Torque limit reached (TLR), 174
Traversing blocks, 161 Traversing task
Rejecting, 162 Tuning
Configuration of dynamic factor, 220, 224 Manual tuning, 227 Real-time auto tuning, 223 Servo gains, 216
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Tuning methods, 217 Tuning with SINAMICS V-ASSISTANT, 218
U
Update firmware, 145 Usage of shielding plate, 91
W
Wiring and connecting Adjusting cable orientations, 92
Index
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Index
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