User ManualTable of ContentsSINAMICS S120 Drive Functions3Foreword5Contents131 Infeed211.1 Active Infeed211.1.1 Introduction211.1.2 Active Infeed closed-loop control Booksize221.1.3 Active Infeed closed-loop control Chassis241.1.4 Integration251.1.5 Line and DC link identification261.1.6 Active Infeed open-loop control271.1.7 Reactive current control301.1.8 Harmonics controller301.2 Smart Infeed311.2.1 Smart Infeed closed-loop control311.2.2 Line supply and DC link identification routine for Smart Infeed Booksize331.2.3 Smart Infeed open-loop control351.3 Basic Infeed381.3.1 Basic Infeed open-loop control381.3.2 Basic Infeed open-loop control401.4 Line contactor control421.5 Pre-charging and bypass contactor chassis441.6 Derating function for chassis units451.7 Parallel connections of 6-pulse and 12-pulse chassis infeeds462 Extended setpoint channel472.1 Activating the "extended setpoint channel" function module in servo mode472.2 Description482.3 Jog492.4 Fixed speed setpoints532.5 Motorized potentiometer542.6 Main/supplementary setpoint and setpoint modification562.7 Direction of rotation limiting and direction of rotation changeover572.8 Suppression bandwidths and setpoint limits582.9 Ramp-function generator603 Servo control653.1 Speed controller653.2 Speed setpoint filter663.3 Speed controller adaptation673.4 Torque-controlled operation693.5 Torque setpoint limitation713.6 Current controller753.7 Current setpoint filter783.8 Note about the electronic motor model843.9 V/f control for diagnostics843.10 Optimizing the current and speed controller873.11 Sensorless operation (without an encoder)883.12 Motor data identification923.12.1 Motor data identification - induction motor943.12.2 Motor data identification - synchronous motor963.13 Pole position identification983.14 Vdc control1023.15 Dynamic Servo Control (DSC)1063.16 Travel to fixed stop1093.17 Vertical axes1134 Vector control1154.1 Sensorless vector control (SLVC)1154.2 Vector control with encoder1184.3 Speed controller1194.4 Speed controller adaptation1214.5 Speed controller pre-control and reference model1244.6 Droop1274.7 Torque control1294.8 Torque limiting1324.9 Vdc control1334.10 Current setpoint filter1374.11 Current controller adaptation1374.12 Motor data identification and rotating measurement1384.13 Efficiency optimization1454.14 Instructions for commissioning induction motors (ASM)1464.15 Instructions for commissioning permanent-magnet synchronous motors1484.15.1 Automatic encoder adjustment1524.15.2 Pole position identification1534.16 Flying restart1544.17 Synchronization1564.18 Simulation operation1574.18.1 Description1574.18.2 Features1584.18.3 Commissioning1584.19 Redundance operation power units1584.20 Bypass1594.20.1 Bypass with synchronization with overlap (p1260 = 1)1604.20.2 Bypass with synchronization, without overlap (p1260 = 2)1634.20.3 Bypass without synchronization (p1260 = 3)1645 Vector V/f control (r0108.2 = 0)1695.1 Introduction1695.2 Voltage boost1715.3 Slip compensation1745.4 Vdc control1756 Basic functions1796.1 Changing over units1796.2 Reference parameters/normalizations1806.3 Modular machine concept1836.4 Sinusoidal filter1856.5 dv/dt filter plus VPL1866.6 Direction reversal without changing the setpoint1876.7 Automatic restart (vector, servo, infeed)1886.8 Armature short-circuit brake, internal voltage protection, DC brake1916.9 OFF3 torque limits1986.10 Technology function: friction characteristic1996.11 Simple brake control2006.11.1 Features2006.11.2 Description2006.11.3 Commissioning2016.11.4 Integration2026.12 Runtime (operating hours counter)2036.13 Parking axis and parking sensor2046.13.1 Description2046.13.2 Example: parking axis and parking sensor2056.13.3 Overview: key parameters2066.14 Position tracking2076.14.1 General Information2076.14.2 Measuring gear2086.14.2.1 Features2086.14.2.2 Description2086.14.2.3 Prerequisites2116.14.2.4 Integration2126.15 Terminal Module 41 (TM41)2126.16 Updating the firmware2176.16.1 Upgrading firmware and the project in STARTER2187 Function modules2197.1 Function modules - Definition and commissioning2197.2 Technology controller2207.2.1 Description2207.2.2 Features2207.2.3 Commissioning with STARTER2217.2.4 Examples2217.2.5 Integration2227.3 Extended monitoring functions2247.3.1 Features2247.3.2 Commissioning2257.3.3 Integration2257.4 Extended brake control2267.4.1 Features2267.4.2 Description2267.4.3 Commissioning2267.4.4 Examples2277.4.5 Integration2287.5 Braking Module2317.5.1 "Braking Module" function module2317.6 Cooling system2337.6.1 "Cooling system" function module2337.7 Extended torque control (kT estimator, Servo)2357.8 Closed-loop position control2377.8.1 General features2377.8.2 Position actual value conditioning2377.8.2.1 Features2377.8.2.2 Description2387.8.2.3 Indexed actual value acquisition2407.8.2.4 Load gear position tracking2417.8.2.5 Commissioning with STARTER2447.8.2.6 Integration2457.8.3 Position controller2467.8.4 Monitoring functions2477.8.5 Measuring probe evaluation and reference mark search2497.8.6 Integration2507.9 Basic positioner2517.9.1 Mechanical system2537.9.2 Limits2557.9.3 Referencing2597.9.4 Traversing blocks2677.9.5 Travel to fixed stop2727.9.5.1 Introduction2727.9.5.2 Fixed stop reached2737.9.5.3 Fixed stop is not reached2747.9.5.4 Cancel2747.9.5.5 Vertical axes2757.9.5.6 Integration2757.9.6 Direct setpoint input (MDI)2767.9.7 Jog2797.9.8 Status signals2807.10 DCC axial winder2827.11 Parallel connection of chassis power units (vector)2887.11.1 Features2887.11.2 Integration2887.11.3 Description2897.11.4 Application examples2897.11.5 Commissioning2908 Monitoring and protective functions2918.1 Power unit protection, general2918.2 Thermal monitoring and overload responses2928.3 Block protection2938.4 Stall protection (only for vector control)2948.5 Thermal motor protection2959 Safety Integrated basic functions2999.1 General information2999.1.1 Explanations, standards, and terminology2999.1.2 Supported functions3019.1.3 Parameter, Checksum, Version, Password3039.1.4 Forced checking procedure3069.2 Safety instructions3079.3 Safe Torque Off (STO)3089.4 Safe Stop 1 (SS1, time controlled)3119.5 Safe Brake Control (SBC)3129.6 Control via terminals on the Control Unit and the power unit3159.7 Commissioning the "STO", "SBC" and "SS1" functions3189.7.1 General information about commissioning safety functions3189.7.2 Procedure for commissioning "STO", "SBC" and "SS1"3209.7.3 Safety faults3239.8 Acceptance test and certificate3259.8.1 General information about acceptance3259.8.2 Documentation3269.8.3 Acceptance test for Safe Torque Off (STO)3299.8.4 Acceptance test for Safe Stop 1, time controlled (SS1)3309.8.5 Acceptance test for "Safe Brake Control" (SBC)3319.8.6 Completion of certificate3339.9 Application examples3349.9.1 Safe Stop 1 (SS1, time-controlled) when protective door is locked, emergency stop switch-off3349.10 Overview of parameters and function diagrams33810 Communication PROFIBUS DP/PROFINET IO34110.1 Communications according to PROFIdrive34110.1.1 General information about PROFIdrive for SINAMICS34110.1.2 Application classes34210.1.3 Cyclic communication34710.1.3.1 Telegrams and process data34710.1.3.2 Monitoring: telegram failure35310.1.3.3 Description of control words and setpoints35410.1.3.4 Description of status words and actual values36410.1.3.5 Control and status words for encoder37510.1.3.6 Central control and status words38410.1.3.7 Motion Control with PROFIdrive38910.1.4 Acyclic communication39210.1.4.1 General information about acyclic communication39210.1.4.2 Structure of orders and responses39410.1.4.3 Determining the drive object numbers39910.1.4.4 Example 1: read parameters39910.1.4.5 Example 2: write parameters (multi-parameter request)40110.2 Communication via PROFIBUS DP40510.2.1 General information about PROFIBUS40510.2.1.1 General information about PROFIBUS for SINAMICS40510.2.1.2 Example: telegram structure for cyclic data transmission40710.2.2 Commissioning PROFIBUS41010.2.2.1 General information about commissioning41010.2.2.2 Commissioning procedure41310.2.2.3 Diagnosis options41310.2.2.4 SIMATIC HMI addressing41410.2.2.5 Monitoring: telegram failure41510.2.3 Motion Control with PROFIBUS41610.2.4 Slave-to-slave communications42110.2.4.1 General information42110.2.4.2 Setpoint assignment in the subscriber42310.2.4.3 Activating/parameterizing slave-to-slave communications42410.2.4.4 Commissioning of the PROFIBUS slave-to-slave communication42610.2.4.5 GSD (GeräteStammDaten) file43410.2.4.6 Diagnosing the PROFIBUS slave-to-slave communication in STARTER43510.3 Communications via PROFINET IO43710.3.1 General information about PROFINET IO43710.3.1.1 General information about PROFINET IO for SINAMICS43710.3.1.2 Real-time (RT) and isochronous real-time (IRT) communication43810.3.1.3 Addresses43910.3.1.4 Data transfer44010.3.2 Hardware setup44110.3.2.1 Configuring SINAMICS drives with PROFINET44110.3.3 RT classes44410.3.3.1 RT classes for PROFINET IO44410.3.3.2 PROFINET IO with RT44510.3.3.3 PROFINET IO with IRT - Overview44610.3.3.4 PROFINET IO with IRTtop44710.3.4 Motion Control with PROFINET44811 Applications45111.1 Parallel operation of communication interfaces for CU32045111.2 Switching on a drive object x_Infeed by means of a vector drive object45411.3 Motor changeover45511.3.1 Description45511.3.2 Example: motor switchover for four motors45511.3.3 Example of a star/delta switchover45711.3.4 Integration45911.4 Application examples with the DMC2046011.4.1 Features46011.4.2 Description46011.4.3 Example, distributed topology46011.4.4 Example, hot plugging46111.4.5 Instructions for offline commissioning with STARTER46211.4.6 Overview of key parameters (see SINAMICS S List Manual)46311.5 Control Units without infeed control46311.5.1 Description46311.5.2 Examples: interconnecting "Infeed ready"46411.6 Application: emergency stop with power failure and/or emergency stop (Servo)46511.6.1 Introduction46511.6.2 Description46512 Basic information about the drive system46712.1 Parameter46712.2 Data sets47012.2.1 CDS: Command Data Set47012.2.2 DDS: Drive Data Set47112.2.3 EDS: Encoder Data Set47212.2.4 MDS: Motor Data Set47312.2.5 Integration47512.3 Drive objects47612.4 BICO technology: interconnecting signals47812.4.1 Description47812.4.2 Binectors, connectors47812.4.3 Interconnecting signals using BICO technology47912.4.4 Internal encoding of the binector/connector output parameters48112.4.5 Sample interconnections48112.4.6 BICO technology48212.4.7 Scaling48312.5 Inputs/outputs48412.5.1 Overview of inputs/outputs48412.5.2 Digital inputs/outputs48512.5.3 Analog inputs48812.5.4 Analog outputs48912.6 Parameterizing using the BOP20 (Basic Operator Panel 20)49012.6.1 General information about the BOP2049012.6.2 Displays and using the BOP2049312.6.3 Fault and alarm displays49712.6.4 Controlling the drive using the BOP2049812.7 Examples of replacing components49912.8 Exchanging a SINAMICS Sensor Module Integrated50212.8.1 Data backup on CompactFlash card50212.8.2 Replacing a device50312.9 DRIVE-CLiQ topology50412.10 Rules for wiring with DRIVE-CLiQ50512.10.1 General rules50612.10.2 Rules for different firmware releases51012.10.3 Sample wiring for vector drives51412.10.4 Sample wiring of Vector drives connected in parallel51512.10.5 Sample wiring: Power Modules51712.10.6 Changing the offline topology in STARTER51812.10.7 Sample wiring for servo drives51912.10.8 Sample wiring for vector U/f drives52012.11 Notes on the number of controllable drives52112.11.1 Introduction52112.11.2 Number of controllable drives52112.12 System sampling times52312.12.1 Description52312.12.2 Setting the sampling times52412.12.3 Rules for setting the sampling time52612.12.4 Default settings for the sampling times52812.12.5 Examples when changing sampling times / pulse frequencies52912.12.6 Overview of key parameters (see SINAMICS S List Manual)53012.13 Licensing531Appendix A535A.1 Availability of hardware components535A.2 Availability of SW functions536A.3 List of abbreviations541Index553Size: 8.08 MBPages: 560Language: EnglishOpen manual