Siemens simovert masterdrives User manual

Compendium Edition: AI
simovert
masterdrives
Motion Control

10.2004 Guidelines for Start-Up
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Motion Control Compendium 1
For START-UP of the unit, please refer to Section 3 "First Start up" in the operating
instructions supplied with the inverters/converters.
In the following, we would like to give you some tips on how to proceed further and how to use
the COMPENDIUM for detailed PARAMETERIZATION of the units.
Preparatory measures for detailed parameterization
Make yourself familiar with the connection diagrams of the power and control terminals:
You can find these in the operating instructions for the units and options in the section
"Connecting-up" (in the case of optional boards, consult the "Description" section as well).
The operating instructions are supplied with the units.
Make yourself familiar with the basic functions of the units (brief introduction):
see the following sections in this Compendium:
♦ Section 4: "Function blocks and parameters"
(blocks, connectors, binectors, parameters, data sets, BICO system)
♦ Sections 5.1 to 5.3: "Parameterization"
(parameter menus, operator control and displays on the PMU (operator control panel))
(Section 5.4 "Parameter input via the OP1S" only if necessary)
DETAILED PARAMETERIZATION (COMPENDIUM):
GENERAL TIPS
♦ The units can be parameterized with the PMU / OP1S (operator control panels) or with a
PC and the DriveMonitor software package.
♦ If you need more detailed information about specific parameters, connectors or binectors,
you can find a "parameter list", with a connector and binector list added onto the end,
plus an overview of the data-set parameters (assignment of the indices) in the appendix
(Volume 2) of the Compendium.
(Please note the "Explanations" at the beginning of the parameter list!)
These lists can be used as a reference whenever necessary.
♦ If faults or alarms occur during start-up (Fxxx , Axxx), you can find detailed descriptions of
them in the appendix (Volume 2) under "Faults and Alarms".
♦ The units are delivered with their factory setting.
If you want to restore the factory setting in the case of a repeat start-up, incorrect inputs or
a change between the type of start-up indicated below (Sections 1.), 2.) and 3.)), this can
be done at any time with the function described in Section 6.1, "Parameter reset to factory
setting".
(Abbreviated instructions: P053 = 6 > P060 = 2 > P970 = 0)
The following are the different types of start-up. In the annex, there are some tips on
information to be found in the internet.
1.) Paramterization of the basic unit during initial start-up
2.) Parameterization of the F01 technology option (if present) during initial start-up
3.) Parameterization of the unit by means of downloading if data backup is provided
♦ Annex (tips on information in the internet)

Guidelines for Start-Up 10.2004
6SE7087-6QX70 (Version AD) Siemens AG
2 Motion Control Compendium SIMOVERT MASTERDRIVES
1.) Parameterization of the basic unit during initial start-up
Choose the method of start-up you require:
1.1) Initial start-up:
a.) Quick parameterization
(QUICK standard start-up in order to quickly "turn" the motor for the first time, for
example, and to test its basic functioning)
See Section 6.3.3.
b.) "Menu-guided start-up" with PC / DriveMonitor
(QUICK standard start-up in order to quickly "turn" the motor for the first time, for
example, and to test its basic functioning)
See DriveMonitor (menu: " Parameters" > submenu:
"Menu-guided start-up")
c.) Detailed parameterization
See Section 6.2
After completing parameterization in accordance with Section 6.2, you can
use the following setting to start the drive immediately and test it:
(precondition: P366 = 0 (STANDARD)):
 P554.i1 = 10 ; P555.i1 = 10:
The drive can be switched ON and OFF (coast to stop without electrical
braking torque) by means of terminal –X101 / 3.
 P443.i1 = 41; P462.i1 = 3 sec; P464.i1 = 3 sec; (as long as V/f characteristic
has first been selected with P290 = 1: P320.i1 = 75): the setpoint can thus
be specified in % by means of P401.i1 (ramp-up/ramp-down times = 3 sec).
For further parameterization, see the following "Notes on how to proceed further".
Notes on how to proceed further
You should always refer to the function diagrams first (graphic illustration of functions)
before carrying out further parameterization (process data (control values, setpoints and
actual values), functions etc.) or diagnosis.
They can be found in the appendix (Volume 2) of the Compendium.
The function diagrams are subdivided into those for basic functions, free function blocks,
supplementary boards (EBx, SCBx) and the F01 technology option.
Use the list of contents (at the beginning of the function diagrams) to look for functions.
First read the following pages:
♦ Basic functions:
"General": Pages [10], [12], [15], [20], [30]
"Diagnostics": Pages [510], [515]
"Functions": Pages [540], [550]
♦ Free function blocks (if used):
"Sampling times, sampling sequence": Page [702]
(see also Section 7.1: "Functions / Basic functions")
♦ Control word commands and status word messages:
In addition to the function diagrams (pages [180], [190], [200], [210]), you can find
detailed descriptions of the individual commands /messages in Section 10, "Control Word
and Status Word".
♦ Interfaces (USS, PROFIBUS, SIMOLINK, CAN):
In addition to the function diagrams, you can find detailed descriptions of the interface
functions in Section 8, "Communication".

10.2004 Guidelines for Start-Up
Siemens AG 6SE7087-6QX70 (Version AD)
SIMOVERT MASTERDRIVES Motion Control Compendium 3
2.) Parameterization of the F01 technology option (if present) during initial start-up
After completing "parameterization of the basic unit during initial start-up" (Point 1), you can
parameterize the F01 technology option.
First read the sections you need for your application in Section 9 "Technology F01" of the
Compendium and, at the same time, refer to the function diagrams for the F01
technology option in the appendix (Volume 2) of the Compendium.
Please pay special attention to pages [799], [800], [802] and [850] in the function diagrams
for the F01 technology option.
If you are interested in more detailed information on the technology functions (especially if
SIMATIC S7 / GMC-BASIC / GMC-OP_OAM / M7 are used), you can find relevant details in
the "Motion Control planning package for MASTERDRIVES MC and SIMATIC S7" (manual /
CD-ROM can be ordered separately).
Here, you can also find detailed descriptions of the technology-specific fault messages of
the unit for job management, AUTOMATIC BLOCK (U591), and the GMC-FBs) in "Appendix
A".
3.) Parameterization of the unit by means of downloading if data backup is provided:
The parameter settings to be entered for your application are available, stored in the OP1S
or as a DriveMonitor file.
3.1) Start-up if data protection provided:
a.) Parameter set stored in the OP1S:
Download by means of OP1S
See Sections 6.3.2 and 5.4
b.) Parameter set available as a DriveMonitor file:
Download by means of DriveMonitor
See Section 6.3.2 or on-line help of DriveMonitor
♦ ANNEX (tips on information in the internet):
Information and software in the INTERNET relating to SIMOVERT MASTERDRIVES:
• In the INTERNET, you can find the following: software releases (DOWNLOAD of current
firmware for the units), additions and alterations to the manuals / Compendium,
frequently asked questions, service contact points, a HOTLINE and so on.
Contents located under:
SIEMENS / Products & Solutions / Product index / Variable-speed drives /
MASTERDRIVES MC / contact partner / A&D Automation and Drives /
Support, Training & Services / Customer Support / Variable-Speed drive Systems

12.2007 Definitions and Warnings
Siemens AG 6SE7087-6QX70 (Version AI)
SIMOVERT MASTERDRIVES Compendium Motion Control 1
Definitions and Warnings
For the purpose of this documentation and the product warning labels,
a "Qualified person" is someone who is familiar with the installation,
mounting, start-up, operation and maintenance of the product. He or
she must have the following qualifications:
♦Trained or authorized to energize, de-energize, ground and tag
circuits and equipment in accordance with established safety
procedures.
♦Trained or authorized in the proper care and use of protective
equipment in accordance with established safety procedures.
♦Trained in rendering first aid.
indicates an imminently hazardous situation which, if not avoided, will
result in death, serious injury and considerable damage to property.
indicates a potentially hazardous situation which, if not avoided, could
result in death, serious injury and considerable damage to property.
used with the safety alert symbol indicates a potentially hazardous
situation which, if not avoided, may result in minor or moderate injury.
used without safety alert symbol indicates a potentially hazardous
situation which, if not avoided, may result in property damage.
NOTICE used without the safety alert symbol indicates a potential
situation which, if not avoided, may result in an undesireable result or
state.
For the purpose of this documentation, "Note" indicates important
information about the product or about the respective part of the
documentation which is essential to highlight.
Qualified personnel
DANGER
WARNING
CAUTION
CAUTION
NOTICE
NOTE

Definitions and Warnings 12.2007
6SE7087-6QX70 (Version AI) Siemens AG
2 Compendium Motion Control SIMOVERT MASTERDRIVES
Hazardous voltages are present in this electrical equipment during
operation.
Non-observance of the warnings can thus result in severe personal
injury or property damage.
Only qualified personnel should work on or around the equipment
This personnel must be thoroughly familiar with all warning and
maintenance procedures contained in this documentation.
The successful and safe operation of this equipment is dependent on
correct transport, proper storage and installation as well as careful
operation and maintenance.
This documentation does not purport to cover all details on all types of
the product, nor to provide for every possible contingency to be met in
connection with installation, operation or maintenance.
Should further information be desired or should particular problems
arise which are not covered sufficiently for the purchaser's purposes,
the matter should be referred to the local SIEMENS sales office.
The contents of this documentation shall not become part of or modify
any prior or existing agreement, commitment or relationship. The sales
contract contains the entire obligation of SIEMENS AG. The warranty
contained in the contract between the parties is the sole warranty of
SIEMENS AG. Any statements contained herein do not create new
warranties or modify the existing warranty.
WARNING
NOTE

12.2007 Definitions and Warnings
Siemens AG 6SE7087-6QX70 (Version AI)
SIMOVERT MASTERDRIVES Compendium Motion Control 3
Residual risks of Power Drive Systems (PDS)
The components for the controller and drive of a Power Drive System (PDS) are
authorized for industrial and commercial use in industrial networks. Their use in
public networks requires a different planning and/or additional measures.
It is only permissible to operate these components in enclosed housings or in
superordinate control cabinets and when all protective devices and protective
covers are used.
These components may only be handled by qualified and trained specialist
persons who are familiar with and observe all the safety instructions on the
components and in the relevant technical user documentation.
The machine manufacturer must take into account the following residual risks resulting from the
components for the controller and drive of a Power Drive System (PDS) when evaluating the
risk of his machine in accordance with the EC machinery guideline.
1. Undesired movements of driven machine components during commissioning, operation,
maintenance and repair, e.g. as a result of
•HW and/or SW errors in the sensors, controller, actuators and connection system
•Reaction times of the controller and the drive
•Operation and/or ambient conditions not compliant with the specification
•Errors in parameterization, programming, wiring and installation
•Use of radio units/mobile phones in the direct vicinity of the controller
•External influences/damage.
2. Extraordinary temperatures and emissions of light, noises, particles and gases, e.g. as a
result of
•Component failure
•Software errors
•Operation and/or ambient conditions not compliant with the specification
•External influences/damage.
3. Dangerous contact voltages, e.g. as a result of
•Component failure
•Influence upon electrostatic charging
•Induction of voltages in the case of moving motors
•Operation and/or ambient conditions not compliant with the specification
•Condensation/conductive contamination
•External influences/damage.
4. Operational electrical, magnetic and electromagnetic fields that may pose a risk to people
with a pacemaker, implants or metallic items if they are too close.
5. Release of pollutants and emissions if components are not operated or disposed of properly.
For additional information on the residual risks emanating from the components of the PDS,
please refer to the relevant chapters of the technical user documentation.
DANGER

Definitions and Warnings 12.2007
6SE7087-6QX70 (Version AI) Siemens AG
4 Compendium Motion Control SIMOVERT MASTERDRIVES
Recidual risks upon operation of synchronous motors (brushless DC)
Using fault analysis, the machinery construction OEM is in the position
to determine the residual risk at his machine regarding the control.
The following residual risks are known:
♦An acceleration of the motor speed or axis motion can be caused by
the following faults:
−Faults in the absolute measuring systems (CD track or
EnDat/SSI absolute encoder).
−Cyclically interchanged phases of the motor connections (V-W-U
instead of U-V-W).
−Interchanged control sense (e.g. A/B track confused, opposing
attachment of measuring system, etc.).
−Electric faults (defective components, etc.).
♦If two power transitions in the inverter are simultaneously destroyed,
depending on the motor pole number, this can cause brief axis
movement.
−Example: Synchronous motor:
For a 6–pole synchronous motor, the axis can move by a
maximum of 30 degrees.
With a ballscrew that is directly driven (e.g. 20 mm per
revolution) this corresponds to a maximum linear motion of
approximately 1.6 mm.
−Example, synchronous linear motor:
For a synchronous linear motor, the movement can be a
maximum of one pole width.
For a linear motor, this corresponds to the following distances:
⇒1FN3-... 20 mm
♦For a 1–encoder system, encoder faults are detected by various HW
and SW monitoring functions. It is not permissible that these
monitoring functions are deactivated and they must be
parameterized carefully.
♦Stop function Category 0 according to EN 60204-1 means that the
spindle/axes are not braked. Depending on the kinetic energy
involved, they coast down for a long time.
This has to be integrated in the logic of the protection concept (e.g.
with a logic operation with the signal n < nx).
♦When a limit value is violated, higher speeds than have been set
can briefly occur or the specified position can be exceeded to some
degree from between the error being detected and the system
responding. This depends on the dynamic response of the drive and
the parameter settings.
♦Parameterization and programming errors made by the machinery
construction OEM cannot be identified. The required level of safety
can only be assured by thorough and careful acceptance testing.
DANGER

12.2007 Definitions and Warnings
Siemens AG 6SE7087-6QX70 (Version AI)
SIMOVERT MASTERDRIVES Compendium Motion Control 5
♦When replacing power modules or motors, the same type must
always be used as otherwise the selected parameters may result in
different responses.
When an encoder is replaced, the axis involved must be re–
calibrated.
♦Non-referenced, faulty or unadjusted position measuring systems
may lead to unintentional axis motions with a closed position control
loop.

System Description
Configuration and Connection
Examples
SIMOVERT MASTERDRIVES Instructions for Design of Drives
in Conformance with
EMC Regulations
MOTION CONTROL Function Blocks and Parameters
Compendium Parameterization
Parameterizing Steps
Functions
Communication
Technology Option F01
Control Word and Status Word
Engineering Information
Function Diagrams
Parameter Lists
Faults and Alarms
Version AI
6SE7087-6QX70 Lists of Stored Motors
Dimension Drawings
in Volume 1
in Volume 2

Contents 05.2006
Siemens AG 6SE7087-6QX70 (Version AG)
SIMOVERT MASTERDRIVES Compendium Motion Control 1
Contents
1SYSTEM DESCRIPTION .................................................................................1-1
1.1 Overview...........................................................................................................1-1
1.2 System description ...........................................................................................1-2
1.3 Construction sizes ............................................................................................ 1-3
1.4 Communication.................................................................................................1-4
2CONFIGURATION AND CONNECTION EXAMPLES.................................... 2-1
2.1 Compact PLUS type units ................................................................................2-1
2.1.1 Single-axis drive ...............................................................................................2-1
2.1.2 Multi-axis drive up to 3 axes.............................................................................2-1
2.1.3 Multi-axis drive..................................................................................................2-2
2.1.4 Configuration and connection examples (Compact PLUS)..............................2-5
2.2 Compact and chassis-type units ......................................................................2-9
2.2.1 Water-cooled units............................................................................................2-9
2.2.2 Single-axis drive with Compact or chassis-type units......................................2-9
2.2.3 Multi-axis drive with Compact or chassis-type units.........................................2-9
2.2.4 Explanations relating to the configuration examples
(Compact and chassis-type units)..................................................................2-13
2.3 Points to look out for when using certain option boards and CUPM..............2-16
2.3.1 Encoder interface connections.......................................................................2-16
2.3.2 TB boards.......................................................................................................2-17
2.3.3 EB boards.......................................................................................................2-17
3INSTRUCTIONS FOR DESIGN OF DRIVES IN CONFORMANCE
WITH EMC REGULATIONS............................................................................3-1
3.1 Foreword...........................................................................................................3-1
3.2 Principles of EMC.............................................................................................3-2
3.2.1 What is EMC?...................................................................................................3-2
3.2.2 Noise emission and noise immunity.................................................................3-2
3.2.3 Industrial and domestic applications ................................................................3-3
3.2.4 Non-grounded systems ....................................................................................3-3
3.3 The frequency converter and its electromagnetic compatibility .......................3-4
3.3.1 The frequency converter as a noise source.....................................................3-4
3.3.2 The frequency converter as a noise receiver...................................................3-7

05.2006 Contents
6SE7087-6QX70 (Version AG) Siemens AG
2Compendium Motion Control SIMOVERT MASTERDRIVES
3.4 EMC planning...................................................................................................3-8
3.4.1 The zone concept...........................................................................................3-10
3.4.2 Use of filters and coupling elements ..............................................................3-12
3.5 Design of drives in conformance with EMC regulations.................................3-13
3.5.1 Basic EMC rules.............................................................................................3-13
3.5.2 Examples........................................................................................................3-19
3.6 Assignment of SIMOVERT MASTERDRIVES, radio interference
suppression filters and line reactors...............................................................3-26
3.7 Specified standards........................................................................................3-26
4FUNCTION BLOCKS AND PARAMETERS....................................................4-1
4.1 Function blocks.................................................................................................4-1
4.2 Connectors and binectors.................................................................................4-2
4.3 Parameters.......................................................................................................4-4
4.4 Connecting up function blocks (BICO system).................................................4-8
5PARAMETERIZATION ....................................................................................5-1
5.1 Parameter menus.............................................................................................5-1
5.2 Changeability of parameters.............................................................................5-5
5.3 Parameter input via the PMU ...........................................................................5-6
5.4 Parameter input via the OP1S........................................................................5-11
5.4.1 General...........................................................................................................5-11
5.4.2 Connecting, run-up.........................................................................................5-13
5.4.2.1 Connecting......................................................................................................5-13
5.4.2.2 Run-up............................................................................................................5-14
5.4.3 Operator control..............................................................................................5-16
5.4.3.1 Operator control elements..............................................................................5-16
5.4.3.2 Operating display............................................................................................5-17
5.4.3.3 Basic menu.....................................................................................................5-18
5.4.3.4 Slave ID ..........................................................................................................5-19
5.4.3.5 OP: Upread.....................................................................................................5-20
5.4.3.6 OP: Download.................................................................................................5-21
5.4.3.7 Delete data .....................................................................................................5-22
5.4.3.8 Menu selection................................................................................................5-23
5.4.3.9 Issuing commands via the OP1S ...................................................................5-29
5.4.4 Bus operation..................................................................................................5-30
5.4.4.1 Configuring slaves..........................................................................................5-30
5.4.4.2 Changing slaves.............................................................................................5-31
5.4.5 Technical data ................................................................................................5-31

Contents 05.2006
Siemens AG 6SE7087-6QX70 (Version AG)
SIMOVERT MASTERDRIVES Compendium Motion Control 3
5.5 Parameter input with DriveMonitor.................................................................5-32
5.5.1 Installation and connection.............................................................................5-32
5.5.1.1 Installation.......................................................................................................5-32
5.5.1.2 Connection......................................................................................................5-32
5.5.2 Establishing the connection between DriveMonitor and the device...............5-33
5.5.2.1 Setting the USS interface ...............................................................................5-33
5.5.2.2 Starting the USS bus scan .............................................................................5-35
5.5.2.3 Creating a parameter set................................................................................5-36
5.5.3 Parameterization.............................................................................................5-38
5.5.3.1 Structure of the parameter lists, parameterization with DriveMonitor ............5-38
5.5.3.2 General diagnostics........................................................................................5-43
6PARAMETERIZING STEPS ............................................................................ 6-1
6.1 Parameter reset to factory setting ....................................................................6-3
6.2 Detailed parameterization.................................................................................6-5
6.2.1 Power section definition....................................................................................6-5
6.2.2 Board configuration ........................................................................................6-11
6.2.3 Drive setting....................................................................................................6-15
6.2.4 Motor identification..........................................................................................6-22
6.2.4.1 Standstill measurement..................................................................................6-22
6.2.4.2 No-load measurement....................................................................................6-23
6.2.5 Function adjustment .......................................................................................6-23
6.3 Quick parameterization procedures ...............................................................6-24
6.3.1 Parameterizing with user settings ..................................................................6-24
6.3.2 Parameterizing by loading parameter files (download P060 = 6) ..................6-25
6.3.3 Parameterizing with parameter modules (quick parameterization, P060 = 3) ..6-28
7FUNCTIONS.....................................................................................................7-1
7.1 Basic functions..................................................................................................7-1
7.1.1 Time slots .........................................................................................................7-1
7.1.1.1 Time slots T0 to T20.........................................................................................7-1
7.1.1.2 Processing sequence.......................................................................................7-3
7.1.1.3 Assignment of function blocks to time slots......................................................7-4
7.1.2 Processing sequence of the function blocks....................................................7-6
7.1.2.1 Time monitoring................................................................................................7-7
7.1.2.2 Influencing the time response...........................................................................7-8
7.2 Technology functions......................................................................................7-10
7.2.1 Comfort ramp-function generator ...................................................................7-10
7.2.2 Technology controller.....................................................................................7-11
7.2.3 Basic positioning.............................................................................................7-12
7.2.3.1 Functions........................................................................................................7-16
7.2.3.2 Normalization..................................................................................................7-24
7.2.3.3 Operating modes............................................................................................7-28
7.2.3.4 Preprocessing of position setpoint .................................................................7-44
7.2.3.5 Application example........................................................................................7-46
7.2.3.6 Change history................................................................................................7-50

05.2006 Contents
6SE7087-6QX70 (Version AG) Siemens AG
4Compendium Motion Control SIMOVERT MASTERDRIVES
7.3 Converter functions ........................................................................................7-51
7.3.1 Friction characteristic function (function diagram 399)...................................7-51
7.3.1.1 Friction characteristic......................................................................................7-51
7.3.1.2 Friction characteristic recording (automatic procedure).................................7-51
7.3.2 Torque constant adaptation for synchronous motors (function diagram 393)...7-53
7.3.3 Tr adaptation function (function diagram 394)................................................7-55
7.3.4 Position test function.......................................................................................7-56
7.3.5 Function "PRBS signal with recording" (function diagram 796).....................7-59
7.3.6 Function "speed filter" (function diagram 361) ...............................................7-61
7.3.7 "Speed controller characteristic" function (function diagram 360) .................7-65
7.3.8 "Field weakening for synchronous motor" function (function diagram 389)...7-66
7.3.9 Vdmax closed-loop control (function diagram 610)........................................7-71
7.3.10 Harmonic compensation.................................................................................7-72
7.4 Special functions.............................................................................................7-73
7.4.1 Loading firmware............................................................................................7-73
8COMMUNICATION ..........................................................................................8-1
8.1 Universal Serial lnterface (USS)....................................................................8.1-1
8.1.1 Protocol specification and bus structure........................................................8.1-2
8.1.1.1 Protocol specification.....................................................................................8.1-2
8.1.1.2 Bus structure..................................................................................................8.1-7
8.1.2 The structure of net data .............................................................................8.1-10
8.1.2.1 General structure of the net-data block.......................................................8.1-10
8.1.2.2 PKW area ....................................................................................................8.1-11
8.1.2.3 Process-data area (PZD).............................................................................8.1-19
8.1.3 Interface overview........................................................................................8.1-20
8.1.4 Connecting-up .............................................................................................8.1-23
8.1.4.1 Bus cable connection ..................................................................................8.1-23
8.1.4.2 Fitting the bus cable.....................................................................................8.1-24
8.1.4.3 EMC measures............................................................................................8.1-25
8.1.4.4 Bus termination, USS protocol ....................................................................8.1-28
8.1.5 Start-up........................................................................................................8.1-31
8.1.5.1 Parameterization of the USS protocol (1st step).........................................8.1-32
8.1.5.2 Parameterizing the parameterizing enable and process-data
interconnections (2nd step).........................................................................8.1-36
8.2 PROFIBUS ....................................................................................................8.2-1
8.2.1 Product description of the CBP communications board................................8.2-1
8.2.2 Description of the CBP's functions on the PROFIBUS-DP ...........................8.2-3
8.2.2.1 Cyclical data transmission.............................................................................8.2-5
8.2.2.2 Acyclical data transfer .................................................................................8.2-10
8.2.2.3 Acyclical master class 1, automation (PLC)................................................8.2-12
8.2.2.4 Acyclical master class 2 - Configuration (DriveES).....................................8.2-16
8.2.2.5 Acyclical master class 2 - Operator control (SIMATIC OP).........................8.2-17
8.2.3 Mechanisms for processing parameters via the PROFIBUS......................8.2-18
8.2.4 PROFIdrive V3: Acyclic parameter accessing with data block 47 ..............8.2-26
8.2.4.1 Comparison between parameter tasks to PROFIdrive version 2 and 3......8.2-28
8.2.4.2 Example of "Request parameter value", simple..........................................8.2-29
8.2.4.3 Example of "Change parameter value", simple...........................................8.2-30
8.2.4.4 Example of "Request parameter value", more than one array element......8.2-31

Contents 05.2006
Siemens AG 6SE7087-6QX70 (Version AG)
SIMOVERT MASTERDRIVES Compendium Motion Control 5
8.2.4.5 Example of "Change parameter value", more than one array element.......8.2-32
8.2.4.6 Example of "Request parameter value", multi-parameter...........................8.2-33
8.2.4.7 Example of "Change parameter value", multi-parameter............................8.2-35
8.2.4.8 Request description, individual....................................................................8.2-37
8.2.4.9 Request description, total............................................................................8.2-38
8.2.4.10 Request text, individual ...............................................................................8.2-39
8.2.4.11 Coding in the parameter task according to PROFIdrive Version 3.............8.2-40
8.2.5 Mounting methods / CBP slots....................................................................8.2-43
8.2.5.1 CBP mounting slots in MC Compact PLUS units........................................8.2-43
8.2.5.2 CBP slots in Compact units and chassis-type units with the CUs of
function classes Motion Control Performance 2 (CUPM), Motion Control
(CUMC) and Vector Control (CUVC)...........................................................8.2-44
8.2.5.3 CBP slots in Compact and chassis-type units with the CUs of function
classes FC (CU1), VC (CU2) or SC (CU3)..................................................8.2-46
8.2.6 Connecting up the CBP to the PROFIBUS .................................................8.2-47
8.2.6.1 Assignment of plug-in connector X448........................................................8.2-47
8.2.6.2 Connecting up the bus cable by means of the RS485 bus connecting
system .........................................................................................................8.2-47
8.2.6.3 Connecting the bus cable with the fiber-optic cable system .......................8.2-52
8.2.6.4 Shielding of the bus cable / EMC measures ...............................................8.2-54
8.2.7 Starting up the CBP.....................................................................................8.2-57
8.2.7.1 Basic parameterization................................................................................8.2-57
8.2.7.2 Process data interconnection in the units....................................................8.2-62
8.2.7.3 Process data interconnection via standard telegrams ................................8.2-69
8.2.7.4 Process data monitoring..............................................................................8.2-71
8.2.8 Settings for the PROFIBUS-DP master (Class 1).......................................8.2-73
8.2.8.1 Operating the CBP with a SIMATIC S5.......................................................8.2-75
8.2.8.2 Operating the CBP with a SIMATIC S7.......................................................8.2-77
8.2.8.3 Operating the CBP with a non-Siemens system.........................................8.2-79
8.2.8.4 Operating the CBP2 with extended functions with a SIMATIC S7..............8.2-80
8.2.8.5 CBP2 with cross traffic operated with a SIMATIC S7..................................8.2-81
8.2.8.6 CBP2 with clock synchronization operated with a SIMATIC S7..................8.2-83
8.2.8.7 CBP2 with clock synchronization on a PROFIBUS master in
accordance with PROFIdrive V3 .................................................................8.2-86
8.2.9 MASTERDRIVES as PROFIdrive V3-Slave................................................8.2-88
8.2.9.1 Incorporation of drives in automation systems / plant characterization ......8.2-90
8.2.9.2 Communication model.................................................................................8.2-94
8.2.9.3 Drive control.................................................................................................8.2-95
8.2.9.4 Checkback messages (status words)..........................................................8.2-96
8.2.9.5 Setpoints / Actual values .............................................................................8.2-97
8.2.9.6 Dynamic Servo Control (DSC).....................................................................8.2-98
8.2.9.7 Communication interface...........................................................................8.2-106
8.2.9.8 Clock synchronous application..................................................................8.2-106
8.2.9.9 Encoder interface (from SW 1.6)...............................................................8.2-107
8.2.10 Diagnosis and troubleshooting..................................................................8.2-117
8.2.10.1 Evaluating the possibilities of hardware diagnosis....................................8.2-117
8.2.10.2 Fault and alarm display on the basic unit..................................................8.2-119
8.2.10.3 Evaluating CBP diagnostic parameters.....................................................8.2-122
8.2.10.4 Meaning of information in the CBP diagnosis parameter r723..................8.2-124
8.2.10.5 Additional methods of diagnosis for start-up personnel............................8.2-128
8.2.10.6 CBP2 diagnostic parameters.....................................................................8.2-134
8.2.10.7 Extended CBP2 diagnosis for start-up personnel .....................................8.2-137
8.2.11 Appendix....................................................................................................8.2-140

05.2006 Contents
6SE7087-6QX70 (Version AG) Siemens AG
6Compendium Motion Control SIMOVERT MASTERDRIVES
8.3 SIMOLINK......................................................................................................8.3-1
8.3.1 General principles..........................................................................................8.3-1
8.3.2 Peer-to-peer functionality ..............................................................................8.3-5
8.3.3 Application with peer-to-peer functionality.....................................................8.3-6
8.3.4 Components of the peer-to-peer functionality...............................................8.3-8
8.3.5 Parameterization of the peer-to-peer functionality ......................................8.3-10
8.3.6 Diagnostics of the peer-to-peer functionality...............................................8.3-14
8.3.7 Synchronization of the control circuits by means of the bus cycle time
(MC only).....................................................................................................8.3-16
8.3.8 Synchronization diagnostics (MC only).......................................................8.3-18
8.3.9 Switchover of the synchronization source (MC only) ..................................8.3-18
8.3.10 Special data and application flags...............................................................8.3-20
8.3.11 Configuration (example of peer-to-peer functionality).................................8.3-21
8.3.12 Master/slave functionality ............................................................................8.3-25
8.3.13 Application with master/slave functionality..................................................8.3-26
8.4 CBC Communications Board.........................................................................8.4-1
8.4.1 Product description........................................................................................8.4-1
8.4.2 Mounting methods / CBC slots......................................................................8.4-4
8.4.2.1 Mounting positions of the CBC in MC Compact PLUS units.........................8.4-4
8.4.2.2 Mounting positions of the CBC in Compact and chassis units of function
classes MC (CUPM, CUMC) and VC (CUVC) ..............................................8.4-5
8.4.2.3 Mounting positions of the CBC in Compact type and chassis type units
with the CU of the function classes FC (CU1), VC (CU2) or SC (CU3)........8.4-6
8.4.2.4 Mounting positions of the CBC in VC Compact PLUS units .........................8.4-7
8.4.3 Connecting.....................................................................................................8.4-8
8.4.3.1 Connection of the bus cable..........................................................................8.4-9
8.4.3.2 EMC measures............................................................................................8.4-10
8.4.3.3 Bus termination of the CAN bus (jumper S1.2)...........................................8.4-13
8.4.3.4 Ground connection (jumper S1.1) ...............................................................8.4-13
8.4.3.5 Interface X458 / X459 with jumper strip S1.................................................8.4-14
8.4.3.6 Recommended circuits................................................................................8.4-15
8.4.4 Data transfer via the CAN bus.....................................................................8.4-16
8.4.4.1 General........................................................................................................8.4-16
8.4.4.2 Parameter area (PKW)................................................................................8.4-17
8.4.4.3 Process data area (PZD).............................................................................8.4-24
8.4.5 Start-up of the CBC .....................................................................................8.4-31
8.4.5.1 Basic parameterization of the units .............................................................8.4-32
8.4.5.2 Process-data softwiring in the units.............................................................8.4-45
8.4.6 Diagnosis and troubleshooting....................................................................8.4-52
8.4.6.1 Evaluation of hardware diagnostics.............................................................8.4-52
8.4.6.2 Fault displays and alarms on the basic unit ................................................8.4-54
8.4.6.3 Evaluation of the CBC diagnostic parameter ..............................................8.4-56
8.4.6.4 Meaning of CBC diagnosis..........................................................................8.4-57
8.4.7 Appendix......................................................................................................8.4-60

Contents 05.2006
Siemens AG 6SE7087-6QX70 (Version AG)
SIMOVERT MASTERDRIVES Compendium Motion Control 7
8.5 CBC CANopen communication board...........................................................8.5-1
8.5.1 Object directory..............................................................................................8.5-5
8.5.2 Commissioning the CBC .............................................................................8.5-16
8.5.2.1 General settings...........................................................................................8.5-16
8.5.2.2 NMT state....................................................................................................8.5-27
8.5.2.3 Relation between PDO/PZD and SDO/PKW...............................................8.5-29
8.5.2.4 PDO mapping..............................................................................................8.5-34
8.5.3 Manufacturer-specific objects......................................................................8.5-48
8.5.3.1 Parameter editing ........................................................................................8.5-48
8.5.3.2 Example: Change parameter value with object 4001h................................8.5-52
8.5.3.3 Setting factory values (defaults) via CANopen............................................8.5-53
8.5.3.4 Changing the baud rate and bus address
(on MASTERDRIVES MC only)...................................................................8.5-54
8.5.4 Faults and alarms........................................................................................8.5-55
8.5.4.1 Structure of object 1003h(pre-defined error field) ......................................8.5-55
8.5.4.2 Error codes..................................................................................................8.5-56
8.5.5 Life guarding / node guarding......................................................................8.5-59
8.5.6 The state machine.......................................................................................8.5-60
8.5.6.1 Control word ................................................................................................8.5-61
8.5.6.2 Status word..................................................................................................8.5-62
8.5.6.3 Modes of operation......................................................................................8.5-64
8.5.7 Description of individual modes...................................................................8.5-65
8.5.7.1 Profile Position mode...................................................................................8.5-65
8.5.7.2 Profile Velocity mode...................................................................................8.5-68
8.5.7.3 Synchronous mode......................................................................................8.5-70
8.5.7.4 Homing mode ..............................................................................................8.5-71
8.5.7.5 Profile Torque mode....................................................................................8.5-97
8.5.7.6 Setup mode .................................................................................................8.5-97
8.5.7.7 Automatic Position mode.............................................................................8.5-98
8.5.7.8 Automatic Single Block mode......................................................................8.5-98
8.5.8 Diagnostics and troubleshooting .................................................................8.5-99
8.5.8.1 Error and alarm displays on basic unit........................................................8.5-99
8.5.8.2 Evaluation of CBC diagnostic parameter ..................................................8.5-103
8.5.8.3 Meaning of CBC diagnostics.....................................................................8.5-104
8.5.9 CANopen EDS...........................................................................................8.5-106
8.5.10 Parameterization........................................................................................8.5-107
8.5.10.1 Parameterization for the CBC CANopen with
MASTERDRIVES MC_F01 and MASTERDRIVES MC_B-Pos................8.5-107
8.5.11 Logical interconnections for control and status words ..............................8.5-108
8.5.12 General plans of interconnections in MASTERDRIVES MC.....................8.5-116
8.5.13 Terms and abbreviations...........................................................................8.5-133

05.2006 Contents
6SE7087-6QX70 (Version AG) Siemens AG
8Compendium Motion Control SIMOVERT MASTERDRIVES
9TECHNOLOGY OPTION F01..........................................................................9-1
9.1 Enabling technology option F01.......................................................................9-1
9.2 Overview of the documentation........................................................................9-1
9.3 Application areas..............................................................................................9-3
9.3.1 General functions..............................................................................................9-3
9.3.2 Positioning........................................................................................................9-5
9.3.3 Synchronization................................................................................................9-7
9.3.4 Technology functions already included in the standard software ..................9-13
9.3.5 Seamless Integration in SIMATIC Automation Solutions...............................9-15
9.4 Brief description of the technology functions..................................................9-16
9.4.1 Overview of the function diagrams.................................................................9-16
9.4.2 Integrating the technology into the basic unit [801]........................................9-17
9.4.3 General information on position encoder evaluation [230] ... [270]................9-17
9.4.4 Resolver evaluation [230]...............................................................................9-19
9.4.5 Optical sin/cos encoder [240].........................................................................9-20
9.4.6 Multiturn encoder evaluation [260, 270].........................................................9-22
9.4.7 Pulse encoder evaluation [250, 255]..............................................................9-32
9.4.8 Position sensing system for motor encoder [330] ..........................................9-35
9.4.9 Using absolute encoders for positioning of motors with load-side gearing
and rotary axis................................................................................................9-48
9.4.10 Linear axis with absolute encoder when the traversing range is greater
than the display range of the encoder............................................................9-52
9.4.11 Position sensing system for external machine encoder [335]........................9-53
9.4.12 Position control system [340]..........................................................................9-54
9.4.13 Technology overview and mode manager [802] ............................................9-57
9.4.14 Machine data [804].........................................................................................9-59
9.4.15 Parameter download file POS_1_1 [806].......................................................9-60
9.4.16 Positioning control signals [809].....................................................................9-61
9.4.17 Positioning status signals [811]......................................................................9-61
9.4.18 Digital I/Os for positioning [813]......................................................................9-62
9.4.19 Evaluation and control of the position sensing system,
simulation mode [815] ....................................................................................9-62
9.4.20 Setpoint output and enabling [817].................................................................9-63
9.4.21 Faults, warnings, diagnostics [818] ................................................................9-63
9.4.22 Setup mode [819] ...........................................................................................9-64
9.4.23 Homing mode [821] ........................................................................................9-65
9.4.23.1 Homing with homing switch only ....................................................................9-68
9.4.23.2 Homing with encoder zero mark only.............................................................9-69
9.4.23.3 Use of a reversing switch during homing .......................................................9-69
9.4.24 MDI mode [823]..............................................................................................9-70
9.4.25 Control mode [825].........................................................................................9-74
9.4.26 Automatic and automatic single-block mode [826, 828].................................9-75
9.4.27 Roll feed [830].................................................................................................9-75
9.4.28 Synchronization mode - overview [831] .........................................................9-76
9.4.29 Virtual master axis [832].................................................................................9-84
9.4.30 Real master with deadtime compensation [833] ............................................9-85
9.4.31 Engaging/disengaging cycle [834]..................................................................9-86
9.4.32 Gearbox function [835]...................................................................................9-91
9.4.33 Generation of the position setpoint [836]........................................................9-92