Siemens SIMODRIVE base line A User manual

Valid for
Servo Drive
SIMODRIVE base line A
09. 2004 Edition
SIMODRIVE base line A
Start-Up
Technical Manual
Introduction 1
Installation 2
Technical description 3
Servomotor 4

SIMODRIVE base line A
®
Documentation
Key to editions
The editions listed below have been published prior to the current edition.
The column headed "Note" lists the amended sections, with reference to the previous edition.
Marking of edition in the "Note" column:
A ....New documentation.
B ....Unrevised reprint with new order number
C ....Revised edition of new issue.
Edition Order No. Note
2003.09 6SN1197-0AB21-0BP0 C
2004.09 6SN1197-0AB21-0BP1 C
Copyright Siemens AG 2004. All right reserved
The reproduction, transmission or use of this document or its
contents is not permitted without express written authority.
Offenders will be liable for damages. All rights, including rights
created by patent grant or registration of a utility model, are
reserved.
Exclusion of liability
We have checked that the contents of this document correspond to
the hardware and software described. Nonetheless, differences
might exist and we cannot therefore guarantee that they are
completely identical. The information contained in this document is
reviewed regularly and any necessary changes will be included in
the next edition. We welcome suggestions for improvement.
© Siemens AG, 2004
Subject to technical changes without notice.
Siemens-Aktiengesellschaft.
SIMODRIVE base line A
Trademarks
SIMATIC®, SIMATIC HMI®, SIMATIC NET®, SIMODRIVE®, SINUMERIK® and SIMOTION
®
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.

Safety Guidelines
This Manual contains notices intended to ensure your personal safety, as well
as to protect products and connected equipment against damage. Safety
notices are highlighted by a warning triangle and presented in the following
categories depending on the degree of risk involved:
!
Danger
Indicates an imminently hazardous situation which, if not avoided, will result
in death or serious injury or in substantial property damage.
!
Warning
Indicates a potentially hazardous situation which, if not avoided, could result in
death or serious injury or in substantial property damage.
!
Caution
Used with the safety alert symbol indicates a potentially hazardous situation which,
if not avoided, may result in minor or moderate injury or in property damage.
Caution
Used without safety alert symbol indicates a potentially hazardous situation
which, if not avoided, may result in property damage.
Notice
Indicates important information relating to the product or highlights part of the
documentation for special attention.
Qualified Person
The unit may only be started up and operated by a qualified person or
persons. Qualified persons as referred to in the safety guidelines in this
document are those who are authorized to start up, earth and label units,
systems and circuits in accordance with relevant safety standards.
Proper use
Please note the following:
!
Warning
The unit may be used only for the applications described in the catalog or the
technical description, and only in combination with the equipment,
components and devices of other manufactures as far as this is
recommended or permitted by Siemens.
This product must be transported, stored and installed, and maintained and
operated with care to ensure that it functions correctly and safely.

Contents
Contents
1. INTRODUCTION ...............................................................................................................1-1
1.1. Components of SIMODRIVE base line A....................................................................... 1-1
1.2. Technical data................................................................................................................1-3
1.3. Order number.................................................................................................................1-5
2. INSTALLATION.................................................................................................................2-1
2.1. Installation of SIMODRIVE base line A..........................................................................2-1
2.2. Installation of accessories..............................................................................................2-4
2.3. Commissioning of SIMODRIVE base line A ..................................................................2-5
2.4. Interfaces and cabling....................................................................................................2-7
2.5. Cable connection .........................................................................................................2-10
2.6. Interface description.....................................................................................................2-11
2.6.1. Control module interface.......................................................................................2-11
2.6.1.1. Pole pair numbers............................................................................................................ 2-12
2.6.1.2. Current controller settings................................................................................................ 2-12
2.6.1.3. Position feedback interface - X391/X392 ......................................................................... 2-13
2.6.1.4. Encoder interface - X311/X312 ........................................................................................ 2-13
2.6.1.5. Drift compensation －Drift potentiometer ........................................................................ 2-14
2.6.1.6. Tachometer －Potentiometer .......................................................................................... 2-14
2.6.1.7. Proportional gain －KPpotentiometer.............................................................................. 2-15
2.6.1.8. Integral action time －TNpotentiometer........................................................................... 2-15
2.6.1.9. Speed setpoint & controller enable interface - X321/X322............................................... 2-16
2.6.2. Infeed module interface ........................................................................................2-17
2.6.2.1. Grounding of electronics power supply - X131................................................................. 2-17
2.6.2.2. Enable interface terminals - X141A.................................................................................. 2-17
2.7. Power supply................................................................................................................2-18
2.8. Grounding.....................................................................................................................2-26
3. TECHNICAL DESCRIPTION ............................................................................................3-1
3.1. Closed-loop control with resolver...................................................................................3-1
3.2. Infeed module ................................................................................................................3-2
3.3. Control module...............................................................................................................3-4
4. SERVOMOTOR................................................................................................................. 4-1

SIMODRIVE base line A Start-Up 1-1
1. Introduction
1.1. Components of SIMODRIVE base line A
What is SIMODRIVE SIMODRIVE base line A is a compact AC servo drive. It applies to
base line A economical CNC lathe, milling machine and drilling machine. It can also
be adapted to control diverse production machines.
Components SIMODRIVE base line A is designed in a compact structure. The internal
parts include following modules:
● Control module
● Infeed module
● Power module
Fig.1-1 SIMODRIVE base line A (1-axis/2-axes module, V1/V2)
SIMODRIVE base line A SIMODRIVE base line A can be ordered with the following two
versions: versions:
● V1: 1-axis version, motor static torque of 6Nm, 11Nm, 8Nm, 16Nm;
● V2: 2-axes version, motor static torque of 3+3Nm, 3+6Nm, 3+8Nm,
6Nm+8Nm, 6+6Nm, 8+8Nm.
SIMODRIVE base line A SIMODRIVE base line A is mainly used together with SINUMERIK
application 802C and SINUMERIK 802C base line at present. With the application
of SIMODRIVE base line A, this solution shows an outstanding
performance price ratio.

Introduction
1-2 SIMODRIVE base line A Start-Up
SIEMENS 1FK7 AC (4-pole pairs) servomotor is supplied to configure
with SIMODRIVE base line A. The major difference between
SIMODRIVE base line A and SIMODRIVE baseline is that
SIMODRIVE base line A is used with an adjustable combination of
1FK7 servo motors with 4-pole pairs resolver encoder, while the
SIMODRIVE base line is used with a fixed combination of 1FK7 servo
motors with 1-pole pair resolver encoder.
Fig. 1-2 SIMODRIVE base line A and CNC system
Notice:
The servo motors used in Simodrive base line are inapplicable for
Simodrive base line A.

Introduction
SIMODRIVE base line A Start-Up 1-3
1.2. Technical data
Connected load Table 1-1 Connected load
Parameter Min Type Max Unit Remarks
Supply voltage 360 400/ 415 456 V Power
derating in
case of
under 360V
Input frequency 45 50 66 Hz
Output power of infeed
module 5 10 KW
Current consumption
of 1-axis power
module
9 18 A V1
Current consumption
of 2-axes power
module
5/axis 10/axis A V2
Mechanical data Table 1-2 Mechanical data
Parameter Dimension
( W x H x D, mm) Weight (Kg) Remarks
1-axis
SIMODRIVE base line A 110 x 483 x 271 11 V1
2-axes
SIMODRIVE base line A 110 x 483 x 271 11.5 V2
Environment
operating conditions Table 1-3 Operating environment
Parameter Description Remarks
Temperature
range 0°C ~ +40°C，Max.+55°C；Power derating in
range of 40°C～+55°C
Annual average:
U=75%；td=17°C
For 30 days (24h) in one year:
U=95%; td=24°C; these days
should be naturally distributed
over the whole year.
Relative
humidity
On all other days (<24h) but
still maintaining the annual
average: U=85%；td=24°C
td: dew point;
U: relative humidity
Height above
sea level 1000m，Max. 2000m；Power derating in
range 1000m ～2000m
Atmospheric
pressure Min. 860 mbar (86kPa)；
Max. 1080 mbar (108kPa)
Applicable
standards DIN IEC 68-2-1 DIN IEC 68-2-2
DIN IEC 68-2-3
DIN VDE0160 5.2.1.3
EN50178

Introduction
1-4 SIMODRIVE base line A Start-Up
Transport and
storage conditions Table 1-4 Transport and storage conditions
Designation Description Remarks
Temperature
range -40℃～+70℃
Annual average:
U=75%；td=17°C
For 30 days (24h) over the
year: U=95%; td=24°C; these
days should be naturally
distributed over the year.
Relative
humidity
For other days (<24h):
U=85%；td=24°C;
but it should accord with the
annual average
td: dew point;
U: relative humidity
Applicable
standards DIN IEC 68-2-1 DIN IEC 68-2-2
DIN IEC 68-2-3
DIN VDE0160 5.2.1.3
EN50178
Protection class IP20 according to DIN EN 60529.

Introduction
SIMODRIVE base line A Start-Up 1-5
1.3. Order number
General SIMODRIVE base line A is delivered in 2 basic versions. They are
adapted to the machine tools with 1-axis and 2-axes control respectively.
Other versions of configurations are also available on customer’s request.
Moreover, the accessories and cables should be ordered separately by
the customers. The order numbers are as follows:
Table 1-5 Order number
No. Designation MLFB Remarks
1 V1: 1-axis module 6FC5548-0AC21-0AA0
2 V2: 2-axes module 6FC5548-0AC22-0AA0
3 Position feedback cable 6FX5002-2CJ00-1□□0
□□:
AF – 5 m;
AH – 7 m;
BA – 10 m;
BF – 15 m;
4 Speed setpoint cable 6FX2002-3AD01-1□□0
□□: AB – 1 m;
AD – 3 m;
AF – 5 m;
AH – 7 m;
BA – 10 m;
BF – 15 m;
5 Encoder cable 6FX5002-2CF02-1□□0
□□: AF – 5 m;
BA – 10 m;
BF – 15 m;
6 Motor power cable 6FX5002-5□A01-1□□0
□: AF – 5 m;
BA – 10 m;
BF – 15 m;
BJ – 18 m;
CF – 25 m;
□□:
A – without brake and overall
shield;
C – without brake, with overall
shield;
B – with brake, without overall
shield;
D – with brake and overall
shield;
7 Transformer JBK3 See table 2-8.
4AU3695-0SB10-0CN2 Protection class IP00
4AU3695-0SB12-0CN2 Protection class IP23
8 SIEMENS matching
transformer (8.2kW) 4AU3695-0SB18-0CN2 Protection class IP20
9 SIEMENS filter 6SN1111-0AA01-1BA0
1FK7042-5AF71-1S□0
1FK7060-5AF71-1S□0
1FK7063-5AF71-1S□0
1FK7080-5AF71-1S□0
10 1FK7 motor
1FK7083-5AF71-1S□0
□:
A – with key/without brake;
B – with key/with brake;
G – plain shaft/without brake;
H – plain shaft /with brake;

SIMODRIVE base line A Start-Up 2-1
2. Installation
2.1. Installation of SIMODRIVE base line A
Appearance check Please check the packaging prior to the installation of SIMODRIVE base
line A and make sure that the complete goods are delivered according to
the packing list. They should be complete and properly.
!Warning
Observe the following sequence when mounting and dismounting the
equipment:
1. Make use of the original packaging during transportation;
2. Keep distance from the motion equipment while power is switching
on;
3. Disassembling should not be done only after the power has been
switched off for 30 minutes;
4. Cut off the line power supply of servo drive in case of the long-term
standstill of servomotor;
5. The protective grounding cable should be connected properly.
Mounting location SIMODRIVE base line A is of a compact design, so that the installation is
very simple. When fixing the servo drive in the cabinet, four (4) M6
screws are required.
It is recommended to adopt the vertical mounting in the cabinet.
A clearance of at least 100mm should be maintained between two servo
modules to ensure sufficient cooling space. For the top and bottom of
modules, clearances should be 100mm and 200mm respectively (see
Fig.2-1).
!Caution
The environment requirements in the cabinet are as follows:
1. The permissible surroundings temperature of servo drive is 0~55°C,
but the power is to be de-rated if it is beyond 40°C;
2. The annual average of relative humidity is lower than 75%;
3. Vibration of cabinet is within 0.5G (4.9m/s2);
4. Condensation and icing should be avoided;
5. To guarantee the long-term stable work of servo drive, please keep
the surrounding temperature below 40°C.

Installation
2-2 SIMODRIVE base line A Start-Up
Mounting The mounting dimensions are shown in the following figures.
dimensions
Fig. 2-1 Mounting dimensions
1) Clearance space for sufficient cooling

Installation
SIMODRIVE base line A Start-Up 2-3
Fig.2-2 Mounting dimensions (continued)
1-axis module2-axes module

Installation
2-4 SIMODRIVE base line A Start-Up
2.2. Installation of accessories
General The accessories below can be adopted in compliance with the local
power supply system and the environment conditions.
Fuse Prior to connection with the power supply system, the fuse with rated
value of 16A, 410/415VAC is recommended to be adopted. Please refer
to section 2.7 “Power supply – fuse / circuit breaker” for relevant technical
data.
Circuit breaker If there is no fuse, linear breaker can be used to protect the system. The
rated value is 16A, 415VAC, and the maximum temperature is 60°C. The
circuit breaker recommended by SIEMENS can be found in section 2.7
“Power supply – fuse / circuit breaker”.
Isolating The transformer with isolating wiring is recommended to be adopted, so
transformer as to eliminate the interference from the low-frequency signals or the
influence by three-phase unequilibrium of power network
(3AC380V →3AC380V).
The isolating transformer must be applied in case of the IT or TT line
power networks. Please read section 2.7 “Power supply – isolating
transformer” for the usage of isolating transformer.
Filter The filter is designed to provide noise suppression for SIMODRIVE base
line A. We recommend you to use line filter to prevent from the high
frequency noise. The rated voltage is 400/415VAC, and the frequency is
50/60Hz. For the detailed technical data, please refer to section 2.7
“Power supply – Filter”.
Commutating Since the commutating reactor is installed in the Infeed module in
reactor SIMODRIVE base line A, we don’t recommend customer to use external
commutating reactor.
Cable SIEMENS cable provides optimum protection against interference, so the
preassembled cable offered as accessories are recommended for the
application.
Shielded plate To fulfil the EMC requirements, the screens of shielded power cable are
to be connected to the drive converter housing. The shielded plate has
clamp connections and mounting points for brake terminals. For the
installation of shielded plate into SIMODRIVE base line A, please refer to
section 2.7 “Power supply – shielded plate”.
!Caution
Power cable and signal cable must always be routed separately from
each other in the cabinet.

Installation
SIMODRIVE base line A Start-Up 2-5
2.3. Commissioning of SIMODRIVE base line A
General In order to optimize the dynamic performance of the servo drive, the
commissioning is to be carried out as follows:
Main switch: Open
Start-up with the battery box
- Connect term. 63,64 to 9;
- Switch (open) between term.65
and 9;
- Term. 56/14
Main switch: close
Set the setpoint to 0V at the battery
box
Briefly energize term.65 (jog)
Does the motor
acelerate?
- Enter a low setpoint(e.g.0.1V)
- Briefly energize term.65
Does the drive
run
continuously?
1
no->fault
yes->fault
Open connectin between terminal
63 and terminal 9
Main switch: Open
Check the motor/PWM inverter
connection:
- Power connection cable
- Encoder cable
- Settings of the pole pair numbers
for motor and resolver
Adapt DIL switch S1/S2 to the motor
by setting the switch to the standard
position
yes
no

Installation
2-6 SIMODRIVE base line A Start-Up
Energize terminal 65
1
Optimize the speed controller or set
known values 1)
Inhibit terminal 65
Start-up completed
Inhibit terminal 63!
Main switch: OFF
- Open the connnection between
term.64,65 and term.9
- Disconnect the battery box
from the terminals 56/14
1）: Optimized controller dynamic performance as shown below can be
achieved in this way:
Connect Speed Actual Value terminal 75 and Reference Ground terminal
15 on Speed Setpoint & Controller Enable interface (X321/X322) to an
oscillograph, view output curve, then adjust proportional gain Kp and
integral action time Tn through corresponding potentiometers to obtain an
optimal result.
Rotating clockwise increases the controller
dynamic performance. Optimization:
t
nact
ton=5...10ms
20...40%
approx.0.05*nrated
Fig.2-3 Optimized controller dynamic performance curve

Installation
SIMODRIVE base line A Start-Up 2-7
2.4. Interfaces and cabling
General Position of the interfaces and elements on the front panel are shown in the
following figure.
Position feedback interface
X391+X392(2-axes)/X391(1-axis)
Encoder interface
X311+X312(2-axes)/X311(1-axis)
Adjustment potentiometer
Drift, tachometer, Kp, Tn
Speed setpoint &
controller enable interface
X321+X322(2-axes)/X321(1-axis)
Grounding terminal
X131
Enable interface terminal
X141A
LED lights
PE1/PE2/PE
A1(U2,V2,W2)/A2(U2,V2,W2)
X1(U1,V1,W1)
DIL switch
S1+S2(2-axes)/S1(1-axis)
Fig.2-4 Front panel of SIMODRIVE base line A (2-axes module left, 1-axis module right)

Installation
2-8 SIMODRIVE base line A Start-Up
Interface Control module:
● X391/X392 – position feedback interface
15-pin sub-D socket connector, position feedback to NC system.
● X311/X312 －encoder interface
25-pin sub-D socket connector, connecting with resolver in
servomotor.
● Drift －drift compensation
Implement the drift compensation when the rated speed is zero
(short circuit between terminal 56 and 14).
Adjustment range: -45mV~ +45mV。
● Tachometer
The actual drive speed for +/-10V speed setpoint can be varied in
range 0.6 nrated ~1.8 nrated . It is not necessary for customers to adjust
the tachometer, as it is already calibrated before delivery.
● KP－proportional gain
The proportional gain KPof the speed controller can be set using
potentiometer KP. It is used to optimize the speed dynamic
performance. Adjustment range: 2.5 ~95.
● TN－integral action time
The speed controller integral action time is set by use of
potentiometer TN. It is used to optimize the speed dynamic
performance. Adjustment range: 3～40ms
● X321/X322 －speed setpoint & controller enable interface
Terminal 56 and 14 in X321/X322 are the differential input interface
of speed setpoint. Range: +/-10V.
Terminal 9 and 65.1 in X332 is the controller enable interface for axis
1; Terminal 9 and 65.2 in X332 is the controller enable interface for
axis 2;
● A1(U2,V2,W2)/A2(U2,V2,W2) －power cable interface
A1(U2,V2,W2) is the power cable interface for axis 1 servomotor;
A2(U2,V2,W2) is the power cable interface for axis 2 servomotor.
DIL switch S1/S2:
● S1 is used for selection of servomotors controlled by 1-axis module
while S2 is used for selection of servomotors controlled by 2-axes
module. See 2.6.1.2 Current controller settings for details.
Infeed module:
● X131 －grounding terminal for electronics power supply
Screw M4 is the grounding terminal for electronics power supply.
● X141A －enable interface terminal
Terminal 63 is the pulse enable input; Terminal 9 is the enable
output; Terminal 64 is the drive enable input; R is the reset interface;
Terminal 19 is the basis grounding.