Siemens SINAMICS S120 Function Manual

Function Manual 03/2006 Edition

sinamics

SINAMICS S120

Valid for

Drive Firmware release

SINAMICS S120 2.4

03/2006 Edition

Function Manual

SINAMICS S120

Infeed 1

Extended Setpoint Channel 2

Operating Modes 3

Extended Functions 4

Basic Information

About the Drive System 5

Availability of

SW Functions A

List of Abbreviations B

References C

Index D

!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

with a warning triangle indicates that minor personal injury can result if proper precautions are not taken.

Caution

without a warning triangle means that material damage can occur if the appropriate precautions are not

taken.

Notice

indicates that an unwanted result or situation can result if the appropriate advice is not taken into account.

If several hazards of different degrees occur, the hazard with the highest degree must always be given

priority. If a warning note with a warning triangle warns of personal injury, the same warning note can also

contain a warning of material damage.

Qualified personnel

The associated device/system may only be set up and operated using this documentation. Commissioning

and operation of a device/system may only be performed by qualified personnel. Qualified persons are

defined as persons who are authorized to commission, to ground, and to tag circuits, equipment, and sy-

stems in accordance with established safety practices and standards.

Correct usage

Please note the following:

!Warning

The device may be used only for the applications described in the catalog and in the technical description,

and only in combination with the equipment, components and devices of other manufacturers where re-

commended or permitted by Siemens.

Correct transport, storage, installation and assembly, as well as careful operation and maintenance, are

required to ensure that the product operates safely and without faults.

Registered trademarks

All designations with the trademark symbol R are registered trademarks of Siemens AG. Other designa-

tions in this documentation may be trademarks whose use by third parties for their own purposes can

violate the rights of the owner.

Safety information/instructions

This manual contains information which you should carefully observe to ensure your own personal safety

and to prevent material damage. The notices referring to your personal safety are highlighted in the ma-

nual by a safety alert symbol, notices referring to property damage only, have no safety alert symbol. The

warnings appear in decreasing order of risk as given below:

We have checked the contents of this manual for agreement with the

hardware and software described. Since deviations cannot be precluded

entirely, we cannot guarantee full agreement. The information given in this

publication is reviewed at regular intervals and any corrections that might

be necessary are made in the subsequent editions.

The distribution and duplication of this document or the utilization and

transmission of its contents are not permitted without express written

particular, in case of patent grants or registration of utility models.

Siemens AG

Automation & Drives

Motion Control Systems

Postfach 3180, D-91050 Erlangen

Germany

E Siemens AG 2006

Subject to change without prior notice.

Siemens Aktiengesellschaft SINAMICS S120 Function Manual, 03/2006 Edition

v

SINAMICS S120 Function Manual, 03/2006 Edition

Foreword

Information on the SINAMICS S120 documentation

The SINAMICS S120 documentation is divided into the following areas:

SGeneral documentation/catalogs

SManufacturer/service documentation

A current overview of the documentation in the available languages is provided in

the Internet:

http://www.siemens.com/motioncontrol

Follow menu items – “Support” –> “Technical Documentation” –> “Overview of

Publications”.

The Internet edition of DOConCD, DOConWEB, are available in the Internet:

http://www.automation.siemens.com/doconweb

Information on the range of training courses and FAQs (Frequently Asked Ques-

tions) are available in the Internet:

http://www.siemens.com/motioncontrol

Follow the menu item “Support”.

Useful phases and their documents/tools (examples)

Table F-1 Useful phases and available documentation/tools

Useful phase Document/tool

Orientation SINAMICS S120 sales documentation

Planning/engineering SIZER engineering tool

Configuration Manuals, Motors

Select/order SINAMICS S120 Catalogs

Configuring/installation SINAMICS S120 Equipment Manuals

SSINAMICS S120 Equipment Manual Control Units and

Supplementary System Components

SSINAMICS S120 Equipment Manual Booksize Power

Sections

SSINAMICS S120 Equipment Manual Chassis Power

Sections

SSINAMICS S120 Equipment Manual AC DRIVE

Foreword

SINAMICS S120 Function Manual, 03/2006 Edition

Table F-1 Useful phases and available documentation/tools, continued

Useful phase Document/tool

Commissioning SSTARTER Parameterization and Commissioning tool

SSINAMICS S120 Getting Started

SSINAMICS S120 Commissioning Manual

SSINAMICS S120 Commissioning Manual CANopen

SSINAMICS S120 Function Manual

SSINAMICS S List Manual

Usage/operation SSINAMICS S120 Commissioning Manual

SSINAMICS S List Manual

SSINAMICS S150 Operating Instructions

Maintenance/servicing SSINAMICS S120 Commissioning Manual

SSINAMICS S List Manual

SSINAMICS S150 Operating Instructions

Audience

This documentation is intended for machine manufacturers, commissioning engi-

neers, and service personnel who use the SINAMICS S drive system.

Objective

The Function Manual describes all the procedures and operational instructions re-

quired for commissioning and servicing SINAMICS S120.

The Function Manual is structured as follows:

Chapter 1 Infeed

Chapter 2 Extended Setpoint Channel

Chapter 3 Operating Modes

Chapter 4 Extended Functions

Chapter 5 Basic Information About the Drive System

Entry level personnel are advised to first read the Chapter Basic Information.

Foreword

vii

SINAMICS S120 Function Manual, 03/2006 Edition

Finding your way around

The following guides are provided to help you locate information in this manual:

1. Table of Contents

2. List of Abbreviations

3. References

4. Index

Standard scope

The scope of the functions described in this document can deviate from the scope

of functions of the supplied drive system.

SOther functions not described in this documentation might be able to be

executed in the drive system. However, no claim can be made regarding the

availability of these functions when the equipment is first supplied or in the

event of servicing.

SFunctions can be described in the documentation that are not available in a

particular product version of the drive. The functions of the supplied drive

system should only be taken from the ordering documentation.

S Extensions or changes made by the machine tool manufacturer are

documented by the machine tool manufacturer.

For reasons of clarity, this documentation does not contain all of the detailed infor-

mation on all of the product types. This documentation cannot take into considera-

tion every conceivable type of installation, operation and service/maintenance.

Foreword

SINAMICS S120 Function Manual, 03/2006 Edition

Technical support

If you have any further questions, please call our hotline:

European and African time zones

A&D Technical Support

Tel.: +49 (0) 180 5050 - 222

Fax: +49 (0) 180 5050 - 223

Internet: http://www.siemens.de/automation/support-request

E-mail: [email protected]

Asian and Australian time zones

A&D Technical Support

Tel: +89 1064 719 990

Fax: +86 1064 747 474

Internet: http://www.siemens.de/automation/support-request

E-mail: [email protected]

American time zones

A&D Technical Support

Tel: +1 423 262 2522

Fax: +1 423 262 2289

Internet: http://www.siemens.de/automation/support-request

E-mail: [email protected]

Note

Country telephone numbers for technical support are provided under the following

Internet address:

http://www.siemens.com/automation/service&support

Questions on the manual

Please send any questions regarding the technical documentation (e.g., sugges-

tions for improvement, corrections) to the following fax number or e-mail address:

Fax: +49 (0) 9131 / 98 - 63315

E-mail: [email protected]

Faxformular: refer to the feedback sheet at the end of the documentation

Internet address for SINAMICS

http://www.siemens.com/sinamics

Foreword

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SINAMICS S120 Function Manual, 03/2006 Edition

EC Declaration of Conformance

The EC Declaration of Conformance regarding the EMC Directives is available as

follows:

SInternet

http://www.ad.siemens.de/csinfo

Product/Order No.: 15257461

SSiemens regional office

From the responsible regional offices of the A&D MC business division of

Siemens AG.

Notation

The following notation and abbreviations are used in this documentation:

Notation for parameters (examples):

Sp0918 Adjustable parameter 918

Sr1024 Visualization parameter 1024

Sp1070[1] Adjustable parameter 1070, index 1

Sp2098[1].3 Adjustable parameter 2098, Index 1 Bit 3

Sp0099[0...3] Adjustable parameter 99, indices 0 to 3

Sr0945[2](3) Visualization parameter 945, index 2 of drive object 3

Sp0795.4 Adjustable parameter 795, bit 4

Notation for faults and alarms (examples):

SF1234 Fault 1234

SA5678 Alarm 5678

General notation:

SThe sign “8” means “is equal to”

Foreword

SINAMICS S120 Function Manual, 03/2006 Edition

ESD information

!Caution

An electrostatic-sensitive device (ESD) is an individual component, integrated

circuit, or module that can be damaged by electrostatic fields or discharges.

Regulations for handling ESD components:

SWhen handling components, make sure that personnel, workplaces, and

packaging are well grounded!

SPersonnel in ESD areas with conductive flooring may only handle electronic

components if:

– They are grounded with an ESD wrist band

– They are wearing ESD shoes or ESD shoe grounding straps

SElectronic boards should only be touched if absolutely necessary. They must

only be handled on the front panel or, in the case of printed circuit boards, at

the edge.

SElectronic boards must not come into contact with plastics or items of clothing

containing synthetic fibers.

SBoards must only be placed on conductive surfaces (work surfaces with ESD

surface, conductive ESD foam, ESD packing bag, ESD transport container).

SElectronic modules must be kept at a distance from data display equipment,

monitors, and televisions (minimum distance from screen: >10 cm).

SMeasurements must only be taken on boards when:

– The measuring device is grounded (with a protective conductor, for

example).

– The measuring head has been temporarily discharged before

measurements are taken on a floating measuring device (e.g. touching a

bare metal controller housing).

Foreword

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SINAMICS S120 Function Manual, 03/2006 Edition

Safety-related guidelines

!Danger

SCommissioning shall not start until you have ensured that the machine in which

the components described here are to be installed complies with Directive

98/37/EC.

SSINAMICS devices and AC motors must only be commissioned by suitably

qualified personnel.

SThe personnel must take into account the information provided in the technical

customer documentation for the product, and be familiar with and observe the

specified danger and warning notices.

SWhen electrical equipment and motors are operated, the electrical circuits

automatically conduct a dangerous voltage.

SDangerous mechanical movements may occur in the system during operation.

SAll work on the electrical system must be carried out when the system has

been disconnected from the power supply.

SSINAMICS devices with AC motors must only be connected to the power

supply via an AC-DC residual-current-operated device with selective switching

once verification has been provided that the SINAMICS device is compatible

with the residual-current-operated device in accordance with EN 50178,

Subsection 5.2.11.2.

!Warning

SThe successful and safe operation of these devices and motors depends on

correct transport, proper storage and installation, as well as careful operation

and maintenance.

SThe specifications in the catalogs and offers also apply to special variants of

the devices and motors.

SIn addition to the danger and warning information provided in the technical

customer documentation, the applicable national, local, and system-specific

regulations and requirements must be taken into account.

S Only protective extra-low voltages (PELVs) that comply with EN60204-1 must

be connected to all connections and terminals between 0 and 48 V.

Foreword

SINAMICS S120 Function Manual, 03/2006 Edition

!Caution

S The surface temperature of the motors can reach over +80 _C.

SFor this reason, temperature-sensitive parts (lines or electronic components,

for example) must not be placed on or attached to the motor.

SWhen attaching the connecting cables, you must ensure that:

– They are not damaged

– They are not under tension

– They cannot come into contact with rotating parts.

Caution

SAs part of routine tests, SINAMICS devices with AC motors undergo a voltage

test in accordance with EN 50178. Before the voltage test is performed on the

electrical equipment of industrial machines to EN 60204-1, Section 19.4, all

connectors of SINAMICS equipment must be disconnected/unplugged to

prevent the equipment from being damaged.

SMotors must be connected in accordance with the circuit diagram provided,

otherwise they could be destroyed.

Note

SWhen operated in dry operating areas, SINAMICS equipment with three-phase

motors conforms to low-voltage Directive 73/23/EEC.

J

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SINAMICS S120 Function Manual, 03/2006 Edition

Table of Contents

1 Infeed 1-17. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1 Active Infeed 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.1 Active Infeed closed-loop control 1-18. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.2 Line and DC link identification 1-21. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.3 Active Infeed open-loop control 1-22. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.4 Reactive current control 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.1.5 Harmonics controller 1-25. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2 Smart Infeed 1-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.1 Smart Infeed closed-loop control 1-27. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.2 Line and DC link identification 1-30. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.2.3 Smart Infeed open-loop control 1-31. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3 Basic Infeed 1-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.1 Basic Infeed open-loop control 1-34. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.3.2 Basic Infeed open-loop control 1-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.4 Line contactor control 1-38. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

1.5 Pre-charging and bypass contactor chassis 1-40. . . . . . . . . . . . . . . . . . . . . . . . .

2 Extended Setpoint Channel 2-41. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1 Extended setpoint channel servo 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.1 Dynamic Servo Control (DSC) 2-42. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.1.2 Activating the “extended setpoint channel” function module in servo mode 2-43

2.2 Extended setpoint channel 2-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.1 Description 2-44. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.2 Jog 2-45. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.3 Fixed speed setpoints 2-50. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.4 Motorized potentiometer 2-51. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

2.2.5 Main/supplementary setpoint and setpoint modification 2-53. . . . . . . . . . . . . . .

2.2.6 Direction of rotation limiting and direction of rotation changeover 2-55. . . . . . .

2.2.7 Suppression bandwidths and setpoint limits 2-57. . . . . . . . . . . . . . . . . . . . . . . . .

2.2.8 Ramp-function generator 2-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3 Operating Modes 3-65. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1 Servo control 3-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.1 Speed controller 3-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.2 Speed setpoint filter 3-67. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.3 Speed controller adaptation 3-68. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.4 Torque-controlled operation 3-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.5 Torque setpoint limitation 3-74. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.6 “Extended torque control” function module (kT estimator) 3-80. . . . . . . . . . . . .

3.1.7 Current controller 3-82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.8 Current setpoint filter 3-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.9 V/f Control for diagnostics 3-91. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

SINAMICS S120 Function Manual, 03/2006 Edition

3.1.10 Sensorless operation (without an encoder) 3-94. . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.11 Motor data identification 3-98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.12 Optimizing the current and speed controller 3-107. . . . . . . . . . . . . . . . . . . . . . . . .

3.1.13 Pole position identification 3-108. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.14 Vdc control 3-113. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.15 Travel to fixed stop 3-116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.1.16 Vertical axes 3-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2 Vector control 3-122. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.1 Vector control without encoder (SLVC) 3-122. . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.2 Vector control with encoder (VC) 3-125. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.3 Speed controller 3-126. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.4 Speed controller adaptation 3-129. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.5 Speed controller pre-control and reference model 3-132. . . . . . . . . . . . . . . . . . . .

3.2.6 Droop function 3-136. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.7 Torque control 3-137. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.8 Torque limiting 3-141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.9 Vdc control 3-142. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.10 Current setpoint filter 3-147. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.11 Motor data identification and rotating measurement 3-148. . . . . . . . . . . . . . . . . .

3.2.12 Efficiency optimization 3-154. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.13 Automatic encoder adjustment 3-155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.2.14 Pole position identification 3-156. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3 Vector V/f control (r0108.2 = 0) 3-158. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.1 Voltage boost 3-161. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.2 Slip compensation 3-164. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.3.3 Vdc control 3-165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

3.4 Information on commissioning vector motor types 3-170. . . . . . . . . . . . . . . . . . . .

4 Extended Functions 4-177. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1 “Technology controller” function module 4-178. . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.1 Features 4-178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.2 Integration 4-178. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.3 Description 4-180. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.4 Examples 4-181. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.1.5 Commissioning using STARTER 4-182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2 “Extended monitoring functions” function module 4-183. . . . . . . . . . . . . . . . . . . .

4.2.1 Features 4-183. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.2 Integration 4-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.2.3 Commissioning 4-185. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3 Simple brake control 4-186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.1 Features 4-186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.2 Integration 4-186. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.3 Description 4-187. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.3.4 Commissioning 4-188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4 “Extended brake control” function module 4-189. . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.1 Features 4-189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.2 Integration 4-189. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.3 Description 4-191. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.4 Examples 4-192. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.4.5 Commissioning 4-194. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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4.5 Runtime (operating hours counter) 4-195. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.6 Automatic restart (vector, infeed) 4-196. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7 Function module, parallel connection of chassis power units (vector) 4-200. . .

4.7.1 Features 4-200. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.2 Integration 4-201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.3 Description 4-201. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.4 Application examples 4-202. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.7.5 Commissioning 4-203. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.8 Redundant operation of the power units (vector) 4-204. . . . . . . . . . . . . . . . . . . . .

4.9 Technology function: friction characteristic 4-205. . . . . . . . . . . . . . . . . . . . . . . . . .

4.10 Motor changeover 4-207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10.1 Description 4-207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10.2 Integration 4-207. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.10.3 Example: motor switchover for four motors 4-209. . . . . . . . . . . . . . . . . . . . . . . . .

4.10.4 Example of a star/delta switchover 4-211. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11 Simulation mode (vector) 4-213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.1 Description 4-213. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.2 Features 4-214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.11.3 Commissioning 4-214. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.12 Parking axis and parking sensor 4-215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.12.1 Description 4-215. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.12.2 Example: parking axis and parking sensor 4-216. . . . . . . . . . . . . . . . . . . . . . . . . .

4.12.3 Overview of important parameters (refer to the List Manual) 4-217. . . . . . . . . . .

4.13 Boot with partial topologies 4-218. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.13.1 Description 4-218. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.14 Sinusoidal filter 4-221. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.15 dv/dt filter plus VPL 4-222. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.16 Flying restart (vector) 4-223. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.17 Direction reversal without changing the setpoint 4-225. . . . . . . . . . . . . . . . . . . . .

4.18 Armature short-circuit brake, internal voltage protection 4-226. . . . . . . . . . . . . . .

4.19 OFF3 torque limits 4-229. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.20 Switching-in a drive object x_Infeed using a vector drive object 4-230. . . . . . . .

4.21 “Braking Module” function module 4-231. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.22 Function module “cooling system” 4-233. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.23 Function module position control 4-236. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.23.1 General features 4-236. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.23.2 Integration 4-236. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.23.3 Position actual value conditioning 4-237. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.23.4 Position controller 4-241. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.23.5 Monitoring functions 4-243. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.23.6 Measuring probe evaluation and reference mark search 4-246. . . . . . . . . . . . . .

4.24 Function module “basic positioner” 4-248. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.24.1 Mechanical system 4-250. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.24.2 Limits 4-252. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

Table of Contents

SINAMICS S120 Function Manual, 03/2006 Edition

4.24.3 Referencing 4-255. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.24.4 Traversing blocks 4-264. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.24.5 Direct setpoint input (MDI) 4-269. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.24.6 Jog 4-273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.24.7 Status signals 4-274. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.25 Bypass (vector) 4-277. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.25.1 Bypass with synchronization with overlap (p1260 = 1) 4-278. . . . . . . . . . . . . . . .

4.25.2 Bypass with synchronization, without overlap (p1260 = 2) 4-282. . . . . . . . . . . . .

4.25.3 Bypass without synchronization (p1260 = 3) 4-284. . . . . . . . . . . . . . . . . . . . . . . .

4.26 Synchronization (vector) 4-289. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.27 Terminal Module 41 (TM41) 4-291. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.28 Changing over units 4-295. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.29 Application examples with the DMC20 4-298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.29.1 Features 4-298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.29.2 Description 4-298. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.29.3 Example, distributed topology 4-299. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.29.4 Example, hot plugging 4-300. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.29.5 Overview of important parameters (refer to the List Manual) 4-301. . . . . . . . . . .

4.30 Position tracking/measuring gearbox 4-302. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.30.1 Description 4-302. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.30.2 Prerequisites 4-303. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

4.30.3 Integration 4-303. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5 Basic Information About the Drive System 5-305. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.1 Parameter 5-306. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.2 Data sets 5-309. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.3 Drive objects 5-316. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

5.4 BICO technology: interconnecting signals 5-319. . . . . . . . . . . . . . . . . . . . . . . . . . .

A Availability of SW Functions A-327. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

B List of Abbreviations B-331. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

C References C-339. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

D Index D-345. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .

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SINAMICS S120 Function Manual, 03/2006 Edition

Infeed 1

Infeed

Active Infeed

SINAMICS S120 Function Manual, 03/2006 Edition

1.1 Active Infeed

1.1.1 Active Infeed closed-loop control

Features

SControlled DC link voltage whose level can be adjusted

SRegenerative feedback capability

SSpecific reactive current setting

SLow line harmonics, sinusoidal line current

Description

Active Infeed closed-loop control works together with the line reactor and the

Active Line Module as a step-up converter. The DC voltage level can be defined

via parameters.

The open and closed-loop control firmware for the Active Line Module runs on the

Control Unit assigned to it. The Active Line Module and Control Unit communicate

via DRIVE-CLiQ.

Terminal diagram for Active Infeed Booksize

Active Line Module

Main circuit-breaker

with leading auxiliary

contact

Fuses

Line filter (optional)

Line reactor

Network

DC link

Control unit

Firmware

Active

Infeed

Control Actual values

Manipulated variables

DRIVE-CLiQ

Voltage Sensing

Module (optional)

Actual values

Line filter (optional)

Fig. 1-1 Schematic structure of Active Infeed Booksize

Infeed

Active Infeed

1-19

SINAMICS S120 Function Manual, 03/2006 Edition

Terminal diagram for Active Infeed

Chassis

Active Line Module

Main switches

Fuses

Active Interface Module

Network

DC link

Control unit

Firmware

Active

Infeed

Control Actual values

Manipulated

variables Actual

DRIVE-CLiQ

Voltage Sensing Module

values

DRIVE-CLiQ

Fig. 1-2 Schematic structure of Active Infeed Chassis

Operating modes of Active Infeed closed-loop control for Active Line Modules Booksize

The Active Line Module can be operated in two different modes depending on the

parameterized line supply voltage (p0210):

SActive Mode

In Active Mode, the DC link voltage is regulated to a variable setpoint (p3510),

which results in a sinusoidal line current (cosϕ = 1).

SSmart Mode

In Smart Mode, the DC link voltage is not regulated but is, instead, derived from

the rectified line supply voltage. The current waveform in the direction of

incoming supply is the same as that of a B6 diode converter. A square-line

current occurs in the direction of regenerative feedback.

The DC link voltage setpoint (p3510) and the control type are preset as follows du-

ring commissioning in line with the connection voltage (p0210):

Table 1-1 Presetting the control type and DC link voltage booksize

Supply voltage p0210

[V]

380– 400 401– 415 416– 440 460 480

Control type p3400.0 “0” = Active Mode “1” = Smart Mode

Vdc_setp p3510 [V] 600 625 562– 5941) 6211) 6481)

1) Voltages specified for Smart Mode are derived from the rectified line supply voltage. The DC link voltage

setpoint (p3510) has no effect in this control mode.

Infeed

Active Infeed

SINAMICS S120 Function Manual, 03/2006 Edition

Operating modes of Active Infeed closed-loop control for Active Line Modules Chassis

Active Line Modules Chassis only function in Active Mode.

The DC link voltage setpoint (p3510) is preset in line with the supply voltage

(p0210) according to the following formula: p3510 = 1.5 * p0210.

Commissioning

During commissioning, the device supply voltage (p0210) and the rated line fre-

quency (p0211) must be parameterized. In addition, an optional line filter (p0220)

must be selected.

Note

In a supply system without regenerative feedback capability (e.g. generators),

regenerative operation must be inhibited via the binector input p3533.

The DC link voltage (p3510) can be set within the following limits:

SBooksize

– Upper limit: Maximum DC link voltage (p0280)

– Lower limit: Supply voltage (p0210) multiplied by 1.42

SChassis

– Upper limit: Maximum DC link voltage (p0280)

– Lower limit: Supply voltage (p0210) multiplied by 1.42

Note

If automatic commissioning was carried out with STARTER, the line filter (if used)

must be included in the configuration.

Function diagram for Active Infeed (see List Manual)

S1774 Overviews – Active Infeed

S8920 Control word sequential control infeed

S...

S8964 Messages and monitoring, supply frequency and

Vdc monitoring

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