Siemens SIMODRIVE 611 universal Parts list manual

Description of Functions 04/2005 Edition
simodrive
SIMODRIVE 611 universal/universal E
Control Components for
Closed-Loop Speed Control and Positioning
BP3834

Valid for
Control Software version
SIMODRIVE 611 universal 2.x
SIMODRIVE 611 universal 3.1
SIMODRIVE 611 universal/E 3.2
SIMODRIVE 611 universal/E 3.3
SIMODRIVE 611 universal/E 3.5
SIMODRIVE 611 universal/E 4.x
SIMODRIVE 611 universal/E 5.x
SIMODRIVE 611 universal/E 6.x
SIMODRIVE 611 universal/E 7.x
SIMODRIVE 611 universal/E 8.x
04.05 Edition
Control Components for
Closed–Loop Speed Control
and Positioning
SIMODRIVE 611 universal
SIMODRIVE 611 universal E
Description of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of FunctionsDescription of Functions
Product Overview 1
Installing and
Connecting–Up 2
Parameterizing
the Board 3
Commissioning 4
Communications via
PROFIBUS–DP 5
Description of the
Functions 6
Fault Handling/
Diagnostics 7
Lists A
Abbreviations B
References C
Certificates D
Index E

SIMODRIVEdocumentation
Printing history
Brief details of this edition and previous editions are listed below.
The status of each edition is shown by the code in the ”Remarks” column.
Status code in the ”Remarks” column:
A.... New documentation
B.... Unrevised reprint with new Order No.
C.... Revised edition with new status
If factual changes have been made on the page since the last edition, this is indicated by a new
edition coding in the header on that page.
Edition Order No. Remarks
01.99 6SN1197–0AB20–0BP0 A
04.99 6SN1197–0AB20–0BP1 C
10.99 6SN1197–0AB20–0BP2 C
05.00 6SN1197–0AB20–0BP3 C
08.01 6SN1197–0AB20–0BP4 C
02.02 6SN1197–0AB20–0BP5 C
08.02 6SN1197–0AB20–0BP6 C
02.03 6SN1197–0AB20–0BP7 C
07.03 6SN1197–0AB20–0BP8 C
06.04 6SN1197–0AB20–1BP0 C
10.04 6SN1197–0AB20–1BP1 C
04.05 6SN1197–0AB20–1BP2 C
Trademarks
SIMATIC, SIMATIC HMI, SIMATIC NET, SIROTEC, SINUMERIK, SIMODRIVEand
SIMODRIVE POSMOare registered trademarks of Siemens AG. Other names in this publication might be
trademarks whose use by a third party for his own purposes may violate the rights of the registered holder.
Additional information can be found at:
http://www.siemens.com/motioncontrol
This publication was produced with Interleaf V 7
Siemens AG 1999–2005. All rights reserved.
The controller may be able to execute functions that are not described in
this documentation. However, no claim can be made regarding the
availability of these functions when the equipment is first supplied or in the
event of servicing.
We have checked that the contents of this document correspond to the
hardware and software described. Since deviations cannot be precluded
entirely, we cannot guarantee complete conformance. The information in
this document is regularly checked and necessary corrections are included
in reprints. Suggestions for improvement are also welcome.
Subject to change without prior notice.
Siemens Aktiengesellschaft
O
rder No. 6SN1197–0AB20–1BP2
Printed in the Federal Republic of Germany
3ls

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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
Foreword
Instructionswhen reading
The SIMODRIVE 611 documentation is structured as follows:
General Documentation
Manufacturer/Service Documentation
Electronic Documentation
You can obtain more detailed information on the documents listed in
the documentation overview as well as additional SIMODRIVE docu-
mentation from your local Siemens office.
This document does not purport to cover all details or variations in
equipment, nor to provide for every possible contingency to be met in
connection with installation, operation or maintenance.
The contents of this document are not part of an earlier or existing con-
tract or agreement nor do they change this. The sales contract contains
the entire obligation of Siemens. The warranty conditions specified in
the contract between the parties is the sole warranty of Siemens. Any
statements contained herein neither create new warranties nor modify
the existing warranty.
This documentation addresses machine OEMs and service personnel
who wish to use ”SIMODRIVE 611 universal”.
If you have any questions, please contact the following Hotline:
A&D Technical Support Tel.: [phone] – 222
Fax: [phone] – 223
http://www.siemens.com/automation/support–request
If you have any questions regarding the documentation (suggestions,
corrections), please send a fax or email:
Fax: [phone] – 2176
Fax forms Refer to the correction sheet at the end of the
documentation
email: [email protected]
You can obtain continually updated information about our product in the
Internet under:
http://www.siemens.com/motioncontrol
Certificates for the products described in this documentation can be
found under:
http://intra1.erlf.siemens.de/qm/home/index.html
Structure of the
documentation
Target group
Technical Support
Internet address
Certificates

vi Siemens AG 2005 All Rights Reserved
SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
This Description of Functions provides detailed information on the func-
tionality of the ”SIMODRIVE 611 universal” control board.
Should you wish for additional information or should exceptional prob-
lems arise that are not addressed in sufficient detail in this manual, you
can request the required information from your local Siemens office.
Notice
From Edition 10.99, this documentation includes information for
”SIMODRIVE 611 universal” and ”SIMODRIVE 611 universal E”.
From Edition 02.02, this documentation includes information for
”SIMODRIVE 611 universal HR” and ”SIMODRIVE 611 universal E
HR”.
Information for users of ”SIMODRIVE 611 universal” and
”SIMODRIVE 611 universal HR”:
––> For you, all of the Chapters are applicable with the exception of
Chapter 1.4.
Information for users of ”SIMODRIVE 611 universal E” and
”SIMODRIVE 611 universal E HR”:
––> It is important that you read Chapter 1.4.5 first.
The Chapter and pages are coded for the reader as follows in the
header line below the edition:
Designation Significance
none Information is valid for 611u and 611ue
! not 611u ! Information is not valid for 611u
! not 611ue ! Information is not valid for 611ue
! 611ue diff ! Information differs between 611u and 611ue.
In addition, the list of differences in
Chapter 1.4.5 must be carefully observed.
Board Abbreviation (only for this purpose)
SIMODRIVE 611 universal 611u
SIMODRIVE 611 universal E 611ue
Objectives
Foreword
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The following should be observed when using this manual:
1. Help: The following help is available for the reader:
Complete table of contents
Header line (as orientation):
the main chapter is in the upper header line
the sub–chapter is in the lower header line
Chapter list of contents is provided at the beginning of each Chapter
Appendix with
– Abbreviations and List of References
– Index
If you require information regarding a specific term, then look for
this in the Appendix under the Chapter ”Index”.
The Chapter number as well as the page number is specified
where information on this term can be found.
2. Parameter lists
In this description, for the parameters, the following displays and
significances are available:
P0660 Parameter 0660 without sub–parameter
P1451:8 P1451 with sub–parameters (P1451:0 to P1451:7)
:8 Sub–parameters that are dependent on the
parameter set
P0080:64 P0080 with sub–parameters (P0080:0 to P0080:63)
:64 sub–parameters that are dependent on the
traversing block
The following applies:
Colon (:) the parameter has the sub–parameter
Number: these sub–parameters are available (from :0)
P1650.15 Parameter 1650 bit 15
3. Identifying ”new” or ”revised” information
The documentation, Edition 01.99 is the first edition.
How is the ”new” or ”revised” information identified for the other edi-
tions?
”from SW x.y” is provided with the information.
The edition is in the header line on this page > 01.99.
Exceptions:
List of faults and warnings, parameter list
The lists are completely updated at each edition, and a new edition
can be entered in the header lines on all of the pages.
For the individual faults and warnings, there is no software release–
dependent coding regarding the parameters.
Information for
using this Manual
Foreword
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There is a fixed relationship between the edition of the documentation
and the software release of the control board.
The first edition 01.99 describes the functionality of SW 2.1.
Edition 04.99 describes the functionality of SW 2.x.
What are the essential new functions that have been added for SW 2.x
in comparison to SW 2.1?
Rotary axis with modulo correction
Motor changeover for induction motors
Optional TERMINAL modules can now be used independent of the
operating mode.
Communications via the RS485 interface (HW dependent)
SimoCom U Comparing parameter sets
Example: Drive operated via PROFIBUS
Reading/writing parameters via PROFIBUS
Edition 10.99 describes the functionality of SW 2.x and SW 3.x.
What are the essential new functions that have been added for SW 3.x
in comparison to SW 2.x?
Jerk limiting
External block change
Input signal ”Suppress fault 608” (speed controller output limited)
Optional PROFIBUS–DP module:
PROFIBUS–DP2, Order No. (MLFB): 6SN1114–0NB00–0AA1
PROFIBUS–DP3, Order No. (MLFB): 6SN1114–0NB01–0AA0
PROFIBUS
Process data configuring
Motion Control with PROFIBUS–DP (clock synchronous operation)
New control signals: NSOLL_B, DIG_OUT, Gx_STW
New status signals: NIST_B, DIG_IN, XistP, IqGl,
Gx_ZSW, Gx_XIST1, Gx_XIST2
Override evaluation can be set (P0883)
S7 blocks to read/write parameters
Fixed speed setpoints for closed–loop speed controlled operation
i2t power module limiting
SimoCom U Online operation via PROFIBUS possible
Online operation via MPI interface possible
PROFIBUS diagnostics screen
Help topics for each parameter of the expert list
Faults and warnings:
The stop response (STOP I to STOP VII) is specified for each one
Edition of the
documentation?
Software release of
the board?
What is new?
Foreword
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List of motors 1FE1 motors (PE spindle) new in the list
1FT6xxx–xWxxx–xxxx motors new in the list
(water–cooled synchronous motors)
”SIMODRIVE 611 universal E” control board
First common software release for the ”SIMODRIVE 611 universal”
and ”SIMODRIVE 611 universal E”
Edition 05.00 describes the functionality of SW 2.x and SW 3.x.
What are the essential new functions that have been added for SW 3.3
in comparison to SW 3.1/3.2?
”External position reference value” operating mode
Axis couplings
Angular incremental encoder interface as input
Direct measuring system (DM, encoder 2)
Process data
– Encoder interface (encoder 1, 2 and 3) is written into bitwise
– Standard telegrams 4 and 103 have been supplemented
The encoder interface is independent of clock–synchronous operation
Traversing to fixed endstop
In order to execute traversing blocks, it is no longer necessary to
supply the input signals ”Operating condition/reject traversing task”
and ”Operating condition/intermediate stop”.
SimoCom U ”Boot board” function
”User parameter list” function
Permanent–magnet synchronous motors with field weakening
(1FE1 motors, PE spindle)
– List of 1FE1 motors, expanded
– Reluctance torque constant introduced
Bandstop filter with bilinear transformation or Z transformation
Edition 08.01 describes the functionality of SW 2.x, SW 3.x and
SW 4.x.
What are the essential new functions that have been added for SW 4.x
in comparison to SW 2.x/3.x?
”External position reference value” is now available in the ”Position-
ing” mode
Teach–in and incremental jogging
Slave–to–slave communications, PROFIBUS–DP
Dynamic Servo Control (DSC)
Foreword
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Edition 02.02 describes the functionality of SW 2.x, SW 3.x,
SW 4.x and SW 5.1.
What are the essential new functions that have been added for
SW 5.1?
Spindle positioning
Possibility of integrating into an external safety concept ”Safe stand-
still”
Expanded functionality of the ”SimoCom U” start–up tool
– Support, motor data optimization
– Bit masking for the ”Trace” function
Passive referencing
Filter parameterization (current, speed setpoint)
”SIMODRIVE 611 universal HR” control board (HR stands for high
resolution)
The functionality for ”SIMODRIVE 611 universal” described in the
Description of Functions, also applies to ”SIMODRIVE 611 universal
HR”
Edition 08.02 describes the functionality of SW 2.x, SW 3.x,
SW 4.x, SW 5.x and SW 6.1.
What are the essential new functions that have been added for
SW 6.1?
PROFIdrive conformance
Edition 02.03 describes the functionality of SW 2.x, SW 3.x,
SW 4.x, SW 5.x, SW 6.x and SW 7.1.
What are the essential new functions that have been added for
SW 7.1?
MDI (external block processing)
Edition 07.03 describes the functionality of SW 2.x, SW 3.x,
SW 4.x, SW 5.x, SW 6.x and SW 7.
Edition 06.04 describes the functionality of SW 3.6, SW 4.1,
SW 5.x, SW 6.x, SW 7.x and SW 8.1
What are the essential new functions that have been added for
SW 8.1?
Electronic handwheel
Password protection
Any gearbox ratio
Changes/modifications for the CAN bus
Direction–dependent fast–stop using a hardware switch
Edition 10.04 describes the functionality of SW 3.6, SW 4.1,
SW 5.x, SW 6.x, SW 7.x and SW 8.x
Foreword
06.0410.04

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The 04.05 Edition describes the functionality of SW 3.6, SW 4.1,
SW 5.x, SW 6.x, SW 7.x and SW 8.x
What are the essential new functions that have been added for
SW 8.3?
Input signal ”ON/OFF 1” at a digital input terminal
Reading the DC link voltage via PROFIBUS–DP
Referencing (homing) with distance–coded measuring system
For the purpose of this documentation and warning information on the
product itself, qualified personnel are those personnel who are familiar
with the installation, mounting, start–up and operation of the equipment
and the hazards involved. They must have the following qualifications:
Trained and authorized to energize, de–energize, clear, ground and
tag circuits and equipment in accordance with established safety
procedures.
Trained in the proper care and use of protective equipment in accor-
dance with established safety procedures.
Trained in rendering first aid.
Definition:
Who are
qualified
personnel?
Foreword
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The following information symbols are used in this documentation:
!Danger
This symbol is always used if death, severe personal injury or
substantial material damage will result if proper precautions are not
taken.
!Warning
This symbol is always used if death, severe personal injury or
substantial material damage can result if proper precautions are not
taken.
!Caution
This symbol is always used if minor personal injury or material damage
can result if proper precautions are not taken.
Caution
This warning (without warning triangle) indicates that material damage
can result if proper precautions are not taken.
Notice
This warning indicates that an undesirable situation or condition can
occur if the appropriate instructions/information are not observed.
Note
This symbol indicates important information about the product or part
of the document, where the reader should take special note.
Reader’s note
This symbol is shown, if it relates to important information which the
reader must observe.
Explanation
of symbols
Foreword
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Technical information
!Warning
Operational electrical equipment has parts and components which are
at hazardous voltage levels.
Incorrect handling of these units, i.e. not observing the warning
information, can therefore lead to death, severe bodily injury or
significant material damage.
Only appropriately qualified personnel may commission/start up this
equipment.
This personnel must have in–depth knowledge regarding all of the
warning information and service measures according to this manual.
Perfect, safe and reliable operation of the equipment assumes that it
has been professionally transported, stored, mounted and installed as
well as careful operator control and service.
Hazardous axis motion can occur when working with the equipment.
!Danger
”Protective separation” (PELV-/SELV) in the drive can only be
guaranteed when the following points are taken into consideration:
Certified components are used.
The degree of protection for all components is ensured.
With the exception of the DC link and motor terminals, all of the
circuits (e.g. digital inputs) must fulfill the requirements of PELV or
SELV circuits.
The braking cable shield must be connected to PE through the
largest possible surface area.
For unlisted motors, ”protective separation” is required between the
temperature sensor and motor winding.
Note
When handling cables, observe the following:
They may not be damaged,
they may not be stressed,
they may not come into contact with rotating components.
Foreword
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!Warning
All of the SIMODRIVE unit connections must be withdrawn or
disconnected when the electrical equipment on the machines is subject
to a voltage test (EN 60204–1 (VDE 0113–1), Point 20.4).
This is necessary, as the SIMODRIVE insulation has already been
tested, and should not be subject to a new test (additional voltage
stressing).
!Warning
Start–up/commissioning is absolutely prohibited until it has been
ensured that the machine in which the components described here are
to be installed, fulfills the regulations/specifications of the Directive
89/392/EEC.
!Warning
The information and instructions in all of the documentation supplied
and any other instructions must always be observed to eliminate
hazardous situations and damage.
For special versions of the machines and equipment, the
information in the associated catalogs and quotations applies.
Further, all of the relevant national, local land plant/system–specific
regulations and specifications must be taken into account.
All work should be undertaken with the system in a no–voltage
condition!
Caution
When using mobile radios (e.g. cellular phones, mobile phones, 2–way
radios) with a transmission power of > 1 W close to the equipment
(< 1.5 m) the function of the equipment can be disturbed.
Foreword
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ElectroStatic Discharge Sensitive Devices
Note
Components, which can be destroyed by electrostatic discharge are
individual components, integrated circuits, or boards, which when
handled, tested, or transported, could be destroyed by electrostatic
fields or electrostatic discharge. These components are referred to as
ESDS (ElectroStatic Discharge Sensitive Devices).
Handling ESDS boards:
When handling devices which can be destroyed by electrostatic
discharge, personnel, workstations and packaging must be well
grounded!
Electronic boards should only be touched when absolutely
necessary.
Personnel may only come into contact with the components, if
– they are continuously grounded through ESDS wristlets,
– they wear ESDS shoes, ESDS shoe grounding strips in
conjunction with an ESDS floor surface.
Boards may only be placed on conductive surfaces (table with
ESDS surface, conductive ESDS foam rubber, ESDS packing bag,
ESDS transport containers).
Boards may not be brought close to data terminals, monitors or
television sets (minimum clearance to the screen > 10 cm).
Boards may not be brought into contact with highly insulating
materials which can be statically charged, e.g. plastic foils,
insulating desktops, clothing manufactured from man–made fibers.
Measuring work may only be carried out on the boards, if
– the measuring unit is grounded (e.g. via protective conductor),
or
– for floating measuring equipment, the probe is briefly discharged
before making measurements (e.g. a bare–metal control
housing is touched).
Only touch control boards, option modules and memory modules at
the front panel or at the edge of the PC boards.
ESDS information
and instructions
Foreword
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Foreword
06.04
Space for your notes

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Table of Contents
1 Product Overview 1-23. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.1 What can ”SIMODRIVE 611 universal” do? 1-24. . . . . . . . . . . . . . . . . . . . . . . . .
1.2 ”SIMODRIVE 611 universal” in the SIMODRIVE 611 system 1-28. . . . . . . . . .
1.3 ”SIMODRIVE 611 universal” control board 1-32. . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.1 Control board for 2 or 1 axis 1-35. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.2 Elements on the control board front panel 1-37. . . . . . . . . . . . . . . . . . . . . . . . . .
1.3.3 Optional modules 1-40. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
1.4 ”SIMODRIVE 611 universal E” control board 1-43. . . . . . . . . . . . . . . . . . . . . . . .
1.4.1 Diagram of the board and optional module 1-44. . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.2 Elements on the control board front panel 1-45. . . . . . . . . . . . . . . . . . . . . . . . . .
1.4.3 Description of the terminals, interfaces and operator control elements 1-46. .
1.4.4 Commissioning the board with ”SimoCom U” 1-53. . . . . . . . . . . . . . . . . . . . . . . .
1.4.5 What are the differences with respect to ”SIMODRIVE 611 universal”? 1-55.
2 Installing and Connecting-Up 2-59. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.1 Installing/removing control boards and modules 2-60. . . . . . . . . . . . . . . . . . . . .
2.2 Connecting–up 2-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.1 General information on connecting–up 2-66. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.2.2 Connecting–up and setting the line supply infeed module 2-69. . . . . . . . . . . . .
2.2.3 Connecting–up the power module 2-70. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3 Connection diagram and wiring 2-71. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.1 Connection diagram for the ”SIMODRIVE 611 universal” board 2-71. . . . . . . .
2.3.2 Connecting–up the control board 2-72. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.3.3 Connection diagram, connecting–up the optional TERMINAL module 2-78. . .
2.3.4 Connection diagram, connecting–up the optional PROFIBUS–DP module 2-80
2.4 Pin assignment of the interfaces 2-82. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
2.5 Cable diagrams 2-85. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3 Parameterizing the Board 3-87. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.1 Overview when parameterizing 3-88. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2 Parameterizing using the display and operator unit 3-89. . . . . . . . . . . . . . . . . . .
3.2.1 Parameterizing mode 3-90. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.2.2 Example: Changing a parameter value 3-95. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3 Parameterizing using the parameterizing and start–up tool SimoCom U 3-96.
3.3.1 Installing SimoCom U 3-96. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.2 Entry into SimoCom U 3-98. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
3.3.3 Online operation: SimoCom U via a serial interface 3-103. . . . . . . . . . . . . . . . . .
3.3.4 Online operation: SimoCom U via PROFIBUS–DP (from SW 3.1) 3-109. . . . . .

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4 Commissioning 4-115. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.1 General commissioning information 4-116. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.2 Run–up of ”SIMODRIVE 611 universal” 4-119. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3 Commissioning via SimoCom U 4-120. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.1 First commissioning with SimoCom U 4-121. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.2 Series commissioning with SimoCom U 4-122. . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.3.3 Password protection with SimoCom U (from SW 8.1) 4-123. . . . . . . . . . . . . . . . .
4.3.4 Automated firmware download (from SW 8.1) 4-126. . . . . . . . . . . . . . . . . . . . . . .
4.4 Commissioning using the display and operator unit 4-128. . . . . . . . . . . . . . . . . . .
4.5 Function–initiating and diagnostic parameters 4-131. . . . . . . . . . . . . . . . . . . . . . .
4.6 Parameters for hardware, operating mode and clock cycles 4-137. . . . . . . . . . .
4.7 Induction motor operation with induction motor 4-141. . . . . . . . . . . . . . . . . . . . . .
4.7.1 Description 4-141. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.7.2 Commissioning induction motors (ARM) without encoder 4-144. . . . . . . . . . . . .
4.7.3 Motor data optimization, steps 1 to 4 4-148. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8 Permanent–magnet synchronous motor with field–weakening
(PE spindle) 4-153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.1 Description 4-153. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.2 Commissioning 1FE1 motors 4-155. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.3 Current controller adaptation 4-160. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.8.4 Parameters for PE spindles 4-163. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9 1FW6 build–in torque motors (from SW 6.1) 4-165. . . . . . . . . . . . . . . . . . . . . . . .
4.9.1 Description 4-165. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.2 Commissioning 1FW6 motors 4-167. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.9.3 Thermal motor protection 4-168. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10 Linear motors (1FN1, 1FN3 motors) 4-169. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.1 General information on commissioning linear motors 4-169. . . . . . . . . . . . . . . . .
4.10.2 Commissioning: Linear motor with one primary section 4-172. . . . . . . . . . . . . . .
4.10.3 Commissioning: Linear motor with 2 identical primary sections 4-179. . . . . . . . .
4.10.4 Mechanical system 4-182. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.5 Thermal motor protection 4-184. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.6 Measuring system 4-188. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
4.10.7 Parallel and double–cam arrangement of linear motors 4-191. . . . . . . . . . . . . . .
4.10.8 Checking the linear motor by making measurements 4-192. . . . . . . . . . . . . . . . .
4.11 Direct measuring system for position control (from SW 3.3) 4-193. . . . . . . . . . .
4.12 Connecting induction motors with TTL encoder (from SW 8.1) 4-197. . . . . . . . .
5 Communications via PROFIBUS DP 5-199. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.1 General information about PROFIBUS–DP for
”SIMODRIVE 611 universal” 5-200. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.2 Basic functions of the cyclic data transfer 5-206. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.3 Basic functions of the non–cyclic data transfer 5-208. . . . . . . . . . . . . . . . . . . . . .
5.4 Terminal signals and PROFIBUS signals 5-212. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.5 Internal effect of PROFIBUS signal and hardware terminals 5-213. . . . . . . . . . .
5.6 Net data (PKW and PZD area) 5-216. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
5.6.1 Overview of the process data (PZD area) 5-216. . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.2 Description of the control words (setpoints) 5-220. . . . . . . . . . . . . . . . . . . . . . . . .
5.6.3 Description of the status words (actual values) 5-233. . . . . . . . . . . . . . . . . . . . . .
5.6.4 Encoder interface (n–set mode, from SW 3.1) 5-243. . . . . . . . . . . . . . . . . . . . . . .
5.6.5 Configuring process data (from SW 3.1) 5-255. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.6.6 Defining the process data according to the PPO type 5-270. . . . . . . . . . . . . . . . .
5.6.7 Parameter area (PKW area) 5-273. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7 Settings at the PROFIBUS DP master 5-281. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.1 Master device file and configuring 5-281. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.2 Commissioning 5-285. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.7.3 Diagnostics and troubleshooting 5-289. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8 Motion Control with PROFIBUS–DP (from SW 3.1) 5-293. . . . . . . . . . . . . . . . . .
5.8.1 Equidistant DP cycle operation in the n–set mode 5-295. . . . . . . . . . . . . . . . . . . .
5.8.2 Equidistant DP cycle operation in the positioning mode 5-297. . . . . . . . . . . . . . .
5.8.3 Times in the equidistant DP cycle 5-300. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.8.4 Bus run–up, synchronization and net data save 5-302. . . . . . . . . . . . . . . . . . . . . .
5.8.5 Parameterization using the parameterizing telegram 5-304. . . . . . . . . . . . . . . . .
5.9 Parameter overview of PROFIBUS–DP 5-305. . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10 Slave–to–slave communications (from SW 4.1) 5-314. . . . . . . . . . . . . . . . . . . . . .
5.10.1 General information 5-314. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.2 Setpoint assignment in the subscriber 5-317. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.3 Activating/parameterizing slave–to–slave communications 5-318. . . . . . . . . . . .
5.10.4 Telegram structure 5-320. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
5.10.5 Example: Coupling 2 drives (master, slave drive) 5-323. . . . . . . . . . . . . . . . . . . .
6 Description of the Functions 6-329. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1 Operating mode, speed/torque setpoint (P0700 = 1) 6-331. . . . . . . . . . . . . . . . .
6.1.1 Application examples 6-331. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.2 Current and speed control 6-332. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.3 Ramp–function generator 6-334. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.4 Optimizing the closed–loop current and speed controller 6-336. . . . . . . . . . . . . .
6.1.5 Speed controller adaptation 6-338. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.6 Fixed speed setpoint (from SW 3.1) 6-340. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.7 Monitoring functions 6-341. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.8 Limits 6-346. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.1.9 Position measuring system with distance–coded reference marks
(from SW 4.1) 6-352. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2 Positioning mode (P0700 = 3, from SW 2.1) 6-353. . . . . . . . . . . . . . . . . . . . . . . .
6.2.1 Encoder adaptation 6-354. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.2 Units for travel, velocity and acceleration 6-361. . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.3 Closed–loop position control components 6-364. . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.4 Referencing and adjusting 6-389. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.5 Referencing for incremental measuring systems 6-389. . . . . . . . . . . . . . . . . . . . .
6.2.6 Referencing with a distance–coded measuring system (from SW 8.3) 6-395. .
6.2.7 Adjusting absolute measuring systems 6-399. . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.8 Parameter overview for referencing/adjustments 6-401. . . . . . . . . . . . . . . . . . . . .
6.2.9 Jogging operation 6-406. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.10 Programming traversing blocks 6-408. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.2.11 Starting, interrupting and exiting traversing blocks 6-421. . . . . . . . . . . . . . . . . . .
6.2.12 MDI operation (from SW 7.1) 6-426. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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SIMODRIVE 611 universal Description of Functions (FBU) – 04.05 Edition
6.3 Axis couplings (from SW 3.3) 6-431. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.1 Position reference value and position actual value coupling 6-431. . . . . . . . . . .
6.3.2 Handling faults in the master and slave drives 6-459. . . . . . . . . . . . . . . . . . . . . . .
6.3.3 Torque setpoint coupling (from SW 4.1) 6-461. . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.3.4 Equalization controller (from SW 7.1) 6-467. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4 Input/output terminals of the control board 6-473. . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.1 Permanently–connected input terminals 6-473. . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.2 Freely–parameterizable digital input terminals 6-474. . . . . . . . . . . . . . . . . . . . . . .
6.4.3 List of input signals 6-475. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.4 Permanently–connected output terminals 6-498. . . . . . . . . . . . . . . . . . . . . . . . . . .
6.4.5 Freely–parameterizable digital output terminals 6-498. . . . . . . . . . . . . . . . . . . . . .
6.4.6 List of output signals 6-500. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.5 Input/output terminals for the optional TERMINAL module 6-526. . . . . . . . . . . .
6.6 Analog inputs 6-528. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.1 Basic setting of the analog inputs 6-529. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.2 nset mode or nset with Mred mode 6-530. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.3 Mset mode or Mset with MRed mode 6-534. . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.6.4 Torque/power reduction via terminal 24.x/20.x 6-537. . . . . . . . . . . . . . . . . . . . . . .
6.6.5 Application example master/slave 6-540. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.7 Analog outputs 6-542. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.8 Angular incremental encoder interface (X461, X462) 6-556. . . . . . . . . . . . . . . . .
6.8.1 Angular incremental encoder interface as output (P0890 = 1) 6-558. . . . . . . . . .
6.8.2 Angular incremental encoder interface as input (P0890 = 2, from SW 3.3) 6-563
6.8.3 Electronic handwheel (from SW 8.1) 6-567. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.9 Motor holding brake 6-570. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.10 Parameter set changeover 6-576. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.11 Motor changeover for induction motors (from SW 2.4) 6-580. . . . . . . . . . . . . . . .
6.11.1 General information on motor changeover 6-580. . . . . . . . . . . . . . . . . . . . . . . . . .
6.11.2 Changeover, max. 4 motors each with 1 data set (P1013 = 1) 6-586. . . . . . . . .
6.11.3 Changeover, 1 motor with max. 4 data sets (P1013 = 2) 6-588. . . . . . . . . . . . . .
6.11.4 Changeover, max. 2 motors each with 2 data sets (P1013 = 3) 6-589. . . . . . . .
6.11.5 Parameters for motor changeover 6-592. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.12 Travel to fixed endstop (positioning mode) (from SW 3.3) 6-594. . . . . . . . . . . . .
6.13 Teach–in (from SW 4.1) 6-601. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.14 Dynamic servo control (DSC, from SW 4.1) 6-603. . . . . . . . . . . . . . . . . . . . . . . . .
6.15 Spindle positioning (from SW 5.1) 6-605. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
6.16 Rotor position synchronization/rotor position identification 6-615. . . . . . . . . . . . .
7 Fault Handling/Diagnostics 7-619. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.1 Overview of faults and warnings 7-620. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.2 Displaying and handling faults and warnings 7-624. . . . . . . . . . . . . . . . . . . . . . . .
7.2.1 Display and operator control via the display and operator unit 7-624. . . . . . . . .
7.2.2 FAULT LED on the front panel 7-627. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3 List of faults and warnings 7-628. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.1 Fault without a number being displayed 7-628. . . . . . . . . . . . . . . . . . . . . . . . . . . .
7.3.2 Error with fault/warning number 7-629. . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . . .
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